CN109747849B - A small patrol drone mobile platform release and recovery system - Google Patents

Abstract

Translated fromChinese

本发明涉及无人机领域，具体地说是一种小型巡检无人机动平台释放回收系统，其中实验平台安装在动平台上，在实验平台上设有升降口，在升降口四周设有限位机构，在实验平台内设有带升降台的升降机构，且巡检无人机通过所述升降台带动由所述升降口升起或回落，当巡检无人机降落在实验平台上时，所述巡检无人机通过所述限位机构驱动移动至升降台中部，在实验平台内部设有充电接口，在升降台上设有充电通孔，在巡检无人机下侧设有充电杆，且当巡检无人机通过所述升降台带动回落后，所述充电接口由升降台上的充电通孔穿过并与巡检无人机下侧的充电杆对接。本发明依靠动平台集成多种控制系统实验平台，能够实现无人机出仓、巡检和返回充电的功能。

The invention relates to the field of unmanned aerial vehicles, in particular to a small patrol inspection unmanned aerial vehicle moving platform release and recovery system, wherein an experimental platform is installed on the moving platform, a lifting port is arranged on the experimental platform, and a limit is arranged around the lifting port There is a lifting mechanism with a lifting platform in the experimental platform, and the inspection drone is driven by the lifting platform to rise or fall from the lifting port. When the inspection drone lands on the experimental platform, The inspection drone is driven by the limit mechanism to move to the middle of the lifting platform, a charging interface is arranged inside the experimental platform, a charging through hole is arranged on the lifting platform, and a charging hole is arranged on the lower side of the inspection drone and when the inspection drone is driven back by the lifting platform, the charging interface is passed through the charging through hole on the lifting platform and docked with the charging pole on the lower side of the inspection drone. The invention relies on the moving platform to integrate a variety of control system experimental platforms, and can realize the functions of unmanned aerial vehicle out of warehouse, patrol inspection and return charging.

Description

Small-size unmanned aerial vehicle that patrols and examines moves platform release recovery system

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a release and recovery system for a small-sized routing inspection unmanned aerial vehicle maneuvering platform.

Background

In recent years, along with the rapid development of the relevant technologies of unmanned aerial vehicles at home and abroad, the unmanned aerial vehicles are also more and more widely used, wherein an important application field of the unmanned aerial vehicles is that the unmanned aerial vehicles are used as inspection equipment to carry out safety inspection on rails, production lines, high-voltage lines and the like, the unmanned aerial vehicles used for inspection generally use batteries as energy units, the endurance time of the unmanned aerial vehicles is an obvious short board, and the work efficiency of the unmanned aerial vehicles for inspection is undoubtedly improved if the unmanned aerial vehicles can be ensured to be charged in time in the inspection process.

Disclosure of Invention

The invention aims to provide a releasing and recovering system for a small-sized routing inspection unmanned aerial vehicle mobile platform, which integrates various control system experiment platforms by virtue of the mobile platform and can realize the functions of delivering, routing inspection and returning charge of the unmanned aerial vehicle.

The purpose of the invention is realized by the following technical scheme:

a small-sized routing inspection unmanned aerial vehicle mobile platform release and recovery system comprises a mobile platform, an experimental platform, a limiting mechanism, a lifting mechanism and a routing inspection unmanned aerial vehicle, wherein the experimental platform is arranged on the mobile platform, the experimental platform is provided with a lifting port, the periphery of the lifting port is provided with a limiting mechanism, the experimental platform is internally provided with a lifting mechanism with a lifting platform, and the inspection unmanned aerial vehicle is driven by the lifting platform to rise or fall back from the lifting port, when the inspection unmanned aerial vehicle lands on the experiment platform, the inspection unmanned aerial vehicle is driven by the limiting mechanism to move to the middle part of the lifting platform, a charging interface is arranged in the experiment platform, a charging through hole is arranged on the lifting platform, a charging pole is arranged at the lower side of the inspection unmanned aerial vehicle, and when patrolling and examining unmanned aerial vehicle and passing through after the elevating platform drives the fall back, the interface that charges by charge through-hole on the elevating platform passes and dock with the pole of charging of patrolling and examining the unmanned aerial vehicle downside.

The limiting mechanism comprises two X-direction moving limiting rods and two Y-direction moving limiting rods, the X-direction moving limiting rods and the Y-direction moving limiting rods enclose a square, and the lifting port is located in the middle of the square.

The X-direction moving limiting rod and the Y-direction moving limiting rod are located on different planes.

The two ends of the X-direction moving limiting rod are driven to move through an X-direction driving device respectively, and the two ends of the Y-direction moving limiting rod are driven to move through a Y-direction driving device respectively.

The X-direction driving device is arranged on the mounting bases at two sides of the experiment platform, and the Y-direction driving device is directly arranged on the upper surface of the experiment platform.

X includes X to driving motor, X to lead screw and X to the slider to drive arrangement, X all sets up on X is to the mount pad to lead screw, X to driving motor and X to the slider, X is installed to the mount pad on the mounting base, X passes through to the lead screw X is rotatory to driving motor drive, X to be equipped with on the slider with X is to lead screw complex screw, X is fixed on X is to the slider to the removal gag lever post tip.

Y includes that Y is to driving motor, Y to lead screw and Y to the slider to drive arrangement, Y all sets up on Y is to the mount pad to driving motor, Y to lead screw and Y to the slider, Y is to the upper surface of mount pad direct mount at the experiment platform, Y passes through to the lead screw Y is rotatory to driving motor drive, Y to be equipped with on the slider with Y is to lead screw complex screw, Y is fixed on Y is to the slider to the removal gag lever post tip.

Be equipped with locking mechanical system on the elevating platform, locking mechanical system includes spacing steering wheel and spacing hook, spacing hook passes through spacing steering wheel drive swing hooks the foot rest of patrolling and examining unmanned aerial vehicle lower extreme.

The lifting mechanism comprises a lifting platform, a base, a lifting scissors fork and a hydraulic cylinder, one side of the lower end of the lifting scissors fork is hinged with the base, the other side of the lower end of the lifting scissors fork is connected with the base in a sliding mode, the lifting platform is installed at the upper end of the lifting scissors fork, and the lifting scissors fork is driven to lift through the hydraulic cylinder.

A telescopic protection plate is arranged in a lifting port of the experiment platform; patrol and examine unmanned aerial vehicle downside and be equipped with the camera.

The invention has the advantages and positive effects that:

1. the invention can select the moving platform based on different working conditions, for example, unmanned vehicles or off-road vehicles can be selected on land, unmanned vehicles suitable for rails can be selected when the railway track is patrolled and examined, and the invention has stronger adaptability.

2. The inspection unmanned aerial vehicle can be charged conveniently, and can work continuously for a long time, so that the inspection efficiency is greatly improved.

Drawings

Figure 1 is a schematic view of the present invention,

figure 2 is a schematic diagram of the experimental platform of figure 1,

figure 3 is a schematic view of the spacing mechanism of figure 1,

figure 4 is an enlarged view of a portion of the spacing mechanism of figure 3,

figure 5 is a schematic view of the lift table of figure 3,

figure 6 is a schematic view of the drone of figure 1,

fig. 7 is a schematic view of the lifting mechanism of fig. 1.

The device comprises amovable platform 1, anexperiment platform 2, an experiment platformmain body 201, aprotection board 202, acharging interface 203, amounting base 204, alifting port 205, alimiting mechanism 3, an X-direction moving limitingrod 31, anX-direction driving motor 311, anX-direction lead screw 312, anX-direction slider 313, a Y-direction moving limitingrod 32, a Y-direction driving motor 321, a Y-direction lead screw 322, a Y-direction slider 323, alifting mechanism 4, alifting platform 401, a limitingsteering engine 402, alimiting hook 403, a charging throughhole 404, abase 405, abolt 406, ahydraulic cylinder 407, apulley 408, apulley groove 409, alifting scissor 410, anunmanned inspection vehicle 5, afoot stool 501, acamera 502 and acharging pole 503.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 6, the invention includes amovable platform 1, anexperimental platform 2, alimiting mechanism 3, alifting mechanism 4 and an inspection unmannedaerial vehicle 5, wherein themovable platform 1 is a mobile device, a user can select an unmanned vehicle or a cross-country vehicle as themovable platform 1 according to actual conditions, for example, on the land, the unmanned vehicle suitable for rails can be selected as themovable platform 1 when inspecting railway tracks, and themovable platform 1 is a mounting base for all the devices and mechanisms of the invention.Experiment platform 2 is installed move on theplatform 1, as shown in fig. 2, be equipped withlift mouth 205 at the upper surface middle part of experiment platformmain part 201, as shown in fig. 3lift mouth 205 is equipped withstop gear 3 all around, is inaddition experiment platform 2 is inside to be equipped withelevating system 4 of takingelevating platform 401, and when patrolling and examining unmannedaerial vehicle 5 and prepare to take off, it passes through to patrol and examine unmannedaerial vehicle 5elevating platform 401 drive byelevating platform 205 rises tooutside experiment platform 2, after patrolling and examining unmannedaerial vehicle 5 and descend onexperiment platform 2, patrol and examine unmannedaerial vehicle 5 and pass throughearlier stop gear 3 drive removes the adjustment position to guarantee to patrol and examine unmannedaerial vehicle 5 and fall inelevating platform 401 middle part, then by elevatingplatform 401 drives and falls back inexperiment platform 2. As shown in fig. 2, theinside interface 203 that charges that is equipped with ofexperiment platform 2, as shown in fig. 5 be equipped with the through-hole 404 that charges on theelevating platform 401, as shown in fig. 6 patrol and examine 5 downside of unmanned aerial vehicle and be equipped withcharge pole 503, work as after the elevatingplatform 401 completely falls back, theinterface 203 that charges by the through-hole 404 that charges on the elevatingplatform 401 passes and with patrol and examine the realization of charging of the butt joint ofcharge pole 503 of unmannedaerial vehicle 5 downside.

As shown in fig. 7, thelifting mechanism 4 further includes abase 405, alifting scissors 410 and ahydraulic cylinder 407 besides thelifting platform 401, one side of the lower end of thelifting scissors 410 is hinged to thebase 405 through abolt 406, the other side is connected to thebase 405 in a sliding manner, and thelifting platform 401 is installed at the upper end of thelifting scissors 410. As shown in fig. 7,pulley grooves 409 are respectively disposed on two sides of one end of thebase 405, twopulleys 408 are disposed on thelifting scissors 410 and roll along the twopulley grooves 409, ahydraulic cylinder 407 is hinged to thebase 405, a rod portion of thehydraulic cylinder 407 is hinged to a crossing portion of thelifting scissors 410, and thelifting scissors 410 are driven to open and close by thehydraulic cylinder 407 to achieve lifting.

As shown in fig. 1 and fig. 3 to 4, thelimiting mechanism 3 includes two X-direction movable limitingrods 31 and two Y-direction movablelimiting rods 32, the X-direction movablelimiting rods 31 and the Y-direction movable limitingrods 32 form a square, and the lifting opening 205 is located in the middle of the square. The two ends of the X-directionmovement limiting rod 31 are driven to move through the X-direction driving device respectively, the two ends of the Y-directionmovement limiting rod 32 are driven to move through the Y-direction driving device respectively, and the X-directionmovement limiting rod 31 and the Y-directionmovement limiting rod 32 are located on different planes to avoid interference. In this embodiment, the X-direction moving limitingrod 31 is disposed above the Y-direction moving limitingrod 32, as shown in fig. 2, two sides of theexperiment platform 2 in the length direction are respectively provided with amounting base 204, the X-direction driving devices at two ends of the X-direction moving limitingrod 31 are respectively mounted on themounting bases 204 at two sides of theexperiment platform 2, and the Y-direction driving devices are directly mounted on the upper surface of theexperiment platform 2.

As shown in fig. 4, the X-direction driving device includes anX-direction driving motor 311, anX-direction lead screw 312, and anX-direction slider 313, theX-direction driving motor 311, theX-direction lead screw 312, and theX-direction slider 313 are all disposed on an X-direction mounting base, the X-direction mounting base is mounted on themounting base 204, theX-direction lead screw 312 is driven to rotate by theX-direction driving motor 311, a nut engaged with theX-direction lead screw 312 is disposed on theX-direction slider 313, and two ends of the X-directionmovement limiting rod 31 are respectively fixed on theX-direction sliders 313 on two sides. The Y-direction driving device comprises a Y-direction driving motor 321, a Y-direction lead screw 322 and a Y-direction sliding block 323, the Y-direction driving motor 321, the Y-direction lead screw 322 and the Y-direction sliding block 323 are all arranged on a Y-direction mounting seat, the Y-direction mounting seat is directly mounted on the upper surface of theexperiment platform 2, the Y-direction lead screw 322 is driven to rotate through the Y-direction driving motor 321, a nut matched with the Y-direction lead screw 322 is arranged on the Y-direction sliding block 323, and two ends of the Y-directionmovement limiting rod 32 are respectively fixed on the Y-direction sliding blocks 323 on two sides.

As shown in fig. 6, the lower end of the inspection unmannedaerial vehicle 5 is provided with afoot rest 501, as shown in fig. 5, a locking mechanism is arranged on thelifting platform 401 and used for locking thefoot rest 501 at the lower end of the inspection unmannedaerial vehicle 5, the locking mechanism comprises a limitingsteering engine 402 and alimiting hook 403, after the inspection unmannedaerial vehicle 5 descends and is adjusted in position through thelimiting mechanism 3, thelimiting hook 403 on thelifting platform 401 is driven by the limitingsteering engine 402 to swing to hook thefoot rest 501 at the lower end of the inspection unmannedaerial vehicle 5, and the purpose of locking the inspection unmannedaerial vehicle 5 is achieved.

As shown in fig. 2, atelescopic protection board 202 is arranged in thelifting port 205 of theexperiment platform 2, when the inspection unmannedaerial vehicle 5 is ready to take off, theprotection board 202 retracts to expose thelifting port 205, and when the inspection unmannedaerial vehicle 5 completely falls into theexperiment platform 2, theprotection board 202 extends to shield thelifting port 205 to play a protection role.

As shown in fig. 6, acamera 502 is arranged on the lower side of the inspection unmannedaerial vehicle 5, and in this embodiment, thecamera 502 is a two-degree-of-freedom camera.

The working principle of the invention is as follows:

themobile platform 1 is moved to a section to be patrolled and examined, themobile platform 1 is used as a mobile device, and a user can select the mobile device according to actual conditions. When the unmannedaerial vehicle 5 that patrols and examines prepares to take off and patrol and examine, thelast protection shield 202 ofexperiment platform 2 withdraws earlier and exposes lift mouthful 205, patrol and examine unmannedaerial vehicle 5 through elevatingplatform 401 drive by lift mouthful 205 rises to outside theexperiment platform 2, then patrol and examine unmannedaerial vehicle 5 and take off and begin to patrol and examine the operation. When patrolling and examining unmannedaerial vehicle 5 and accomplishing to patrol and examine the operation and descend onexperiment platform 2, at first patrol and examine unmannedaerial vehicle 5 and pass through limitingmechanism 3's X is to removinggag lever post 31 and Y to removing the gag lever post drive and remove the adjustment position to guarantee to patrol and examine unmannedaerial vehicle 5 and fall in elevatingplatform 401 middle part, then spacinghook 403 on theelevating platform 401 is hooked throughspacing steering wheel 402 drive swing and is patrolled and examinedfoot rest 501 of unmannedaerial vehicle 5 lower extreme, realizes that the locking patrols and examines unmannedaerial vehicle 5, then patrol and examine unmannedaerial vehicle 5 by elevatingplatform 401 drives in fallingback experiment platform 2, works as after elevatingplatform 401 completely returns, theinterface 203 that charges in theexperiment platform 2 by charging through-hole 404 on theelevating platform 401 passes and realizes charging with thepole 503 butt joint of patrolling and examining the unmannedaerial vehicle 5 downside, andprotection shield 202 on theexperiment platform 2 can stretch out and coverelevating port 205 this moment.

Claims (2)

Translated fromChinese

1.一种小型巡检无人机动平台释放回收系统，其特征在于：包括动平台(1)、实验平台(2)、限位机构(3)、升降机构(4)和巡检无人机(5)，所述实验平台(2)安装在动平台(1)上，在所述实验平台(2)上设有升降口(205)，在所述升降口(205)四周设有限位机构(3)，在所述实验平台(2)内设有带升降台(401)的升降机构(4)，且巡检无人机(5)通过所述升降台(401)带动由所述升降口(205)升起或落回，当巡检无人机(5)降落在所述实验平台(2)上时，所述巡检无人机(5)通过所述限位机构(3)驱动移动至所述升降台(401)中部，在所述实验平台(2)内部设有充电接口(203)，在所述升降台(401)上设有充电通孔(404)，在巡检无人机(5)下侧设有充电杆(503)，且当巡检无人机(5)通过所述升降台(401)带动回落后，所述充电接口(203)由所述升降台(401)上的充电通孔(404)穿过并与巡检无人机(5)下侧的充电杆(503)对接；1. A small-scale inspection drone moving platform release and recovery system is characterized in that: comprising a moving platform (1), an experimental platform (2), a limit mechanism (3), a lifting mechanism (4) and an inspection drone (5), the experimental platform (2) is installed on the moving platform (1), a lift port (205) is provided on the test platform (2), and a limit mechanism is provided around the lift port (205). (3), a lifting mechanism (4) with a lifting platform (401) is provided in the experimental platform (2), and the inspection drone (5) is driven by the lifting platform (401) to be lifted by the lifting platform (401). The mouth (205) rises or falls back, and when the inspection drone (5) lands on the experimental platform (2), the inspection drone (5) passes through the limit mechanism (3) It is driven to move to the middle of the lifting platform (401), a charging interface (203) is arranged inside the experimental platform (2), and a charging through hole (404) is arranged on the lifting platform (401). A charging rod (503) is provided on the lower side of the drone (5), and when the inspection drone (5) is driven back by the lifting platform (401), the charging interface (203) is driven by the lifting platform The charging through hole (404) on the (401) passes through and is docked with the charging rod (503) on the lower side of the inspection drone (5);所述限位机构(3)包括两个X向移动限位杆(31)和两个Y向移动限位杆(32)，且所述X向移动限位杆(31)和Y向移动限位杆(32)围合成一个方形，所述升降口(205)位于所述方形的中部位置；The limit mechanism (3) includes two X-direction movement limit rods (31) and two Y-direction movement limit rods (32), and the X-direction movement limit rod (31) and the Y-direction movement limit rod The position rod (32) is enclosed into a square, and the lift port (205) is located in the middle of the square;所述X向移动限位杆(31)两端分别通过X向驱动装置驱动移动，所述Y向移动限位杆(32)两端分别通过Y向驱动装置驱动移动，在所述实验平台(2)两侧分别设有一个安装基座(204)，所述X向驱动装置安装在对应侧的安装基座(204)上，所述Y向驱动装置直接安装在所述实验平台(2)的上表面；The two ends of the X-direction movement limit rod (31) are driven to move by the X-direction driving device, respectively, and the two ends of the Y-direction movement limit rod (32) are respectively driven to move by the Y-direction driving device. 2) A mounting base (204) is respectively provided on both sides, the X-direction driving device is mounted on the mounting base (204) on the corresponding side, and the Y-direction driving device is directly mounted on the experimental platform (2) the upper surface of the;所述X向驱动装置包括X向驱动电机(311)、X向丝杠(312)和X向滑块(313)，所述X向丝杠(312)、X向驱动电机(311)和X向滑块(313)均设置于一个X向安装座上，所述X向安装座安装在所述安装基座(204)上，所述X向丝杠(312)通过所述X向驱动电机(311)驱动旋转，所述X向滑块(313)上设有与所述X向丝杠(312)配合的丝母，所述X向移动限位杆(31)端部固定在X向滑块(313)上；The X-direction drive device includes an X-direction drive motor (311), an X-direction lead screw (312) and an X-direction slider (313), the X-direction lead screw (312), the X-direction drive motor (311) and the X-direction The sliding blocks (313) are all arranged on an X-direction mounting seat, the X-direction mounting seat is mounted on the mounting base (204), and the X-direction screw (312) drives the motor through the X-direction (311) Drive rotation, the X-direction slider (313) is provided with a screw nut matched with the X-direction lead screw (312), and the end of the X-direction movement limit rod (31) is fixed on the X-direction on the slider (313);所述Y向驱动装置包括Y向驱动电机(321)、Y向丝杠(322)和Y向滑块(323)，所述Y向驱动电机(321)、Y向丝杠(322)和Y向滑块(323)均设置于一个Y向安装座上，所述Y向安装座直接安装在实验平台(2)的上表面，所述Y向丝杠(322)通过所述Y向驱动电机(321)驱动旋转，所述Y向滑块(323)上设有与所述Y向丝杠(322)配合的丝母，所述Y向移动限位杆(32)端部固定在Y向滑块(323)上；The Y-direction driving device includes a Y-direction drive motor (321), a Y-direction screw (322) and a Y-direction slider (323). The Y-direction drive motor (321), the Y-direction screw (322) and the Y-direction The sliding blocks (323) are all arranged on a Y-direction mounting seat, the Y-direction mounting seat is directly mounted on the upper surface of the experimental platform (2), and the Y-direction screw (322) drives the motor through the Y-direction (321) Drive and rotate, the Y-direction slider (323) is provided with a nut matched with the Y-direction screw (322), and the end of the Y-direction movement limit rod (32) is fixed on the Y-direction on the slider (323);所述升降台(401)上设有多组锁定机构，所述锁定机构包括限位舵机(402)和限位钩(403)，所述限位钩(403)通过所述限位舵机(402)驱动摆动钩住巡检无人机(5)下端对应的脚架(501)；The elevator platform (401) is provided with a plurality of sets of locking mechanisms, the locking mechanisms include a limit steering gear (402) and a limit hook (403), and the limit hook (403) passes through the limit steering gear (402) drive the swing to hook the tripod (501) corresponding to the lower end of the inspection drone (5);所述升降机构(4)包括升降台(401)、基座(405)、升降剪叉(410)和液压缸(407)，所述升降剪叉(410)下端一侧与基座(405)铰接，另一侧与所述基座(405)滑动连接，所述升降台(401)安装在所述升降剪叉(410)上端，所述升降剪叉(410)通过所述液压缸(407)驱动升降。The lifting mechanism (4) comprises a lifting platform (401), a base (405), a lifting scissors (410) and a hydraulic cylinder (407), and the lower end side of the lifting scissors (410) is connected to the base (405) Hinged, the other side is slidably connected to the base (405), the lifting platform (401) is installed on the upper end of the lifting scissors (410), and the lifting scissors (410) pass through the hydraulic cylinder (407) ) to drive the lift.2.根据权利要求1所述的小型巡检无人机动平台释放回收系统，其特征在于：所述实验平台(2)的升降口(205)内设有可伸缩的保护板(202)；所述巡检无人机(5)下侧设有摄像头(502)。2. The small-scale inspection drone mobile platform release and recovery system according to claim 1, characterized in that: a retractable protection plate (202) is provided in the lift port (205) of the experimental platform (2); A camera (502) is provided on the lower side of the inspection drone (5).

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