Large unmanned helicopter deck storage transfer system

Abstract

The present application belongs to the unmanned helicopter technical field, specifically a large unmanned helicopter deck storage transfer system. Including storage box and omnidirectional AGV transfer platform, wherein the storage box is used for the storage of large load unmanned helicopter; The rear end of the storage box is provided with a storage box folding door, when the storage box folding door is opened downward, the deck of the omnidirectional AGV transfer platform into and out of the storage box is formed; 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 the lower part of 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 to carry and transfer the large load unmanned helicopter. The present application realizes fully autonomous transfer and semi-autonomous transfer in the human control loop, thereby greatly improving the convenience of daily storage and maintenance operation of large unmanned helicopters on the ship deck, reducing the maintenance personnel, and facilitating the deployment and recovery of large unmanned helicopters on the ship deck.

Description

Technical Field

[0001] This invention belongs to the field of unmanned helicopter technology, specifically a large unmanned helicopter deck storage and transfer system. Background Technology

[0002] Large unmanned helicopters are widely used in fields such as maritime search and rescue due to their high payload capacity and hovering capabilities. Especially in maritime search and rescue and disaster relief supply delivery missions, they need to work in conjunction with relevant vessels, requiring storage and routine maintenance on board.

[0003] However, large unmanned helicopters have an average takeoff weight of 500-1000 kg and are bulky. Routine maintenance on the ground, involving manual towing or transport via transfer wheels mounted on the landing gear, requires at least 3-5 people. Routine maintenance on ship decks is particularly difficult. Furthermore, frequent transfer and storage during long-duration, unpredictable sea voyages and patrol missions presents a significant engineering challenge. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a large unmanned helicopter deck storage and transfer system that enables fully autonomous transfer and semi-autonomous transfer with human intervention in the control loop. This significantly improves the ease of daily storage and maintenance of large unmanned helicopters on ship decks, reduces the number of maintenance personnel, and facilitates convenient and quick deployment and retrieval of large unmanned helicopters on ship decks.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a large-scale unmanned helicopter deck storage and transfer system, comprising:

[0007] The storage container is used for storing large-payload unmanned helicopters; the rear of the storage container is equipped with a storage container retraction door, which forms a transition platform for the omnidirectional AGV transfer platform to enter and exit the storage container when the storage container retraction door is opened downwards.

[0008] An omnidirectional AGV transfer platform includes an omnidirectional AGV trolley and a lifting mechanism mounted on the omnidirectional AGV trolley. When the omnidirectional AGV trolley enters under a large-payload unmanned helicopter, the lifting mechanism is used to lift or lower the large-payload unmanned helicopter, and the omnidirectional AGV trolley is used for carrying and transferring the large-payload unmanned helicopter.

[0009] The storage box includes a storage box body with an opening at the rear end. The lower end of the storage box door is hinged to the bottom of the rear end 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 door.

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

[0011] The storage container is equipped with a fixing structure for securing the large-payload unmanned helicopter.

[0012] The fixing structure includes multiple sliding leg fixing clamps, each of which is provided with a slot for positioning the lifting support frame of the large-payload unmanned helicopter. The sliding leg fixing clamps are fixed to the storage box body through connectors.

[0013] The omnidirectional AGV has four Mecanum wheels at its bottom.

[0014] The storage containers are located on the ship's deck.

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

[0016] 1. This invention enables the storage and transportation of large unmanned helicopters on the deck space, and allows for fully autonomous transfer within the deck space as well as semi-autonomous transfer by personnel in the control loop. This greatly improves the ease of daily storage and maintenance of large unmanned helicopters on the ship deck, reduces maintenance personnel, and facilitates the convenient and quick deployment and recovery of large unmanned helicopters on the ship deck.

[0017] 2. The omnidirectional AGV transfer platform proposed in this invention can move in all directions without blind spots, ensuring that the unmanned helicopter can be "carried" in the narrow 40-foot storage box space for omnidirectional fine-tuning and movement, and facilitating docking and locking with the tripod fixing clamp of the storage box.

[0018] 3. This invention designs a storage box retraction door that can be retracted and extended using two multi-stage hydraulic retraction door push-pull rods. This door can stop at any angle and mainly serves as a transition ramp during unmanned helicopter transfer, providing a suitable ramp angle for the omnidirectional AGV transfer platform. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a large-scale unmanned helicopter deck storage and transfer system according to the present invention;

[0020] Figure 2 This is a schematic diagram of the omnidirectional AGV transfer platform for transferring a large-payload unmanned helicopter in this invention;

[0021] Figure 3 This is a schematic diagram of the structure of the storage box in this invention;

[0022] Figure 4 This is a schematic diagram of the omnidirectional AGV transfer platform in this invention;

[0023] Figure 5 This is a flowchart illustrating the workflow of the present invention for warehousing and transshipment on a deck.

[0024] In the diagram: 1-Storage container, 101-Storage container body, 102-Hydraulic retractable door push-pull rod, 103-Storage container retractable door, 104-Sliding leg fixing clamp, 2-Omnidirectional AGV transfer platform, 201-Omnidirectional AGV trolley, 202-Mecanum wheel, 203-Bevel gear lift, 204-Side drive shaft, 205-High torque motor, 206-Transverse drive shaft, 3-High payload unmanned helicopter, 4-Lifting support frame, 5-Ship deck. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] See 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. The storage box 1 is used for storing large-payload unmanned helicopters 3. The rear end of the storage box 1 is provided with a storage box retraction door 103. When the storage box retraction door 103 is opened downwards, it forms a transition ramp 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 disposed on the omnidirectional AGV trolley 201. When the omnidirectional AGV trolley 201 enters under the large-payload unmanned helicopter 3, the lifting mechanism is used to lift or lower the large-payload unmanned helicopter 3. The omnidirectional AGV trolley 201 is used for carrying and transferring the large-payload unmanned helicopter 3.

[0027] See Figure 5 As shown, in an embodiment of the present invention, the storage container 1 is disposed on the ship's deck 5, which facilitates the routine storage and maintenance of the large-payload unmanned helicopter 3 on the ship's deck 5. The storage container 1 is 40 feet in size to provide space for accommodating the large-payload unmanned helicopter 3.

[0028] See Figure 3 As shown, in an 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 retraction door 103 is hinged to the bottom of the rear end 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 an opening drive mechanism for opening and closing the storage box retraction door 103.

[0029] Specifically, the door opening drive mechanism includes two hydraulic retractable door push-pull rods 102 symmetrically arranged on both sides of the rear end of the storage box 101. The rear end of the hydraulic retractable door push-pull rods 102 is hinged to the storage box 101, and the output end is hinged to the storage box retractable door 103. The retraction and extension of the storage box retractable door 103 are achieved through the two multi-stage hydraulic retractable door push-pull rods 2. This door can stop at any angle, and its main purpose is to serve as a transition ramp during the transfer of heavy-load unmanned helicopters 3, providing a ramp with a suitable angle for the omnidirectional AGV transfer platform 2.

[0030] Furthermore, the storage container 101 is equipped with a fixing structure for securing the large-payload unmanned helicopter 3. In this embodiment, the fixing structure includes multiple sliding leg fixing clips 104, each of which has a slot for positioning the lifting support frame 4 of the large-payload unmanned helicopter 3. The sliding leg fixing clips 104 are fixed to the storage container 101 via connectors. The sliding leg fixing clips 104 can be slidably adjusted and fixed flexibly according to the size of the lifting support frame 4 of the large-payload unmanned helicopter 3.

[0031] See Figure 4 As shown in the embodiment of the present invention, the bottom of the omnidirectional AGV trolley 201 is equipped with four Mecanum wheels 202. The lifting mechanism is a commercially available product, purchased from Hanton Transmission Equipment (Shandong) Co., Ltd., model DFL025. The lifting mechanism includes a high-torque motor 205, a lateral drive shaft 204, a transverse drive shaft 206, and four bevel gear lifters 203. The high-torque motor 205 is connected to two of the bevel gear lifters 203 via two transverse drive shafts 206. These two bevel gear lifters 203 are then connected to the other two bevel gear lifters 203 via lateral drive shafts 204, thus forming a lifting platform. By controlling the forward and reverse rotation of the high-torque motor 205, the lifting amplitude of the lifting mechanism is controlled, enabling the omnidirectional AGV transfer platform to "carry" and "release" the large-load unmanned helicopter 3, completing the transfer task.

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

[0033] The omnidirectional AGV trolley 201 serves as the main transfer vehicle, and features a freely adjustable lifting mechanism and control system. In addition, the omnidirectional AGV trolley 201 uses four Mecanum wheels 202 to achieve omnidirectional movement without blind spots, ensuring that it can carry a large-payload unmanned helicopter 3 for omnidirectional fine-tuning within the confined 40-foot storage box 1 space, and facilitating docking and locking with the sliding leg fixing clamp 104 inside the storage box 1.

[0034] The lifting mechanism lifts the heavy-load unmanned helicopter 3 by reaching the two lifting support frames 4 connected to the landing gear of the helicopter 3. The lifting support frame has a simple structure and is easy to connect and install with most types of landing gear.

[0035] The present invention provides a large-scale unmanned helicopter deck storage and transfer system with a standard structure and convenient installation. It can be put into use simply by docking with small, medium or large cargo ships according to the standard container size installation method.

[0036] Figure 5 The following is a flowchart illustrating the storage and transfer process on the deck according to the present invention. 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 retraction door 103 and release the sliding leg fixing clip 104;

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

[0040] Step 3: After the heavy-load unmanned helicopter 3 arrives at the takeoff point, the omnidirectional AGV transfer platform 2 detaches from the heavy-load unmanned helicopter 3.

[0041] Step 4: After the omnidirectional AGV transfer platform 2 detaches from the heavy-load unmanned helicopter 3, it returns to the standby area to wait for the drone to be recovered.

[0042] Step 5: The heavy-load unmanned helicopter 3 takes off to carry out the mission.

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

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

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

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

[0047] Step 4: After aligning the omnidirectional AGV transfer platform 2 with the sliding leg fixing clamp 104, retract the lifting mechanism and enter standby mode;

[0048] Step 5: After the unmanned helicopter's landing gear is locked, it enters standby mode to await the next mission assignment.

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

[0050] The present invention provides a large unmanned helicopter deck storage and transfer system that can realize fully autonomous transfer and semi-autonomous transfer with human control loop, thereby greatly improving the ease of daily storage and maintenance operations of large unmanned helicopters on ship decks, reducing maintenance personnel, and facilitating the convenient and quick deployment and recovery of large unmanned helicopters on ship decks.

[0051] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A large-scale unmanned helicopter deck storage and transfer system, characterized in that, include: Storage box (1) is used for storing large-payload unmanned helicopters (3); the rear end of the storage box (1) is provided with a storage box retraction door (103). When the storage box retraction door (103) is opened downwards, it forms a transition ramp 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 installed on the omnidirectional AGV trolley (201); when the omnidirectional AGV trolley (201) enters below 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); The storage box (1) includes a storage box body (101) with an opening at the rear end. The lower end of the storage box retraction door (103) is hinged to the bottom of the rear end 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 an opening drive mechanism for opening and closing the storage box retraction door (103). The storage box body (101) is provided with a fixing structure for fixing the large-load unmanned helicopter (3). The fixing structure includes multiple sliding leg fixing clips (104), each sliding leg fixing clip (104) is provided with a slot for positioning the lifting support frame (4) of the large-load unmanned helicopter (3), and the sliding leg fixing clip (104) is fixed to the storage box (101) through a connector. The storage box (1) is installed on the ship's deck (5); The deployment process of the large-scale unmanned helicopter deck storage and transfer system on the ship deck: Step 1: Open the storage box retraction door (103) and loosen the sliding leg fixing clamp (104); Step 2: The omnidirectional AGV transfer platform (2) lifts the large-load unmanned helicopter (3) and then transfers it to the takeoff location; Step 3: After the heavy-load unmanned helicopter (3) arrives at the takeoff point, the omnidirectional AGV transfer platform (2) detaches from the heavy-load unmanned helicopter (3). Step 4: After the omnidirectional AGV transfer platform (2) detaches from the heavy-load unmanned helicopter (3), it returns to the standby area to wait for the recovery of the heavy-load unmanned helicopter (3). Step 5: The heavy-load unmanned helicopter (3) takes off to perform the mission; The ship deck recovery process of the large unmanned helicopter deck storage and transfer system: Step 1: The heavy-load unmanned helicopter (3) completes its mission and returns to land on the ship's deck (5); Step 2: The omnidirectional AGV transfer platform (2) lifts the large-load unmanned helicopter (3) and then transfers it to the door of the storage box (1); Step 3: The omnidirectional AGV transfer platform (2) transfers the heavy-load unmanned helicopter (3) into the storage box (1) and aligns it with the sliding foot fixing clamp (104); Step 4: After the omnidirectional AGV transfer platform (2) is aligned with the sliding leg fixing clamp (104), the lifting mechanism is retracted and it enters standby mode; Step 5: After the landing gear of the heavy-load unmanned helicopter (3) is locked, it enters standby mode to wait for the next mission dispatch.

2. The large-scale unmanned helicopter deck storage and transfer system according to claim 1, characterized in that, The door opening drive mechanism includes two hydraulic door retraction push rods (102) symmetrically arranged on both sides of the rear end of the storage box (101). The rear end of the hydraulic door retraction push rod (102) is hinged to the storage box (101), and the output end is hinged to the storage box retraction door (103).

3. The large-scale unmanned helicopter deck storage and transfer system according to claim 1, characterized in that, The omnidirectional AGV (201) is equipped with four Mecanum wheels (202) at its bottom.

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