阅读说明：本技术 一种基于无刷电机的绳钩回收阻尼系统 (Rope hook recovery damping system based on brushless motor ) 是由 陆方舟 马祥森 曾鹏 王宣博 崔志兴 于 2019-12-09 设计创作，主要内容包括：本发明提供了一种基于无刷电机的绳钩回收阻尼系统,所述绳钩回收阻尼系统包括回收电机、回收绳索、线轮、系统支架和回收电机支架；所述回收绳索用于传递无人机的缓冲力,提供少量弹性及阻尼：所述线轮用于将回收电机输出的扭矩传递至回收绳索；所述回收电机用于电能与机械能之间的双向转换。本发明用无刷电机为动力源,系统响应速度快,且可通过电控系统对回收力度快速调整,回收阻尼自适应,安全可靠,设计性强。(The invention provides a rope hook recovery damping system based on a brushless motor, which comprises a recovery motor, a recovery rope, a wire wheel, a system support and a recovery motor support, wherein the recovery motor is arranged on the recovery rope; retrieve the rope and be used for transmitting unmanned aerial vehicle's buffer power, provide a small amount of elasticity and damping: the wire wheel is used for transmitting the torque output by the recovery motor to the recovery rope; the recovery motor is used for bidirectional conversion between electric energy and mechanical energy. The invention uses the brushless motor as a power source, has high system response speed, can quickly adjust the recovery force through the electric control system, has self-adaptive recovery damping, is safe and reliable and has strong design.)

1. The utility model provides a damping system is retrieved to rope hook based on brushless motor, damping system is retrieved to rope hook is used for unmanned aerial vehicle to retrieve, a serial communication port, damping system is retrieved including retrieving the motor, retrieving rope and line wheel to the rope hook, retrieve the rope around locating on the line wheel, the line wheel is connected and is retrieved the motor.

2. The utility model provides a damping system is retrieved to rope hook based on brushless motor, damping system is retrieved to rope hook is used for unmanned aerial vehicle to retrieve, a serial communication port, damping system is retrieved including retrieving rope, two recovery motors and two lines of wheels to the rope hook, retrieve the rope and wind respectively around locating two lines of wheels on both ends, two recovery motors are connected to the line wheel.

3. The rope hook recovery damping system according to claim 1 or 2, wherein the rotating shaft of the reel is connected to an output shaft of a recovery motor.

4. The cord hook retrieval damping system of claim 3,

retrieve rope and be used for transmitting unmanned aerial vehicle's buffer power, provide part elasticity and damping:

the wire wheel is used for transmitting the torque output by the recovery motor to the recovery rope;

the recovery motor is used for bidirectional conversion between electric energy and mechanical energy.

5. The rope hook recovery damping system according to claim 3, further comprising a system bracket and a recovery motor bracket, wherein the recovery motor is connected to the system bracket through the recovery motor bracket, and the system bracket is fixed to the ground or a recovery vehicle.

6. The rope hook recovery damping system according to claim 5, wherein a sliding mechanism is arranged on the system bracket, and the part of the recovery rope for recovery of the unmanned aerial vehicle passes through the sliding mechanism on the system bracket to form a buffer section and is fixed at a corresponding position of the system bracket.

7. The rope hook recovery damping system according to claim 3, wherein the recovery motor is a brushless motor capable of bidirectional output, and the recovery motor is connected with an electric control system.

8. A brushless motor based unmanned aerial vehicle recovery method comprising the rope hook recovery damping system of one of the preceding claims 1-7, wherein the unmanned aerial vehicle recovery method comprises: a recovered rope elongation process and a recovered rope recovery process;

the elongation process of the recovery rope is as follows: the unmanned aerial vehicle collides with the recovery rope at the recovery speed, the recovery rope slides to the locking mechanism at the wing tip along the front edge of the wing and is locked, the unmanned aerial vehicle continues to move to drive the recovery rope to extend, so that the wire wheel is driven to rotate, the wire wheel rotates to drive the recovery motor to rotate to apply work, mechanical energy is converted into electric energy, and the electric energy is dissipated through a resistor or stored in a capacitor;

the recovery process of the recovery rope is as follows: after the speed of the unmanned aerial vehicle is reduced, the electric control system calculates the traction height according to the height of the unmanned aerial vehicle, provides angular displacement for the recovery motor, and the recovery motor drives the wire wheel to rotate reversely, so that the rope is retracted and recovered, and the unmanned aerial vehicle reaches the safe height.

9. The unmanned aerial vehicle recovery method of claim 8, wherein the electronic control system is configured to measure the damping force in real time and adjust the damping force in real time during the recovery of the rope.

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of design of recovery devices of aviation aircrafts, in particular to a rope hook recovery damping system based on a brushless motor.

[ background of the invention ]

The unmanned aerial vehicle rope hook recovery system can realize the accurate fixed point recovery of medium and small unmanned aerial vehicles, and promotes the wide application of the unmanned aerial vehicle in special places. For guaranteeing the regional adaptability of the unmanned aerial vehicle system, the flexible, efficient and reliable use requirements are met, and the rope hook recovery system needs to have the characteristics of simple structure, quick response, strong adaptability, safety, reliability and the like.

The core key that the damping system realized is retrieved for the unmanned aerial vehicle rope hook, and conventional unmanned aerial vehicle rope hook recovery system adopts rubber band or water turbine as damping device more, realizes the buffering and the kinetic energy absorption to the organism to utilize rubber band elasticity to realize pulling up after unmanned aerial vehicle slows down. The damping system is complex in structure, poor in maintainability, easy to oscillate, relatively low in reliability, poor in buffering effect on the machine body, difficult to ensure the safety of the machine body structure and low in maintenance cost.

Accordingly, there is a need to develop a brushless motor based hook recovery damping system that addresses the deficiencies of the prior art to address or mitigate one or more of the problems set forth above.

[ summary of the invention ]

In view of the above, the invention provides a rope hook recovery damping system based on a brushless motor, which has the advantages that the brushless motor is adopted as a power source, the response speed of the system is high, the recovery force can be quickly adjusted through an electric control system, the recovery damping is self-adaptive, and the system is safe, reliable and strong in design.

On one hand, the invention provides a rope hook recovery damping system based on a brushless motor, the rope hook recovery damping system is used for recovery of an unmanned aerial vehicle, the rope hook recovery damping system comprises a recovery motor, a recovery rope and a wire wheel, the recovery rope is wound on the wire wheel, and the wire wheel is connected with the recovery motor.

The above aspect and any possible implementation manner further provide an implementation manner, in which the rope hook recovery damping system includes a recovery rope, two recovery motors and two wire wheels, the recovery rope is respectively wound around the two wire wheels at two ends, and the two wire wheels are connected with the two recovery motors.

The above aspect and any possible implementation manner further provide an implementation manner in which the rotating shaft of the reel is connected with an output shaft of a recovery motor.

The above aspects and any possible implementations further provide an implementation in which the recovery rope is used to transfer the damping force of the drone, providing partial elasticity and damping:

the wire wheel is used for transmitting the torque output by the recovery motor to the recovery rope;

the recovery motor is used for bidirectional conversion between electric energy and mechanical energy.

The above aspects and any possible implementation manners further provide an implementation manner, and the rope hook recovery damping system further comprises a system bracket and a recovery motor bracket, wherein the recovery motor is connected with the system bracket through the recovery motor bracket, and the system bracket is fixed on the ground or a recovery vehicle.

The above aspect and any possible implementation manner further provide an implementation manner, the system bracket is provided with a sliding mechanism, and the part of the recovery rope for recovering the unmanned aerial vehicle passes through the sliding mechanism on the system bracket to form a buffer section, and is fixed at a corresponding position of the system bracket.

The above-mentioned aspect and any possible implementation manner further provide an implementation manner, where the recovery motor is a brushless motor capable of bidirectional output, and the recovery motor is connected to the electronic control system.

The above-mentioned aspect and any possible implementation manner further provide a unmanned aerial vehicle recycling method based on a brushless motor, where the unmanned aerial vehicle recycling method includes: a recovered rope elongation process and a recovered rope recovery process;

the elongation process of the recovery rope is as follows: the unmanned aerial vehicle collides with the recovery rope at the recovery speed, the recovery rope slides to the locking mechanism at the wing tip along the front edge of the wing and is locked, the unmanned aerial vehicle continues to move to drive the recovery rope to extend, so that the wire wheel is driven to rotate, the wire wheel rotates to drive the recovery motor to rotate to apply work, mechanical energy is converted into electric energy, and the electric energy is dissipated through a resistor or stored in a capacitor;

the recovery process of the recovery rope is as follows: after the speed of the unmanned aerial vehicle is reduced, the electric control system calculates the traction height according to the height of the unmanned aerial vehicle, provides angular displacement for the recovery motor, and the recovery motor drives the wire wheel to rotate reversely, so that the rope is retracted and recovered, and the unmanned aerial vehicle reaches the safe height.

The above aspects and any possible implementations further provide an implementation in which the electronic control system is configured to measure the damping force in real time and adjust the damping force in real time during the process of recovering the rope.

Compared with the prior art, the invention can obtain the following technical effects:

(1) the brushless motor is adopted as a power source, the system reliability is high, and self-adaption can be realized by recycling the damping.

(2) The structure is simple, the maintainability is good, the recovery system can be compatible with different structural forms of the recovery system, and the application range is wide.

(3) The response speed is high, the buffer force and the safety height are calculated in real time by adopting an electric control system, and the buffer performance is stable.

(4) The parameter controllability is strong, and the accessible electrical system realizes stronger designability, and the cushioning power adjustable range is wide, effectively reduces system architecture size, and the range of application is wider.

Safe high-efficient, the vibration that can avoid among the recovery process and the organism structural damage that excessive resilience caused reduce cost of maintenance.

Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a structural view of a rope hook recovery damping system according to an embodiment of the present invention.

Wherein, in the figure:

1-recovering the motor; 2-a wire wheel; 3-recovering the rope; 4-unmanned aerial vehicle; 5-a system support; 6-recovering the motor bracket.

[ detailed description ] embodiments

For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.

It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The invention provides a rope hook recovery damping system based on a brushless motor, which is used for recovery of an unmanned aerial vehicle and comprises a recovery motor 1, a recovery rope 3 and a wire wheel 2, wherein the recovery rope 3 is wound on the wire wheel 2, and the wire wheel 2 is connected with the recovery motor 1.

The utility model provides a damping system is retrieved to rope hook based on brushless motor, the damping system is retrieved to rope hook is used for unmanned aerial vehicle to retrieve, damping system is retrieved to rope hook is including retrieving rope 3, two retrieve motor 1 and two line wheels 2, retrieve rope 3 around both ends respectively around locating two line wheels 2 on, two line wheel 2 connects two and retrieves motor 1.

Retrieve rope 3 and be used for transmitting unmanned aerial vehicle 4's buffer power, provide part elasticity and damping:

the wire wheel 2 is used for transmitting the torque output by the recovery motor 1 to the recovery rope 3;

the recovery motor 1 is used for bidirectional conversion between electric energy and mechanical energy.

And the rotating shaft of the wire wheel 2 is connected with the output shaft of the recovery motor 1.

The rope hook recovery damping system further comprises a system support 5 and a recovery motor support 6, the recovery motor 1 is connected with the system support 5 through the recovery motor support 6, and the system support 5 is fixed on the ground or a recovery vehicle. Be equipped with slide mechanism on the system support 5, the part that retrieves rope 3 and be used for 4 recoveries of unmanned aerial vehicle passes slide mechanism on the system support 5, forms the buffer segment to fix the corresponding position at system support 5. The recovery motor 1 is a brushless motor capable of bidirectional output, and the recovery motor 1 is connected with an electric control system.

An unmanned aerial vehicle recovery method based on a brushless motor comprises the following steps: a recovery rope 3 elongation process and a recovery rope 3 recovery process;

the elongation process of the recovery rope 3 is as follows: the unmanned aerial vehicle 4 collides with the recovery rope 3 at a recovery speed, the recovery rope 3 slides to the locking mechanism at the wing tip along the front edge of the wing and is locked, the unmanned aerial vehicle 4 continues to move to drive the recovery rope 3 to extend, so that the wire wheel 2 is driven to rotate, the wire wheel 2 rotates to drive the recovery motor 1 to rotate to apply work, mechanical energy is converted into electric energy, and the electric energy is dissipated through a resistor or stored in a capacitor;

the recovery process of the recovery rope 3 is as follows: 4 speed of unmanned aerial vehicle reduces the back, and electrical system provides the angle displacement for retrieving motor 1 according to 4 high calculation tractive height of unmanned aerial vehicle, retrieves motor 1 and drives 2 counter rotations of line wheel, and rope 3 is retrieved in the shrink, makes unmanned aerial vehicle 4 reach safe height, prevents to take place the touching with ground or system support.

The electric control system is used for measuring the buffer force in real time and adjusting the buffer force in real time in the process of recovering the rope 3.