CN203127149U - Two-freedom-degree unmanned aerial vehicle net striking recovery device - Google Patents
Two-freedom-degree unmanned aerial vehicle net striking recovery device Download PDFInfo
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- CN203127149U CN203127149U CN 201320039180 CN201320039180U CN203127149U CN 203127149 U CN203127149 U CN 203127149U CN 201320039180 CN201320039180 CN 201320039180 CN 201320039180 U CN201320039180 U CN 201320039180U CN 203127149 U CN203127149 U CN 203127149U
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Abstract
The utility model provides a two-freedom-degree unmanned aerial vehicle net striking recovery device, and belongs to the technical field of unmanned aerial vehicle recovery. The two-freedom-degree unmanned aerial vehicle net striking recovery device comprises a supporting mechanism, a rotating mechanism, an angle modulating mechanism and a blocking mechanism. The supporting mechanism is connected with the rotating mechanism through a net supporting disk, the rotating mechanism is connected with the angle modulating mechanism through a supporting terminal pad, and the net blocking mechanism is arranged on the angle modulating mechanism. A brand-new design scheme is adopted in the two-freedom-degree unmanned aerial vehicle net striking recovery device, the problem of being difficult to locate in the process of recovering an unmanned aerial vehicle is solved, a gear train which is formed by a small transmission gear and a big transmission gear is used for conducting gear transmission, tooth-shaped gears and tooth-shaped belts are used for driving angle modulating rods, linear bearings and light bars to achieve two-freedom-degree movement of the net striking recovery device, and with the design of four net collecting connecting rods with a certain angle in a net collection device, automatic net connection is achieved.
Description
Technical field
The utility model belongs to unmanned plane recovery technology field, is specifically related to a kind of two-freedom unmanned plane and hits the net regenerative apparatus.
Background technology
In current military field, a kind of new battlefield information gathering system quietly emerges, Here it is unmanned aerial vehicle.Be that development need because of unmanned plane proposes and unmanned plane hits the research of net recovery system.At present, the mode that the SUAV (small unmanned aerial vehicle) great majority of China's development adopt parachuting to reclaim, this way of recycling is had relatively high expectations to size, planeness and the meteorological conditions etc. of site area, and aircraft need be paid the cost of the volume and weight of parachute.
It is a kind of desirable pinpoint way of recycling that unmanned plane hits the net recovery, being particularly suitable for small stationary wing unmanned plane uses in narrow recovery place or naval vessel, can think that it is a kind of zero distance way of recycling, its core technology is how to guide unmanned plane to fly to arresting net exactly, how mildly to absorb energy after the net-fault, reclaiming thereby realize hitting net steadily, exactly, overcome the limitation that traditional parachuting way of recycling has, is the important component part that unmanned plane reclaims the field.
By the different divisions of quantity of system's arresting net and upright net support, the typical structure scheme that at present external unmanned plane hits the net recovery has 4 kinds: single net three bars, the two bars of two net, single net single pole and the two bar schemes of single net.Wherein, single net three bars and two net double-rod structure schemes are hit at carrier-borne unmanned plane and are used aspect the net recovery morely, and single net single pole and single net double-rod structure scheme are applicable to that size is less, weight is lighter unmanned plane hits net and reclaims.But these structures have shortcoming separately, and connection cable is longer between the front and back bar of single net three bar structures, and occupation space is bigger, and space availability ratio is lower; The two bars of two nets need two to throw the net, and are in a disadvantageous position aspect economy; Single net single pole structure medium-height trestle structure is comparatively complicated, and manufacture difficulty is big; The load-carrying capacity of single net double-rod structure is less.
Summary of the invention
At the deficiencies in the prior art, the utility model proposes two of a kind of usefulness and drive the device of realizing that two degree of freedom rotate, with a little less than overcoming in the past unmanned plane and hitting net regenerative apparatus adjustment capability, the defective of manoevreability difference, also provide a thinking for the accurate recovery of unmanned plane simultaneously.
A kind of two-freedom unmanned plane hits the net regenerative apparatus, this device comprises supporting mechanism, rotating mechanism, adjusting angle mechanism and block mechanism, wherein, described supporting mechanism connects rotating mechanism by support disk, described rotating mechanism connects adjusting angle mechanism by the support and connection dish, and described adjusting angle mechanism is provided with block mechanism.
In the described supporting mechanism, first strut bar, one end connects support disk, and first scroll wheel is set on the other end, and first strut bar that is connected between described support disk and first scroll wheel is provided be used to making the first stable adjustment bolt of device; Second strut bar, one end connects support disk, and second scroll wheel is set on the other end, and second strut bar that is connected between described support disk and second scroll wheel is provided be used to making the second stable adjustment bolt of device; The 3rd strut bar one end connects support disk, and the 3rd scroll wheel is set on the other end, and the 3rd strut bar that is connected between described support disk and the 3rd scroll wheel is provided be used to making the 3rd stable adjustment bolt of device; The 4th strut bar one end connects support disk, and the 4th scroll wheel is set on the other end, and the 4th strut bar that is connected between described support disk and the 4th scroll wheel is provided be used to making the 4th stable adjustment bolt of device.
In the described rotating mechanism, be positioned at the rotary drive motor of support disk lower surface, its output shaft passes support disk, is fixed by the rotary drive motor adapter plate that is positioned at the support disk upper surface, and is connected with the small transmission gear of support disk upper surface; S. A. passes support disk and connects support disk by axle sleeve, the end that described S. A. is positioned at the support disk upper surface is provided with the support and connection dish, between support and connection dish and support disk, be provided with the big transmission gear that is meshed with small transmission gear, the other end that described S. A. is positioned at the support disk upper surface is provided with for the thrust baring that connects rotating shaft support base plate, described rotating shaft is supported base plate by connecting the lower surface that stay bearing plate is connected support disk, and the junction that base plate is supported in described S. A. and rotating shaft is provided be used to preventing the axially movable jump ring of S. A..
In the described adjusting angle mechanism, one end of rotation base plate is provided with the first angle modulation bar and the second angle modulation bar, the described first angle modulation bar connects the rotation base plate by the clutch shaft bearing seat, the described second angle modulation bar connects the rotation base plate by second bearing seat, and described second bearing seat is arranged at and clutch shaft bearing seat relative position, is provided be used to the pipe link of captiveing joint between the described first angle modulation bar and the second angle modulation bar; One end of the 3rd angle modulation bar connects the first angle modulation bar and is positioned at the bottom of the first angle modulation bar, and the other end connects first feed rod by first linear bearing, can slide along first feed rod, and described first feed rod is fixed in the rotation base plate by permanent seat; One end of the 4th angle modulation bar connects the second angle modulation bar and is positioned at the bottom of the second angle modulation bar, and the other end connects second feed rod by second linear bearing, can slide along second feed rod, and described second feed rod is fixed in the rotation base plate by permanent seat; Be provided with synchronous connecting rod between described first linear bearing and second linear bearing, connect cog belt on the described synchronous connecting rod, one end ring of described cog belt is on first toothed wheel, the other end is looped around on second toothed wheel, described first toothed wheel is connected with the 3rd bearing seat by an end of toothed wheel adapter shaft, and described the 3rd bearing seat is fixed on the rotation base plate, the other end of toothed wheel adapter shaft links to each other with the angle modulation drive motor output shaft that passes motor fixing plate by drive coupling, and described angle modulation drive motor is fixed on the rotation base plate by motor fixing plate, described second toothed wheel connects the 4th bearing seat by the toothed wheel adapter shaft, and described the 4th bearing seat is fixed on the rotation base plate.
In the described block mechanism, first end of receiving the net pipe link is connected to the upper end of the first angle modulation bar, second end of receiving the net pipe link is connected to the bottom of the first angle modulation bar, the 3rd end of receiving the net pipe link is connected to the upper end of the second angle modulation bar, and the 4th end of receiving the net pipe link is connected to the bottom of the second angle modulation bar; Be provided with four bar fixed mounts between the other end of the other end of the described first receipts net pipe link and the second receipts net pipe link, be provided with four bar fixed mounts between the other end of the other end of the first receipts net pipe link and the 3rd receipts net pipe link, be provided with four bar fixed mounts between the other end of the other end of the 4th receipts net pipe link and the second receipts net pipe link, be provided with four bar fixed mounts between the other end of the other end of the 4th receipts net pipe link and the 3rd receipts net pipe link; First junction of receiving net pipe link and the first angle modulation bar arranges first spring-damper, described first spring-damper, one end is connected to the first angle modulation bar, the other end connects a jiao of interception net, second junction of receiving net pipe link and the first angle modulation bar arranges second spring-damper, described second spring-damper, one end is connected to the first angle modulation bar, the other end connects a jiao of interception net, the 3rd junction of receiving net pipe link and the second angle modulation bar arranges the 3rd spring-damper, described the 3rd spring-damper one end is connected to the second angle modulation bar, the other end connects a jiao of interception net, the 4th junction of receiving net pipe link and the second angle modulation bar arranges the 4th spring-damper, described the 4th spring-damper one end is connected to the second angle modulation bar, and the other end connects a jiao of interception net.
Advantage of the present utility model:
A kind of two-freedom unmanned plane of the utility model hits the net regenerative apparatus, adopt brand-new design plan, solved the problem of location difficulty when unmanned plane reclaims, the train that employing is made up of small transmission gear and big transmission gear is carried out gear transmission, adopts the drive of toothed wheel and cog belt to be realized hitting the motion of two degree of freedom of net regenerative apparatus by angle modulation bar, linear bearing and feed rod; Simultaneously, by receiving four designs of receiving the net connecting rod of certain angle in the net arrangement, realized automatic receipts net.
Description of drawings
Fig. 1 hits the integral structure scheme drawing of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
Wherein, 1-supporting mechanism; The 2-rotating mechanism; The 3-adjusting angle mechanism; The 4-mechanism of blocking;
Fig. 2 hits the supporting mechanism constructional drawing of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
The 101-support disk; 102-first strut bar; 103-first scroll wheel; 104-first adjusts bolt; 105-second strut bar; 106-second scroll wheel; 107-second adjusts bolt; 108-the 3rd strut bar; 109-the 3rd scroll wheel; 110-the 3rd adjusts bolt; 111-the 4th strut bar; 112-the 4th scroll wheel; 113-the 4th adjusts bolt;
Fig. 3 hits the rotating mechanism front view of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
The 201-rotary drive motor; The 203-small transmission gear; The 204-S. A.; The 205-axle sleeve; 206-support and connection dish; The big transmission gear of 207-; Base plate is supported in the 208-rotating shaft; The 209-thrust baring; 210-connects stay bearing plate; The 211-jump ring;
Fig. 4 hits the rotating mechanism birds-eye view of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
202-rotary drive motor adapter plate;
Fig. 5 hits the adjusting angle mechanism constructional drawing of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
301-rotates base plate; The 302-first angle modulation bar; 303-clutch shaft bearing seat; The 304-second angle modulation bar; 305-second bearing seat; The 306-pipe link; 307-the 3rd angle modulation bar; 308-first linear bearing; The 309-permanent seat; 310-the 4th angle modulation bar; 311-second linear bearing; 312-second feed rod; The 313-synchronous connecting rod; The 314-cog belt; 317-the 3rd bearing seat; 319-angle modulation drive motor; The 320-motor fixing plate; 321-second toothed wheel; 322-the 4th bearing seat; 323-first feed rod;
Fig. 6 hits the adjusting angle mechanism A part amplification assumption diagram of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
315-first toothed wheel; 316-toothed wheel adapter shaft; The 318-drive coupling;
Fig. 7 hits the block mechanism structure figure of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model;
401-first receives the net pipe link; 402-second receives the net pipe link; 403-the 3rd receives the net pipe link; 404-the 4th receives the net pipe link; 405-four bar fixed mounts; 406-first spring-damper; 407-tackles net; 408-second spring-damper; 409-the 3rd spring-damper; 410-the 4th spring-damper;
Fig. 8 hits the B of the block mechanism part amplification assumption diagram of net regenerative apparatus for a kind of two-freedom unmanned plane of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model embodiment is described further.
As shown in Figure 1, a kind of two-freedom unmanned plane hits the net regenerative apparatus, this device comprises supporting mechanism 1, rotating mechanism 2, adjusting angle mechanism 3 and block mechanism 4, wherein, described supporting mechanism 1 connects rotating mechanism 2 by support disk 101, described rotating mechanism 2 connects adjusting angle mechanism 3 by support and connection dish 201, and described adjusting angle mechanism 3 is provided with block mechanism 4.
As shown in Figure 2, in the described supporting mechanism 1, first strut bar, 102 1 ends connect support disk 101, first scroll wheel 103 is set on the other end, first strut bar 102 that is connected between described support disk 101 and first scroll wheel 103 be provided be used to make device stable first adjust bolt 104; Second strut bar, 105 1 ends connect support disk 101, and second scroll wheel 106 is set on the other end, and second strut bar 105 that is connected between described support disk 101 and second scroll wheel 106 is provided be used to making the second stable adjustment bolt 107 of device; The 3rd strut bar 108 1 ends connect support disk 101, and the 3rd scroll wheel 109 is set on the other end, and the 3rd strut bar 108 that is connected between described support disk 101 and the 3rd scroll wheel 109 is provided be used to making the 3rd stable adjustment bolt 110 of device; The 4th strut bar 111 1 ends connect support disk 101, and the 4th scroll wheel 112 is set on the other end, and the 4th strut bar 111 that is connected between described support disk 101 and the 4th scroll wheel 112 is provided be used to making the 4th stable adjustment bolt 113 of device.Described first strut bar 102, second strut bar 105, the 4th strut bar 111 and 108 liang of twenty percents of the 3rd strut bar are fixed on the support disk 101 for 90 °; The effect of first scroll wheel 103, second scroll wheel 106, the 3rd scroll wheel 109 and the 4th scroll wheel 112 is to make rotating mechanism play the effect of supporting rotation base plate 301 and reducing to rub when rotated, first adjusts bolt 104, second adjusts bolt 107, the 3rd and adjusts bolt 110 and the 4th to adjust bolt 113 effects be to adjust strut bar and floor level, the degree parallel to the ground that mechanism's integral body is reached meet the demands.
As shown in Figure 3, in the described rotating mechanism 2, be positioned at the rotary drive motor 201 of support disk 101 lower surfaces, its output shaft passes support disk 101, drive rotary drive motor adapter plate 202(as shown in Figure 4 by the rotation that is positioned at support disk 101 upper surfaces) fix, and be connected with the small transmission gear 203 of support disk 101 upper surfaces; S. A. 204 passes support disk 101 and connects support disk 101 by axle sleeve 205, the end that described S. A. 204 is positioned at support disk 101 upper surfaces is provided with support and connection dish 206, between support and connection dish 206 and support disk 101, be provided with the big transmission gear 207 that is meshed with small transmission gear 203, the other end that described S. A. 204 is positioned at support disk 101 upper surfaces is provided with for the thrust baring 209 that connects rotating shaft support base plate 208, described rotating shaft is supported base plate 208 by connecting the lower surface that stay bearing plate 210 is connected support disk 101, and described S. A. 204 is provided be used to preventing S. A. 204 axially movable jump rings 211 with the junction that base plate 208 is supported in rotating shaft.
As shown in Figure 5, in the described adjusting angle mechanism 3, one end of rotation base plate 301 is provided with the first angle modulation bar 302 and the second angle modulation bar 304, the described first angle modulation bar 302 connects rotation base plate 301 by clutch shaft bearing seat 303, the described second angle modulation bar 304 connects rotation base plate 301 by second bearing seat 305, and described second bearing seat 305 is arranged at and clutch shaft bearing seat 303 relative positions, is provided be used to the pipe link 306 of captiveing joint between the described first angle modulation bar 302 and the second angle modulation bar 304; One end of the 3rd angle modulation bar 307 connects the first angle modulation bar 302 and is positioned at the bottom of the first angle modulation bar 302, the other end connects first feed rod 323 by first linear bearing 308, can slide along first feed rod 323, described first feed rod 323 is fixed in rotation base plate 301 by permanent seat 309; One end of the 4th angle modulation bar 310 connects the second angle modulation bar 304 and is positioned at the bottom of the second angle modulation bar 304, the other end connects second feed rod 312 by second linear bearing 311, can slide along second feed rod 312, described second feed rod 312 is fixed in rotation base plate 301 by permanent seat 309; Be provided with synchronous connecting rod 313 between described first linear bearing 308 and second linear bearing 311, connect cog belt 314 on the described synchronous connecting rod 313, as shown in Figure 6, one end ring of described cog belt 314 is on first toothed wheel 315, the other end is looped around on second toothed wheel 321, described first toothed wheel 315 is connected with the 3rd bearing seat 317 by an end of toothed wheel adapter shaft 316, and described the 3rd bearing seat 317 is fixed on the rotation base plate 301, the other end of toothed wheel adapter shaft 316 links to each other with angle modulation drive motor 319 output shafts that pass motor fixing plate 320 by drive coupling 318, and described angle modulation drive motor 319 is fixed on the rotation base plate 301 by motor fixing plate 320, described second toothed wheel 321 connects the 4th bearing seat 322 by toothed wheel adapter shaft 316, and described the 4th bearing seat 322 is fixed on the rotation base plate 301.
As shown in Figure 7, in the described block mechanism 4, first end of receiving net pipe link 401 is connected to the upper end of the first angle modulation bar 302, second end of receiving net pipe link 402 is connected to the bottom of the first angle modulation bar 302, the 3rd end of receiving net pipe link 403 is connected to the upper end of the second angle modulation bar 304, and be arranged at first and receive the relative position of net pipe link 401, the 4th end of receiving net pipe link 404 is connected to the bottom of the second angle modulation bar 304, and is arranged at second and receives the relative position of net pipe link 402; Be provided with four bar fixed mounts 405 between the other end of the other end of the described first receipts net pipe link 401 and the second receipts net pipe link 402, be provided with four bar fixed mounts 405 between the other end of the other end of the first receipts net pipe link 401 and the 3rd receipts net pipe link 403, the 4th other end and second of receiving net pipe link 404 is received and is provided with four bar fixed mounts 405, the four between the other end of net pipe link 402 and receives between the other end of the other end of net pipe links 404 and the 3rd receipts net pipe link 403 and be provided with four bar fixed mounts 405; First junction of receiving net pipe link 401 and the first angle modulation bar 302 arranges first spring-damper 406, described first spring-damper, 406 1 ends that arrange are connected to the first angle modulation bar 302, the other end connects a jiao of interception net 407, second junction of receiving net pipe link 402 and the first angle modulation bar 302 arranges second spring-damper 408, described second spring-damper, 408 1 ends that arrange are connected to the first angle modulation bar 302, the other end connects a jiao of interception net 407, the 3rd junction of receiving net pipe link 403 and the second angle modulation bar 304 arranges the 3rd spring-damper 409, described the 3rd spring-damper 409 1 ends that arrange are connected to the second angle modulation bar 304, the other end connects a jiao of interception net 407, the 4th junction of receiving net pipe link 404 and the second angle modulation bar 304 arranges the 4th spring-damper 410, as shown in Figure 8, described the 4th spring-damper 410 1 ends that arrange are connected to the second angle modulation bar 304, and the other end connects a jiao of interception net 407.
Motion flow: action is divided into rotation, angle modulation and three actions of interception during this device busy.
Need stop flight as unmanned plane utilizes when hitting the net regenerative apparatus and reclaiming, device receives signal and brings into operation, rotary drive motor 201 brings into operation, driving small transmission gear 203 by the motor rotation rotates, thereby driving big transmission gear 207 rotates, power output is increased, drive the rotation base plate 301 that is fixed on the support and connection dish 206 at last and rotate.Make be installed in the block mechanism 4 of rotation on the base plate 301 can 360 ° of rotations, stop the rotation after finding the anglec of rotation that is fit to the interception unmanned plane.So far spinning movement is finished.
Angle modulation drive motor 319 received signals are started working, rotating drive first toothed wheel 315 by angle modulation drive motor 319 rotates, thereby driving cog belt 314 rotates, the synchronous connecting rod 313 that is installed on the cog belt 314 begins mobile, drive first linear bearing 308 simultaneously and second linear bearing 311 moves, making the 3rd angle modulation bar 307 and the 4th angle modulation bar 310 is that bench mark rotates with first linear bearing 308 and second linear bearing 311, thereby driving the first angle modulation bar 302 and the second angle modulation bar 304 rotates centered by clutch shaft bearing seat 303 and second bearing seat 305, thereby drive interception net 407 and adjust certain angle, prepare the interception unmanned plane.So far angle modulation action is finished.
When interception net 407 is adjusted to the angle that is fit to the reception unmanned plane, unmanned plane hits on interception net 407, dependence is connected four spring-dampers on the interception net 407,407 beginnings of interception net are slowly mobile backward along four bridle catchers, be blocked depleted of energy fully up to unmanned plane, interception net 407 stops to retreat, and interception action is so far finished.
Claims (5)
1. a two-freedom unmanned plane hits the net regenerative apparatus, it is characterized in that: this device comprises supporting mechanism (1), rotating mechanism (2), adjusting angle mechanism (3) and block mechanism (4), wherein, described supporting mechanism (1) connects rotating mechanism (2) by support disk (101), described rotating mechanism (2) connects adjusting angle mechanism (3) by support and connection dish (201), and described adjusting angle mechanism (3) is provided with block mechanism (4).
2. two-freedom unmanned plane according to claim 1 hits the net regenerative apparatus, it is characterized in that: in the described supporting mechanism (1), first strut bar (102) one ends connect support disk (101), first scroll wheel (103) is set on the other end, first strut bar (102) that is connected between described support disk (101) and first scroll wheel (103) be provided be used to make device stable first adjust bolt (104); Second strut bar (105) one ends connect support disk (101), second scroll wheel (106) is set on the other end, second strut bar (105) that is connected between described support disk (101) and second scroll wheel (106) be provided be used to make device stable second adjust bolt (107); The 3rd strut bar (108) one ends connect support disk (101), the 3rd scroll wheel (109) is set on the other end, the 3rd strut bar (108) that is connected between described support disk (101) and the 3rd scroll wheel (109) be provided be used to make device stable the 3rd adjust bolt (110); The 4th strut bar (111) one ends connect support disk (101), the 4th scroll wheel (112) is set on the other end, the 4th strut bar (111) that is connected between described support disk (101) and the 4th scroll wheel (112) be provided be used to make device stable the 4th adjust bolt (113).
3. two-freedom unmanned plane according to claim 1 hits the net regenerative apparatus, it is characterized in that: in the described rotating mechanism (2), be positioned at the rotary drive motor (201) of support disk (101) lower surface, its output shaft passes support disk (101), fixed by the rotary drive motor adapter plate (202) that is positioned at support disk (101) upper surface, and be connected with the small transmission gear (203) of support disk (101) upper surface; S. A. (204) passes support disk (101) and connects support disk (101) by axle sleeve (205), the end that described S. A. (204) is positioned at support disk (101) upper surface is provided with support and connection dish (206), between support and connection dish (206) and support disk (101), be provided with the big transmission gear (207) that is meshed with small transmission gear (203), the other end that described S. A. (204) is positioned at support disk (101) lower surface is provided with for the thrust baring (209) that connects rotating shaft support base plate (208), described rotating shaft is supported base plate (208) by connecting the lower surface that stay bearing plate (210) is connected support disk (101), and described S. A. (204) is provided be used to preventing the axially movable jump ring of S. A. (204) (211) with the junction that base plate (208) is supported in rotating shaft.
4. two-freedom unmanned plane according to claim 1 hits the net regenerative apparatus, it is characterized in that: in the described adjusting angle mechanism (3), one end of rotation base plate (301) is provided with the first angle modulation bar (302) and the second angle modulation bar (304), the described first angle modulation bar (302) connects rotation base plate (301) by clutch shaft bearing seat (303), the described second angle modulation bar (304) connects rotation base plate (301) by second bearing seat (305), and described second bearing seat (305) is arranged at and clutch shaft bearing seat (303) relative position, is provided be used to the pipe link of captiveing joint (306) between the described first angle modulation bar (302) and the second angle modulation bar (304); One end of the 3rd angle modulation bar (307) connects the first angle modulation bar (302) and is positioned at the bottom of the first angle modulation bar (302), the other end connects first feed rod (323) by first linear bearing (308), can slide along first feed rod (323), described first feed rod (323) is fixed in rotation base plate (301) by permanent seat (309); One end of the 4th angle modulation bar (310) connects the second angle modulation bar (304) and is positioned at the bottom of the second angle modulation bar (304), the other end connects second feed rod (312) by second linear bearing (311), can slide along second feed rod (312), described second feed rod (312) is fixed in rotation base plate (301) by permanent seat (309); Be provided with synchronous connecting rod (313) between described first linear bearing (308) and second linear bearing (311), described synchronous connecting rod (313) is gone up and is connected cog belt (314), one end ring of described cog belt (314) is on first toothed wheel (315), the other end is looped around on second toothed wheel (321), described first toothed wheel (315) is connected with the 3rd bearing seat (317) by an end of toothed wheel adapter shaft (316), and described the 3rd bearing seat (317) is fixed on the rotation base plate (301), the other end of toothed wheel adapter shaft (316) links to each other with angle modulation drive motor (319) output shaft that passes motor fixing plate (320) by drive coupling (318), and described angle modulation drive motor (319) is fixed on the rotation base plate (301) by motor fixing plate (320), described second toothed wheel (321) connects the 4th bearing seat (322) by toothed wheel adapter shaft (316), and described the 4th bearing seat (322) is fixed on the rotation base plate (301).
5. two-freedom unmanned plane according to claim 1 hits the net regenerative apparatus, it is characterized in that: in the described block mechanism (4), first end of receiving net pipe link (401) is connected to the upper end of the first angle modulation bar (302), second end of receiving net pipe link (402) is connected to the bottom of the first angle modulation bar (302), the 3rd end of receiving net pipe link (403) is connected to the upper end of the second angle modulation bar (304), and the 4th end of receiving net pipe link (404) is connected to the bottom of the second angle modulation bar (304); Be provided with four bar fixed mounts (405) between the other end of the other end of the described first receipts net pipe links (401) and the second receipts net pipe links (402), be provided with four bar fixed mounts (405) between the other end of the other end of the first receipts net pipe links (401) and the 3rd receipts net pipe links (403), be provided with four bar fixed mounts (405) between the other end of the other end of the 4th receipts net pipe links (404) and the second receipts net pipe links (402), be provided with four bar fixed mounts (405) between the other end of the other end of the 4th receipts net pipe links (404) and the 3rd receipts net pipe links (403); First junction of receiving net pipe link (401) and the first angle modulation bar (302) arranges first spring-damper (406), described first spring-damper (406) one ends are connected to the first angle modulation bar (302), the other end connects a jiao of interception net (407), second junction of receiving net pipe link (402) and the first angle modulation bar (302) arranges second spring-damper (408), described second spring-damper (408) one ends are connected to the first angle modulation bar (302), the other end connects a jiao of interception net (407), the 3rd junction of receiving net pipe link (403) and the second angle modulation bar (304) arranges the 3rd spring-damper (409), described the 3rd spring-damper (409) one ends are connected to the second angle modulation bar (304), the other end connects a jiao of interception net (407), the 4th junction of receiving net pipe link (404) and the second angle modulation bar (304) arranges the 4th spring-damper (410), described the 4th spring-damper (410) one ends are connected to the second angle modulation bar (304), and the other end connects a jiao of interception net (407).
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320039180 CN203127149U (en) | 2013-01-18 | 2013-01-18 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320039180 CN203127149U (en) | 2013-01-18 | 2013-01-18 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
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| CN203127149U true CN203127149U (en) | 2013-08-14 |
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| CN 201320039180 Expired - Fee Related CN203127149U (en) | 2013-01-18 | 2013-01-18 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
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| CN104787351A (en) * | 2015-04-17 | 2015-07-22 | 东北大学 | Unmanned aerial vehicle launching and recovery device |
| CN104875903A (en) * | 2015-05-26 | 2015-09-02 | 合肥赛为智能有限公司 | Rotary net type unmanned aerial vehicle recovery device |
| CN105366068A (en) * | 2015-11-13 | 2016-03-02 | 中国人民解放军国防科学技术大学 | Vehicle-mounted unmanned plane adjustable net-catch recovery apparatus |
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2013
- 2013-01-18 CN CN 201320039180 patent/CN203127149U/en not_active Expired - Fee Related
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| CN107600445A (en) * | 2017-08-23 | 2018-01-19 | 中国舰船研究设计中心 | A kind of fixed-wing unmanned plane short distance common rail launch reclaim device |
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| CN109471255A (en) * | 2018-11-26 | 2019-03-15 | 中国工程物理研究院应用电子学研究所 | A kind of electromagnetic drive optical attenuator switching device and switching system |
| CN109502042A (en) * | 2018-11-26 | 2019-03-22 | 南京林业大学 | A kind of unmanned plane acquisition equipment |
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| CN111348212B (en) * | 2018-12-24 | 2023-01-13 | 中国科学院沈阳自动化研究所 | Double-lifting-platform-control fixed-wing unmanned aerial vehicle recovery system |
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