CN209225413U - Small size formula logistics unmanned plane arresting gear - Google Patents
Small size formula logistics unmanned plane arresting gear Download PDFInfo
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- CN209225413U CN209225413U CN201821414538.7U CN201821414538U CN209225413U CN 209225413 U CN209225413 U CN 209225413U CN 201821414538 U CN201821414538 U CN 201821414538U CN 209225413 U CN209225413 U CN 209225413U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The utility model discloses a kind of small size formula logistics unmanned plane arresting gear, for controlling reach including level ground stage body that center is parking area, front and back normotopia mechanism, left and right normotopia mechanism and when logistics unmanned plane stops falling occupied area the smallest blade normotopia mechanism；Front and back normotopia mechanism includes two and the push plate that level ground stage body upper surface is located at parking area front and rear sides and moves toward one another before and after being driven is arranged in；Left and right normotopia mechanism includes two and level ground stage body upper surface is arranged in is located at left and right sides of parking area and is driven along the pushing block that moves toward one another of left and right；Blade normotopia mechanism includes the blade position testing agency of the blade for detecting each rotor of logistics unmanned plane, motor and blade position testing agency control connection are to drive blade to rest in setting position, setting position is located on the side of the same polygon, occupied area can be effectively reduced, the handling convenience of subsequent cargo is improved.
Description
Technical field
The utility model belongs to air vehicle technique field, and in particular to a kind of small size formula logistics unmanned plane shutdown dress
It sets.
Background technique
Application with unmanned plane in fields such as logistics transportation, agricultural plant protection and military investigations, unmanned plane is in transport goods
During object, the designated position that needs to land on the airport simultaneously places cargo in the position, and no person cannot complete the autonomous of cargo
Transport, existing unmanned plane often will appear landing place situation devious in descent and need to manually adjust position,
Big inconvenience is caused to the use of unmanned plane.Meanwhile existing unmanned plane airport is to guarantee that unmanned plane is normally parked,
Usually the wheelbase the size of airport design much larger than logistics unmanned plane not only causes in this way plus space shared by diameter of propeller blade
Logistics unmanned plane airport volume is excessively huge, and it is inconvenient to carry, and also causes the waste in many spaces and resource while being also nothing
Position adjustment after man-machine accurate landing or landing brings inconvenience.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of small size formula logistics unmanned plane is provided with stopping
Machine device, this its can reduce unmanned plane occupied area as far as possible and can be aligned between two parties after landing, be convenient for subsequent handling
Cargo etc..
The utility model is achieved through the following technical solutions:
A kind of small size formula logistics unmanned plane arresting gear is level ground stage body, the front and back normotopia machine of parking area including center
Structure, left and right normotopia mechanism and reach the smallest blade normotopia of occupied area for controlling when the logistics unmanned plane stops falling
Mechanism；
The front and back normotopia mechanism includes two and the level ground stage body upper surface is arranged in is located at parking area front and rear sides
And it is driven the push plate that front and back moves toward one another；
The left and right normotopia mechanism includes that two settings are located at left and right sides of parking area and are driven in level ground stage body upper surface
The dynamic pushing block moved toward one another along left and right；
The blade normotopia mechanism includes the paddle for the blade for detecting each rotor of the logistics unmanned plane
Leaf position detecting mechanism, motor is with the blade position testing agency control connection to drive the blade to rest in
Setting position, wherein the setting position is located on the side of the same polygon.
In the above-mentioned technical solutions, the front and back normotopia mechanism further includes the first lead screw driving machine of two or so extensions
Structure, the first screw drive mechanism described in two are arranged in the upper surface of the level ground stage body and drive the push plate campaign,
The left and right normotopia mechanism further includes that two front and backs extend the second screw drive mechanism to drive the pushing block, and two
Second screw drive mechanism is arranged on the bottom surface of the level ground stage body, and there are two limits for the level ground stage body setting
Hole, the pushing block are pierced by level ground stage body upper surface from the limit hole to contact with the freight house bottom of logistics unmanned plane.
In the above-mentioned technical solutions, the logistics unmanned plane is multi-rotor unmanned aerial vehicle.
In the above-mentioned technical solutions, the blade position testing agency is encoder or reflective infrared position sensing
Device.
In the above-mentioned technical solutions, the blade position testing agency includes that the corresponding shaft with the rotor is fixed
The magnet ring of setting and the magnetic coder being arranged in correspondence with the magnet ring or two Hall sensors in 90 ° of layouts,
In, the magnetic coder or the Hall sensor are fixed on circuit boards.
It in the above-mentioned technical solutions, further include the charging mechanism to charge for the logistics unmanned plane comprising setting exists
It the cradle of the freight house of the logistics unmanned plane and is mounted on the pushing block and corresponding with the cradle fills
Electric connection, the charging connector are connect with power supply.
In the above-mentioned technical solutions, the power supply is connect by relay with the charging connector.
In the above-mentioned technical solutions, the inner bottom surface of the cradle is provided with bullet pin hole, sets on the charging connector
It is equipped with the bullet needle being distributed correspondingly with the bullet pin hole.
In the above-mentioned technical solutions, the cradle is the curved cavity of truncated rectangular pyramids shape for guiding the charging
Connector insertion, wherein the side of the cradle is provided with fixed ear to be fixedly connected with freight house.
In the above-mentioned technical solutions, the freight house is equal for the bottom surface of cube hollow out frame structure and the crossbeam of its underpart
It is set as globoidal structure.
A kind of control method of small size formula logistics unmanned plane arresting gear, includes the following steps,
1) control logistics unmanned plane carries out blade normotopia after dropping on the stage body of level ground；
2) driving front and back normotopia mechanism and left and right normotopia mechanism carry out the centering placed in the middle of logistics unmanned plane.
In the above-mentioned technical solutions, blade normotopia, control are carried out using two Hall sensors in the step 1)
Method include:
11) it is in a clockwise direction positive direction, is counterclockwise negative direction, by the survey of two hall sensings of particular moment
Measuring angle normalization and according to the particular moment blade phase of the positive negative judgement after normalization,
12) sine value of the normalized measurement angle of two Hall sensors is corresponding compared to particular moment blade angle is obtained
Tangent value size；
13) position angle of the particular moment is determined according to the size of the phase of particular moment blade and the tangent value；
14) it controls motor and makes the position angle corresponding positive parallactic angle when reaching blade normotopia；
Wherein, the particular moment be unmanned plane stop after blade stop after start normotopia process at the time of or unmanned plane
At the time of starting normotopia process when low speed rotation.
It the advantages of the utility model and has the beneficial effect that
A kind of small size formula logistics unmanned plane of the utility model is simple with arresting gear structure, easy to use, by just
Position mechanism can complete to carry out logistics unmanned plane normotopia between two parties so that unmanned plane can reach specified position.The utility model
Small size formula logistics unmanned plane arresting gear and its control method be used cooperatively using the motor of testing agency and blade
By to blade normotopia control method can sharp discovery cause unmanned plane to stop the great reason of area occupied, pass through by
The blade of each rotor of unmanned plane is regular to the normotopia for realizing blade on the same regular polygon or on an approximate regular polygon
Park, avoid due to blade park irregularly cause occupied area to increase the case where, such real estate be this just
The circumscribed circle of polygon, to reduce the case where diameter of propeller blade volume caused by unmanned plane airport becomes larger, in short-term, it is long
The movement that continues for parking or parking long rear unmanned plane brings convenience on volume exclusion.And parking for formula blade is collapsed, it avoids
External factor may interference or shock to blade, improve safety in utilization and the service life of whole unmanned plane.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the small size formula logistics unmanned plane arresting gear of the utility model.
Fig. 2 is the (detection machine of the blade normotopia mechanism of the small size formula logistics unmanned plane arresting gear of the utility model
Structure is two Hall sensors) structural schematic diagram.
Fig. 3 is the normalized quadrant distribution map of the blade normotopia control method of the logistics unmanned plane of the utility model.
Fig. 4 is the hits of two Hall sensors of the blade normotopia control method of the logistics unmanned plane of the utility model
According to figure.
Wherein:
1: front and back normotopia mechanism, 1-1: push plate, the 1-2: the first screw drive mechanism, 2: left and right normotopia mechanism, 2-1: pushing block,
2-2: the second screw drive mechanism, 3: charging mechanism, 3-1: cradle, 3-2: charging connector, 4: level ground stage body, 4-1: limit hole,
5: blade normotopia mechanism, 5-1: blade, 5-2: motor, 5-3: magnet ring, 5-4: circuit board, the 5-5: the first Hall sensor,
5-6: the second Hall sensor, 6: logistics unmanned plane, 7: freight house, A are the acquisition number of the location point of the first Hall sensor detection
According to line, B is the acquisition data line of the location point of the second Hall sensor detection.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, 1-4 and tool with reference to the accompanying drawing
Body embodiment further illustrates the technical solution of the utility model.
Embodiment 1
A kind of small size formula logistics unmanned plane arresting gear is level ground stage body 4, the front and back normotopia machine of parking area including center
Structure 1, left and right normotopia mechanism 2 and reaching the smallest blade of occupied area just for controlling when the logistics unmanned plane 6 stops falling
Position mechanism 5；
Front and back normotopia mechanism 1 includes two and is arranged before stage body 4 upper surface in level ground is located at parking area front and rear sides and is driven
The push plate 1-1 moved toward one another afterwards；
Left and right normotopia mechanism 2 includes that two settings are located at left and right sides of parking area in 4 upper surface of level ground stage body and are driven edge
The pushing block 2-1 that left and right moves toward one another；
The blade normotopia mechanism 5 includes the blade 5-1 for detecting each rotor of the logistics unmanned plane 6
Blade position testing agency, motor 5-2 and the control connection of the described blade position testing agency are to drive the paddle
Leaf 5-1 rests in setting position, wherein the setting position is located on the side of the same polygon.
A kind of small size formula logistics unmanned plane of the utility model is simple with arresting gear structure, easy to use, by just
Position mechanism can complete to carry out logistics unmanned plane normotopia between two parties so that unmanned plane can reach specified position.The utility model
Small size formula logistics unmanned plane arresting gear and its control method be used cooperatively using the motor of testing agency and blade
By to blade normotopia control method can sharp discovery cause unmanned plane to stop the great reason of area occupied, pass through by
The blade of each rotor of unmanned plane is regular to the normotopia for realizing blade on the same regular polygon or on an approximate regular polygon
Park, avoid due to blade park irregularly cause occupied area to increase the case where, such real estate be this just
The circumscribed circle of polygon, to reduce the case where diameter of propeller blade volume caused by unmanned plane airport becomes larger, in short-term, it is long
The movement that continues for parking or parking long rear unmanned plane brings convenience on volume exclusion.And parking for formula blade is collapsed, it avoids
External factor may interference or shock to blade, improve safety in utilization and the service life of whole unmanned plane.
Further, the front and back normotopia mechanism 1 further includes the first screw drive mechanism 1-2 of two or so extensions, and two
A first screw drive mechanism 1-2 is arranged in the upper surface of the level ground stage body 4 and drives the push plate campaign, institute
The left and right normotopia mechanism 2 stated further includes that two front and backs extend the second screw drive mechanism 2-2 to drive the pushing block, and two
A second screw drive mechanism 2-2 is arranged on the bottom surface of the level ground stage body 4, and the level ground stage body 4 is provided with
Two limit holes 4-1, the pushing block 2-1 from the limit hole 4-1 be pierced by level ground stage body upper surface with logistics unmanned plane
Freight house bottom contact.Wherein, front and back normotopia mechanism 1 and left and right normotopia mechanism 2 are communicated to connect with control machine.
Wherein, there are two limit hole 4-1, limit hole 4-1 for setting on two the second screw drive mechanism 2-2 of level ground stage body 4
Length it is identical as the lead screw length of the second screw drive mechanism 2-2, pushing block 2-1 limit in limit hole 4-1, wherein two
Limit hole 4-1 is arranged in parking area.
Further, front and back normotopia mechanism 1, left and right normotopia mechanism 2 and blade normotopia mechanism are controlled by controller, controller
For PLC controller.
Embodiment 2
Based on embodiment 1, in order to guarantee the normotopia situation placed in the middle of logistics unmanned plane 6, it is provided with and is used on level ground stage body 4
Guarantee 6 normotopia situation of logistics unmanned plane position-limit mechanism it include two and be separately positioned on two the first screw drive mechanism 1-2
On first position sensor and two second position sensors being separately positioned on two the second screw drive mechanism 2-2,
Two first position sensors and two second position sensors are communicated to connect with controller, wherein two first positions pass
Sensor is respectively used to limit the initial position at the both ends of two push plate 1-1 (two push plate 1-1 energy in moving process
Enough push to logistics unmanned plane 6 realizes front and back normotopia placed in the middle), and the limit signal is transferred to controller, controller is according to connecing
Then the corresponding work for stopping the first screw drive mechanism 1-2 of the limit signal received, two push plate 1-1 stop motions are controlled
Device processed controls the electric motor starting of two the second screw drive mechanism 2-2, and two second position sensors detect two second respectively
(two pushing block 2-1 can be to logistics unmanned plane in moving process for the position signal of the pushing block 2-1 of screw drive mechanism 2-2
6 push realization left and right normotopia), when the signal is triggered, the motor that controller controls two the second screw drive mechanism 2-2 stops
Rotation stop is dynamic, and two pushing block 2-1 are simultaneously stopped movement, wherein this two the first screw drive mechanism 1-2 and two the second lead screws drive
Ball screw drive mechanism can be used in motivation structure 2-2, wherein the controller is PLC controller.
The small size formula logistics unmanned plane of the utility model is driven with arresting gear using position-limit mechanism and two the first lead screws
Motivation structure 1-2 and two the second screw drive mechanism 2-2 are used cooperatively and carry out normotopia placed in the middle, user to logistics unmanned plane 6
Just.
Preferably, two pushing block 2-1 are driven by two the second screw drive mechanism 2-2 respectively, when push plate 1-1 is completed between two parties
After positioning, first by side, push logistics unmanned plane 6 to carry out the position adjustment on left and right directions such as the pushing block 2-1 in left side until
It is triggered to its corresponding second position sensor, then drives the other side again, is i.e. the pushing block 2-1 on right side is acted to realize charging
The docking of head 3-2, reduces the moving distance of the pushing block 2-1 of charged side, improves merging precision.
Embodiment 3
It preferably, further include the charging mechanism to charge for the logistics unmanned plane 6, charging mechanism 3 may be set to be
The two sides for being respectively set freight house 7 including two and the cradle 3-1 for charging to logistics unmanned plane 6 and two install respectively
On two pushing block 2-1 and with the one-to-one charging connector 3-2 of two cradle 3-1, two charging connector 3-2 with power supply
Power supply connection.It can guarantee one of cradle 3-1 when something goes wrong using two cradle 3-1, remain to charge normal.Two
A connection-peg can also be achieved being provided separately for positive cathode.
The structure of the small size formula logistics unmanned plane 6 of the utility model arresting gear logistics unmanned plane 6 is simple, user
Just, using blade normotopia mechanism will after blade normotopia again using push plate 1-1 and pushing block 2-1 to the logistics rested in parking area without
Man-machine 6 are adjusted placed in the middle so that unmanned plane can reach specified position, with the cargo in 7 frame of freight house convenient for loading and unloading, use
Pushing block 2-1 can either complete the contraposition of logistics unmanned plane 6, and can charge to logistics unmanned plane 6.
Specifically, cradle 3-1 be set as the curved cavity of truncated rectangular pyramids shape with for guide charging connector 3-2 be inserted into,
The side of cradle 3-1 is provided with fixed ear, which can be installed on cradle 3-1 in the lower beam of freight house 7,
In, the surrounding of the curved cavity is provided with the fault-tolerance distance of the 1cm relative to charging connector 3-2, for guaranteeing charging connector
3-2 is inserted on cradle 3-1；The inner bottom surface of cradle 3-1 is provided with bullet pin hole, is provided on charging connector 3-2 and plays needle
Hole plays needle correspondingly, and charging connector 3-2 is facilitated to dock with cradle 3-1；Playing pin hole is that charging plays pin hole or message shell needle
Hole, playing needle is that charging plays needle or message shell needle.By mounting base, (mounting base is that L-type structure facilitates pushing block 2- to charging connector 3-2
1 is inserted into charging connector 3-2 on cradle 3-1) it is mounted on corresponding pushing block 2-1 and passes through limit hole 4-1 activity
It is arranged on the upper surface of level ground stage body 4, the lower section of logistics unmanned plane 6 is equipped with the freight house 7 for loading, and freight house 7 is engraved for cube
The bottom surface of empty frame structure and surrounding crossbeam below is disposed as globoidal structure to reduce and 4 contact surface of level ground stage body
Product positions convenient for being pushed；Power supply is connect by relay with charging connector 3-2, and relay and controller communicate to connect,
Wherein, which can use battery.
Specific embodiment is as follows: two the second screw drive mechanism 2-2 carry out left and right normotopia to logistics unmanned plane 6, control
Device control processed works to the second screw drive mechanism 2-2 of the left side normotopia of logistics unmanned plane 6, when second screw drive mechanism
The pushing block 2-1 of 2-2 pushes logistics unmanned plane 6 to carry out the position adjustment on left and right directions until being triggered to its corresponding second
Sensor is set, which is transferred to controller for limit signal, and controller controls pushing block according to the limit signal
2-1 stops (when two sides are provided with charging connector 3-2, at this point, the cradle 3-1 of the charging connector 3-2 of the side and the side
Docking is completed, i.e. bullet needle on charging connector 3-2 is inserted into the bullet pin hole of cradle 3-1)；Controller control to logistics without
Second screw drive mechanism 2-2 of man-machine 6 right side normotopia works, and the pushing block 2-1 of second screw drive mechanism 2-2 drives
The direction of from the charging connector 3-2 of the side to the cradle 3-1 of the side are mobile, when the pushing block 2-1 of the side is triggered to the second of the side
Limit signal is transferred to controller by sensor, the second position sensor, and controller controls the side according to the limit signal
Pushing block 2-1 stops (at this point, the charging connector 3-2 of the side docks completion with the cradle 3-1 of the side, i.e. on charging connector 3-2
Bullet needle be inserted into the bullet pin hole of cradle 3-1), controller controls the actuating of relay, and power supply and charging connector 3-2 connect
Lead to and charges to logistics unmanned plane 6.
The small size formula logistics unmanned plane of the utility model is controlled by relay using controller with arresting gear and is powered
Power supply carries out electric power storage supply to logistics unmanned plane 6, and the working time for being avoided to continuity logistics unmanned plane 6 sheds the feelings of cargo
Condition reduces personnel's operation, reduces a large amount of human cost, safe ready, using two 2-2 pairs of the second screw drive mechanisms
Logistics unmanned plane 6 carries out center ofthe normotopia and charging.
Embodiment 4
The logistics unmanned plane 6 of the utility model is a kind of multi-rotor unmanned aerial vehicle, wherein more rotor logistics unmanned planes 6 wrap
Include the blade position testing agency being correspondingly arranged with each rotor, the motor electricity of motor 5-2 position detecting mechanism and rotor
Machine 5-2 is controllably connected so that blade 5-1 rests in setting position, and setting position is located at concentric with logistics unmanned plane 6
On the side of regular polygon.
Wherein, motor 5-2 position sensor is encoder or reflective infrared position sensor.Alternatively, motor is electric
Machine 5-2 position sensor includes the magnet ring 5-3 that the corresponding shaft with rotor is fixedly installed, the magnetic being arranged in correspondence with magnet ring 5-3
Encoder or two Hall sensors in 90 ° of layouts, magnetic coder or Hall sensor are fixed on circuit board 5-4.
It is realized when parking using various types of blade 5-1 position detecting mechanisms based on the architectural characteristic of more rotors
Blade 5-1 normotopia, effectively reduce after the landing of logistics multi-rotor unmanned aerial vehicle used in space, solve airport must
Large volume must be designed to store the pain spot of unmanned plane.It is small in size in particular by Hall sensor, it is integrated chip, it can be direct
Embedded circuit plate 5-4, structure are convenient；It is cheap, save the cost, and convenience is transformed, it is easy on existing unmanned plane real
It is existing.
Specific control is as follows, and blade normotopia mechanism 5 includes the blade 5- for detecting each rotor of logistics unmanned plane 6
The testing agency of 1 position and motor 5-2 for driving the blade 5-1 of rotor, testing agency and motor 5-2 by
Control connects so that blade 5-1 rests in setting position, occupied area when for guaranteeing that logistics unmanned plane 6 stops falling on level ground stage body 4
It is minimum, wherein setting position be located at it is same it is polygon shaped like on the side of the concentric regular polygon of multi-rotor unmanned aerial vehicle,
That is, the central axes of each blade 5-1 are corresponding to enclose one or an approximate regular polygon, as blade 5-1 central axes with it is right
The angular deviation on the side answered is not at ± 5 °, within preferably ± 1-3 °, wherein the number of edges of regular polygon and the rotor number of unmanned plane
Identical, such as six rotor wing unmanned aerial vehicles then constitute regular hexagon.
Wherein, the irregular and external environment of parking of the blade 5-1 of logistics unmanned plane 6 swings caused by blade 5-1 and is
The small size formula logistics unmanned plane of the main reason for area occupied is larger when logistics unmanned plane 6 is parked, the utility model is shut down
Device is used cooperatively using the motor 5-2 of testing agency and blade 5-1 by can be quick to blade 5-1 normotopia control method
Sharp discovery causes unmanned plane to stop the great reason of area occupied, by advising the blade 5-1 of each rotor of logistics unmanned plane 6
It is whole to be parked to the normotopia for realizing blade 5-1 on the same regular polygon or on an approximate regular polygon, it avoids due to paddle
Irregular the case where causing occupied area to increase that leaf 5-1 is parked, such real estate are the circumscribed circle of the regular polygon,
To reduce the case where blade 5-1 diameter volume caused by 6 airport of logistics unmanned plane becomes larger, for parking in short-term, for a long time
Or it parks the movement that continues of rear logistics unmanned plane 6 and brings convenience on volume exclusion.And parking for formula blade 5-1 is collapsed, it keeps away
Exempted from external factor may interference or shock to blade 5-1, improve safety in utilization and the longevity of whole logistics unmanned plane 6
Life.
Specifically, controlling each rotor first to the position detection of each blade 5-1 after landing for realization logistics unmanned plane 6
Then low speed rotation or stopping measure sensing mechanism by the position motor 5-2 to realize the position detection of blade 5-1 then
Control normotopia.Wherein, it should be noted that each rotor low speed rotation of the control can be the low speed rotation in unmanned plane descent
Turn, realize that the landing of logistics unmanned plane 6 is synchronous with blade 5-1's and carry out, can also be driven again after logistics unmanned plane 6 is stopped completely
Blade 5-1 very low speed is rotated to realize the detection and driving to the position blade 5-1 and rest in setting position, or completely
After stop blade 5-1 stops operating, drive according to the blade 5-1 current location information detected directly reaches blade 5-1
To setting position.
Preferably, motor 5-2 position sensor is encoder or reflective infrared position sensor.Coding
There is the photoelectric code disk of axis centered on the selectable structure of device, there is annular to lead to thereon, dark groove, there is photoemission and receiving device
Read realize the judgement of rotating shaft position, that is, position blade 5-1, certainly, can also be used be arranged in it is anti-on 6 body of logistics unmanned plane
Formula position sensor is penetrated, is realized such as reflection infrared sensor, by that can also be realized using reflection of the blade 5-1 to infrared ray
Normotopia is stopped or approximate normotopia is stopped, and achievees the purpose that finally to reduce area occupied.
To realize the detection to the position blade 5-1, motor 5-2 position sensor includes corresponding solid with the shaft of rotor
Surely the magnet ring 5-3 being arranged, two be arranged in correspondence with magnet ring 5-3 are in Hall sensor (the first Hall sensor of 90 ° of layouts
5-5 and the second Hall sensor 5-6).
Specifically, if a magnet ring 5-3 is installed in the underface of motor 5-2 axis, passing through magnetic force in the shaft of rotor
Meter finds out its pole NS, in the position for being 35mm away from magnet ring 5-3 distance, as installed Hall sensor, magnet ring 5-3 on circuit board 5-4
As motor 5-2 is rotated, but circuit board 5-4 be it is fixed, after motor 5-2 rotation, above Hall sensor
Field strength will change, Hall sensor can also be changed by detecting this variation, the field strength above Hall sensor, from
And cause the voltage change on Hall sensor, it can by detecting the voltage change of Hall sensor, to measure motor electricity
The position machine 5-2 (i.e. the physical location of blade 5-1).It is converted using AD, is to control is flown by the voltage input of Hall sensor measurement
System carries out the control of the position motor 5-2, i.e. realization normotopia.
Wherein, since magnet ring 5-3 variation is in sinusoidal variation, but in each π, a value corresponds to two angles
Degree, can not determine angle in this way, so needing another Hall sensor also to further determine that being which angle, tie
Sine and cosine relationship is closed, can judge the position angle of blade 5-1 actual position and blade 5-1 well.
Concrete analysis step includes: on marking angled turntable, and rotation motor motor 5-2, winged control obtains corresponding position
It after the corresponding adc data of upper two Hall sensors, is converted through over-sampling circuit, is converted into voltage value, and will conversion
As a result record, using matlab mathematical tool, after data are normalized, obtain the position motor 5-2 with
Two Hall sensor ADC sampled data relationships, from the point of view of the result that the data of sampling are analyzed, in the different location of magnet ring 5-3, two
The corresponding voltage relationship of Hall sensor is positive cosine relation.And just cosine curve and sine curve carrier phase shift 90
Degree, phase difference are just consistent with placement position difference.Therefore the relative position motor 5-2 can be known according to the position magnet ring 5-3.
And ensure that motor 5-2 does not interfere with magnet ring 5-3, ideal sine curve can be fitted.
It shuts down on platform, needs all blade 5-1 normotopias, specific control method is such as when logistics unmanned plane 6 lands on the airport
Under,
1) it is in a clockwise direction positive direction, is counterclockwise negative direction, by the survey of two hall sensings of particular moment
Measuring angle is normalized to ± π and according to the positive and negative of the positive negative judgement after the normalization particular moment blade angle, that is, judges that this is specific
The phase of moment blade 5-1, the positive and negative carry out quadrant judgement for the angle value that can be detected according to two Hall sensors；
2) sine value of the normalized measurement angle of two Hall sensors is corresponding compared to particular moment blade angle is obtained
Tangent value size；
3) position angle of the particular moment is determined according to the size of particular moment blade phase and tangent value；
4) it controls motor 5-2 and makes position angle corresponding positive parallactic angle when reaching blade normotopia；It such as, can be according to position
The difference of angle and positive parallactic angle carries out the positive and negative rotation control of motor 5-2.
Wherein, particular moment be unmanned plane stop after blade 5-1 stop after start normotopia process at the time of or logistics nobody
At the time of starting normotopia process when 6 low speed rotation of machine.Sine and cosine function resolution ratio near extreme value is low, and tangent function is just
The two disadvantages are compensated for, there are extreme values at ± pi/2, but calculating (89 °) of tan is 57.29, belongs to normal floating number, energy
Effectively meet normotopia required precision.
It is above-mentioned using sine value as calculating, corresponding cosine value can also be used certainly, moreover, when exist not than when,
That is, can be 57.29 with the corresponding tangent value of indirect assignment, such as indirect assignment, or bigger reasonable number when at correspondence ± pi/2
Value is to improve precision.
Meanwhile in order to obtain the corresponding positive parallactic angle in normotopia position in blade 5-1 step 4, blade 5-1 is first pushed into normotopia
Position, it is positive parallactic angle that the corresponding angle of normotopia, which can be obtained, using the 1-3 of above-mentioned steps, which is initial set value.
When using magnetic coder, specific control is such as above-mentioned similar, specifically repeats no more.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the utility model above, it should explanation, in the core for not departing from the utility model
In the case where the heart, it is any it is simple deformation, modification or other skilled in the art can not spend creative work etc.
The protection scope of the utility model is each fallen with replacement.
Claims (10)
1. a kind of small size formula logistics unmanned plane arresting gear, which is characterized in that be the level ground stage body of parking area including center
(4), front and back normotopia mechanism (1), left and right normotopia mechanism (2) and reach for controlling when the logistics unmanned plane (6) stops falling
Occupied area the smallest blade normotopia mechanism (5)；
The front and back normotopia mechanism (1) includes two and level ground stage body (4) upper surface is arranged in is located at two before and after parking area
Side and it is driven the push plate (1-1) that moves toward one another of front and back；
The left and right normotopia mechanism (2) include two setting level ground stage body (4) upper surface be located at parking area the left and right sides and by
The pushing block (2-1) that drives edge or so moves toward one another；
The blade normotopia mechanism (5) includes the blade (5- for detecting each rotor of the logistics unmanned plane (6)
1) blade position testing agency, motor (5-2) and blade position testing agency control connect described to drive
Blade (5-1) rest in setting position, wherein the setting position is located on the side of the same polygon.
2. a kind of small size formula logistics unmanned plane arresting gear according to claim 1, which is characterized in that before described
Normotopia mechanism (1) further includes the first screw drive mechanism (1-2) of two or so extensions, the driving of the first lead screw described in two afterwards
Mechanism (1-2) is arranged in the upper surface of the level ground stage body (4) and drives the push plate campaign, the left and right normotopia mechanism
It (2) further include that two front and backs extend the second screw drive mechanism (2-2) to drive the pushing block, second described in two
Screw drive mechanism (2-2) is arranged on the bottom surface of the level ground stage body (4), and there are two limits for level ground stage body (4) setting
Position hole (4-1), the pushing block (2-1) from the limit hole (4-1) be pierced by level ground stage body upper surface with logistics unmanned plane
Freight house bottom contact.
3. a kind of small size formula logistics unmanned plane arresting gear according to claim 1, which is characterized in that the object
Flowing unmanned plane (6) is multi-rotor unmanned aerial vehicle.
4. a kind of small size formula logistics unmanned plane arresting gear according to claim 1, which is characterized in that the paddle
Leaf position detecting mechanism is encoder or reflective infrared position sensor.
5. a kind of small size formula logistics unmanned plane arresting gear according to claim 4, which is characterized in that the paddle
Leaf position detecting mechanism include the corresponding shaft fixed setting with the rotor magnet ring (5-3) and with the magnet ring
The magnetic coder or two Hall sensors in 90 ° of layouts that (5-3) is arranged in correspondence with, wherein the magnetic coder or institute
The Hall sensor stated is fixed on circuit boards.
6. a kind of small size formula logistics unmanned plane arresting gear according to claim 2, which is characterized in that further include for
The charging mechanism of logistics unmanned plane (6) charging comprising the freight house (7) of the logistics unmanned plane (6) is set
It cradle (3-1) and is mounted on the pushing block (2-1) and charging connector (3- corresponding with cradle (3-1)
2), the charging connector (3-2) is connect with power supply.
7. a kind of small size formula logistics unmanned plane arresting gear according to claim 6, which is characterized in that the confession
Power supply is connect by relay with the charging connector (3-2).
8. a kind of small size formula logistics unmanned plane arresting gear according to claim 6, which is characterized in that described fills
The inner bottom surface of electric seat (3-1) is provided with bullet pin hole, is provided on the charging connector (3-2) a pair of with the bullet pin hole one
The bullet needle for the distribution answered.
9. a kind of small size formula logistics unmanned plane arresting gear according to claim 6, which is characterized in that described fills
Electric seat (3-1) is the curved cavity of truncated rectangular pyramids shape for guiding the charging connector (3-2) to be inserted into, wherein described fills
The side of electric seat (3-1) is provided with fixed ear to be fixedly connected with freight house.
10. a kind of small size formula logistics unmanned plane arresting gear according to claim 6, which is characterized in that described
Freight house (7) is disposed as globoidal structure for the bottom surface of cube hollow out frame structure and the crossbeam of its underpart.
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| CN201821414538.7U CN209225413U (en) | 2018-08-30 | 2018-08-30 | Small size formula logistics unmanned plane arresting gear |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871902A (en) * | 2018-08-30 | 2020-03-10 | 一飞智控(天津)科技有限公司 | Small-size shutdown device for logistics unmanned aerial vehicle and control method thereof |
| CN111874249A (en) * | 2020-07-20 | 2020-11-03 | 复亚智能科技(太仓)有限公司 | Unmanned aerial vehicle receives oar device |
| CN114229022A (en) * | 2021-12-07 | 2022-03-25 | 广州市赛皓达智能科技有限公司 | Oscillating bar device of unmanned aerial vehicle nest wing |
-
2018
- 2018-08-30 CN CN201821414538.7U patent/CN209225413U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110871902A (en) * | 2018-08-30 | 2020-03-10 | 一飞智控(天津)科技有限公司 | Small-size shutdown device for logistics unmanned aerial vehicle and control method thereof |
| CN111874249A (en) * | 2020-07-20 | 2020-11-03 | 复亚智能科技(太仓)有限公司 | Unmanned aerial vehicle receives oar device |
| CN111874249B (en) * | 2020-07-20 | 2024-06-07 | 复亚智能科技(太仓)有限公司 | Unmanned aerial vehicle receives oar device |
| CN114229022A (en) * | 2021-12-07 | 2022-03-25 | 广州市赛皓达智能科技有限公司 | Oscillating bar device of unmanned aerial vehicle nest wing |
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