Unmanned aerial vehicle adsorption equipment with jack
阅读说明：本技术 一种带有收放机构的无人机吸附装置 (Unmanned aerial vehicle adsorption equipment with jack ) 是由 胡天翔 唐浩楠 张真睿 石哲鑫 辜晶晶 张书铭 屈秋林 刘振臣 于 2020-06-16 设计创作，主要内容包括：本发明公开了一种带有收放机构的无人机吸附装置,属于无人机吸附领域,具体包括顶座、支撑杆、弹性绳、底座和双舵机；第一舵机固定在顶座,通过输出轴带动摇臂旋转,从而带动与摇臂连接的支撑杆进行收放；支撑杆上安有回复拉扣,支撑杆底端安装在第二套筒上,第二套筒与底座铰接,形成转轴；底座底面布置有仿生粘附干胶,底座上方布置有回复拉钩,与回复拉扣之间连接弹性绳；底座内部安装第二舵机,输出轴连接摇臂,在底座上对称位置设有的上下开口之间转动,从而带动与摇臂相连的回复顶杆上下运动,完成吸附材料的吸附和脱离；本发明装置简单可靠,轻质高效,采用双舵机驱动,质量小,扭矩大,具有很高的效率,灵活性高,抗风性能强。(The invention discloses an unmanned aerial vehicle adsorption device with a retraction jack, which belongs to the field of unmanned aerial vehicle adsorption and specifically comprises a top seat, a support rod, an elastic rope, a base and a double-steering engine; the first steering engine is fixed on the top seat and drives the rocker arm to rotate through the output shaft, so that the support rod connected with the rocker arm is driven to retract and release; a return pull buckle is arranged on the supporting rod, the bottom end of the supporting rod is arranged on a second sleeve, and the second sleeve is hinged with the base to form a rotating shaft; the bionic adhesive dry glue is arranged on the bottom surface of the base, the recovery drag hook is arranged above the base, and the elastic rope is connected between the recovery drag hook and the recovery drag buckle; a second steering engine is arranged in the base, an output shaft is connected with a rocker arm, and an upper opening and a lower opening which are symmetrically arranged on the base rotate to drive a return ejector rod connected with the rocker arm to move up and down so as to complete adsorption and separation of the adsorption material; the device is simple and reliable, light in weight and high in efficiency, adopts the double-steering engine for driving, and has the advantages of small mass, large torque, high efficiency, high flexibility and strong wind resistance.)
1. An unmanned aerial vehicle adsorption device with a retraction mechanism is characterized by comprising a top seat, a support rod, an elastic rope, two connecting sleeves, a base, a first steering engine and a second steering engine;
a first steering engine is fixedly arranged on the top seat; meanwhile, an external interface is reserved and connected with the unmanned aerial vehicle;
a rocker arm is arranged on the first steering engine, and the rocker arm is fixedly connected with one end of the supporting rod through a first connecting sleeve; an output shaft of the first steering engine drives the rocker arm to rotate and drives the supporting rod to move from a position vertical to the top seat to a position parallel to the top seat;
a return pull buckle is arranged in the middle of the supporting rod, a second connecting sleeve is arranged below the return pull buckle and is connected with the other end of the supporting rod through an opening in the top, two symmetrical interfaces are respectively arranged on two sides below the opening of the second connecting sleeve and are hinged with the top of the base to form a rotating shaft, and the second connecting sleeve rotates around the rotating shaft relative to the base;
the bionic adhesive dry glue is arranged on the bottom surface of the base, and the two recovery drag hooks are arranged above the base; an elastic rope is respectively connected between the two recovery drag hooks and the recovery drag buckle;
a second steering engine is fixedly installed in the hollow part in the base, an output shaft of the second steering engine is connected with one end of a rocker arm, the other end of the rocker arm is connected with a return ejector rod, an upper opening is formed in the middle of two return drag hooks of the base, a lower opening with a corresponding width is formed in the middle of the bottom edge of the base, and the rocker arm rotates around a steering engine shaft between the upper opening and the lower opening under the control of the second steering engine so as to drive the return ejector rod to move up and down;
when the adsorption is carried out, the second steering engine controls the rocker arm to extend out of the upper opening, the return ejector rod is driven to be clamped on the support rod between the return pull buckle and the second connecting sleeve, the base is pushed to a position vertical to the support rod, and the adsorption material of the base is adsorbed on the wall surface; during desorption, the second steering wheel control rocking arm stretches out from the under shed, and the control rocking arm is rotatory downwards simultaneously, rocking arm and wall interact for the base perk realizes breaking away from of adsorbing material and wall.
2. The unmanned aerial vehicle adsorption device with retraction mechanism as claimed in claim 1, wherein an auxiliary rod interface is installed at the middle position of the support rod for fixing an auxiliary rod at each of two sides of the support rod; the two auxiliary bars move together with the support bar.
3. The unmanned aerial vehicle adsorption equipment with retraction mechanism of claim 1, wherein the adhesion of said bionic adhesive dry glue increases with increasing unit pre-load force.
4. The unmanned aerial vehicle adsorption equipment with jack of claim 1, characterized by, that, the unmanned aerial vehicle adsorption equipment theory of operation as follows:
when the unmanned aerial vehicle flies, the first steering engine controls the rocker arm to rotate the supporting rod to be parallel to the top seat, meanwhile, the rocker arm and the return ejector rod of the second steering engine are retracted, the elastic rope pulls up the base under the action of elastic restoring force, meanwhile, the second connecting sleeve moves around the rotating shaft to pull the base to be parallel to the supporting rod, and the whole adsorption device is retracted to fly along with the unmanned aerial vehicle;
after the target wall surface is found, the first steering engine drives the rocker arm to enable the support rod to be perpendicular to the wall surface; meanwhile, the second steering engine controls the rocker arm to rotate upwards, the return ejector rod pushes the base to be parallel to the wall surface, the rocker arm is controlled to rotate upwards through the second steering engine, the angle between the base and the supporting rod is adjusted, the base is pushed to be perpendicular to the supporting rod, and the adsorbing material is successfully adsorbed to the wall surface; then, the first steering engine controls the rocker arm to rotate the support rod to be parallel to the top seat, power of the unmanned aerial vehicle is turned off, and the machine body is tightly attached to the wall surface;
during desorption, the first steering engine controls the rocker arm, the support rod rotates around the base to a position perpendicular to the base under the power assistance of the unmanned aerial vehicle, the aircraft is lifted to a position parallel to the wall surface, at the moment, the auxiliary rods on the two sides are lifted along with the support rod, and the transverse stability in the desorption process is guaranteed; when the rocker arm is controlled by the second steering engine to extend out of the lower opening, the base is tilted by controlling the rocker arm to rotate downwards, and the adsorbing material is separated from the wall surface;
and finally, a first steering engine in the top seat drives the rocker arm to enable the supporting rod to rotate around the rotating shaft, and the adsorption device is retracted.
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle adsorption, and particularly relates to an unmanned aerial vehicle adsorption device with a retraction jack, which can enhance the wind resistance and realize long-term stable adsorption.
Background
In recent years, the application scenes of the micro unmanned aerial vehicle are more and more extensive, and the micro unmanned aerial vehicle can perform hidden investigation at a position which is difficult to be perceived by people, provide combat information and execute a combat task; however, the duration of the flight is always limited to improve the combat efficiency.
The solution that compares at present is to dock unmanned aerial vehicle absorption on the wall, can reduce the dead time like this, increases battlefield dwell time simultaneously.
Design a simple structure, practical reliable unmanned aerial vehicle adsorption equipment, let unmanned aerial vehicle reduce energy loss when carrying out the task to extension unmanned aerial vehicle duration is the research direction that has the demand at present very much.
The existing adsorption modes at home and abroad mainly comprise dry glue adsorption, thrust adsorption and negative pressure adsorption, and have an improved space on concealment and reliability, and the wind resistance of the adsorption device is less considered.
Disclosure of Invention
Aiming at the problems, the invention discloses an unmanned aerial vehicle adsorption device with a retraction mechanism, which is convenient for a micro unmanned aerial vehicle to be adsorbed on the surface of a building, achieves the effects of no power and hidden perch and has good wind resistance.
Unmanned aerial vehicle adsorption equipment include footstock, bracing piece, elasticity rope, two connecting sleeve, adsorb base and double steering wheel.
The double-steering engine comprises a first steering engine and a second steering engine, and the first steering engine and the second steering engine respectively drive the retraction and release of the supporting rods and the desorption of the adsorption material.
A first steering engine is fixedly arranged on the top seat; and an external interface is reserved and connected with the unmanned aerial vehicle.
A rocker arm is arranged on the first steering engine and rotates around an output shaft, and the rocker arm is fixedly connected with one end of the supporting rod through a first connecting sleeve; an output shaft of the first steering engine drives the rocker arm to rotate so as to drive the supporting rod to move from a position vertical to the top seat to a position parallel to the top seat; the other end of the supporting rod is connected with the base through a second connecting sleeve.
The middle position of the supporting rod is provided with a reply pull buckle, a second connecting sleeve is arranged below the reply pull buckle, the second connecting sleeve is connected with the bottom end of the supporting rod through an opening at the top, two symmetrical interfaces are respectively arranged on two sides below the opening of the second connecting sleeve and hinged with the top of the base to form a rotating shaft, and the second connecting sleeve rotates relative to the base around the rotating shaft.
The bionic adhesive dry glue is arranged on the bottom surface of the base, and the two recovery drag hooks are arranged above the base; an elastic rope is respectively connected between the two recovery drag hooks and the recovery drag buckle.
A second steering engine is fixedly installed in a hollow part inside the base, an output shaft of the second steering engine is connected with one end of a rocker arm, the other end of the rocker arm is connected with a return ejector rod, an upper opening is formed in the middle of two return drag hooks of the base, a lower opening with a corresponding width is formed in the middle of the bottom edge of the base in a corresponding position, and the rocker arm rotates around a steering engine shaft between the upper opening and the lower opening under the control of the second steering engine, so that the return ejector rod is driven to move up and down.
When the adsorption is carried out, the second steering engine controls the rocker arm to extend out of the upper opening, the return ejector rod is driven to be clamped on the support rod between the return pull buckle and the second connecting sleeve, the base is pushed to a position vertical to the support rod, and the adsorption material of the base is adsorbed on the wall surface; during desorption, the second steering wheel control rocking arm stretches out from the under shed, and the control rocking arm is rotatory downwards simultaneously, rocking arm and wall interact for the base perk realizes breaking away from of adsorbing material and wall.
Furthermore, an auxiliary rod interface is arranged in the middle of the supporting rod and used for respectively fixing an auxiliary rod on each of two sides of the supporting rod; the two auxiliary bars move together with the support bar.
Furthermore, the adhesion of the bionic adhesive dry glue is improved along with the improvement of unit pretightening force.
Unmanned aerial vehicle adsorption equipment theory of operation as follows:
when flight state, first steering wheel control rocking arm is rotatory the bracing piece to with footstock parallel state, simultaneously, the rocking arm and the reply ejector pin of second steering wheel are packed up, and the elasticity rope pulls up the base under the effect of elastic restoring force, and second connecting sleeve revolutes the rotary motion simultaneously, draws the base to with bracing piece parallel position, and whole adsorption equipment packs up, follows unmanned aerial vehicle and flies together.
After the target wall surface is found, the first steering engine drives the rocker arm to enable the support rod to be perpendicular to the wall surface; meanwhile, the second steering engine controls the rocker arm to rotate upwards, the return ejector rod pushes the base to be parallel to the wall surface, the rocker arm is controlled to rotate upwards through the second steering engine, the angle between the base and the supporting rod is adjusted, the base is pushed to be perpendicular to the supporting rod, and the adsorbing material is successfully adsorbed to the wall surface; then, a first steering engine control rocking arm rotates the bracing piece to a state parallel to the footstock, and the unmanned aerial vehicle power is closed simultaneously, and the wall is hugged closely to the fuselage.
During desorption, the first steering engine controls the rocker arm, the support rod rotates around the base to a position perpendicular to the base under the power assistance of the unmanned aerial vehicle, the aircraft is lifted to a position parallel to the wall surface, at the moment, the auxiliary rods on the two sides are lifted along with the support rod, and the transverse stability in the desorption process is guaranteed; when the second steering engine control rocking arm stretches out from the under shed, through control rocking arm downwardly rotating for the base perk realizes breaking away from of adsorbing material and wall.
Compared with the prior art, the invention has the following obvious advantages:
1) the utility model provides an unmanned aerial vehicle adsorption equipment with jack, utilizes bionical stickness to glue futilely, and unmanned aerial vehicle can reliably adsorb for a long time and berth at perpendicular wall to stability and disguise promote greatly.
2) The utility model provides an unmanned aerial vehicle adsorption equipment with jack, the device is simple reliable, and the light is high-efficient. The main components adopt 3D printing resin and carbon fiber tubes, so that the weight is light and the strength is high; the double-steering engine is adopted for driving, so that the mass is small, the torque is large, and the efficiency is high.
3) The bionic adhesive dry glue avoids the use of a complex adsorption device, reduces the mass and improves the reliability; and the adhesive is large, the aging is long, and the function can be realized by using a small area.
4) The utility model provides an unmanned aerial vehicle adsorption equipment with radio and tape player, disguise is good, and battlefield survival rate is high. The bionic adhesive dry glue is passive adsorption, has no noise, and improves the acoustic concealment; when the plane flying is carried out, the adsorption device is folded, and the body is tightly attached to the wall surface when the plane flying is carried out, so that the appearance concealment is improved.
5) The utility model provides an unmanned aerial vehicle adsorption equipment with jack, the flexibility is high, and wind resistance can be strong. When the aircraft flies flatly, the adsorption device is retracted, so that the flight resistance is reduced, and the flexibility is improved; during adsorption, the retraction device effectively reduces the distance between the gravity center of the airplane and the wall surface, improves the performance of a wind field, greatly improves the wind resistance and realizes long-term reliable adsorption.
6) The utility model provides an unmanned aerial vehicle adsorption equipment with jack, adopts both sides auxiliary rod, keeps unmanned aerial vehicle's lateral stability. When unmanned aerial vehicle desorption, lateral stability can be maintained to both sides auxiliary rod, prevents to turn on one's side, has improved the stability of flying again.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle adsorption device with a retraction mechanism according to the present invention;
FIG. 2 is a schematic view of a second steering engine of the present invention controlling the angular adjustment between the base and the support bar;
FIG. 3 is a schematic diagram of a desorption process of a second steering engine control base according to the present invention;
FIG. 4 is a diagram of the process of the unmanned aerial vehicle adsorbing a wall by using an adsorption device;
fig. 5 is a process diagram of the unmanned aerial vehicle desorbing the wall by using the adsorption device.
Detailed Description
For the purpose of making the objects, aspects and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
The invention discloses an unmanned aerial vehicle adsorption device with a retraction mechanism, which comprises a
The
A rocker arm 2-1 is mounted on the
An auxiliary rod interface 3-1 is arranged on the supporting
The second connecting
The box-type structure of the
A
The upper opening and the lower opening are positioned at the center of the edge of the base, and the two sides are symmetrical, so that the uneven stress on the two sides is avoided.
When the adsorption is carried out, the second steering engine controls the rocker arm to extend out of the upper opening, the return ejector rod is driven to be clamped on the support rod between the return pull buckle and the second connecting sleeve, the base is pushed to a position vertical to the support rod, and the adsorption material of the base is adsorbed on the wall surface; during desorption, the second steering wheel control rocking arm stretches out from the under shed, and the control rocking arm is rotatory downwards simultaneously, rocking arm and wall interact for the base perk realizes breaking away from of adsorbing material and wall.
Further, the bionic adhesive dry glue has the following characteristics: the adhesion performance is improved along with the improvement of the unit pretightening force. Therefore, under the certain circumstances of pretightning force (aircraft clash the wall and produce), adopt less adsorption area, can improve the unit area adsorption affinity to hang up whole unmanned aerial vehicle.
Unmanned aerial vehicle adsorption equipment theory of operation as follows:
as shown in figure 2, when the flight level flies the state, first steering wheel control rocking arm rotates the bracing piece to parallel with the footstock, and simultaneously, the rocking arm and the answer ejector pin of second steering wheel are packed up, and the elasticity rope pulls up the base under the effect of elastic restoring force, and the second connecting sleeve revolutes the rotation axis motion simultaneously, pulls the base to with bracing piece parallel position, and whole adsorption equipment packs up, follows unmanned aerial vehicle and flies together, has effectively reduced the air resistance when flying. The supporting rod and the base are in a retracted state, so that the influence of the adsorption device on the pneumatic appearance of the unmanned aerial vehicle is reduced, and the flying efficiency is improved; meanwhile, the longitudinal size of the unmanned aerial vehicle is reduced, and the flexibility is enhanced.
Fig. 3 shows, after finding the target wall, unmanned aerial vehicle puts down bracing piece and base earlier, makes adsorption equipment can press close to the wall. Unmanned aerial vehicle flies to the wall with certain initial velocity, under the inertia effect, make the bionical adhesion of base glue tightly the adhesion wall futilely, then, second steering wheel control rocking arm stretches out from the opening, drive and reply the ejector pin card on the bracing piece, through second steering wheel control rocking arm upwards rotatory, the angle between adjustment base and the bracing piece, with the base push away to with bracing piece vertical position, the biggest area of contact has been guaranteed, the impact force vertical action is in the bottom surface simultaneously, make adsorbing material and wall fully contact. Adsorb successfully after, first steering wheel control rocking arm with the bracing piece rotatory to with footstock parallel state, close unmanned aerial vehicle power simultaneously, the wall is hugged closely to the fuselage, reduces the distance of unmanned aerial vehicle focus and wall, makes the fuselage hug closely the wall, has greatly improved the wind resistance performance and the disguise when perching.
During desorption, first steering wheel control rocking arm simultaneously under unmanned aerial vehicle power help for the bracing piece rotates the position to the perpendicular to base around the base, and the aircraft lifts up to the position that is on a parallel with the wall, and at this moment, the both sides auxiliary rod also lifts up along with the bracing piece, has guaranteed the lateral stability at the desorption process, prevents that unmanned aerial vehicle from turning on one's side, realizes stably flying again. When the second steering engine control rocking arm stretches out from the under shed, through control rocking arm downwardly rotating, rocking arm and wall interact for the base perk realizes breaking away from of adsorbing material and wall.
The invention adopts the retraction mechanism, effectively reduces the distance between the gravity center of the airplane and the wall surface, improves the performance of a wind field, greatly improves the wind resistance of the airplane when the airplane inhales, and realizes long-term stable adsorption; the auxiliary rods on the two sides keep transverse stability, prevent side turning and realize stable re-flying. Meanwhile, the adsorption method effectively improves the concealment of the unmanned aerial vehicle, improves the survival rate of the battlefield and has great application value.
The inhabitation method of the unmanned aerial vehicle adsorption device on the vertical wall surface is as follows:
as shown in fig. 4, when the unmanned aerial vehicle flies to the wall surface of a building to be parked, the first steering engine in the device top seat drives the rocker arm to enable the support rod to be perpendicular to the wall surface; meanwhile, the second steering engine controls the rocker arm to rotate upwards, and the return ejector rod pushes the base to be parallel to the wall surface. The plane flies to the wall at a certain initial speed, and under the inertia effect, the pre-tightening force generated by the collision effect enables the bionic adhesive dry glue of the base to be tightly adhered to the wall. Unmanned aerial vehicle closes power, and under the action of gravity, the bracing piece pivoting, the fuselage is flagging, until fuselage and the wall of laminating basically of screw.
As shown in fig. 5, the first steering engine in the footstock drives the rocker arm to enable the support rod to rotate around the rotating shaft, the machine body is lifted, and the propeller is far away from the wall surface. Unmanned aerial vehicle heavily starts power, and the fuselage further lifts up, draws the bracing piece to vertical position, and the second steering wheel drive rocking arm in the base will bionical adhesion dry glue top from the wall simultaneously. The two auxiliary rods play a role in transverse stability, prevent side turning and improve the success rate of fly-back. Meanwhile, the restoring force of the elastic rope enables the supporting rod and the base to be restored to be in parallel relation, and the resistance in flight is reduced.
And finally, a first steering engine in the top seat drives the rocker arm to enable the supporting rod to rotate around the rotating shaft, and the adsorption device is retracted.
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