Large unmanned helicopter deck storage and transfer system

Abstract

The invention belongs to the technical field of unmanned helicopters, and particularly relates to a large unmanned helicopter deck storage and transfer system. Comprising a storage box and an omni-directional AGV transfer platform, wherein the storage box is used for storing the large-load unmanned helicopter; a storage box retracting and releasing door is arranged at the rear end of the storage box, and when the storage box retracting and releasing door is opened downwards, a deck for the omni-directional AGV transfer platform to enter and exit the storage box is formed. The omni-directional AGV transfer platform comprises an omni-directional AGV trolley and a lifting mechanism arranged on the omni-directional AGV trolley. When the omni-directional AGV enters the position below the large-load unmanned helicopter, the lifting mechanism is used for jacking up or laying down the large-load unmanned helicopter, and the omni-directional AGV is used for bearing and transferring the large-load unmanned helicopter. Full-autonomous transfer and semi-autonomous transfer of people in a control loop are realized, so that the convenience of daily storage and maintenance operation of the large unmanned helicopter on a ship deck is greatly improved, maintenance personnel are reduced, and the large unmanned helicopter can be conveniently and quickly deployed and recovered on the ship deck.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned helicopters, in particular to a large-scale unmanned helicopter deck storage and transfer system. Background Art

[0002] Large unmanned helicopters are widely used in the fields of maritime search and rescue, island and marine rights protection, etc. due to their strong load-bearing capacity and hovering capabilities. In particular, in the tasks of maritime search and rescue, transporting disaster relief materials, and maintaining island rights, they need to work in coordination with corresponding ships, and need to be stored and maintained on board.

[0003] However, the average take-off weight of large unmanned helicopters is between 500 and 1,000 kg, which is bulky and requires at least 3 to 5 people for daily operation and maintenance on the ground, manual towing or transfer through the transfer wheels installed on the landing gear, and it is particularly difficult to perform daily operation and maintenance on the deck of a ship. Frequent transfer and storage during long-term sea voyages and patrol missions in uncertain weather is an engineering problem that is currently faced. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a large unmanned helicopter deck storage and transfer system to achieve fully autonomous transfer and semi-autonomous transfer with people in the control loop, thereby greatly improving the convenience of daily storage and maintenance operations of large unmanned helicopters on the ship deck, reducing maintenance personnel, and allowing large unmanned helicopters to be deployed and recovered on the ship deck conveniently and quickly.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a large unmanned helicopter deck storage and transfer system, comprising:

[0007] The storage box is used to store large-load unmanned helicopters. The rear end of the storage box is equipped with a storage box retractable door. When the storage box retractable door is opened downward, it forms a transition springboard for the omnidirectional AGV transfer platform to enter and exit the storage box.

[0008] The omnidirectional AGV transfer platform includes an omnidirectional AGV trolley and a lifting mechanism arranged on the omnidirectional AGV trolley; when the omnidirectional AGV trolley enters under the large-load unmanned helicopter, the lifting mechanism is used to lift or lower the large-load unmanned helicopter, and the omnidirectional AGV trolley is used for carrying and transferring the large-load unmanned helicopter.

[0009] The storage box includes a storage box body with an open rear end, the lower end of the storage box retractable door is hinged to the rear end bottom of the storage box body, and the upper end can be opened and closed; the inner rear end of the storage box body is provided with a door opening drive mechanism for opening and closing the storage box retractable door.

[0010] The door opening drive mechanism includes two hydraulic door retracting push-pull rods symmetrically arranged on both sides of the rear end of the storage box body. The rear ends of the hydraulic door retracting push-pull rods are hinged to the storage box body, and the output ends are hinged to the storage box retracting door.

[0011] The storage box is provided with a fixing structure for fixing the large-load unmanned helicopter.

[0012] The fixing structure comprises a plurality of sliding tripod fixing clamps, each of which is provided with a slot for positioning the lifting support frame of the large-load unmanned helicopter, and the sliding tripod fixing clamp is fixed to the storage box through a connecting piece.

[0013] The bottom of the omnidirectional AGV is provided with four Mecanum wheels.

[0014] The storage box is arranged on the ship deck.

[0015] The advantages and beneficial effects of the present invention are:

[0016] 1. The present invention can realize the storage and transportation of large unmanned helicopters on the deck space, and perform fully autonomous transportation and semi-autonomous transportation with people in the control loop in the deck space, thereby greatly improving the simplicity of daily storage and maintenance operations of large unmanned helicopters on the ship deck, reducing maintenance personnel, and conveniently and quickly deploying and recovering large unmanned helicopters on the ship deck.

[0017] 2. The omnidirectional AGV transfer platform proposed by the present invention can translate in all directions without dead angles, ensuring that the unmanned helicopter can be "carried" for omnidirectional fine-tuning movement in the narrow 40-foot storage box space, and is convenient for docking and locking with the tripod fixing clamp of the storage box.

[0018] 3. The present invention designs a storage box retractable door that can be retracted and extended by two multi-stage hydraulic retractable door push-pull rods. This door can stay at any angle, mainly to realize a transition springboard during the unmanned helicopter transfer process, and provide a ramp with a suitable angle for the omnidirectional AGV transfer platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of a large unmanned helicopter deck storage and transfer system of the present invention;

[0020] Figure 2 It is a schematic diagram of the omnidirectional AGV transfer platform of the present invention transferring a large-load unmanned helicopter;

[0021] Figure 3 It is a structural schematic diagram of the storage box in the present invention;

[0022] Figure 4 It is a structural schematic diagram of the omnidirectional AGV transfer platform in the present invention;

[0023] Figure 5 The present invention is a work flow chart for storage and transshipment on deck.

[0024] In the figure: 1-storage box, 101-storage box body, 102-hydraulic retractable door push-pull rod, 103-storage box retractable door, 104-sliding tripod fixing clamp, 2-omnidirectional AGV transfer platform, 201-omnidirectional AGV trolley, 202-Mecanum wheel, 203-bevel gear lift, 204-lateral transmission shaft, 205-high torque motor, 206-lateral transmission shaft, 3-large load unmanned helicopter, 4-lifting support frame, 5-ship deck. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] See also Figures 1 to 5 As shown, the present invention provides a large-scale unmanned helicopter deck storage and transfer system, including a storage box 1 and an omnidirectional AGV transfer platform 2, wherein the storage box 1 is used to store a large-load unmanned helicopter 3; a storage box retractable door 103 is provided at the rear end of the storage box 1, and when the storage box retractable door 103 is opened downward, a transition springboard is formed for the omnidirectional AGV transfer platform 2 to enter and exit the storage box 1; the omnidirectional AGV transfer platform 2 includes an omnidirectional AGV trolley 201 and a lifting mechanism arranged on the omnidirectional AGV trolley 201; when the omnidirectional AGV trolley 201 enters under the large-load unmanned helicopter 3, the lifting mechanism is used to lift or lower the large-load unmanned helicopter 3, and the omnidirectional AGV trolley 201 is used for carrying and transferring the large-load unmanned helicopter 3.

[0027] See also Figure 5 As shown, in the embodiment of the present invention, the storage box 1 is arranged on the ship deck 5, so that the daily storage and maintenance operations of the large-load unmanned helicopter 3 on the ship deck 5 are simple. The size of the storage box 1 is 40 feet to provide space for accommodating the large-load unmanned helicopter 3.

[0028] See also Figure 3 As shown, in the embodiment of the present invention, the storage box 1 includes a storage box body 101 with an opening at the rear end, the lower end of the storage box folding door 103 is hinged to the rear end bottom of the storage box body 101, and the upper end can be opened and closed; the inner rear end of the storage box body 101 is provided with a door opening drive mechanism for opening and closing the storage box folding door 103.

[0029] Specifically, the door opening drive mechanism includes two hydraulic door retracting push-pull rods 102 symmetrically arranged on both sides of the rear end of the storage box 101. The rear end of the hydraulic door retracting push-pull rod 102 is hinged to the storage box 101, and the output end is hinged to the storage box retracting door 103. The storage box retracting door 103 is retracted and extended by two multi-stage hydraulic door retracting push-pull rods 2. This door can stay at any angle. The main purpose is to realize the role of a transition springboard during the transfer process of the large-load unmanned helicopter 3 and provide a ramp with a suitable angle for the omnidirectional AGV transfer platform 2.

[0030] Furthermore, a fixing structure for fixing the large-load unmanned helicopter 3 is provided in the storage box 101. In this embodiment, the fixing structure includes a plurality of sliding tripod fixing clamps 104, each of which is provided with a slot for positioning the lifting support frame 4 of the large-load unmanned helicopter 3, and the sliding tripod fixing clamp 104 is fixed to the storage box 101 through a connecting piece. The sliding tripod fixing clamp 104 can be slidably adjusted, and can be flexibly adjusted and fixed according to the size of the lifting support frame 4 of the large-load unmanned helicopter 3.

[0031] See also Figure 4 As shown, in the embodiment of the present invention, four Mecanum wheels 202 are provided at the bottom of the omnidirectional AGV trolley 201. The lifting mechanism is a commercially available product purchased from Handon Transmission Equipment (Shandong) Co., Ltd., model DFL025. The lifting mechanism includes a high-torque motor 205, a lateral transmission shaft 204, a transverse transmission shaft 206 and four bevel gear elevators 203. The high-torque motor 205 is connected to two of the bevel gear elevators 203 through two transverse transmission shafts 206, and the two bevel gear elevators 203 are connected to the other two bevel gear elevators 203 through the lateral transmission shafts 204, thereby forming a lifting platform. By controlling the forward and reverse rotation of the high-torque motor 205, the lifting and lowering amplitude of the lifting mechanism is controlled, so that the omnidirectional AGV transfer platform can "carry" and "release" the large-load unmanned helicopter 3 to complete the transfer task.

[0032] Specifically, the lifting mechanism can also use four independently driven spiral lifts, or any lifting mechanism that can achieve the lifting function, so as to make fine adjustments according to the slope of the deck to ensure that the large-load unmanned helicopter 3 remains horizontal on any slope during the transportation process.

[0033] The omnidirectional AGV trolley 201 is used as the transfer body, and a freely adjustable lifting mechanism and control system are designed on the trolley; in addition, the omnidirectional AGV trolley 201 adopts four Mecanum wheels 202 to achieve omnidirectional movement without dead ends, ensuring that the unmanned helicopter 3 carrying a large load can be fine-tuned in all directions in the narrow 40-foot storage box 1 space, and is convenient for docking and locking with the sliding tripod fixing clamp 104 in the storage box 1.

[0034] The lifting mechanism can carry the heavy-load unmanned helicopter 3 by supporting two lifting supports 4 connected to the footrest of the heavy-load unmanned helicopter 3; the lifting support has a simple structure and is convenient for docking and installation with most types of landing gear.

[0035] The large-scale unmanned helicopter deck storage and transfer system provided by the present invention has a standard structure and is easy to install. It can be used by simply docking and installing it with small, medium or large cargo ships according to the installation method of standard container size.

[0036] Figure 5 This is a workflow diagram of the present invention for storage and transshipment on the deck, and the detailed workflow is as follows;

[0037] (1) Deployment process of large unmanned helicopter deck storage and transfer system on ship deck:

[0038] Step 1: Open the storage box storage door 103 and loosen the sliding bracket fixing clamp 104;

[0039] Step 2: The omnidirectional AGV transfer platform 2 lifts up the large-load unmanned helicopter 3 and transfers it to the take-off location;

[0040] Step 3: After the large-load unmanned helicopter 3 arrives at the take-off point, the omnidirectional AGV transfer platform 2 separates from the large-load unmanned helicopter 3;

[0041] Step 4: After the omnidirectional AGV transfer platform 2 is separated from the large-load unmanned helicopter 3, it returns to the standby area to wait for the recovery of the drone;

[0042] Step 5: The large-load unmanned helicopter 3 takes off to perform the mission.

[0043] (2) Large unmanned helicopter deck storage and transfer system ship deck recovery process:

[0044] Step 1: The large-load unmanned helicopter 3 completes the mission and returns to land on the ship deck 5;

[0045] Step 2: The omnidirectional AGV transfer platform 2 lifts up the large-load unmanned helicopter 3 and transfers it to the door of the storage box;

[0046] Step 3: The omnidirectional AGV transfer platform 2 transfers the large-load unmanned helicopter 3 into the storage box 1 and aligns it with the sliding tripod fixing clamp 104;

[0047] Step 4: After the omnidirectional AGV transfer platform 2 is aligned with the sliding foot frame fixing clamp 104, the lifting mechanism is retracted and enters standby;

[0048] Step 5: After the unmanned helicopter's tripod is locked, it enters standby mode and waits for the next round of mission dispatch.

[0049] The above workflow can realize fully autonomous transfer or semi-autonomous transfer with humans in the control loop, thus providing an efficient transfer method and means for the daily operation and maintenance, deployment and recovery of unmanned helicopters on ship decks.

[0050] A large unmanned helicopter deck storage and transfer system provided by the present invention can realize fully autonomous transfer and semi-autonomous transfer with humans in the control loop, thereby greatly improving the simplicity of daily storage and maintenance operations of large unmanned helicopters on the ship deck, reducing maintenance personnel, and allowing for convenient and quick deployment and recovery of large unmanned helicopters on the ship deck.

[0051] The above description is only an embodiment of the present invention and is 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

1. A large unmanned helicopter deck storage and transfer system, characterized in that: include: A storage box (1) is used for storing a large-load unmanned helicopter (3); a storage box storage door (103) is provided at the rear end of the storage box (1); when the storage box storage door (103) is opened downward, a transition springboard is formed for the omnidirectional AGV transfer platform (2) to enter and exit the storage box (1); The omnidirectional AGV transfer platform (2) comprises an omnidirectional AGV trolley (201) and a lifting mechanism arranged on the omnidirectional AGV trolley (201); when the omnidirectional AGV trolley (201) enters below a large-load unmanned helicopter (3), the lifting mechanism is used to lift up or lower the large-load unmanned helicopter (3), and the omnidirectional AGV trolley (201) is used to carry and transfer the large-load unmanned helicopter (3).

2. The large unmanned helicopter deck storage and transfer system according to claim 1 is characterized in that: The storage box (1) comprises a storage box body (101) with an opening at the rear end; the lower end of the storage box storage door (103) is hinged to the rear end bottom of the storage box body (101), and the upper end can be opened and closed; the inner rear end of the storage box body (101) is provided with a door opening drive mechanism for opening and closing the storage box storage door (103).

3. The large unmanned helicopter deck storage and transfer system according to claim 2 is characterized in that: The door opening drive mechanism comprises two hydraulic door retracting push-pull rods (102) symmetrically arranged on both sides of the rear end of the storage box (101); the rear ends of the hydraulic door retracting push-pull rods (102) are hinged to the storage box (101), and the output ends are hinged to the storage box retracting door (103).

4. The large unmanned helicopter deck storage and transfer system according to claim 2 is characterized in that: A fixing structure for fixing the large-load unmanned helicopter (3) is provided in the storage box (101).

5. The large unmanned helicopter deck storage and transfer system according to claim 4 is characterized in that: The fixing structure comprises a plurality of sliding tripod fixing clamps (104), each of which is provided with a slot for positioning a lifting support frame (4) for the large-load unmanned helicopter (3), and the sliding tripod fixing clamps (104) are fixed to the storage box (101) via a connecting piece.

6. The large unmanned helicopter deck storage and transfer system according to claim 1 is characterized in that: The bottom of the omnidirectional AGV vehicle (201) is provided with four Mecanum wheels (202).

7. The large unmanned helicopter deck storage and transfer system according to claim 1 is characterized in that: The storage box (1) is arranged on a ship deck (5).

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