CN106477056B - Unmanned vehicle with hoistable platform - Google Patents
Unmanned vehicle with hoistable platform Download PDFInfo
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- CN106477056B CN106477056B CN201510546127.8A CN201510546127A CN106477056B CN 106477056 B CN106477056 B CN 106477056B CN 201510546127 A CN201510546127 A CN 201510546127A CN 106477056 B CN106477056 B CN 106477056B
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Abstract
A kind of unmanned vehicle with hoistable platform, including unmanned vehicle and platform, feature is that aircraft carries a hoistable platform on the back, vertical guide post is fixed on platform, unmanned vehicle can be gone up and down along vertical guide post, have on platform from power mains induced electricity getting device, there is cricoid iron core on device, iron core consists of two parts, it can open and close, it is axial outside iron core to be wound with induction electricity taking coil, power transmission line is passed through from the ring that two parts iron core forms when taking electricity, there is the bearing support of the translation of left and right two or rotation on platform, cored and induction electricity taking coil is fixed on bearing support, there is one to pass through two bearing supports simultaneous with the screw rod of left hand thread and right-handed thread, the bearing of screw rod is fixed on platform, the rotation of motor drive screw rod, left-handed nut and right-handed nut on screw rod relatively move can be such that iron core is closed when clamping two bearing supports, Type on aircraft with parallelogram holding mechanism, which can boot, holds up platform, and benefit is convenient to unmanned vehicle independent charging.
Description
Technical field:
The present invention relates to unmanned vehicles from the improvement of power mains induced electricity getting device.
Background technique:
Power transmission line unmanned machine line walking is that occur the eighties in last century, as the development of unmanned air vehicle technique obtained in recent years
More universal application, but the too short main problem for becoming application and being limited of electronic unmanned plane airborne period.Primary solutions are
Intelligent charge depressed place is charged on tower, and online disclosed " North China Power Grid Co., Ltd's science and technology item fund application paper " project name is
It is mentioned to taking electric scheme to have from power mains induced with iron-core coil in the report of " intelligent transmission line patrol robot ", not
There is specific implementation to imagine, this report has been done the status both at home and abroad and technical solution of unmanned plane line walking and has relatively been described in detail, line walking
Running mechanism is at present still based on wheeled.
The object of the present invention is to provide a kind of unmanned vehicles from power mains induced electricity getting device.
Summary of the invention:
A kind of unmanned vehicle with hoistable platform, including unmanned vehicle and platform, feature are that have a lifting flat
Platform, the upper surface of the bottom surface of platform and unmanned vehicle are opposite, and vertical guide post is fixed on platform, have on unmanned vehicle with it is vertical
The vertical guide sleeve of guide post cooperation, unmanned vehicle can be gone up and down along vertical guide post.
Unmanned vehicle rises by the air force that rotor provides and declines by gravity, has spring movable on platform
Pin, is fixed with hook on unmanned vehicle, the inclined-plane that unmanned vehicle is linked up with when rising to close to the upper limit position of platform
Automatic locking after spring removable pin is opened, opens spring removable pin when bearing support is moved to iron core closed position, spring activity
It can be blocked by the lug boss on vertical guide post when unmanned vehicle is down to the lower limit position of vertical guide post lower part after pin is opened.
Platform can be gone up and down by the parallelogram connection-rod holding mechanism of motor drive, and parallelogram connection-rod is elected
The short connecting rod hinged place of mechanism the top and platform are hinged, parallelogram connection-rod holding mechanism the lowermost long connecting rod center
Hinged place and the plate that aircraft fuselage extends downwardly are hinged, and the motor with retarder is fixed on aircraft fuselage and extends downwardly
Plate on, holding mechanism the lowermost short connecting rod hinged place is hinged with an election nut, elect the screw thread axially bored line of nut with
The axis of connecting rod link axis is vertical, elects nut and elects screw rod cooperation, the motor drive with retarder, which elects screw rod, to be made
Platform lifting.
All electrical equipments on platform and the connecting wire between unmanned vehicle are coiled into spring shape installed in platform
In vertical guide post or cover outside the vertical guide post of platform.
There is opening in vertical guide post on an at least section, spring-like wire is mounted in the vertical guide post with open slot
It is interior.
The platform both sides protrusion vertical with transmission of electricity bobbin thread has wall, and the upper edge of wall stops power transmission line excessively to decline,
With switch on wall, trigger switch when power transmission line is close or touches the upper edge of wall.
Platform has from power mains induced electricity getting device, and sensing electricity getting device has cricoid iron core, and cricoid iron core is by two
Part forms, and can open and close, and forms ring-type when being combined, is axially wound with induction electricity taking coil outside iron core, power transmission line when taking electricity
Passed through from the ring that two parts iron core forms, there is two bearing supports in left and right on platform, fix on bearing support it is cored, wherein at least
Have induction electricity taking coil outside one iron core, two bearing supports are staggered relatively, when two bearing supports close to when iron core form closed magnetic
There is a screw rod simultaneous with left hand thread and right-handed thread on road, and the axis of screw rod and the axis of iron core are vertical, the axis of screw rod
It holds and is fixed on platform, screw rod passes through two bearing supports, has left-handed nut and the right side for cooperating relative configuration with it simultaneously on screw rod
Spin nut, the rotation of motor drive screw rod, left-handed nut and right-handed nut, which relatively move, can make iron core when clamping two bearing supports
There are roller in closure, the two sides of bearing support,
Platform be it is box-like, have horizontal guide post or guide sleeve on bearing support, have at least three in the cassette bottom of box-like platform
Raised item has at least two lateral apertures cooperated with guide post or guide sleeve on every raised item, and the bearing of screw rod is in protrusion
On item, left-handed nut and right-handed nut are separately fixed on left bearing support or right bearing support, are fixed with semi-ring on each bearing support
There are the roller of vertical axis in the iron core of shape and induction electricity taking coil, the two sides of each bearing support, and the two sides of at least one bearing support are same
When have the roller of trunnion axis.
Unmanned vehicle is more rotor unmanned aircrafts, and 4 rotors along line of symmetry distribution are vertical axes, main to provide
Lift, the rotor that axis is overlapped with the plane of symmetry are trunnion axis, are the rotors of dedicated offer onward impulse, iron core is in closure position
Unmanned vehicle is moved with the air force that rotor provides along power transmission line when setting, and unmanned vehicle has the tail rotor of trunnion axis,
The rotor of unmanned vehicle has shield.
Spring removable pin is controlled by the cam that a decelerator drives,
The motor driven screw turns is servomotor, and automatic control circuit is according to the induction electricity taking coil detected
The voltage levels of acquirement issue corresponding order to servomotor, the size of the air gap between adjust automatically two parts iron core.
In addition it is wound with coil on iron core or believes coil using induction electricity taking coil as the transmitting-receiving of power line carrier communication.
Guide post is fixed on raised item, there is guide sleeve on bearing support, and guide post and guide sleeve cooperate.
Raised item subdivision can be two parts above and below lateral aperture horizontal center line, and upper and lower two parts raised item is solid with screw
It is fixed.
Raised item can not also subdivision, whole raised item all fixed with screw and platform.
The bearing support of hinge format rotation, two bearing supports form a hinge, there is the bearing of hinge axis, torsion on platform
Spring separates two bearing supports, and left-handed nut squeezes a bearing support right-handed nut and squeezes another bearing support.
The platform both sides protrusion parallel with screw axis has wall, and the upper edge of wall stops power transmission line excessively to decline,
The optoelectronic switch of at least a pair of of laser diode emitters and receiver composition, power transmission line stop the light time to be established by cable on wall
It closes and issues signal.
With a pair of of guide housing, guide housing is fixed on platform, has recess on guide housing, bearing support is in separated limit position
Under recess, one section of inclined-plane or curved surface, inclined-plane or curved surface guidance are arranged at the top of recess for induction electricity taking coil fixed thereon when setting
Power transmission line slides to middle position along the guide surface of inclined-plane or curved form.It is solid on the raised item on platform below iron core division face
Surely there are at least two guide posts, there is guide sleeve on bearing support, guide post and guide sleeve cooperate, and raised item is along horizontal hole horizontal
Subdivision is two parts to center line up and down, and upper and lower two parts raised item is screwed.
Having the front of the axis of the trunnion axis roller of a bearing support two sides in two bearing supports has hole, on another bearing support
There is the axis with hole cooperation at corresponding position, when two bearing supports are drawn close in shaft insertion hole.
The motor of driving screw rod is the motor with retarder, and the output shaft of retarder drives spiral shell by shaft coupling
Bar, the motor with retarder are fixed in the box wall of platform.
Invention effect:
Unmanned vehicle of the invention from power mains induced electricity getting device, allow the charging of unmanned vehicle field without
People carries out automatically in the case where manipulating, the virtually limitless airborne period for increasing unmanned plane, the letter for becoming the work of power transmission line line walking
It is single, keep structure simple using the screw drive with left-right rotary screw thread, subtracts the impost in addition to iron core and induction electricity taking coil
It is few, hoistable platform can be effectively prevented unmanned vehicle from power mains induced electricity getting device in unpowered situation by wind around defeated
Electric wire overturns and is conveniently accessible to power transmission line.
Detailed description of the invention:
1. the axis 7. of the 6. trunnion axis roller of roller of 4. touching column of wall 2. optoelectronic switch, 3. bearing support, 5. trunnion axis
Incude 8. platform of electricity taking coil, 9. underside roller, 10. guide post, 11. screw rod, 12. raised item, 13. nut, 14. shaft coupling
15. driving 19. rotor of roller, 20. unmanned flight of vertical 17. iron core of guide post, 18. vertical axis of screw motor 16.
Device fuselage 21. links up with 22. guide housing, 23. camera, 24. tail rotor, 25. lug boss, 26. link assembly 27., and nobody flies
The election of plate 28. motor 29. election election 31. trunnion axis rotor of nut, 32. spring of screw rod 30. outstanding is living below row device
The stud 38. that the axis 37. of dynamic 33. torsionspring of pin, 34. touching lever, 35. microswitch, 36. hinge type bearing support keeps off spring is living
The cam of dynamic pin 39. decelerator of guide rail driving
Fig. 1 is the perspective view for taking level platform with flatly moving type bearing support,
Fig. 2 is perspective view when level platform and unmanned vehicle being taken to fit together with flatly moving type bearing support,
Fig. 3 is that level platform fits together taking with flatly moving type bearing support with unmanned vehicle and unmanned vehicle has
The perspective view of parallelogram holding mechanism,
Fig. 4 is the perspective view for taking level platform with hinge type bearing support,
Fig. 5 be the cam control of decelerator driving flatly moving type removable pin and bottom roller component together it is vertical
Body figure,
Fig. 6 is the flatly moving type removable pin that support frame touches out in iron core closed position and bottom roller component together
Perspective view,
Fig. 7 is the perspective view of the swing type activity pin assemblies of the cam control of decelerator driving.
Specific embodiment:
Below in conjunction with example, the present invention is described in detail:
It is rectangular box referring to the platform that attached drawing 1,8 is to carry the iron core induction components such as electricity taking coil and transmission mechanism
Shape, be the rectangular box made of plastic with flange in this example, has three parallel raised items 12 in cassette bottom, along the symmetrical of box
Line is arranged symmetrically, and raised item is the strip of rectangular cross section, and there are two the water cooperated with guide post 10 or guide sleeve for every raised item
Flat hole, the corresponding aperture on three raised items with one heart and penetrate through, and raised item subdivision above and below lateral aperture horizontal center line is two parts,
Lower part is moulded in cassette bottom, and upper and lower two parts raised item is screwed.Raised item can not also subdivision, whole raised item spiral shell
Nail is fixed on the bottom surface of box-like platform, and round tubular guide post 10 is fixed in the lateral aperture on raised item.
If guide sleeve can slide in the lateral aperture on the raised item of two sides when on bearing support 3 with long guide sleeve.
The bearing of screw rod 11 has corresponding hole, extreme position microswitch can also on raised item on three raised items
On the raised item of two sides.
17 be iron core, and iron core is in cylindrical tube shape, is made of high permeability materials such as silicon steel sheets, cuts dimidiation along center line
A, 7 be induction electricity taking coil, and it is also in semi-circular, two inductions take that induction electricity taking coil, which is axially wound on the outside of semi-circular iron core,
Electric coil is connected in series, because induction electricity taking coil is mobile with bearing support the lead of induction electricity taking coil will be coiled into spring
Shape.
3 be bearing support, is made of high molecular polymer, and top and induction electricity taking coil cooperation, induction electricity taking coil are cementing
Or resin-cast is fixed in the half slot on top, there are three holes for lower part, and the hole of the left and right sides is pilot hole, and intermediate hole is fixed
There is a left or right rotation nut made of metal, is one with bearing support 3 respectively protruding one section on the wall of two end faces of half slot
Body, there is the bearing of the roller 5 of trunnion axis and the roller 18 of vertical axis above, there are also the holes for placing microswitch 35 and touching column 4.
11 be screw rod, respectively has one section of screw thread along center line of length or so, wherein be left hand thread another side being on one side right
Screw thread is revolved, gear-like is made in the end of screw rod, and it is interior that the output shaft of the driving screw motor with retarder there are both gears to pass through
Gear coupling connection.
Under the both sides protrusion parallel with screw axis of platform 8 has wall 1, the upper edge of wall to stop power transmission line excessive
Drop, wall 1 is exactly the box wall of box-like platform when box-like platform.
There is switch on wall 1, issues signal when power transmission line is close or touches the edge of wall.Form that there are many switches,
Such as hinge is fixed with below horizontal supporting plate, one page of hinge is fixed on wall, and horn shape is fixed with below supporting plate
Pressing plate, pressing plate press microswitch fixed on wall.Or nylon yarn tensioned, on two brackets, both ends are touched
Microswitch, power transmission line issue signal when oppressing nylon yarn.But it is most convenient that using optoelectronic switch, two walls in this example
On the optoelectronic switch 2 that be made of a pair of of laser diode emitters and receiver, optoelectronic switch hair when power transmission line stops light
Signal out, optoelectronic switch grafting or the cementing upper edge in wall.
For the supporting force of the axis of trunnion axis roller on enhancing bearing support, there is the water of a bearing support two sides in two bearing supports
There is hole in the front of the axis 6 of flat axis roller, and there is the axis with hole cooperation at corresponding position on another bearing support, and two bearing supports are drawn close
When shaft insertion hole in.
9 be power transmission line underside roller, and the bearing bracket stand of power transmission line underside roller inlays the bottom surface for being fixed on box-like platform 8 or box
On wall.When having flatly moving type removable pin, one is made in the guide rail of removable pin and the bearing bracket stand of power transmission line underside roller.
Bearing support can also be opened and closed by the way of rotation, and as shown in Figure 4, two bearing supports form a hinge, box
There is the bearing of hinge axis 36 in the cassette bottom of shape platform, torsionspring 33 separates two bearing supports, and there is stud 37 in bearing support side
For stopping spring force side, the bearing support of the top of bearing support and aforementioned translation be it is the same, one as hereinbefore is same
When the screw rod 11 with left hand thread and right-handed thread pass through two bearing supports, left-handed nut squeeze a bearing support right-handed nut
Another bearing support is squeezed, there is the baffle for preventing it from rotating below nut, the bearing of screw rod is embedded in the box wall of box-like platform
On.The lateral projections of bearing support have touching lever 34 when with rotary type spring removable pin, and touching lever is touched in iron core closed position and rotated
One arm of formula removable pin unlocks removable pin.
The catching range that power transmission line is captured to increase unmanned vehicle from power mains induced electricity getting device, is provided with a pair and leads
To cover 22, guide housing 22 is thin-wall part made of plastics, and guide housing is fixed on platform, there is recess on guide housing, and bearing support exists
Induction electricity taking coil fixed thereon is under recess when separated extreme position, and one section of inclined-plane or curved surface are arranged at the top of recess, tiltedly
Face or curved surface guide power transmission line to slide to middle position along inclined-plane or curved surface.
To prevent unmanned vehicle from being turned over from power mains induced electricity getting device by wind around power transmission line in unpowered situation
Rolling, is equipped with vertical guide post 16 on the quadrangle of platform, and vertical guide post can be using pipe, unmanned vehicle made of high molecular material
Having on fuselage 20 can go up and down with the vertical guide sleeve of vertical guide post 16 cooperation, unmanned vehicle along vertical guide post, vertical guide post
The intrinsic lug boss 25 of lower end spiral shell, unmanned vehicle can be by convex on vertical guide post when being down to the lower limit position of vertical guide post lower part
Portion 25 is played to block.
There is spring removable pin 32 on platform, hook 21 is fixed on unmanned vehicle fuselage, unmanned vehicle rises to close
The inclined-plane when upper limit position of platform on hook opens automatic locking after spring removable pin.
The switch of each extreme position can be using microswitch or using satisfactory noncontacting switch.
Comprehensively consider unmanned vehicle to work from the line walking that the groundwork of power mains induced electricity getting device is power transmission line, have
When need using hanging on power transmission line by the way of line walking, at this time unmanned vehicle need with rotor provide air force along transmit electricity
Line is mobile, and while capturing alignment power transmission line from below need to turn to it is sensitive, so the unmanned vehicle used be more rotors without
People's aircraft, as shown in Fig. 2, Fig. 3, unmanned vehicle fuselage 20 be in protruding six bars of a box style, edge
4 rotors 19 of line of symmetry distribution are vertical axes, mainly provide lift, aircraft is with an axis and plane of symmetry weight
It closes and the trunnion axis rotor 31 of level, the rotor is the rotor of dedicated offer onward impulse, unmanned vehicle has trunnion axis
Tail rotor 24 make to turn to sensitive, the rotor of unmanned vehicle prevents damaged in collision with shield.
It is living spring cannot to be touched open in iron core closed position using bearing support when line walking by the way of hanging on power transmission line
The mode of dynamic pin, spring removable pin is controlled by the cam that a decelerator drives at this time, as shown in Figure 5, Figure 7, shown in Fig. 5
It is flatly moving type spring removable pin, is rotary type spring removable pin shown in Fig. 7.
Since the curent change that power transmission line passes through is very big, poor an order of magnitude there may come a time when, induction electricity taking coil is caused to take
The voltage levels gap obtained is excessive, therefore the motor 15 driven screw turns can use servomotor, automatically control electricity
Road issues corresponding order, adjust automatically two to servomotor according to the voltage levels that the induction electricity taking coil detected obtains
The size of the air gap between the iron core of part makes to incude the voltage substantially constant that electricity taking coil obtains.
There is no the position of signal since the work of power transmission line line walking is likely to be at barren hill, power line is made full use of to carry
Wave communication is also optionally, to be in addition wound with coil at this time or using induction electricity taking coil simultaneously as the receipts of power line carrier communication
Transmit resonance coil.The high-frequency signal that coil obtains is separated by high-pass filter with power frequency, and resonance and predetermined transmitting-receiving letter frequency
Rate obtains signal by traditional power line carrier communication signal processing mode.Since the frequency band of power line carrier communication is relatively narrow,
Relatively simple information, such as GPS location, simple command, single image information are only conveyed, but this has been very useful.
For convenience of power transmission line and observation power transmission line, the camera 23 for having camera lens upward on aircraft is captured, camera is shot
Image be used to press predetermined image correction to program position of aircraft, due to apart from the more more convenient observation power transmission line of power transmission line whether there is or not
Problem.
Induction electricity taking coil on platform and may connecting wire between the other equipment that installed and unmanned vehicle around
It at spring shape, in the vertical guide post of platform or covers outside the vertical guide post of platform, spring-like wire is mounted in vertical guide post
When interior, there is opening on an at least section in vertical guide post, conducting wire lead-out wire is drawn from open slot, and in open slot
It is mobile, be it is anti-wear, wearing bush can be added.
Sometimes power transmission line inconvenience aircraft is particularly near can be used at this time with parallelogram connection-rod holding mechanism
The type of self-raising lift platform, as shown in Figure 3: there are three hole, the friendships of two of them line of symmetry in laminar linkage plane
There is a centre bore at remittance, respectively there is a hole on two heads, and on centerline and bilateral symmetry, connecting rod as two panels is at center in hole
It is hinged together at hole, the hole on multiple such connection rod set heads is in sequential series to be hinged together to form the company of parallelogram sturcutre
Respectively there is one group of short connecting rod at bar assembly 26, the both ends of the link assembly of such a string of parallelogram sturcutres, has two on short connecting rod
The spacing in a hole, hole is identical as the spacing in the hole on long connecting rod, and two short connecting rods are hinged together, the hole at the other both ends of two short connecting rods
It being respectively hinged together with a long connecting rod, forms parallelogram, two short connecting rod hinged places of upper end are hinged together with platform, under
Two short connecting rod hinged places at end are hinged together with nut 30 is elected, and elect nut and an election screw rod 29 cooperates, elect spiral shell
Bar is connected by shaft coupling with decelerating motor 28, and unmanned vehicle fuselage extends downwardly one block of hollow plate 27, parallelogram
The connection rod set 26 of structure has a hole, parallelogram knot between two inner wall of cored slab on the line of symmetry of the lower part of cored slab
The center hinged place of the two panels long connecting rod of the connection rod set of structure bottom is hinged by this hole and cored slab 27, and decelerating motor is fixed
On the outer wall of cored slab.Screw rod is elected in decelerating motor driving goes up and down platform.
Such parallelogram connection-rod holding mechanism can also two groups it is used in parallel, need to stretch two pieces on such fuselage
Same cored slab.
Substantially working condition is such that unmanned vehicle carries the platform of sensing electricity getting device on the back, connects from power transmission line lower section
Nearly power transmission line, by predetermined image correction to program position make power transmission line be in platform surface and iron core axis and transmission of electricity bobbin thread
Close to being overlapped, unmanned vehicle rises at this time, when unmanned vehicle rises to upper edge of the power transmission line close to box-like platform, light
Electric switch provides signal, and screw rod of the driving screw motor driving with left-right rotary screw thread rotates, and drives the two halves on bearing support
A iron core incudes electricity taking coil to be drawn close when iron core contacts or only very little gap to center, and touching microswitch provides signal
Stall motor, while bearing support touches out the spring removable pin on platform, unmanned vehicle is vertical on platform by gravity
Guide post drops to bottom end, hangs over and starts to charge there.Charging complete, unmanned vehicle rises along vertical guide post, until extreme position
When, spring removable pin is automatically by unmanned vehicle after the inclined-plane being fixed on the hook on unmanned vehicle opens spring removable pin
It is lockked with platform, while touching the microswitch of mesa base, providing signal inverts electric motor driven screw, drives on bearing support
Two half iron core induction electricity taking coils separate, until microswitch provides signal, motor stalling, unmanned vehicle when extreme position
Decline certain distance starts to normal cruise to after being detached from power transmission line.
Such as the line walking by the way of hanging on power transmission line, the air force that unmanned vehicle rotor provides at this time is along transmission of electricity
Line is mobile, and when encountering the barriers such as separation of division power transmission line, providing command signal by program inverts electric motor driven screw,
Two half of iron core induction electricity taking coils on bearing support are driven to separate, until microswitch provides signal when extreme position, nobody flies
After a distance that moves ahead again after row device decline certain distance to disengaging power transmission line avoids the barriers such as separation of division power transmission line
Unmanned vehicle carries the platform of sensing electricity getting device on the back, from power transmission line lower section close to power transmission line, by predetermined image correction to program position
It sets the surface for making power transmission line be in platform and iron core axis is approached with transmission of electricity bobbin thread and is overlapped, unmanned vehicle rises at this time,
When unmanned vehicle rises to upper edge of the power transmission line close to box-like platform, optoelectronic switch provides signal, and driving screw rod is electronic
Screw rod of the machine driving with left-right rotary screw thread rotates, and two half of iron core induction electricity taking coils on bearing support is driven to draw close to center
Until iron core contact or only very little gap when, touching microswitch provides signal and stalls motor, unmanned vehicle again before
Into until the separation period of the day from 11 p.m. to 1 a.m for encountering division power transmission line again repeats foregoing work circulation.Unmanned vehicle can be while work
It charges.If necessary to only hang on power transmission line and unmanned vehicle rotor stall when, decelerator driving it is convex
Wheel opens spring removable pin, and unmanned vehicle drops to bottom end by vertically-guided bar of the gravity on platform, hangs over and fills there
Electricity.
Using with parallelogram connection-rod holding mechanism self-raising lift platform type when, aircraft hovers over transmission of electricity
Below line, starting the motor of holding mechanism, platform rises to optoelectronic switch and provides signal, and screw rod rotation is closed iron core, according to
Line walking after needing to hang over charging there or rising.
Although platform can be the bearing and transmission mechanism that one flat plate is fixed on screw rod in the simplest case
Guide rail etc., and can also carry other forms on platform takes electric induction electricity taking coil, for example, induction electricity taking coil only around
On the iron core of side, the other side is one piece of iron core, and rotate or be translatable this block iron core, makes itself and the iron for being wound with induction electricity taking coil
Core forms closed magnetic circuit, and induction electricity taking coil, which can be wound on the side of iron core or separate, is wound on two sides, only with level
The bearing support of shaft roller side is mobile or two bearing supports are all moved and are all possible using respectively individual screw drive, but
These are not preferred.
Wheeled running mechanism can also be carried on platform.
Claims (10)
1. a kind of unmanned vehicle with hoistable platform, including unmanned vehicle, it is characterised in that: there is a hoistable platform,
The upper surface of the bottom surface of hoistable platform and unmanned vehicle are opposite, and vertical guide post is fixed on hoistable platform, is had on unmanned vehicle
With the vertical guide sleeve of vertical guide post cooperation, unmanned vehicle can be gone up and down along vertical guide post, be had on hoistable platform from power transmission line
Sensing electricity getting device.
2. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: unmanned vehicle is by rotation
The air force that the wing provides rises and declines by gravity, has spring removable pin on hoistable platform, is fixed on unmanned vehicle
Hook, inclined-plane when unmanned vehicle rises to close to the upper limit position of hoistable platform on hook open after spring removable pin from
It is dynamic to lock, spring removable pin is opened when bearing support is moved to iron core closed position or spring removable pin is by a decelerator
The cam of driving controls, and can be hung down when unmanned vehicle is down to the lower limit position of vertical guide post lower part after spring removable pin is opened
Lug boss on straight guide post blocks.
3. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: hoistable platform is by electronic
The parallelogram connection-rod holding mechanism lifting of machine driving, the short connecting rod hinged place of parallelogram connection-rod holding mechanism the top
It is hinged with hoistable platform, the hinged place at parallelogram connection-rod holding mechanism the lowermost long connecting rod center and aircraft fuselage to
The plate of lower stretching is hinged, and the motor with retarder is fixed on the plate that aircraft fuselage extends downwardly, and holding mechanism is most lower
The short connecting rod hinged place at end is hinged with an election nut, and the axis of the screw thread axially bored line and connecting rod link axis of electing nut hangs down
Directly, it elects nut and elects screw rod cooperation, the motor drive with retarder, which elects screw rod, goes up and down hoistable platform.
4. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: all on hoistable platform
Connecting wire between electrical equipment and unmanned vehicle is coiled into spring shape installed in the vertical guide post of hoistable platform or covers
Outside the vertical guide post of hoistable platform.
5. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: hoistable platform and power transmission line
The vertical both sides protrusion of axis has wall, and the upper edge of wall stops power transmission line excessively to decline, with switch, power transmission line on wall
Trigger switch when close or touching wall upper edge.
6. having the unmanned vehicle of hoistable platform according to claim 1 or described in 2,3,4,5, it is characterised in that: from transmission of electricity
Line sensing electricity getting device has cricoid iron core, and cricoid iron core consists of two parts, and can open and close, form ring when being combined
Shape, iron core is axial outside to be wound with induction electricity taking coil, and power transmission line is passed through from the ring that two parts iron core forms when taking electricity, hoistable platform
On have two bearing supports in left and right, fix on bearing support cored, there is induction electricity taking coil, two branch outside wherein at least one iron core
Bolster is staggered relatively, when two bearing supports close to when iron core formed closed magnetic circuit, have one simultaneous with left hand thread and dextrorotation
The screw rod of screw thread, the axis of screw rod and the axis of iron core are vertical, and the bearing of screw rod is fixed on hoistable platform, and screw rod passes through two
Bearing support, there is left-handed nut and the right-handed nut for cooperating relative configuration with it on screw rod simultaneously, and the rotation of motor drive screw rod is left
Spin nut and right-handed nut relatively move can be such that iron core is closed when clamping two bearing supports, and there are roller in the two sides of bearing support.
7. the unmanned vehicle according to claim 6 with hoistable platform, it is characterised in that: hoistable platform is box-like
, there are horizontal guide post or guide sleeve on bearing support, there are at least three raised items in the cassette bottom of box-like hoistable platform, every
There are at least two lateral apertures cooperated with guide post or guide sleeve on raised item, the bearing of screw rod is on raised item, left-handed nut
It is separately fixed on left bearing support or right bearing support with right-handed nut, iron core and the induction of semicircular is fixed on each bearing support
There are the roller of vertical axis in electricity taking coil, the two sides of each bearing support, and there are the rolling of trunnion axis in the two sides of at least one bearing support simultaneously
Son.
8. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: unmanned vehicle is revolves more
Wing unmanned vehicle, 4 rotors along line of symmetry distribution are vertical axes, mainly provide lift, axis is overlapped with the plane of symmetry
Rotor is trunnion axis, is the rotor of dedicated offer onward impulse, and iron core unmanned vehicle in closed position is mentioned with rotor
The air force of confession is moved along power transmission line, and unmanned vehicle has the tail rotor of trunnion axis, and the rotor of unmanned vehicle is with anti-
Shield.
9. the unmanned vehicle according to claim 6 with hoistable platform, it is characterised in that: the electricity driven screw turns
Motivation is servomotor, and the voltage levels that automatic control circuit is obtained according to the induction electricity taking coil detected are to servo-electric
Machine issues corresponding order, the size of the air gap between adjust automatically two parts iron core.
10. the unmanned vehicle according to claim 6 with hoistable platform, it is characterised in that: be in addition wound on iron core
Coil believes coil using induction electricity taking coil as the transmitting-receiving of power line carrier communication.
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Families Citing this family (3)
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| CN110422329B (en) * | 2019-07-19 | 2020-12-08 | 苏州高博软件技术职业学院 | Wheel type movable wing device and method for controlling rotation of blades through cam |
| CN110409899A (en) * | 2019-08-21 | 2019-11-05 | 上海复亚智能科技有限公司 | The circulating unmanned plane of multimachine automates hangar |
| CN111452662A (en) * | 2020-04-01 | 2020-07-28 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle charging device, unmanned aerial vehicle and battery charging method |
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