A tethered operating robot and aircraft tethering system

Abstract

This invention relates to a tethered robot and an aircraft tethering system. The tethered robot includes a base for fixed installation on a landing platform. A turntable with its axis of rotation perpendicular to the horizontal is rotatably mounted on the base. The base has a turntable mounting surface for rotatable installation of the turntable. The tethered robot also includes a turntable drive mechanism for driving the turntable to rotate, a robotic arm assembly with one end hinged to the turntable, and a robotic hand connected to the other end of the robotic arm assembly. The base is used for fixed installation on the side of the landing platform and has a mounting side for contacting the side of the landing platform. This invention effectively solves the problem of increased cost caused by the need for a larger landing platform when the robot is installed on the top surface of the landing platform in the prior art.

Description

Technical Field

[0001] This invention relates to a tethered operation robot and an aircraft tethering system, belonging to the technical field of parking devices. Background Technology

[0002] For shipborne aircraft, the unpredictable weather at sea and the inherent rolling, pitching, and vertical movements of ships at sea pose a risk of slipping or even capsizing when the aircraft is parked or stored on the ship. This risk is even greater when the aircraft is parked on a small boat, as the rolling, pitching, and vertical movements of the small boat are more severe.

[0003] In the prior art, to facilitate the take-off and landing of aircraft, ships are typically equipped with take-off and landing platforms. To prevent aircraft from sliding or capsizing on the ship, mooring devices are usually used to secure the aircraft to these platforms. Existing mooring devices include those based on harpoons and grids, such as the pneumatic harpoon grid-assisted landing system for aircraft disclosed in Chinese invention patent application CN105923165A. This type of mooring device mainly consists of a harpoon differential retraction and deployment actuator, a rotating component, a pawl-type locking hook, a round-headed guide post centering component, and a piston-structured strut, which can engage with the grid on the take-off and landing platform to achieve rapid mooring. Existing mooring devices also include landing and mooring devices based on electromagnet modules, such as a small shipborne UAV landing and mooring device disclosed in Chinese utility model patent CN207328852U. This type of mooring device uses an electromagnet module mounted on the fuselage or take-off and landing platform to achieve landing and mooring of the aircraft on the ship.

[0004] However, both of the above-mentioned tethering devices require human intervention during tethering. Therefore, to achieve unmanned tethering, robots with multiple degrees of freedom can be used, such as the widely applicable six-axis injection molding robot disclosed in Chinese Utility Model Patent No. CN214446439U. This robot includes a base for mounting on a mounting base, a motor mounting plate rotatably mounted on the base, a first motor mounted on the motor mounting plate for driving the motor mounting plate to rotate, a motor support frame mounted on the motor mounting plate, a large arm rotatably mounted on the upper end of the motor support frame, and a turntable drive motor for driving the large arm to swing up and down mounted on the motor support frame. The first motor is mounted on the upper end of the large arm, and a second motor is connected to the first motor through a shaft connecting plate. The output shaft of the second motor is connected to a small arm extending in the same direction as the rotation axis of the output shaft, and the first motor can drive the small arm to swing up and down, and the second motor can drive the small arm to rotate. The other end of the small arm away from the second motor is connected to a manipulator that can swing up and down. The large arm, the small arm, and the drive components that drive the large arm and the small arm to rotate or swing together constitute the manipulator assembly.

[0005] However, in the aforementioned patented robot, since the base has a mounting surface that contacts the mounting base and this mounting surface is horizontal, when this type of robot is installed on a take-off and landing platform for mooring, it can only be installed on the top surface of the take-off and landing platform. This causes the robot to occupy a certain area of ​​the top surface of the take-off and landing platform, reducing the effective parking area of ​​the aircraft. Therefore, in order to make the take-off and landing platform have sufficient parking area, the top surface of the take-off and landing platform must be set to be larger. A larger take-off and landing platform leads to an increase in manufacturing costs. Summary of the Invention

[0006] The purpose of this invention is to provide a tethered operation robot to solve the problem of increased cost caused by the need for a larger take-off and landing platform when the robot is installed on the top surface of the take-off and landing platform in the prior art; another problem of this invention is to provide an aircraft tethering system to tether the aircraft using a tethered operation robot.

[0007] To achieve the above objectives, the tethered operation robot of this invention adopts the following technical solution:

[0008] A tethered robot includes a base for fixed installation on a landing platform. A turntable with its axis of rotation perpendicular to a horizontal line is rotatably mounted on the base. The base has a turntable mounting surface for rotatably mounting the turntable. The tethered robot also includes a turntable drive mechanism for driving the turntable to rotate, a robotic arm assembly with one end hinged to the turntable, and a robotic hand connected to the other end of the robotic arm assembly. The base is used for fixed installation on the side of the landing platform and has a mounting side for contacting the side of the landing platform.

[0009] The beneficial effects of the above technical solution are as follows: In the tethered operation robot of the present invention, since the base is used for fixed installation with the side of the landing platform, and the base has an installation side for contacting the side of the landing platform, when the tethered operation robot is installed on the landing platform, the tethered operation robot can be fixedly installed on the side of the landing platform through the base. Compared with the prior art, the tethered operation robot in the present invention does not need to be installed on the top surface of the landing platform, so it does not need to occupy the effective parking area on the landing platform, and therefore does not need to make the landing platform larger, effectively reducing the manufacturing cost of the landing platform.

[0010] Furthermore, the base includes a fixing part for fixed installation on the side of the landing platform, and a connecting part connected to the fixing part and used to avoid the edge of the landing platform. The connecting part is arc-shaped or L-shaped. The mounting side is located on the fixing part, and the turntable mounting surface is located on the connecting part.

[0011] The beneficial effects of the above technical solution are as follows: the base can be conveniently fixed to the side of the lifting platform through the fixing part, and the connection part can avoid the edge of the lifting platform, so that the base can be bypassed by the lifting platform for the turntable to rotate and install. In addition, the connection part also avoids interference between the base and the lifting platform.

[0012] Furthermore, the connecting part includes two parallel and spaced connecting side plates, a mounting plate connected between the two ends of the two connecting side plates, and a fixing plate. The two connecting side plates are arc-shaped or L-shaped, and the plate surfaces of the two connecting side plates are perpendicular to the mounting side. The turntable mounting surface is located on the mounting plate, and the fixing plate is fixed to the side of the fixing part facing away from the mounting side.

[0013] The beneficial effects of the above technical solution are as follows: the connecting part is designed to include two connecting side plates, a mounting plate and a fixing plate. This allows the turntable to be rotated and installed through the mounting plate, and to be connected and fixed to the fixing part through the fixing plate. At the same time, while ensuring that the connecting part has sufficient strength, the weight of the connecting part can also be reduced, thus optimizing the structure of the connecting part.

[0014] Furthermore, the turntable drive mechanism includes a turntable drive motor, which is located between the two connecting side plates.

[0015] The beneficial effects of the above technical solution are as follows: by placing the turntable drive motor between the two connecting side plates, the space occupied by the turntable drive motor can be reduced, which is conducive to the compactness of the structure. At the same time, the two connecting side plates can also protect the motor and avoid damage to the motor.

[0016] Furthermore, the fixing part includes a base for fixing and installing on the side of the landing platform and a rotating seat rotatably installed on the base with the rotation axis extending horizontally. The connecting part is connected to the rotating seat, the mounting side is located on the base, and the base is provided with a rotating seat drive mechanism for driving the rotating seat to rotate. The rotating seat drive mechanism includes a rotating seat drive motor, which is located between the two connecting side plates.

[0017] The beneficial effects of the above technical solution are as follows: the fixing part can be fixedly installed on the side of the lifting platform through the base, and since the rotating seat is rotatably installed on the base, and the connecting part is connected to the rotating seat, the rotating seat can be driven to rotate by the rotating seat drive mechanism, which can also increase the arm span of the tethered robot to a certain extent and increase the working range; in addition, setting the rotating seat drive motor between the two connecting side plates also increases the protection effect of the motor.

[0018] Furthermore, a first snap-fit ​​component and a second snap-fit ​​component are fixed on the side of the connecting part facing away from the mounting side. The first snap-fit ​​component and the second snap-fit ​​component are provided with corresponding through-holes for snapping the folded robotic arm assembly. The first snap-fit ​​component is directly fixedly connected to the two connecting side plates, and the second snap-fit ​​component is fixedly connected to the two connecting side plates through a U-shaped fixing bracket. The rotating seat drive motor is located between the two side walls of the two connecting side plates and the U-shaped fixing bracket.

[0019] The beneficial effects of the above technical solution are as follows: it can not only fix the folded robotic arm assembly by locking the U-shaped slots on the first and second locking components, thus preventing the robotic arm assembly from being damaged by shaking, but also further enhance the protection of the rotating seat drive motor through the two connecting side plates and the U-shaped fixing frame, thereby enhancing the protection effect.

[0020] Furthermore, a snap-fit ​​component is fixed to the side of the connecting portion facing away from the mounting side, and the snap-fit ​​component has a U-shaped slot for snapping the folded robotic arm assembly.

[0021] The beneficial effect of the above technical solution is that the U-shaped slot on the snap-fit ​​component facilitates the snap-fit ​​and fixation of the folded robotic arm component, so as to prevent the robotic arm component from being damaged by shaking.

[0022] To achieve the above objectives, the aircraft tethering system of this invention adopts the following technical solution:

[0023] An aircraft tethering system includes a landing platform with a rope for tethering the aircraft. The rope has a hook at one end. The system also includes a tethering operation robot for attaching the rope to a tethering ring on the aircraft fuselage. The robot includes a base fixedly mounted on the landing platform, a turntable with its axis of rotation perpendicular to the horizontal line rotatably mounted on the base, and a turntable mounting surface for rotating the turntable. The robot further includes a turntable drive mechanism for driving the turntable to rotate, a robotic arm assembly with one end hinged to the turntable, and a robotic hand connected to the other end of the robotic arm assembly. The base is fixedly mounted on the side of the landing platform and has a mounting side that contacts the side of the landing platform.

[0024] The beneficial effects of the above technical solution are as follows: In the aircraft tethering system of the present invention, since the tethering operation robot installed on the take-off and landing platform can attach the rope used to tether the aircraft to the tethering ring on the aircraft fuselage, when tethering the aircraft, the tethering operation robot can attach the hook, which facilitates the operation of tethering the aircraft with rope, which is conducive to improving tethering efficiency and reducing tethering workload.

[0025] Furthermore, at least two cable hook anchors are evenly distributed around the circumference of the lifting platform. The cable hook anchors are provided with through holes for the rope to pass through. The opening of the through holes is used to engage with the cable hooks for stopping. The lifting platform is equipped with a tensioning mechanism corresponding to each cable hook anchor. The tensioning mechanism includes a drum for winding the rope to wind and unwind the rope.

[0026] The beneficial effects of the above technical solution are as follows: by using the perforation on the hook fixer and the stop of the hook, it is convenient to fix the hook and determine the position of the hook, which facilitates the tethering operation robot to pick up the hook. In addition, by using the tensioning mechanism to release and retract the rope, the tension of the rope on the aircraft can be increased to ensure the tethering effect, and the rope can also be retrieved.

[0027] Furthermore, the aircraft tethering system also includes a control device and a camera assembly connected to the control device. The camera assembly is used to determine the spatial position information of the tethering ring on the aircraft fuselage and transmit the spatial position information to the control device. The control device is also connected to the tethering operation robot and the tensioning mechanism respectively to control the tethering operation robot and the tensioning mechanism to perform tethering operations.

[0028] The beneficial effects of the above technical solution are as follows: by setting up a camera component, it is convenient to determine the spatial position information of the tethering ring on the aircraft body. At the same time, by connecting the control device with the camera component, the tethering operation robot and the tensioning mechanism, it is convenient to control the tethering operation, so that the tethering operation robot can accurately attach the cable to the tethering ring, which is conducive to realizing unmanned tethering operation.

[0029] Furthermore, the base includes a fixed part fixedly installed on the side of the landing platform, and a connecting part connected to the fixed part and used to avoid the edge of the landing platform. The connecting part is arc-shaped or L-shaped. The mounting side is located on the fixed part, and the turntable mounting surface is located on the connecting part.

[0030] The beneficial effects of the above technical solution are as follows: the base can be conveniently fixed to the side of the lifting platform through the fixing part, and the connection part can avoid the edge of the lifting platform, so that the base can be bypassed by the lifting platform for the turntable to rotate and install. In addition, the connection part also avoids interference between the base and the lifting platform.

[0031] Furthermore, the connecting part includes two parallel and spaced connecting side plates, a mounting plate connected between the two ends of the two connecting side plates, and a fixing plate. The two connecting side plates are arc-shaped or L-shaped, and the plate surfaces of the two connecting side plates are perpendicular to the mounting side. The turntable mounting surface is located on the mounting plate, and the fixing plate is fixed to the side of the fixing part facing away from the mounting side.

[0032] The beneficial effects of the above technical solution are as follows: the connecting part is designed to include two connecting side plates, a mounting plate and a fixing plate. This allows the turntable to be rotated and installed through the mounting plate, and to be connected and fixed to the fixing part through the fixing plate. At the same time, while ensuring that the connecting part has sufficient strength, the weight of the connecting part can also be reduced, thus optimizing the structure of the connecting part.

[0033] Furthermore, the turntable drive mechanism includes a turntable drive motor, which is located between the two connecting side plates.

[0034] The beneficial effects of the above technical solution are as follows: by placing the turntable drive motor between the two connecting side plates, the space occupied by the turntable drive motor can be reduced, which is conducive to the compactness of the structure. At the same time, the two connecting side plates can also protect the motor and avoid damage to the motor.

[0035] Furthermore, the fixing part includes a base fixedly installed on the side of the landing platform and a rotating seat rotatably installed on the base with the rotation axis extending horizontally. The connecting part is connected to the rotating seat, the mounting side is located on the base, and the base is provided with a rotating seat drive mechanism for driving the rotating seat to rotate. The rotating seat drive mechanism includes a rotating seat drive motor, which is located between the two connecting side plates.

[0036] The beneficial effects of the above technical solution are as follows: the fixing part can be fixedly installed on the side of the lifting platform through the base, and since the rotating seat is rotatably installed on the base, and the connecting part is connected to the rotating seat, the rotating seat can be driven to rotate by the rotating seat drive mechanism, which can also increase the arm span of the tethered robot to a certain extent and increase the working range; in addition, setting the rotating seat drive motor between the two connecting side plates also increases the protection effect of the motor.

[0037] Furthermore, a first snap-fit ​​component and a second snap-fit ​​component are fixed on the side of the connecting part facing away from the mounting side. The first snap-fit ​​component and the second snap-fit ​​component are provided with corresponding through-holes for snapping the folded robotic arm assembly. The first snap-fit ​​component is directly fixedly connected to the two connecting side plates, and the second snap-fit ​​component is fixedly connected to the two connecting side plates through a U-shaped fixing bracket. The rotating seat drive motor is located between the two side walls of the two connecting side plates and the U-shaped fixing bracket.

[0038] The beneficial effects of the above technical solution are as follows: it can not only fix the folded robotic arm assembly by locking the U-shaped slots on the first and second locking components, thus preventing the robotic arm assembly from being damaged by shaking, but also further enhance the protection of the rotating seat drive motor through the two connecting side plates and the U-shaped fixing frame, thereby enhancing the protection effect.

[0039] Furthermore, a snap-fit ​​component is fixed to the side of the connecting portion facing away from the mounting side, and the snap-fit ​​component has a U-shaped slot for snapping the folded robotic arm assembly.

[0040] The beneficial effect of the above technical solution is that the U-shaped slot on the snap-fit ​​component facilitates the snap-fit ​​and fixation of the folded robotic arm component, so as to prevent the robotic arm component from being damaged by shaking. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the aircraft tethering system in this invention;

[0042] Figure 2 This is a schematic diagram of the tensioning mechanism in the aircraft tethering system of the present invention;

[0043] Figure 3 This is a perspective view of the tethering operation robot in the tethering system of the present invention in its working state;

[0044] Figure 4 This is a three-dimensional view of the tethered operation robot in the storage state of the tethering system of the present invention.

[0045] In the diagram: 10. Mounting base; 11. Corner mounting platform; 20. Platform body; 30. Hook fixing device; 40. Rope; 41. Hook; 50. Guide pulley; 60. Tensioning mechanism; 61. Mounting bracket; 62. Motor; 63. Drive shaft; 64. Torque sensor; 65. Drum; 70. Tethered robot; 80. Camera assembly; 90. UAV; 91. Tethering ring; 100. Control device; 110. Hangar; 120. Base; 130. Rotating seat; 140. Connecting part; 141. Connecting side plate ; 142. Mounting plate; 143. Fixing plate; 150. Rotating seat drive motor; 160. Turntable; 170. Turntable drive motor; 180. First robotic arm; 190. First motor; 200. Hollow rod; 210. Second motor; 220. Telescopic rod; 230. Third motor; 240. Fourth motor; 250. Hinge; 260. Connecting rod; 270. Fifth motor; 280. Robotic arm; 290. First snap-fit ​​component; 300. Second snap-fit ​​component; 301. U-shaped fixing frame; 310. U-shaped slot. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0048] It should be noted that, in specific embodiments of the present invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the use of phrases such as "comprising a…" to define an element does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] In the description of this invention, unless otherwise explicitly specified and limited, the term "provided with" should be interpreted broadly. For example, the object "provided with" can be a part of the body, or it can be separately arranged from the body and connected to the body. This connection can be a detachable connection or a non-detachable connection. Those skilled in the art can understand the specific meaning of the above terms in this invention through specific circumstances.

[0051] The present invention will be further described in detail below with reference to the embodiments.

[0052] Embodiment 1 of an aircraft tethering system of the present invention:

[0053] The aircraft tethering system in this embodiment is installed in the hangar 110 of the unmanned vessel and is used to tether the unmanned aerial vehicle 90. Specifically, as shown in the example... Figure 1 As shown, the tethering system includes a take-off and landing platform, which includes a circular mounting base 10. A slewing support is mounted on the top surface of the mounting base 10, and a circular platform body 20 is mounted on the slewing support. The platform body 20 is used to park the UAV 90, and the platform body 20 is rotatably mounted on the mounting base 10 through the slewing support.

[0054] like Figure 1As shown, four cantilevered corner mounting platforms 11 are evenly distributed on the circumferential side of the mounting base 10. The tethering system also includes a rope 40, which has a connecting end and a fixing end. The connecting end is connected to a hook 41, and a hook retainer 30 is installed on the top surface of each of the four corner mounting platforms 11. The hook retainer 30 has a through hole for the rope 40 to pass through, and the opening of the through hole is used to stop and cooperate with the hook 41 to limit the position of the hook 41 on the corner mounting platform 11. Each corner mounting platform 11 has a corresponding through hole (not shown in the figure) for the rope 40 to pass through, and the fixing end of the rope 40 passes through the through hole and is located at the bottom of the corner mounting platform 11. A tensioning mechanism 60 is fixedly installed on the bottom surface of the corner mounting platform 11, such as... Figure 2 As shown, the tensioning mechanism 60 includes a mounting bracket 61 fixed to the bottom surface of the corner mounting platform 11. A motor 62 is fixedly mounted on the mounting bracket 61. In this embodiment, the motor 62 is a torque-controlled motor. The end of the drive shaft 63 of the motor 62 away from the motor 62 is rotatably mounted on the mounting bracket 61. A torque sensor 64 and a drum 65 are fixed on the drive shaft 63. The torque sensor 64 is arranged on the drive shaft 63 close to the motor 62, and the drum 65 is arranged on the drive shaft 63 away from the motor 62.

[0055] like Figure 1 As shown, a guide pulley 50 located outside the tensioning mechanism 60 is rotatably mounted on the bottom surface of the corner mounting platform 11. The fixed end is fixed to the drum 65 via the guide pulley 50, and the rope 40 is wound around the drum 65. The rotation of the drum 65 driven by the motor 62 enables the winding, unwinding, and tensioning of the rope 40. The tension force on the rope 40 is controlled by monitoring the torque applied to the rope 40 by the tensioning mechanism 60 through the torque sensor 64. In addition, when the rope 40 is retracted by the tensioning mechanism 60, the hook 41 engages with the through hole on the hook retainer 30 for a stop.

[0056] In addition, the drone 90 is equipped with four tethering rings 91 that correspond to each hook fixing device 30, so that the hooks 41 of each rope 40 can be hooked onto the corresponding tethering rings 91, and the ropes 40 can be tightened synchronously by the synchronous drive of each tensioning mechanism 60 to complete the tethering and fixing of the drone 90.

[0057] To facilitate attaching the hook 41 of the rope 40 to the corresponding mooring ring 91, such as Figure 1As shown, the tethering system also includes a tethering operation robot 70 fixedly installed on the circumferential side of the mounting base 10. There are two tethering operation robots 70, which are symmetrically arranged on the mounting base 10 and located between two adjacent corner mounting platforms 11. The tethering operation robot 70 can grab the hooks 41 on the two hook fixers 30 arranged adjacent to it and pull the rope 40 to hook the hooks 41 onto the corresponding tethering rings 91.

[0058] like Figure 3 and Figure 4 As shown, the tethered robot 70 includes a base, which includes a fixing part. The fixing part includes a base 120 fixedly mounted on the side of the mounting base 10 and a rotating seat 130 rotatably mounted on the base 120. The base 120 has a mounting side that contacts the side of the mounting base 10. The rotation axis of the rotating seat 130 extends horizontally, and the base is provided with a rotating seat drive mechanism for driving the rotating seat 130 to rotate. Specifically, the rotating seat drive mechanism includes a rotating seat drive motor 150 mounted on the side of the rotating seat 130 facing away from the mounting side. The output end of the rotating seat drive motor 150 is connected to the base 120 by a gear transmission mechanism, thereby driving the rotating seat 130 to rotate through the rotation of the rotating seat drive motor 150 and the transmission of the gear transmission mechanism. In other embodiments, the output end of the rotating seat drive motor 150 can also be connected to the base 120 through a bearing, thereby enabling the rotating seat drive motor 150 to drive the rotation of the rotating seat 130.

[0059] like Figure 3 and Figure 4As shown, the base includes a connecting portion 140 connected to the rotating seat 130. In this embodiment, the connecting portion 140 is arc-shaped, and the arc-shaped connecting portion 140 can avoid the edge of the platform body 20. The connecting portion 140 includes two parallel and spaced connecting side plates 141, a mounting plate 142 connected between the two ends of the two connecting side plates 141, and a fixing plate 143. The two connecting side plates 141 are arc-shaped, and the plate surfaces of the two connecting side plates 141 are perpendicular to the mounting side. The fixing plate 143 is fixed to the side of the rotating seat 130 facing away from the mounting side, and the rotating seat drive motor 150 is mounted on the fixing plate 143 and located between the two connecting side plates 141. A turntable 160 is rotatably mounted on the mounting plate 142, and the mounting plate 142 has a turntable mounting surface for the turntable 160 to be rotatably mounted. The tethered robot 70 also includes a turntable drive mechanism for driving the turntable 160 to rotate. Specifically, the turntable drive mechanism includes a turntable drive motor 62 and a turntable drive motor 170 located between two connecting side plates 141. The rotation axis of the output end of the turntable drive motor 170 extends from bottom to top and is fixedly connected to the turntable 160. Thus, the turntable 160 can be driven to rotate relative to the connecting part 140 by the rotation of the turntable drive motor 170.

[0060] like Figure 3 and Figure 4 As shown, a robotic arm assembly is hinged to a turntable 160. The robotic arm assembly includes a first robotic arm 180 hinged to the turntable 160. A first motor 190 is fixedly mounted on the end of the first robotic arm 180 near the turntable 160. The rotation axis of the output end of the first motor 190 extends in the same direction as the hinge axis of the first robotic arm 180 and the turntable 160. The output end of the first motor 190 is connected to the turntable 160 through a transmission, specifically, it can be connected through a gear transmission. The first robotic arm 180 can be driven to swing around its hinge axis by the drive of the first motor 190.

[0061] like Figure 3 and Figure 4As shown, a hollow rod 200 is hinged to one end of the first robotic arm 180 away from the turntable 160. A second motor 210 is fixedly installed at the end of the first robotic arm 180 near the hollow rod 200. The rotation axis of the output end of the second motor 210 extends in the same direction as the hinge axis of the first robotic arm 180 and the hollow rod 200. The output end of the second motor 210 is connected to the hollow rod 200 in a transmission connection. The specific transmission connection method is as disclosed in the Chinese Utility Model Patent with authorization announcement number CN214446439U, which discloses a transmission connection method between the upper arm and the lower arm in a six-axis injection molding robot with a wide range of applications. The specific details will not be repeated here. Driven by the second motor 210, the hollow rod 200 can swing around its hinge axis. A telescopic rod 220 extending in the same direction as the hollow rod 200 is inserted inside it. A third motor 230 is fixedly installed at the end of the hollow rod 200 near the first robotic arm 180. The output end of the third motor 230 is connected to a transmission screw. The transmission screw is threadedly engaged with the telescopic rod 220. Thus, by driving the transmission screw through the third motor 230, the telescopic rod 220 can be driven to extend and retract along its axial direction. A fourth motor 240 is fixedly installed at the end of the telescopic rod 220 away from the third motor 230. The output end of the fourth motor 240 is connected to a hinge 250. The hinge 250 is U-shaped and includes a base plate connected to the output end of the fourth motor 240 and two side plates arranged perpendicular to the base plate. A connecting rod 260 is hinged between the two side plates. A fifth motor 270 is fixedly installed on the outer side of one side plate of the hinge 250. The rotation axis of the output end of the fifth motor 270 extends in the same direction as the hinge axis of the connecting rod 260 and the hinge 250. The output end of the fifth motor 270 is connected to the connecting rod 260. Driven by the fifth motor 270, the connecting rod 260 can be driven to rotate around its hinge axis. In other embodiments, the transmission connection between the fifth motor 270 and the connecting rod 260 is as disclosed in Chinese Utility Model Patent No. CN214446439U, which discloses a transmission connection between the fifth axis drive motor and the hand in a widely applicable six-axis injection molding robot.

[0062] like Figure 3 and Figure 4 As shown, a robotic arm 280 is fixedly connected to the end of the connecting rod 260 away from the hinge 250. The robotic arm 280 is used to grasp the hook 41. The robotic arm 280 is existing technology, such as the robotic arm in a detachable robot arm disclosed in Chinese Utility Model Patent No. CN215942985U. The specific structure will not be repeated here.

[0063] In addition, such as Figure 3 and Figure 4As shown, a first snap-fit ​​member 290 and a second snap-fit ​​member 300 are fixed on the side of the connecting part 140 facing away from the above-mentioned mounting side. The first snap-fit ​​member 290 and the second snap-fit ​​member 300 are provided with corresponding through-holes U-shaped slots 310 for snapping the folded robotic arm assembly. The first snap-fit ​​member 290 is directly fixedly connected to the two connecting side plates 141, and the second snap-fit ​​member 300 is fixedly connected to the side walls of the two connecting side plates 141 through a U-shaped fixing bracket 301. The rotating seat drive motor 150 is also located between the two side walls of the U-shaped fixing bracket 301.

[0064] like Figure 1 As shown, the aircraft tethering system also includes camera components 80 installed at the two corners of the top of the hangar 110. The camera components 80 are aimed at the platform body 20 of the UAV 90 to detect the spatial position information of the tethering rings 91 on the UAV 90 and determine whether the four tethering rings 91 on the UAV 90 correspond to the respective hook anchors 30. A control device 100 is installed inside the hangar 110. The control device 100 is electrically connected to each tensioning mechanism 60, each tethering operation robot 70 and each camera component 80 to control the operation of each tensioning mechanism 60, each tethering operation robot 70 and each camera component 80. The camera components 80 also provide the control device 100 with the spatial position information of the tethering rings 91 on the UAV 90. The control device 100 is also electrically connected to the slewing support on the mounting base 10. When the camera assembly 80 detects that the tethering ring 91 on the drone 90 does not correspond to each of the hook fixing devices 30, the control device 100 can control the slewing support to rotate so that the four tethering rings 91 on the drone 90 correspond to each of the hook fixing devices 30 respectively.

[0065] The working principle of the aircraft tethering system in this invention is as follows:

[0066] After the drone 90 lands on the platform body 20, the camera component 80 detects the spatial position information of the tethering rings 91 on the drone body and transmits this spatial position information to the control device 100. The control device 100 controls the slewing support to rotate the platform body 20 according to this spatial position information, so that the four tethering rings 91 on the drone 90 correspond to the four hook holders 30 respectively. After the drone 90's attitude adjustment is completed, the control device 100 controls the tethering robot 70 to grab the hooks 41 fixed to the hook holders 30 and pull them to the corresponding tethering rings 91 on the drone body, hooking the hooks 41 onto the corresponding tethering rings 91. After each hook 41 is hooked, the control device 100 controls each tensioning mechanism 60 to simultaneously tighten the ropes 40. After reaching the predetermined tension force, the tensioning mechanism 60 locks, maintaining the tensioned state. Finally, the control device 100 controls the tethering robot 70 to reset to the storage state. Figure 4 (As shown).

[0067] In addition, it should be noted that the tethering system in this invention can be used not only to tether drones, but also to tether helicopters, airplanes and other aircraft that can be flown by humans.

[0068] In the aircraft tethering system of the present invention, the tethering operation robot installed on the take-off and landing platform can attach the tethering rope used to tether the aircraft to the tethering ring on the aircraft fuselage. Therefore, when tethering the aircraft, the tethering operation robot performs the attachment of the hook, which facilitates the operation of tethering the aircraft with rope, improves tethering efficiency, and reduces tethering workload. By setting up a camera component, it is convenient to determine the spatial position information of the tethering ring on the aircraft fuselage. At the same time, by connecting the control device with the camera component, the tethering operation robot, and the tensioning mechanism, it is convenient to control the tethering operation, so as to make the tethering operation robot accurately attach the rope to the tethering ring, which is conducive to realizing unmanned tethering operation.

[0069] Embodiment 2 of the aircraft tethering system in this invention:

[0070] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the fixing part includes a base and a rotating seat. In this embodiment, the fixing part is a single piece.

[0071] Embodiment 3 of the aircraft tethering system in this invention:

[0072] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the base includes a fixing part and a connecting part connected to the fixing part. In this embodiment, the base is a single piece.

[0073] Example 4 of the aircraft tethering system in this invention:

[0074] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the turntable drive motor is located between the two connecting side plates. In this embodiment, the turntable drive motor is located outside the two connecting side plates.

[0075] Embodiment 5 of the aircraft tethering system in this invention:

[0076] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the rotating seat drive motor is located between the two connecting side plates and the two side walls of the U-shaped fixing frame. In this embodiment, however, the rotating seat drive motor is located between the two connecting side plates, not between the two side walls of the U-shaped fixing frame. In other embodiments, the rotating seat drive motor is located outside the two connecting side plates and the two side walls of the U-shaped fixing frame.

[0077] Embodiment 6 of the aircraft tethering system in this invention:

[0078] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the connecting part includes two parallel and spaced connecting side plates, a mounting plate connecting the two ends of the two connecting side plates, and a fixing plate. In this embodiment, the connecting part is a connecting rod.

[0079] Embodiment 7 of the aircraft tethering system in this invention:

[0080] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, a first snap-fit ​​member and a second snap-fit ​​member are fixed to the side of the connecting part facing away from the mounting side. In this embodiment, the first snap-fit ​​member is fixed to the side of the connecting part facing away from the mounting side. In other embodiments, the second snap-fit ​​member is fixed to the side of the connecting part facing away from the mounting side, or no snap-fit ​​member is provided on the side of the connecting part facing away from the mounting side, that is, the robotic arm assembly is not snap-fitted and fixed.

[0081] Example 8 of the aircraft tethering system in this invention:

[0082] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, four tether anchors are evenly distributed around the circumference of the take-off and landing platform. In this embodiment, two tether anchors are evenly distributed around the circumference of the take-off and landing platform. In other embodiments, three, five, or more tether anchors are evenly distributed around the circumference of the take-off and landing platform; the number of tether anchors is only required to ensure that the ropes are securely attached to the aircraft.

[0083] Example 9 of the aircraft tethering system in this invention:

[0084] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, a tensioning mechanism corresponding to each cable hook fixing device is installed on the lifting platform. The tensioning mechanism includes a drum for winding the rope to release and retract it. In this embodiment, however, the rope is an elastic rope, and no tensioning mechanism is required.

[0085] Example 10 of the aircraft tethering system in this invention

[0086] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the aircraft tethering system also includes a control device and a camera assembly connected to the control device, thereby enabling unmanned tethering operations through the control of the tensioning mechanism and the tethering operation robot via the camera assembly and the control device. In this embodiment, however, the tethering operation is completed by manual operation of the tethering operation robot.

[0087] Embodiment 11 of the aircraft tethering system in this invention

[0088] The difference between this embodiment and Embodiment 1 is that in Embodiment 1, the connecting part is arc-shaped, while in this embodiment, the connecting part is L-shaped.

[0089] An embodiment of the tethered operation robot in this invention: The specific structure of the tethered operation robot is the same as that of the tethered operation robot in the above-described aircraft tethering system embodiment, and will not be repeated here.

[0090] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. An aircraft tethering system, comprising a takeoff and landing platform, characterized in that, The landing platform is equipped with at least two ropes with hooks at both ends for securing the aircraft. A tethering operation robot is fixed to the side of the landing platform for attaching the hooks to tethering rings on the aircraft fuselage. The tethering operation robot includes a base fixedly mounted on the side of the landing platform, the base having corresponding mounting sides, a turntable with its axis of rotation perpendicular to the horizontal line rotatably mounted on the base, and a turntable mounting surface for the turntable to rotate. The tethering operation robot also includes a turntable drive mechanism for driving the turntable to rotate, a robotic arm assembly with one end hinged to the turntable, and a robotic hand connected to the other end of the robotic arm assembly. The robotic hand is used to grab the hooks and pull the ropes to attach the hooks to the corresponding tethering rings after the aircraft lands on the landing platform. The landing platform is equipped with hook holders corresponding to each rope for the ropes to pass through, and tensioning mechanisms corresponding to each hook holder. The tensioning mechanism includes a drum for winding the rope to unwind and rewind the rope. The hooks are stopped by the hook holders after the ropes are retracted by the tensioning mechanism. The aircraft tethering system also includes a camera assembly for installation on the top of the hangar and a control device connected to the camera assembly, the tethering operation robot, and the tensioning mechanism. The camera assembly is used to determine the spatial position information of the tethering ring on the aircraft body and transmit the information to the control device, thereby controlling the tethering operation robot and the tensioning mechanism to perform tethering operations.

2. The aircraft tethering system according to claim 1, characterized in that, The take-off and landing platform includes a mounting base and a platform body that is rotatably mounted on the mounting base via a slewing support. The platform body is used to park the aircraft. The tethered operation robot is fixed to the side of the mounting base. The control device is also electrically connected to the slewing support so that when the camera component detects that the tethering rings on the aircraft do not correspond to the hook anchors, it controls the slewing support to drive the platform body to rotate until the tethering rings correspond to the hook anchors.

3. The aircraft tethering system according to claim 1, characterized in that, There are four ropes, and four cantilevered corner mounting platforms are evenly distributed on the circumference of the mounting base. Each of the four corner mounting platforms has a hook fixing device on its top surface and a tensioning mechanism on its bottom surface. Two tethered operation robots are provided and symmetrically arranged on the mounting base, and are located between two adjacent corner mounting platforms to grab the hooks on the two hook fixing devices arranged next to them.

4. The aircraft tethering system according to any one of claims 1 to 3, characterized in that, The base includes a fixing part for fixing and mounting on the side of the landing platform, and a connecting part (140) connected to the fixing part and used to avoid the edge of the landing platform. The connecting part (140) is arc-shaped or L-shaped. The mounting side is located on the fixing part, and the turntable mounting surface is located on the connecting part (140).

5. The aircraft tethering system according to claim 4, characterized in that, The connecting part (140) includes two parallel connecting side plates (141), a mounting plate (142) connected between the two ends of the two connecting side plates (141), and a fixing plate (143). The two connecting side plates (141) are arc-shaped or L-shaped. The plate surfaces of the two connecting side plates (141) are perpendicular to the mounting side. The turntable mounting surface is located on the mounting plate (142). The fixing plate (143) is fixed to the side of the fixing part facing away from the mounting side.

6. The aircraft tethering system according to claim 5, characterized in that, The turntable drive mechanism includes a turntable drive motor (170), which is located between the two connecting side plates (141).

7. The aircraft tethering system according to claim 5 or 6, characterized in that, The fixing part includes a base (120) for fixing and installing on the side of the landing platform and a rotating seat (130) rotatably installed on the base (120) with the rotation axis extending horizontally. The connecting part (140) is connected to the rotating seat (130). The mounting side is located on the base (120). The base is provided with a rotating seat drive mechanism for driving the rotating seat (130) to rotate. The rotating seat drive mechanism includes a rotating seat drive motor (150) located between the two connecting side plates (141).

8. The aircraft tethering system according to claim 7, characterized in that, The connecting part (140) has a first snap-fit ​​component (290) and a second snap-fit ​​component (300) fixed on the side facing away from the mounting side. The first snap-fit ​​component (290) and the second snap-fit ​​component (300) are provided with corresponding through-hole U-shaped slots (310) for snapping the folded robotic arm assembly. The first snap-fit ​​component (290) is directly fixedly connected to the two connecting side plates (141). The second snap-fit ​​component (300) is fixedly connected to the two connecting side plates (141) through a U-shaped fixing frame (301). The rotating seat drive motor (150) is located between the two side walls of the two connecting side plates (141) and the U-shaped fixing frame (301).

9. The aircraft tethering system according to claim 4, characterized in that, The connecting part (140) has a snap-fit ​​component fixed to the side facing away from the mounting side. The snap-fit ​​component has a U-shaped slot for snapping the folded robotic arm assembly.

10. A tethered manipulation robot, characterized in that, The tethered operation robot is the tethered operation robot in the aircraft tethering system of claim 1, including a base for fixed installation on the take-off and landing platform, a turntable (160) with its rotation axis perpendicular to the horizontal line is rotatably installed on the base, the base has a turntable mounting surface for the turntable (160) to be rotatably installed, the tethered operation robot (70) also includes a turntable drive mechanism for driving the turntable (160) to rotate, a robotic arm assembly with one end hinged to the turntable (160), and a robotic hand (280) connected to the other end of the robotic arm assembly; the base is used for fixed installation on the side of the take-off and landing platform, and the base has a mounting side for contacting the side of the take-off and landing platform.

11. The tethered robot according to claim 10, characterized in that, The base includes a fixing part for fixing and mounting on the side of the landing platform, and a connecting part (140) connected to the fixing part and used to avoid the edge of the landing platform. The connecting part (140) is arc-shaped or L-shaped. The mounting side is located on the fixing part, and the turntable mounting surface is located on the connecting part (140).

12. The tethered robot according to claim 11, characterized in that, The connecting part (140) includes two parallel connecting side plates (141), a mounting plate (142) connected between the two ends of the two connecting side plates (141), and a fixing plate (143). The two connecting side plates (141) are arc-shaped or L-shaped. The plate surfaces of the two connecting side plates (141) are perpendicular to the mounting side. The turntable mounting surface is located on the mounting plate (142). The fixing plate (143) is fixed to the side of the fixing part facing away from the mounting side.

13. The tethered robot according to claim 12, characterized in that, The turntable drive mechanism includes a turntable drive motor (170), which is located between the two connecting side plates (141).

14. The tethered robot according to claim 12 or 13, characterized in that, The fixing part includes a base (120) for fixing and installing on the side of the landing platform and a rotating seat (130) rotatably installed on the base (120) with the rotation axis extending horizontally. The connecting part (140) is connected to the rotating seat (130). The mounting side is located on the base (120). The base is provided with a rotating seat drive mechanism for driving the rotating seat (130) to rotate. The rotating seat drive mechanism includes a rotating seat drive motor (150) located between the two connecting side plates (141).

15. The tethered robot according to claim 14, characterized in that, The connecting part (140) has a first snap-fit ​​component (290) and a second snap-fit ​​component (300) fixed on the side facing away from the mounting side. The first snap-fit ​​component (290) and the second snap-fit ​​component (300) are provided with corresponding through-hole U-shaped slots (310) for snapping the folded robotic arm assembly. The first snap-fit ​​component (290) is directly fixedly connected to the two connecting side plates (141). The second snap-fit ​​component (300) is fixedly connected to the two connecting side plates (141) through a U-shaped fixing frame (301). The rotating seat drive motor (150) is located between the two side walls of the two connecting side plates (141) and the U-shaped fixing frame (301).

16. The tethered robot according to any one of claims 11 to 13, characterized in that, The connecting part (140) has a snap-fit ​​component fixed to the side facing away from the mounting side. The snap-fit ​​component has a U-shaped slot for snapping the folded robotic arm assembly.

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