CN107117325B - Unmanned aerial vehicle ground emission and recovery dolly - Google Patents
Unmanned aerial vehicle ground emission and recovery dolly Download PDFInfo
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- CN107117325B CN107117325B CN201710257609.0A CN201710257609A CN107117325B CN 107117325 B CN107117325 B CN 107117325B CN 201710257609 A CN201710257609 A CN 201710257609A CN 107117325 B CN107117325 B CN 107117325B
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- 238000011084 recovery Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000003028 elevating effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/10—Ground or aircraft-carrier-deck installations for launching aircraft using self-propelled vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an unmanned aerial vehicle ground launching and recovery trolley, which comprises a trolley body, a platform, a lifting mechanism and a tail fixing device, wherein wheels are arranged on the bottom surface of the trolley body, and a motor for driving the wheels to advance and retreat is arranged in the trolley body; the platform is arranged on the top surface of the vehicle body, the width of the platform is larger than the wingspan of the unmanned aerial vehicle, and two sides of the bottom surface of the platform are respectively provided with an inclined strut fixed with the vehicle body; the lifting mechanisms are respectively arranged on two sides of the top surface of the platform, each lifting mechanism comprises two lifting rods and a cushion block, the bottom ends of the two lifting rods are mutually fixed and movably connected with the platform, the top ends of the lifting rods are connected with the cushion blocks, and the top ends of the two lifting rods respectively move in the cushion blocks along opposite directions; the tail fixing device comprises a spring arranged on a vehicle body and an annular lock fixed at the top end of the spring, the annular lock comprises an upper lock ring and a lower lock ring, a cover plate is arranged at the end part of the upper lock ring, the annular lock is connected with the cover plate through a rotating shaft, and the cover plate can rotate around the axis of the rotating shaft.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle auxiliary equipment, in particular to an unmanned aerial vehicle ground launching and recycling trolley.
Background
Unmanned aerial vehicles are unmanned aircraft that operate using radio remote control devices and self-contained program control devices, and because of their large wing span, it is desirable to minimize the structural weight of the aircraft. The takeoff and landing of the unmanned aerial vehicle usually need to install a more complex landing gear to realize safe launching and recovery, and the launching modes mainly comprise running takeoff, rocket boosting launching, catapult takeoff, hand-throwing launching, aerial release, vertical takeoff and the like; the recovery modes mainly include net collision recovery, parachute landing recovery, self landing recovery and the like.
The launching mode of taking off is run to the ground, unmanned aerial vehicle utilizes the thrust of self engine when the ground runs and takes off, it is empty to accelerate on the runway through the undercarriage, its required ground corollary equipment is few, low in use cost, but it needs better ground environmental condition, flexible flexibility is poor, and the undercarriage can increase aircraft structure weight, can reduce flight performance to a certain extent, and to other modes, often will be according to the difference of launching with retrieving the task, set up different devices respectively, the complexity of ground guarantee has been increased.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an unmanned aerial vehicle ground launching and recovery trolley which comprises a trolley body, a lifting mechanism and a tail fixing device.
The bottom surface of the car body is provided with wheels, the inside of the car body is provided with a motor for driving the wheels to advance and retreat, and the motor is matched with the wheels to enable the trolley to be driven by itself without external force, so that the difficulty and the complexity of ground guarantee are reduced.
The platform is arranged on the top surface of the vehicle body, the width of the platform is larger than the wingspan of the unmanned aerial vehicle, two sides of the bottom surface of the platform are respectively provided with an inclined strut fixed with the vehicle body, namely, the left bottom surface and the right bottom surface of the platform are respectively provided with an inclined strut, the two inclined struts are respectively fixed with the left side and the right side of the vehicle body,
the lifting mechanisms are respectively arranged on two sides of the top surface of the platform and used for supporting wings of the unmanned aerial vehicle, each lifting mechanism comprises two lifting rods and a cushion block, the bottom ends of the two lifting rods of the same lifting mechanism are mutually fixed and movably connected with the platform, the top ends of the lifting rods are connected with the cushion blocks, the top ends of the two lifting rods respectively move in the cushion blocks along opposite directions, and the heights of the lifting mechanisms are adjusted through the movement of the top ends of the lifting rods so as to adapt to the functions of the unmanned aerial vehicles with different body heights;
tail fixing device, it is including setting up the spring on the automobile body and fixing the annular lock on the spring top, and the spring is used for adapting to not co-altitude unmanned aerial vehicle's fin passively, and the annular lock includes catch and lower catch, the catch tip is equipped with the apron, is connected through the pivot between annular lock and the apron, and the apron can revolute the axis of axle rotatory, can contact with lower catch when the apron is closed, realizes the closure of annular lock, opens or closes the annular lock through the rotation of apron, realizes fixing the function on the dolly with unmanned aerial vehicle.
Preferably, the top surface of the platform is provided with a slide rail connected with the two lifting mechanisms, the lifting mechanisms move along the slide rail in a motor-driven mode, and the distance between the lifting mechanisms on the two sides is adjusted through the left-right sliding of the lifting mechanisms so as to adapt to unmanned aerial vehicles with different wingspan lengths.
Preferably, the bottom of the cushion block is provided with a long circular hole, and the top end of the lifting rod is connected with the cushion block through the long circular hole, namely the lifting rod can adjust the height of the lifting mechanism by sliding back and forth in the long circular hole.
According to the ground launching and recovering trolley for the unmanned aerial vehicle, provided by the invention, the undercarriage is omitted, the body space is effectively saved, the flight resistance is reduced, the flight performance of the airplane is improved, meanwhile, the ground guarantee cost of the unmanned aerial vehicle is reduced by the lifting support with the adjustable height and position, so that the ground launching and recovering trolley is suitable for unmanned aerial vehicles of different models, and the trolley is also provided with the rear body fixing device of the unmanned aerial vehicle, which is used for fixing the unmanned aerial vehicle in the launching and landing processes.
Drawings
FIG. 1 is an overall schematic view of an unmanned aerial vehicle ground launch and recovery vehicle;
FIG. 2 is a general schematic view of the ground launch and recovery of a small vehicle-mounted drone;
FIG. 3 is a schematic view of the descending state of the unmanned aerial vehicle ground launch and recovery trolley lifting support;
FIG. 4 is a schematic view of the elevated position of the unmanned aerial vehicle ground launch and recovery vehicle lifting bracket;
FIG. 5 is a schematic view of the annular lock of the ground launch and recovery vehicle of the drone in a closed position;
FIG. 6 is a schematic view of the unmanned aerial vehicle ground launch and recovery vehicle with the ring lock in an open position;
fig. 7 is a schematic view of the pods of the drone ground launch and recovery cart.
Reference numerals: wheel 1, oblique branch 2, platform 3, lifting support 4, spring 5, annular lock 6, wing 7, unmanned aerial vehicle 8, pivot 10, apron 11, lifter 12, cushion 13, slotted hole 14, automobile body 15, slide rail 16.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are used for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the scope of the invention.
The ground launching and recovery trolley for the unmanned aerial vehicle is described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the ground launching and recovery trolley for the unmanned aerial vehicle provided by the invention comprises a vehicle body 15, a platform 3, a tail fixing device and two lifting mechanisms 4;
the wheels 1 are arranged on the bottom surface of the vehicle body 15, the motor for driving the wheels 1 to advance and retreat is arranged in the vehicle body 15, and the motor is matched with the wheels 1 to enable the trolley to realize self-driving without external force, so that the difficulty and complexity of ground guarantee are reduced;
As shown in fig. 3 and 4, the two lifting mechanisms 4 are respectively arranged at two sides of the top surface of the platform 3, each lifting mechanism 4 comprises two lifting rods 12 and a cushion block 13, as shown in fig. 7, the bottom of each cushion block 13 is provided with a long circular hole 14, and the top end of each lifting rod 12 is connected with the corresponding cushion block 13 through the long circular hole 14; the bottom ends of the two lifting rods 12 are mutually fixed and movably connected with the platform 3, the top ends of the lifting rods 12 are connected with the cushion block 13, the top ends of the two lifting rods 12 respectively move in the cushion block 13 along opposite directions, and the height of the lifting mechanism 4 is adjusted through the movement of the top ends of the lifting rods 12 so as to adapt to the functions of unmanned aerial vehicles with different body heights;
As shown in fig. 5 and 6, the tail fixing device includes a spring 5 disposed on the vehicle body 15 and an annular lock 6 fixed on the top end of the spring 5, the spring 5 is used for passively adapting to the tail wings of the unmanned aerial vehicle 8 with different heights, the annular lock 6 includes an upper lock ring and a lower lock ring, the end portion of the upper lock ring is provided with a cover plate 11, the annular lock 6 is connected with the cover plate 11 through a rotating shaft 10, the cover plate 11 can rotate around the axis of the rotating shaft 10, the cover plate 11 can contact with the lower lock ring when being closed, the annular lock 6 is opened or closed through the rotation of the cover plate 11, and the function of fixing the unmanned aerial vehicle 8 on the.
The present invention is described in further detail below by way of specific examples.
The specific embodiment is as follows:
before unmanned aerial vehicle 8 takes off, adjust the position and the height of lifting support 4 in advance, cover plate 11 through sending GPS signal with annular lock 6 is opened, then place unmanned aerial vehicle 8 on the dolly, it is fixed with unmanned aerial vehicle 8 back fuselage through connecting the rope to pass two annular locks 6 with a rope, the gesture of keeping the aircraft when doing benefit to the low-speed slippage, then send GPS signal and close apron 11, later start the dolly and make its run, when speed reaches unmanned aerial vehicle 8's terrain clearance, send GPS signal and make pivot 10 rotate, open apron 11, the rope is connected in the release, unmanned aerial vehicle 8 removes the locking, unmanned aerial vehicle 8 leaves the dolly at last and takes off and independently climbs, the completion procedure of taking off.
In the landing process of unmanned aerial vehicle 8, when unmanned aerial vehicle 8 is close or arrives the runway empty, the dolly accelerates rapidly to the same with 8 horizontal velocity of unmanned aerial vehicle, through difference GPS data contrast this moment to introduce video image matching equipment, ensure that the dolly remains in the aircraft below all the time, unmanned aerial vehicle 8 continues to descend, and fall on platform 3, then send the GPS signal, close apron 11, lock unmanned aerial vehicle 8, the dolly decelerates at last until the shut down, the aircraft landing is accomplished.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (3)
1. The utility model provides an unmanned aerial vehicle ground transmission and recovery dolly, unmanned aerial vehicle fixes a position through difference GPS, a serial communication port, include:
the bicycle comprises a bicycle body (15), wheels (1) are arranged on the bottom surface of the bicycle body (15), and a motor for driving the wheels (1) to advance and retreat is arranged in the bicycle body (15);
the platform (3) is arranged on the top surface of the vehicle body (15) and has a width larger than the wingspan of the unmanned aerial vehicle (8), and two sides of the bottom surface of the platform (3) are respectively provided with an inclined strut (2) fixed with the vehicle body (15);
the lifting mechanisms (4) are respectively arranged on two sides of the top surface of the platform (3), each lifting mechanism (4) comprises two lifting rods (12) and a cushion block (13), the bottom ends of the two lifting rods (12) are mutually fixed and movably connected with the platform (3), the top ends of the lifting rods (12) are connected with the cushion blocks (13), and the top ends of the two lifting rods (12) respectively move in the cushion blocks (13) along opposite directions;
the tail fixing device comprises a spring (5) arranged on a vehicle body (15) and an annular lock (6) fixed at the top end of the spring (5), wherein the annular lock (6) comprises an upper lock ring and a lower lock ring, a cover plate (11) is arranged at the end part of the upper lock ring, the annular lock (6) is connected with the cover plate (11) through a rotating shaft (10), and the cover plate (11) can rotate around the axis of the rotating shaft (10);
before the unmanned aerial vehicle (8) takes off, the position and the height of the lifting support (4) are adjusted in advance, a cover plate (11) of an annular lock (6) is opened by sending a GPS signal, then the unmanned aerial vehicle (8) is placed on a trolley, a connecting rope penetrates through two annular locks (6) and fixes the rear body of the unmanned aerial vehicle (8) through the connecting rope, the posture of the airplane is kept when the airplane slides at a low speed, then the GPS signal is sent to close the cover plate (11), the trolley is started to run, when the speed reaches the ground-off speed of the unmanned aerial vehicle (8), the GPS signal is sent to enable a rotating shaft (10) to rotate, the cover plate (11) is opened, the connecting rope is released, the unmanned aerial vehicle (8) is unlocked, and finally the unmanned aerial vehicle (8) leaves the trolley to take off and climb autonomously to;
in unmanned aerial vehicle (8) landing process, when unmanned aerial vehicle (8) are close or arrive the runway empty, the dolly accelerates to the same with unmanned aerial vehicle (8) horizontal velocity fast, this moment through difference GPS data contrast, and introduce video image matching equipment, ensure that the dolly remains in the aircraft below all the time, unmanned aerial vehicle (8) continue to descend, and fall on platform (3), then send the GPS signal, close apron (11), locking unmanned aerial vehicle (8), the dolly decelerates until stopping at last, the aircraft landing is accomplished.
2. The ground launching and recovery trolley for unmanned aerial vehicles according to claim 1, wherein the top surface of the platform (3) is provided with a slide rail (16) for connecting the two lifting mechanisms (4), and the lifting mechanisms (4) move along the slide rail (16) in a motor-driven manner.
3. The ground launching and recovery trolley for unmanned aerial vehicles according to claim 1, wherein the bottom of the cushion block (13) is provided with a long circular hole (14), and the top end of the lifting rod (12) is connected with the cushion block (13) through the long circular hole (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257609.0A CN107117325B (en) | 2017-04-19 | 2017-04-19 | Unmanned aerial vehicle ground emission and recovery dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710257609.0A CN107117325B (en) | 2017-04-19 | 2017-04-19 | Unmanned aerial vehicle ground emission and recovery dolly |
Publications (2)
| Publication Number | Publication Date |
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| CN107117325A CN107117325A (en) | 2017-09-01 |
| CN107117325B true CN107117325B (en) | 2021-05-25 |
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| CN201710257609.0A Active CN107117325B (en) | 2017-04-19 | 2017-04-19 | Unmanned aerial vehicle ground emission and recovery dolly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109747838A (en) * | 2018-12-27 | 2019-05-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of ventral net bag type space base unmanned plane recyclable device and recovery method |
| CN109693804A (en) * | 2019-01-28 | 2019-04-30 | 北京云影飞扬科技有限公司 | A kind of unmanned plane takes off trolley |
| CN110667874B (en) * | 2019-11-04 | 2024-06-14 | 中国科学院工程热物理研究所 | Detachable unmanned aerial vehicle bearing structure, put and fly device and put and fly recovery system |
| CN112550753A (en) * | 2020-12-28 | 2021-03-26 | 东北农业大学 | Fixed wing unmanned aerial vehicle running takeoff auxiliary trolley |
| CN113359804A (en) * | 2021-07-12 | 2021-09-07 | 福建中量智汇科技有限公司 | Unmanned aerial vehicle landing method and device based on mobile parking apron |
| CN114408203B (en) * | 2022-01-07 | 2023-12-01 | 北京理工大学 | Fixed wing unmanned aerial vehicle boosting emission system and method |
| CN114408201B (en) * | 2022-01-07 | 2024-04-19 | 北京理工大学 | Fixed wing unmanned aerial vehicle recycling system and method |
| CN114620243B (en) * | 2022-05-12 | 2022-09-06 | 四川腾盾科技有限公司 | Intelligent take-off and landing capturing system for aircraft |
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| US5150860A (en) * | 1991-04-23 | 1992-09-29 | The Boeing Company | Air vehicle launching device |
| JPH1149490A (en) * | 1997-07-29 | 1999-02-23 | Tamagawa Seiki Co Ltd | Carrying device |
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| CN102285458A (en) * | 2011-08-28 | 2011-12-21 | 成都飞机工业（集团）有限责任公司 | General transport vehicle for multi-model parts |
| CN106218914A (en) * | 2016-09-22 | 2016-12-14 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Aircraft and railcar overlap-connected landing system and method |
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2017
- 2017-04-19 CN CN201710257609.0A patent/CN107117325B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB520948A (en) * | 1938-11-04 | 1940-05-08 | Francis William King | Improvements in or relating to aircraft |
| US5150860A (en) * | 1991-04-23 | 1992-09-29 | The Boeing Company | Air vehicle launching device |
| JPH1149490A (en) * | 1997-07-29 | 1999-02-23 | Tamagawa Seiki Co Ltd | Carrying device |
| CN1915744A (en) * | 2005-11-29 | 2007-02-21 | 周柏林 | Force landing chassis in failure of landing gear |
| CN101274668A (en) * | 2007-03-26 | 2008-10-01 | 黄金富 | Safe landing system and method for rescuing airplane out of action in flight |
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| CN107117325A (en) | 2017-09-01 |
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