Disclosure of Invention
In view of the above, the invention aims to provide a variable damping mechanism and an unmanned aerial vehicle recovery device with the same, so as to solve the problems that the traditional damping structure occupies a large space, has power requirements and is greatly influenced by heat energy when the traditional unmanned aerial vehicle recovery device is used.
To achieve the above object, according to one aspect of the present invention, there is provided a variable damping mechanism comprising:
a flexible elastic part which is rope-shaped as a whole and one end of which is a free end;
The scroll elastic part is integrally coiled and provided with a fixed end and an extension end, and the extension end is connected with the other end of the flexible elastic part, wherein the free end is used for pulling the flexible elastic part to perform certain deformation when being coupled with the unmanned aerial vehicle and then driving the extension end of the scroll elastic part to act.
Further, the flexible elastic portion is an elastic rope.
Further, the scroll spring is a scroll spring damper.
According to another aspect of the present invention, there is provided an unmanned aerial vehicle recovery device comprising a variable damping mechanism as described above, further comprising:
the variable damping mechanism is fixed on the mobile vehicle;
The capturing net is arranged on the mobile vehicle, and the variable damping mechanism and the capturing net are sequentially arranged at intervals along the flight direction of the unmanned aerial vehicle.
Still further, the capture web is disposed perpendicular to the horizontal plane.
Still further, the recycling apparatus further includes:
the rotating end is used for rotating in the horizontal direction;
The fixed end of the amplitude changing device is connected with the rotating end of the rotary platform;
The telescopic lifting device is characterized in that the fixed end of the telescopic lifting device is connected with the amplitude changing end of the amplitude changing device, the telescopic end of the telescopic lifting device is connected with one end of the folding and unfolding driving mechanism, the middle part of the telescopic end of the telescopic lifting device is pivoted with the mechanical arm, the movable end of the mechanical arm is connected with the other end of the folding and unfolding driving mechanism and used for leveling the folding and unfolding driving mechanism, and the folding and unfolding driving mechanism is connected with the foldable recovery slideway and used for controlling folding and unfolding of the foldable recovery slideway.
Still further, the foldable recovery slideway comprises two split slideways, the folding driving mechanism is provided with two symmetrically arranged rotating ends, each split slideway is connected with the corresponding folding driving mechanism rotating end, and when the two rotating ends of the folding driving mechanism rotate, the two split slideways are driven to be in butt joint or separation.
Compared with the prior art, the invention has the beneficial effects that:
1. The variable damping mechanism can form a two-stage deceleration structure through the arrangement of the flexible elastic part and the scroll elastic part, the flexible elastic part can prevent the unmanned aerial vehicle from being overloaded due to overlarge impact load, meanwhile, the combination of the flexible elastic part and the scroll elastic part can provide variable damping to absorb the kinetic energy of the unmanned aerial vehicle, so that the variable damping mechanism is higher in safety, better in practicability, free from heating phenomenon, low in manufacturing cost and high in reliability, and a traditional electronic power structure is omitted;
2. The recovery device adopts a form of a mobile vehicle, and can be adjusted according to the flight condition of the unmanned aerial vehicle to complete corresponding coordination, so that the maneuverability of the recovery device is improved, and the recovery device has important significance for the conditions of frequent conversion of recovery places and severe conditions of the recovery places;
3. This recovery unit can save space through setting up the collapsible recovery slide that can roll over when not using, can form the slide to supply with unmanned aerial vehicle and retrieve the time slide when expanding, and cooperation variable damping mechanism can reduce unmanned aerial vehicle's kinetic energy better to form better recovery effect.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, in the case of no conflict, embodiments of the present invention and features of the embodiments may be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.
It should be noted that, the descriptions of the directions of "left", "right", "upper", "lower", "top", "bottom", and the like of the present invention are defined based on the relation of orientations or positions shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the structures must be constructed and operated in a specific orientation, and thus, the present invention should not be construed as being limited thereto. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly connected, indirectly connected through intervening mediums, or may be in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to the drawings illustrating the present embodiment, according to one aspect of the present invention, there is provided a variable damping mechanism comprising:
The flexible elastic part is integrally rope-shaped, one end of the flexible elastic part is a free end, and the flexible elastic part is arranged to be capable of carrying out primary speed reduction on the unmanned aerial vehicle and bearing corresponding load in an initial stage so as to help the unmanned aerial vehicle to reduce speed.
The scroll elastic part is integrally coiled and provided with a fixed end and an extension end, and the extension end is connected with the other end of the flexible elastic part, wherein the free end is used for pulling the flexible elastic part to perform certain deformation when being coupled with the unmanned aerial vehicle and then driving the extension end of the scroll elastic part to act. The scroll spring is provided to reduce the volume of the occupied space in a limited space, and any spring having a space-saving and no electric power-performing member may be used in the present application.
In this embodiment, the flexible elastic portion is an elastic cord 8. The elastic rope 8 is a conventional component, is easily available and low in cost, can bear impact load in unmanned aerial vehicle recovery and ensures reasonable service life and reliability, and can be used in the application.
In this embodiment, the wrap spring is a wrap spring damper 9. The spiral spring damper 9 has a good space solving effect, is tightened after being stretched, generates moment due to angular deformation, and accordingly converts kinetic energy of the aircraft into elastic potential energy and reduces speed. The scroll spring damper 9 and the elastic rope 8 are matched, so that a variable damping structure can be formed, no overload phenomenon is caused in the whole recovery process of the unmanned aerial vehicle, and the recovery stability is ensured. In the spiral spring damper 9, as shown in fig. 5, one end of the spiral spring is fixed, and the other end is connected with one end of the elastic rope 8, in order to achieve a good recovery effect, the unmanned aerial vehicle back hook 7 needs to be installed on the unmanned aerial vehicle, and in order to achieve the elastic rope 8, a hook structure matched with the unmanned aerial vehicle back hook 7 or a structure such as a circular ring shape which is beneficial to the hooking of the unmanned aerial vehicle back hook 7 can be arranged at the other end, so that the recovery accuracy is improved.
According to another aspect of the present invention, there is provided an unmanned aerial vehicle recovery device comprising a variable damping mechanism as described above, further comprising:
The movable vehicle 1 is fixed on the movable vehicle 1, and the movable vehicle 1 is arranged to improve the recycling mobility, and in the operation process of the unmanned aerial vehicle, the movable damping mechanism is arranged on the movable vehicle 1 along with the use scene of the change of the operation place and the recycling place, so that the recycling mobility can be improved, the recycling difficulty of the unmanned aerial vehicle is reduced, meanwhile, the unmanned aerial vehicle can return in time when the cruising is insufficient, the falling event caused by insufficient electric quantity is avoided, and the operation safety is improved.
The capturing net 10 is arranged on the mobile vehicle 1, and the variable damping mechanism and the capturing net 10 are sequentially arranged at intervals along the flight direction of the unmanned aerial vehicle. The setting of catching net 10 can cooperate with the variable damping mechanism, forms the second protection that unmanned aerial vehicle retrieved and safety recovery unmanned aerial vehicle.
In this embodiment, the capturing net 10 has a net surface arranged perpendicular to the horizontal plane. The net surface of the capturing net 10 is oriented, so that the unmanned aerial vehicle can be better recovered, the contact area is enlarged, and the operation difficulty of an unmanned aerial vehicle operator is reduced. The specific fixing form of the capturing net 10 can be reasonably selected according to the actual mobile car 1, and can be fixed on the mobile car 1 through a bracket or can be mounted on a folding recovery slideway 5 mentioned later. The fixing form can be fixed with the corresponding bracket by adopting a mode of arranging binding ropes at four corners. Any capturing net 10 that can be recovered in combination with the folding recovery chute 5 can be used in the present application, as appropriate and chosen according to the actual needs.
In this embodiment, the recycling apparatus further includes:
The rotary platform 2 is arranged to reasonably adjust the position of the foldable recovery slideway 5 in the horizontal plane, the rotary platform 2 adopts the existing recovery platform, and the rotary platform with the rotary end rotating in the horizontal plane can be used in the application. For the rotary platform 2, the driving mode of the rotating end can be selected by combining a motor with a speed reducer to drive the rotating end to rotate, the power supply mode can be connected with a power supply module of the mobile vehicle 1 to supply power according to actual conditions, for example, a storage battery or a vehicle-mounted battery, and the like, and the connection mode can be selected according to the actual conditions in the prior art.
The fixed end of the amplitude changing device 3 is connected with the rotating end of the rotating platform 2, and the amplitude changing device 3 is arranged to change the working amplitude of the telescopic lifting device 4 through the amplitude changing device 3 after the rotating platform 2 adjusts the horizontal position, and an existing swing arm type amplitude changing mechanism is adopted, so that the fixed end of the swing arm type amplitude changing mechanism is connected with the rotating end of the rotating platform 2, the rotating platform 2 can adjust the position of the operating end of the swing arm of the amplitude changing device 3 in the horizontal direction, and the amplitude changing device can be transplanted to the application for use in a preferable mode by referring to the rotating structure and the amplitude changing structure of a crane.
The telescopic lifting device 4 is characterized in that a fixed end of the telescopic lifting device 4 is connected with an amplitude changing end of the amplitude changing device 3, the telescopic end is connected with one end of the folding and unfolding driving mechanism 6, the middle part of the telescopic end is pivoted with the mechanical arm 4-1, a movable end of the mechanical arm 4-1 is connected with the other end of the folding and unfolding driving mechanism 6 and is used for leveling the folding and unfolding driving mechanism 6, and the folding and unfolding driving mechanism 6 is connected with the foldable recovery slideway 5 and is used for controlling folding and unfolding of the foldable recovery slideway 5. The telescopic lifting device 4 is arranged to further adjust the position of the folding driving mechanism 6 on the premise of adjusting the positions of the rotary platform 2 and the amplitude changing device 3, so that the position of the foldable recovery slideway 5 is adjusted, and a precondition is provided for the recovery unmanned aerial vehicle to carry out flexible adaptability adjustment to the greatest extent. The telescopic lifting device 4 can adopt a hydraulic cylinder type telescopic structure, can also adopt a ball screw to drive the sliding block, and can be connected with the telescopic end and the sliding block, and the telescopic lifting device is selected according to actual needs. The general principle of use is that the fixed end is connected to the amplitude changing end of the amplitude changing device 3, and the energy supply mode adopts a vehicle-mounted energy supply mode as well. The mechanical arm 4-1 specifically adopts a hydraulic cylinder mode, and the movable end is connected with the folding and unfolding driving mechanism 6, so that the angle between the folding and unfolding driving mechanism 6 and the horizontal plane can be adjusted in the action process of the movable end of the mechanical arm 4-1 until the folding and unfolding driving mechanism 6 is in a horizontal state, and the adjustment is finished.
In this embodiment, the foldable recovery slide 5 includes two split slides, the folding driving mechanism 6 has two symmetrically arranged rotating ends, each split slide is connected to the corresponding rotating end of the folding driving mechanism 6, and when the two rotating ends of the folding driving mechanism 6 rotate, the two split slides are driven to be butted or separated. The split slide way is connected with the driving module 6-1 through the connecting piece 6-2, the connecting piece 6-2 can be driven to act through the driving module 6-1, so that the corresponding split slide way is driven to act, in the application, under the conventional form, the two split slide ways are in a separated form and are mutually parallel to be arranged at two sides of the folding and unfolding driving mechanism 6, when each driving module 6-1 drives the connecting piece 6-2 to rotate 90 degrees, the two split sliding ways are spliced to form a complete sliding way, and the variable damping mechanism and the capturing net 10 are connected to the same split sliding way or different split sliding ways respectively, and the variable damping mechanism and the capturing net are selected according to actual needs. The driving module 6-1 can specifically adopt a motor acceleration and deceleration device to drive the connecting piece 6-2. Compared with the traditional recovery system, the resolution type recovery support formed by the rotary platform 2, the amplitude changing device 3 and the telescopic lifting device 4 can be quickly unfolded, has the advantages of low recovery environment requirement, no need of electric power requirement, quick transportation, quick unfolding, small occupied space when no recovery task is needed, and the like, and has important significance for the conditions of frequent conversion of recovery sites and severe recovery site conditions.
When the unmanned aerial vehicle is used, after the form of the mobile vehicle 1 reaches a designated place, the rotating end of the rotating platform 2 is operated to rotate to adjust the horizontal position, then the space position is adjusted through the amplitude changing device 3, then the position in the vertical direction is adjusted through the telescopic lifting device 4, the folding and unfolding driving mechanism 6 is adjusted to be in a horizontal state through the mechanical arm 4-1, the folding and unfolding slideway 5 is kept horizontal at the moment, then the driving module 6-1 is operated to drive the split slideway to be combined into a whole through the connecting piece 6-2, the recycling condition is provided, after the unmanned aerial vehicle flies, the back-to-the-head hook 7 hooks the elastic rope 8, then the elastic rope 8 is pulled, the elastic rope 8 stretches to a certain extent, and then the extending end of the scroll spring damper 9 is driven to act, and the unmanned aerial vehicle is tightened into the capturing net 10 to complete recycling of the unmanned aerial vehicle. The elastic rope and coil spring combined type variable damping unmanned aerial vehicle recovery device adopts the plane non-contact scroll spring to replace a brake to play a braking role, so that the heat accumulation problem can not exist, the structure is simple, the maintenance cost is low, meanwhile, electric power intervention is not needed, and the problem of large volume of the linear spring is solved.
The controllers, sensors, control programs, etc. that may be involved in the above description are all of the prior art, and are not described in detail.
The embodiments of the invention disclosed above are intended only to help illustrate the invention. The examples are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.