CN111284722A - Aerial recovery system of unmanned aerial vehicle - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an aerial recovery system of an unmanned aerial vehicle. Snatch the mechanism and snatched the part including the arm, wherein the arm snatchs the mechanism and is connected with female machine, snatched the part and is connected with the unmanned aerial vehicle of waiting to retrieve, and unmanned aerial vehicle snatchs the working range of mechanism at the arm through female machine positioning control, and the arm snatchs the mechanism and snatchs and fix and snatch the part, realizes unmanned aerial vehicle's recovery. The unmanned aerial vehicle recovery system has the advantages that the unmanned aerial vehicle can be directly recovered in the air by the recovery system without landing on the existing functions and purposes, the energy for returning the unmanned aerial vehicle is saved, the working radius of the unmanned aerial vehicle is increased, the working efficiency is improved, and the unmanned aerial vehicle recovery system plays a great role in the technical field of unmanned aerial vehicle clustering.

Description

A drone aerial recovery system

technical field

The invention belongs to the technical field of unmanned aerial vehicles, in particular to an aerial recovery system of unmanned aerial vehicles.

Background technique

Small UAVs have the advantages of light weight, low cost, and flexible deployment. However, due to their structural limitations, they have small payloads, short voyages, and small mission radiuses, so they are only suitable for small-scale reconnaissance work. The application of UAV aerial recycling technology enables the UAV to be recycled by the parent aircraft, saving the energy for the UAV to return. It can greatly increase the mission radius of the entire system. At the same time, the parent aircraft can carry multiple small UAVs to form a swarm system. The cost of multiple small UAVs is lower than that of a single large UAV. Even if it is damaged in a complex and harsh environment, it can reduce losses and reduce risks.

At present, UAV swarm technology has developed rapidly. There are many researches on UAV swarm algorithm. However, from the perspective of application, there are few related researches on UAV recycling technology. The recovery success rate is low and the recovery time is long. Fast and reliable UAV recovery technology is one of the problems that restrict the application of UAV swarms.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the purpose of the present invention is to provide an aerial recovery system for unmanned aerial vehicles. The recovery system enables the unmanned aerial vehicle to return to flight without landing on the ground, and can be directly recovered in the air by the recovery system, saving unmanned aerial vehicles. The energy of returning the aircraft increases the combat radius of the drone, improves the work efficiency, and can play a great role in the field of drone swarm technology.

The technical scheme that the present invention adopts for realizing the above-mentioned purpose is:

An aerial recycling system for unmanned aerial vehicles, comprising a mechanical arm grabbing mechanism and a grabbed part, wherein the mechanical arm grabbing mechanism is connected with a mother machine for recycling, and the grabbed part is connected with the UAV to be recycled, The unmanned aerial vehicle is positioned and controlled in the working range of the mechanical arm grabbing mechanism through the master machine, and the mechanical arm grabbing mechanism grabs and fixes the grasped part, so as to realize the recovery of the unmanned aerial vehicle.

The mechanical arm grasping mechanism includes a fixed plate, a mechanical claw opening and closing driving mechanism and two mechanical arms, wherein one end of the fixed plate is connected to the mother machine, and the mechanical claw opening and closing driving mechanism is arranged on the fixed plate, And connected with two mechanical arms, the mechanical claw opening and closing driving mechanism is used to drive the two mechanical arms to open or close.

A recovery slot is provided between the two mechanical arms at one end near the fixing plate, and the grasped part is locked in the recovery slot.

The ends of the two mechanical arms are provided with positioning slots for mutual positioning and connection.

One end of the fixing plate is connected to the mother machine through an installation interface.

The two mechanical arms are connected with the installation interface at a certain angle, so that the grasped parts can slide inwardly.

The mechanical claw opening and closing driving mechanism includes a steering gear, a driving gear and two driven gears, wherein the two driven gears are rotatably mounted on the fixing plate and mesh with each other, and the driving gear is arranged on the steering gear. The output end is meshed with one of the driven gears, and the two mechanical arms are respectively connected with the two driven gears.

The grasped part includes a support rod, a fixed seat and a clip seat arranged at both ends of the support rod, wherein the fixed seat is connected with the drone, and the clip seat cooperates with the mechanical arm grasping mechanism to start. to the limit.

The fixed seat is a C-shaped structure, and the support rod is located at the center of gravity of the drone.

The card holder is a hollow structure.

The present invention has the following beneficial effects and advantages:

1. The present invention has few changes to the UAV, almost no moving parts are added, the structure is simple, and the reliability is high.

2. In the present invention, the UAV can be recovered in the air, and the UAV does not need to retain the energy reserve for returning, which greatly increases the combat radius of the UAV.

3. When there is no reliable land-based or sea-based landing site in the present invention, aerial recovery is the easiest logistics and lowest cost solution for small and large combat radius UAVs.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of the mechanical arm of the present invention;

3 is a schematic structural diagram of a mechanical claw opening and closing drive mechanism of the present invention;

FIG. 4 is a schematic structural diagram of the grasped part of the drone of the present invention.

In the figure: 1 is the grasping mechanism of the robotic arm, 101 is the installation interface, 102 is the fixed plate, 103 is the driven gear, 104 is the steering gear, 105 is the recovery slot, 106 is the robotic arm, 107 is the positioning slot, and 108 is the Bearing, 2 is the grasped part, 201 is the fixed seat, 202 is the support rod, 203 is the card seat, and 3 is the drone.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1 , an aerial recovery system for unmanned aerial vehicles provided by the present invention includes a robotic arm grasping mechanism 1 and a grasped part 2 , wherein the robotic arm grasping mechanism 1 is connected with the mother machine, and the grasped part 2 is connected with The unmanned aerial vehicle 3 to be recovered is connected, and the unmanned aerial vehicle 3 is controlled in the working range of the mechanical arm grasping mechanism 1 through the positioning of the mother machine. The mechanical arm grasping mechanism 1 grasps and fixes the grasped part 2 to realize the Recycle.

As shown in FIG. 2 , the mechanical arm grabbing mechanism 1 includes a fixed plate 102 , a mechanical claw opening and closing driving mechanism and two mechanical arms 106 . One end of the fixed plate 102 is connected to the mother machine, and the mechanical claw opening and closing driving mechanism is arranged on the fixed plate. 102 and connected to the two mechanical arms 106, the mechanical claw opening and closing driving mechanism is used to drive the two mechanical arms 106 to open or close.

A recovery slot 105 is provided at one end of the two robotic arms 106 near the fixing plate 102 , and the grasped part 2 is locked in the recovery slot 105 . The ends of the two robotic arms 106 are provided with positioning slots 107 for mutual positioning and connection, and the positioning slots 107 are used to avoid the situation that the grasping is not firm when the robotic arms are deformed and displaced.

Further, one end of the fixing plate 102 is connected to the master machine through the installation interface 101, and the two mechanical arms 106 are connected to the installation interface 101 at a certain angle, so that the grasped part 2 can slide inwardly into the recovery groove 105. .

As shown in FIG. 3, the mechanical claw opening and closing driving mechanism includes a steering gear 104, a driving gear and two driven gears 103, wherein the two driven gears 103 are rotatably mounted on the fixing plate 102 and mesh with each other, and the driving gear It is arranged at the output end of the steering gear 104 and meshes with one of the driven gears 103. The two mechanical arms 106 are respectively connected with the two driven gears 103. The steering gear 104 drives the opening and closing of the two mechanical arms 106 through gear transmission. .

In the embodiment of the present invention, the mechanical arm 106 and the driven gear 103 are integrally formed.

The steering gear 104 drives the toothed mechanical arm 106 to move, and the response speed is relatively fast, which can quickly complete the grasping action. The toothed swing arm, recovery slot, gripper, and positioning slot are installed in sequence, and the opening angle of the gripper and the length of the gripper are determined according to the positioning error of the drone to ensure that the drone can be positioned within the working range of the gripper. When the positioning grooves are closed, they bite each other to avoid the deformation of the claws due to the gravity and impact of the drone, resulting in poor grasping.

As shown in FIG. 4 , the grasped part 2 includes a support rod 202 , a fixed seat 201 and a clip seat 203 threadedly connected to both ends of the support rod 202 , wherein the fixed seat 201 is connected to the drone 3 , and the clip seat 203 is grasped by the mechanical arm. It cooperates with the mechanism 1 to prevent it from falling off after being grasped by the grasping mechanism 1 of the robotic arm.

The fixed seat 201 is a C-shaped structure, leaving installation space for the airborne equipment; the support rod 202 is perpendicular to the horizontal plane of the rotor of the UAV 3 and passes through the center position, and the support rod 202 is installed at the center of gravity of the UAV, which is conducive to recovery After the drone stops, the attitude is maintained under the action of gravity. The number of units of the support rod 202 can be adjusted according to the required length, and the length of the support rod is greater than or equal to twice the positioning accuracy of the UAV.

The deck 203 is a hollow structure, which can reduce the weight of the UAV and also lower the position of the center of gravity of the UAV, which is beneficial to the stable flight of the UAV. After the installation interface 101 is docked with the parent machine, the mechanical arm 106 forms an included angle of 15° with the horizontal plane to ensure that the drone can slide toward the back of the mechanical claw after being grabbed.

In the embodiment of the present invention, the height of the fixed seat 201 is 70mm, and the cross section is a square of 12mm*12mm; the length of the support rod 202 is 200mm and the radius is 5.5mm; the diameter of the card seat 203 is 75mm and the thickness is 18mm. The installation interface 101 and the steering gear 104 are respectively connected with the fixing plate 102 by screws, and the connection mode of the recovery slot 5, the positioning slot 7 and the arm 6 is adhesive bonding. The installation interface 101 forms an angle of 75° with the mechanical arm 106. The material of the mechanical arm 106 is a carbon fiber tube, with a length of 70cm, a maximum opening angle of 120°, and a closing time of less than 1 second; the recovery tank 105 is circular with a diameter of 12cm , cooperates with the fixed card holder, and locks the grasped part 2 on the drone 3; the positioning card slot 107 is used to avoid the situation that the grasping is not firm when the mechanical arm 106 is deformed and dislocated. The steering gear 104 is used to control the closing of the mechanical arm 106. The steering gear 104 is a commercially available product, and the model is an RCOMG H4 all-metal brushless steering gear.

The recovery task flow of the present invention is:

UAV 3 firstly locates 30cm below the robotic arm according to the position information provided by the recovery mechanism, and then UAV 3 slowly ascends at a speed of 0.05m/s. At the same time, the UAV controller compares its position with the working range of the robotic arm 106, If it is within this range, the drone sends a message to the recovery system; after the recovery system receives the message, it closes the robotic arm 106 and sends the message that the robotic arm is closed to the drone 3; the drone 3 receives this After the message, turn off its own power, and the recovery task is completed.

The present invention enables the unmanned aerial vehicle to be directly recovered in the air by the recovery system without landing in the existing functions and uses, saves the energy for returning the unmanned aerial vehicle, increases the working radius of the unmanned aerial vehicle, and improves the working efficiency , which can play a great role in the field of UAV swarm technology.

The above descriptions are merely embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an aerial recovery system of unmanned aerial vehicle, its characterized in that snatchs mechanism (1) and is snatched part (2) including the arm, and wherein the arm snatchs mechanism (1) and is connected with the female machine that is used for retrieving, be snatched part (2) and be connected with unmanned aerial vehicle (3) of waiting to retrieve, unmanned aerial vehicle (3) are passed through female machine positioning control is in the arm snatchs the working range of mechanism (1), the arm snatchs mechanism (1) and snatchs and fix snatch part (2), realize the recovery of unmanned aerial vehicle (3).

2. The unmanned aerial vehicle aerial recovery system of claim 1, wherein the mechanical arm grabbing mechanism (1) comprises a fixed plate (102), a mechanical claw opening and closing driving mechanism and two mechanical arms (106), wherein one end of the fixed plate (102) is connected with the main machine, the mechanical claw opening and closing driving mechanism is arranged on the fixed plate (102) and connected with the two mechanical arms (106), and the mechanical claw opening and closing driving mechanism is used for driving the two mechanical arms (106) to open or close.

3. Unmanned aerial vehicle aerial recovery system of claim 2, wherein a recovery groove (105) is provided between the two robotic arms (106) at an end near the fixed plate (102), the gripped part (2) being locked within the recovery groove (105).

4. Unmanned aerial vehicle aerial recovery system of claim 2, characterized in that the ends of the two robotic arms (106) are provided with positioning slots (107) for mutual positioning connection.

5. Unmanned aerial vehicle airborne recovery system according to claim 2, characterized in that one end of the fixing plate (102) is connected with the parent machine by means of a mounting interface (101).

6. Unmanned aerial vehicle aerial recovery system of claim 5, wherein the two robotic arms (106) are connected to the mounting interface (101) at an angle such that the gripped part (2) can slide down inwardly.

7. The aerial unmanned aerial vehicle recovery system of claim 2, wherein the gripper opening and closing driving mechanism comprises a steering engine (104), a driving gear and two driven gears (103), wherein the two driven gears (103) are rotatably mounted on the fixing plate (102) and are meshed with each other, the driving gear is arranged at an output end of the steering engine (104) and is meshed with one driven gear (103), and the two mechanical arms (106) are respectively connected with the two driven gears (103).

8. The aerial unmanned aerial vehicle recovery system of claim 1, wherein the grabbed part (2) comprises a support rod (202), and a fixing seat (201) and a clamping seat (203) which are arranged at two ends of the support rod (202), wherein the fixing seat (201) is connected with the unmanned aerial vehicle (3), and the clamping seat (203) is matched with the mechanical arm grabbing mechanism (1) to play a role in limiting.

9. The aerial unmanned aerial vehicle recovery system of claim 8, wherein the fixing base (201) is a C-shaped structure, and the supporting rod (202) is located at the center of gravity of the unmanned aerial vehicle (3).

10. The aerial unmanned aerial vehicle recovery system of claim 8, wherein the card holder (203) is a hollowed-out structure.

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