CN109850173B - Multifunctional vehicle-mounted mode platform device based on six-degree-of-freedom parallel posture adjusting mechanism - Google Patents
Multifunctional vehicle-mounted mode platform device based on six-degree-of-freedom parallel posture adjusting mechanism Download PDFInfo
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Abstract
The invention discloses a multifunctional vehicle-mounted mode platform device based on a six-degree-of-freedom parallel posture adjusting mechanism, which comprises a connecting device, a six-degree-of-freedom posture adjusting system, a folding platform, a wireless charging module and a wireless detection module, wherein the connecting device is arranged on the bottom layer and consists of four non-metal suckers, the connecting device is connected with the six-degree-of-freedom posture adjusting system through a threaded device, and an air exhaust device is arranged on each sucker; the six-freedom posture adjusting system is arranged on the connecting device; the wireless charging module is arranged at the bottom of the folding platform and comprises a wireless charging plate, a solar cell panel and a storage battery, and the wireless detection module is positioned on the upper surface of the middle platform and comprises a wind speed sensor, an electromagnet, a GPS (global positioning system) and an ultrasonic sensor; the mixed connection mechanism is positioned on the folding platform and is mutually connected with the middle platform and the unfolding platform through hinges. The invention has more accurate realization mode, lower difficulty and higher safety.
Description
Technical Field
The invention relates to the technical field of small unmanned aerial vehicle application technology and multifunctional vehicle-mounted technology, in particular to a multifunctional vehicle-mounted mode platform device based on a six-degree-of-freedom parallel posture adjusting mechanism.
Background
With the continuous development of space vehicle-mounted technology and the expansion of the application field of domestic small unmanned aerial vehicles, equipment capable of being used for the endurance of the unmanned aerial vehicle and the butt joint working condition with the unmanned aerial vehicle under complex conditions gradually appear, however, since some devices for the continuation of the journey of the drone use wired charging devices, such devices are complex, meanwhile, the working condition of the butt joint with the unmanned aerial vehicle can not realize the butt joint at any position, the small unmanned aerial vehicle can not realize the automatic take-off and landing of the vehicle-mounted platform on the roof in the running process, there is a need for a safe, reliable, stable-working, multifunctional vehicle-mounted mode wireless charging device that can achieve accurate docking and intelligent charging of an unmanned aerial vehicle under complex conditions, and automatic takeoff and landing of a small unmanned aerial vehicle, the problem of the continuation of the journey of unmanned aerial vehicle and the automatic take-off and landing of the car roof unmanned aerial vehicle in the high-speed driving process of the car are solved.
Multi-function vehicle carries mode unmanned aerial vehicle platform device, this technique is a neotype field. The invention has the following patents: a safe landing system of an unmanned aerial vehicle and the unmanned aerial vehicle with the landing system are CN105905310A.2016. the working mode of the safe landing system of the unmanned aerial vehicle mainly comprises that a main control module is connected with a laser emitting device to control the landing of the unmanned aerial vehicle. Laser beam is launched by laser emitter to projecting on ground to the landing point and forming the landing area, host system launches the landing instruction simultaneously, control unmanned aerial vehicle descends in the region. And a laser beam is emitted before landing to project out of a landing area to remind ground personnel to avoid. However, in the actual working process, the unmanned aerial vehicle may land in the high-speed driving process of the automobile, so that a GPS (global positioning system) of the automobile and the unmanned aerial vehicle are required to accurately perform butt joint for positioning and information, only the laser emitting device emits laser beams, and the laser beams are projected to a landing point on the ground to form a landing area, so that the small unmanned aerial vehicle cannot be accurately docked and landed with the automobile at any position.
At present, the existing damping charging platform for unmanned aerial vehicle landing has on the basis of the damping platform based on the Stewart parallel mechanism, and the existing damping charging platform for unmanned aerial vehicle landing utilizes a lithium battery, a battery box and a wiring pipe to charge the parked unmanned aerial vehicle in a wired mode. The supporting device number be eight, the supporting device is located the damping device outside end respectively along damping device's the central axis, and is connected through the bolt between supporting device and the damping device, berth the base and be located directly over the damping device, and link firmly between berth the base and the damping device, charging device is located and berths the base top. The posture adjusting principle related to the technology is different from the posture adjusting principle of the 6-upr parallel mechanism adopted by the invention; the damping charging platform for unmanned aerial vehicle landing related to the technology is different from the principle of the invention. In order to improve the universality, safety and economy of the device, the situation needs to be improved, and therefore the invention provides the multifunctional vehicle-mounted mode unmanned aerial vehicle landing platform based on the six-degree-of-freedom attitude adjusting mechanism applied to the complex environment.
Disclosure of Invention
In view of the above technical problems, the present invention aims to provide a multifunctional vehicular mode platform device based on a six-degree-of-freedom parallel posture adjustment mechanism, the device utilizes the multifunctional vehicle-mounted technical principle, firstly detects the state of the top of the automobile based on the wind speed sensor in the wireless detection module, accurately identifies the information of the wind speed, then an ultrasonic sensor in the wireless charging module detects the position of the small-sized unmanned aircraft, the vehicle-mounted mode platform based on the six-freedom-degree attitude adjusting mechanism is accurately butted with the small unmanned aerial vehicle under the complex working condition environment through the accurate attitude adjustment of the six-freedom-degree attitude adjusting system and the information butt joint of the GPS and the unmanned aerial vehicle positioning system, so that the unmanned aerial vehicle can stably and accurately land, thereby the wireless module of charging is unmanned aerial vehicle stable charging, solves the lasting problem of endurance of modern small-size unmanned aerial vehicle. The method is more accurate in implementation mode, lower in difficulty and higher in safety.
In order to realize the purpose, the invention is realized according to the following technical scheme:
the utility model provides a multi-function vehicle carries mode platform device based on six degrees of freedom parallel posture adjustment mechanisms which characterized in that includes: the device comprises a connecting device, a six-degree-of-freedom resource adjusting system, a folding platform, a wireless charging module and a wireless detection module, wherein the connecting device is arranged on the bottom layer and consists of four non-metal suckers, the connecting device is connected with the six-degree-of-freedom posture adjusting system through a threaded device, and an air exhaust device is arranged on each sucker;
the six-degree-of-freedom posture adjusting system is arranged on the connecting device, adopts a 6-upur parallel mechanism and consists of a static platform, a movable platform and a driving branch, wherein the static platform is arranged at the bottom and connected with the driving branch, the movable platform is arranged on the driving branch, the driving branch is three groups of six symmetrical flexible revolute pairs, two ends of the driving branch adopt a flexible universal hinge structure, and a piezoelectric ceramic linear driver is arranged in a middle cavity of the driving branch;
the folding platform is positioned above the six-degree-of-freedom investment adjustment system and comprises a mixed connection mechanism, a middle platform and an unfolding platform, and the middle platform and the unfolding platform are mutually connected through the mixed connection mechanism;
the wireless charging module is arranged at the bottom of the folding platform and comprises a wireless charging panel, a solar cell panel and a storage battery, the wireless charging panel is arranged on the upper surface of the middle platform, the solar cell panel is arranged on the upper surface of the unfolding platform, and the storage battery is positioned below the middle platform;
the wireless detection module is located on the upper surface of the middle platform and comprises an air speed sensor, an electromagnet, a GPS (global positioning system) and an ultrasonic sensor, wherein the air speed sensor is installed on the upper surface of the expansion platform, the electromagnet and the GPS are arranged on the middle platform, and the ultrasonic sensor is located on the upper surface of the middle platform.
In the structure, the hybrid connection mechanism comprises an electric cylinder, a hinge, push rods, a positioning shaft and a connecting rod, wherein the electric cylinder and four push rods are arranged on the upper surface of the middle platform, the other four push rods are respectively arranged on the upper surface of the unfolding platform, the lower end of the electric cylinder is fixedly connected with the positioning shaft for the middle platform, the connecting rod is used for adjusting the unfolding angle of the unfolding platform, and the hinge is connected with the two push rods and the connecting rod.
Compared with the prior art, the invention has the following advantages:
1. the six-degree-of-freedom posture adjusting system can adjust the posture of the folding platform through the six driving branches, so that the platform is still kept horizontal on the ground with slopes, the unmanned aerial vehicle can be gradually and slowly butted with the folding platform in the butting process, the impact between the folding platform and the unmanned aerial vehicle is reduced, and the shock absorption effect is achieved.
2. The wireless detection module can detect the wind speed in the air through the wind speed sensor, find the proper wind speed suitable for the small unmanned aerial vehicle to land, and utilize the wireless charging plate to continuously supply power to the small unmanned aerial vehicle;
3. the invention can realize information exchange and butt joint with the positioning system of the unmanned aerial vehicle through the GPS, and the electromagnet can fix the landing unmanned aerial vehicle so as not to generate play, thereby ensuring that the small unmanned aerial vehicle can take off and land in the high-speed driving process of the automobile. And the car owner can realize the control to unmanned aerial vehicle through on-vehicle multimedia terminal, and this makes the car owner can not be got off under extreme environment and appraises the surrounding environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a connection device;
FIG. 3 is a schematic diagram of a six-degree-of-freedom posture adjustment system;
FIG. 4 is a schematic view of a folding stage apparatus;
FIG. 5 is a schematic view of a hybrid coupling mechanism;
fig. 6 is a schematic diagram of a wireless charging module;
fig. 7 is a schematic diagram of a wireless detection module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
A multifunctional vehicle-mounted mode platform device based on a six-degree-of-freedom parallel posture adjusting mechanism comprises: the system comprises a connecting device 1, a six-degree-of-freedom posture adjusting system 2, a folding platform 3, a wireless charging module 4 and a wireless detection module 5, wherein as shown in figure 1, the connecting device 1 is located at the bottommost part, the upper part of the connecting device is connected with the six-degree-of-freedom resource adjusting system 2, the six-degree-of-freedom resource adjusting system is connected below the folding platform 3, the wireless charging module 4 is located at the bottom of the folding platform 3, and the wireless detection module 5 is arranged at the bottom of the folding platform 3.
The connecting device 1 is arranged on the bottom layer and is realized by four non-metal pressure suction cups which can be attached to the roof, as shown in figure 2, the connecting device comprises a non-metal pressure suction cup 11 which is used for connecting the roof and is pressed on the roof, an air suction opening 12 at the upper part is used for sucking air in the suction cup and is connected to the six-freedom-degree posture adjusting system by a connecting thread 13, and the connecting device mainly provides force for being fixed on the roof and is used for installation; each sucker is provided with an air exhaust device;
the six-degree-of-freedom posture adjusting system 2 is positioned above the connecting device 1 and comprises a driving branch 21, a movable platform 22 and a static platform 23, as shown in fig. 3, the static platform 23 is connected to the driving branch 21 at the bottom, and the movable platform 22 is arranged at the upper part of the driving branch 21.
The folding platform 3 is located above the six-degree-of-freedom investment adjustment system 2 and comprises a middle platform 31, an unfolding platform 32 and a mixing and connecting mechanism 33, wherein the middle platform 31 and the unfolding platform 32 are mutually connected through the mixing and connecting mechanism 33, the middle platform 31 and the unfolding platform 32 can be adjusted to be in the same plane, and a closed rectangular space can be formed by combining the two platforms, as shown in fig. 4.
As shown in fig. 5, the hybrid coupling mechanism 33 includes an electric cylinder 41, a hinge 42, push rods 43, a positioning shaft 44, and a connecting rod 45, where the electric cylinder 41 and four push rods 43 are mounted on the upper surface of the intermediate platform 31, the remaining four push rods 43 are respectively mounted on the upper surface of the unfolding platform 32, the lower end of the electric cylinder 41 is respectively fixedly connected to the intermediate platform 31 by the positioning shaft 44, the connecting rod 45 is used for adjusting the unfolding angle of the unfolding platform 32, and the hinge 42 is connected to two push rods 43 and one connecting rod 45.
The wireless charging module 4 is disposed at the bottom of the folding platform 3 and includes a wireless charging panel 51, a solar panel 52 and a storage battery 53, as shown in fig. 6, the wireless charging panel 51 is disposed on the upper surface of the middle platform 31, the solar panel 52 is disposed on the upper surface of the unfolding platform 32, and the storage battery 53 is disposed below the middle platform 31.
The wireless detection module 5 is located on the upper surface of the intermediate platform 31 and comprises an air velocity sensor 61, an electromagnet 62, a GPS63 and an ultrasonic sensor 64, wherein the air velocity sensor 61 is installed on the upper surface of the intermediate platform 31, the electromagnet 62 and the GPS63 are arranged on the intermediate platform 31, and the ultrasonic sensor 64 is located on the upper surface of the intermediate platform 31, as shown in fig. 7.
The invention is applied to a multifunctional vehicle-mounted mode unmanned aerial vehicle landing platform based on a six-degree-of-freedom attitude adjusting mechanism in a complex environment, utilizes a multifunctional vehicle-mounted technical principle, and aims to provide a multifunctional vehicle-mounted mode unmanned aerial vehicle platform equipment device based on a six-degree-of-freedom parallel attitude adjusting mechanism, which utilizes the multifunctional vehicle-mounted technical principle, firstly detects the state of the top of an automobile based on a wind speed sensor in a wireless detection module, accurately identifies the size information of wind speed, then detects the position of a small unmanned aerial vehicle by an ultrasonic sensor in the wireless detection module, realizes the accurate butt joint of the vehicle-mounted mode platform based on the six-degree-of-freedom attitude adjusting mechanism and the small unmanned aerial vehicle by the accurate attitude adjusting of the six-degree-of freedom attitude adjusting system and the information butt joint of a GPS and an unmanned aerial vehicle positioning system in the complex working condition environment, thereby the wireless module of charging is unmanned aerial vehicle stable charging, solves the lasting problem of endurance of modern small-size unmanned aerial vehicle. The method is more accurate in implementation mode, lower in difficulty and higher in safety.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (1)
1. The utility model provides a multi-function vehicle carries mode platform device based on six degrees of freedom parallel posture adjustment mechanisms which characterized in that includes: the device comprises a connecting device, a six-degree-of-freedom resource adjusting system, a folding platform, a wireless charging module and a wireless detection module, wherein the connecting device is arranged on the bottom layer and consists of four non-metal suckers, the connecting device is connected with the six-degree-of-freedom posture adjusting system through a threaded device, and an air exhaust device is arranged on each sucker;
the six-degree-of-freedom posture adjusting system is arranged on the connecting device, adopts a 6-upur parallel mechanism and consists of a static platform, a movable platform and a driving branch, wherein the static platform is arranged at the bottom and connected with the driving branch, the movable platform is arranged on the driving branch, the driving branch is three groups of six symmetrical flexible revolute pairs, two ends of the driving branch adopt a flexible universal hinge structure, and a piezoelectric ceramic linear driver is arranged in a middle cavity of the driving branch;
the folding platform is positioned above the six-degree-of-freedom investment adjustment system and comprises a mixed connection mechanism, a middle platform and an unfolding platform, and the middle platform and the unfolding platform are mutually connected through the mixed connection mechanism;
the hybrid connection mechanism comprises an electric cylinder, a hinge, push rods, a positioning shaft and connecting rods, wherein the electric cylinder and four push rods are arranged on the upper surface of the middle platform, the other four push rods are respectively arranged on the upper surface of the unfolding platform, the lower end of the electric cylinder is respectively fixedly connected with the middle platform through the positioning shaft, the connecting rods are used for adjusting the unfolding angle of the unfolding platform, and the hinge is connected with the two push rods and one connecting rod;
the wireless charging module is arranged at the bottom of the folding platform and comprises a wireless charging panel, a solar cell panel and a storage battery, the wireless charging panel is arranged on the upper surface of the middle platform, the solar cell panel is arranged on the upper surface of the unfolding platform, and the storage battery is positioned below the middle platform;
the wireless detection module is located on the upper surface of the middle platform and comprises an air speed sensor, an electromagnet, a GPS (global positioning system) and an ultrasonic sensor, wherein the air speed sensor is installed on the upper surface of the expansion platform, the electromagnet and the GPS are arranged on the middle platform, and the ultrasonic sensor is located on the upper surface of the middle platform.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110498059B (en) * | 2019-08-15 | 2020-12-25 | 燕山大学 | 6-freedom parallel posture adjusting platform for horizontal butt joint assembly of large heavy-load components |
| CN110816865B (en) * | 2019-10-21 | 2020-12-29 | 燕山大学 | Compensation type four-degree-of-freedom ship-based take-off and landing platform |
| CN110816866B (en) * | 2019-10-21 | 2022-06-28 | 燕山大学 | Variable-topology foldable and unfoldable shipborne helicopter take-off and landing stable platform |
| CN113190034B (en) * | 2021-05-28 | 2022-08-12 | 北京理工大学 | Unmanned aerial vehicle autonomous recovery system based on Stewart bearing platform |
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