Marine unmanned aerial vehicle take-off and landing platform based on sustainable charging technology

Abstract

The invention relates to the technical field of six-degree-of-freedom motion simulation platforms, and discloses a seaborne unmanned aerial vehicle take-off and landing platform based on a sustainable charging technology, and the seaborne unmanned aerial vehicle take-off and landing platform comprises a double-six-degree-of-freedom lower platform surface, and a double-six-degree-of-freedom lower platform electric appliance box is fixed above the double-six-degree-of-freedom lower platform surface. By arranging the XY-axis unmanned aerial vehicle centering clamping structure, the platform can move the unmanned aerial vehicle to the dead center of the bearing seat after the unmanned aerial vehicle lands or before the unmanned aerial vehicle takes off, so that the unmanned aerial vehicle is consistent in take-off and landing position relative to the platform every time, the unmanned aerial vehicle is convenient to control, and the influence on unmanned aerial vehicle program setting due to different take-off and landing positions is avoided; the two linear modules are vertically distributed, so that the unmanned aerial vehicle can be centered, clamped and limited, subsequent wireless charging work can be conveniently and smoothly carried out, the sustainable wireless charging function is achieved, and convenience is brought to battery replacement work of workers.

Description

Technical Field

[0001] The present invention relates to the technical field of six-degree-of-freedom motion simulation platforms, and in particular to an offshore UAV take-off and landing platform based on sustainable charging technology. Background Art

[0002] Maritime drones are drones that perform missions over water. They are usually based on surface ships and are controlled by shipboard personnel or can complete the entire flight process in a fully automatic manner. They can be reused. They play an important role in naval operations and have multiple uses and functions. Maritime drones need to stay on the take-off and landing platform when not in use.

[0003] The dual six-degree-of-freedom self-balancing platform is a platform that can provide six degrees of freedom motion control, including translation along the X, Y, and Z axes and rotation around the X, Y, and Z axes. This platform is usually supported by six electric cylinders, driven by servo motors, and coordinated by a computer control system to control the stroke of the electric cylinders, thereby achieving six degrees of freedom motion of the motion platform;

[0004] Chinese patent authorization announcement number CN206734651U discloses a marine UAV take-off and landing platform, characterized in that it includes a take-off and landing platform, a balancing assembly and a base, the balancing assembly is arranged between the take-off and landing platform and the base, the balancing assembly includes three drive cylinders and a universal joint, one end of each of the three drive cylinders is connected to a universal joint, the other end of the universal joint is connected to the take-off and landing platform, the other end of the drive cylinder is fixed to the base, and the base is provided with a motion sensor. The beneficial effect of the utility model is that the motors of the three drive cylinders drive the support rods to extend or shorten the action through the posture data provided by the posture detection device of the base, so that the take-off and landing platform always maintains a posture suitable for the take-off and landing of the UAV, thereby achieving the purpose of allowing the UAV to take off and land safely on the fluctuating sea level.

[0005] The above-mentioned prior art solutions have the following deficiencies:

[0006] First, the existing drone landing platform is relatively lacking in charging structure. At the same time, it is also cumbersome to replace the battery of the drone. The staff needs to dismantle the bottom of the drone and then replace the battery. Such frequent operations bring inconvenience to the staff and it is difficult to provide sustainable power supply for the drone.

[0007] Second, the existing drones have a certain offset when taking off and landing due to their unfixed positions, which requires manual adjustment. The degree of automation is low, which is not conducive to the programming of drone take-off and landing programs.

[0008] Third: When taking off and landing, the UAV at sea is prone to difficulties and instability due to the ups and downs of the sea surface, which requires optimization and improvement;

[0009] Therefore, we need to design an offshore UAV take-off and landing platform based on sustainable charging technology to solve the above problems. Summary of the invention

[0010] The purpose of the present invention is to provide a marine UAV take-off and landing platform based on sustainable charging technology to solve the problem that the existing double-glass photovoltaic modules mentioned in the above background technology do not have the snow removal function.

[0011] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an offshore UAV take-off and landing platform based on sustainable charging technology, comprising a double six-degree-of-freedom lower platform table, a double six-degree-of-freedom lower platform electrical box is fixed above the double six-degree-of-freedom lower platform table, and the double six-degree-of-freedom lower platform electrical box is movably connected with an M10 servo electric cylinder around it, a double six-degree-of-freedom upper platform table is movably connected above the M10 servo electric cylinder, and a double six-degree-of-freedom upper platform electrical box is fixed above the double six-degree-of-freedom upper platform table, a bearing seat is movably connected above the double six-degree-of-freedom upper platform electrical box, and a two-axis slide base is provided inside the bearing seat, a UAV landing table is arranged above the bearing seat, and a limiting groove is provided inside the UAV landing table, a battery is movably connected inside the limiting groove, an XY-axis UAV centering clamping structure is arranged above the bearing seat, and the four corners below the double six-degree-of-freedom lower platform table are respectively connected with Fomar wheels.

[0012] Preferably, the XY-axis drone centering clamping structure comprises a Y-axis push rod, an X-axis push rod, a drone clamping block, a first guide rail, and a second guide block;

[0013] A Y-axis push rod; it is movably connected above the bearing seat and distributed along the X-axis direction, and is provided with a double six-degree-of-freedom lower platform electrical box group, a drone clamping block is fixed to the inner side of the Y-axis push rod, a first guide rail is fixed to the edge of the top of the bearing seat below the Y-axis push rod, and a second guide block is slidably connected to the outer side of the first guide rail, and the top of the second guide block is fixedly connected to the Y-axis push rod;

[0014] X-axis push rod; it is movably connected above the bearing seat and distributed along the Y-axis direction. It is provided with a double six-degree-of-freedom lower platform electrical box group. A second guide rail is fixed at the edge of the top of the bearing seat below the X-axis push rod, and a first guide block is slidably connected to the outer side of the second guide rail. The top of the first guide block is fixedly connected to the X-axis push rod. A Y-axis linear module and an X-axis linear module are respectively fixed inside the bearing seat, and the two can control the operation and movement of the Y-axis push rod and the X-axis push rod.

[0015] Preferably, the four corners above the table top of the double six-degree-of-freedom lower platform and the four corners below the table top of the double six-degree-of-freedom upper platform are respectively movably connected with the second M80 horizontal Hooke's hinge and the first M80 horizontal Hooke's hinge, and the two are connected by an M10 servo electric cylinder, M110 inclined blocks are fixed at the four corners of the bottom end of the table top on the double six-degree-of-freedom upper platform, and the M110 inclined blocks are respectively slidably connected to the first M80 horizontal Hooke's hinge, an inertial navigation gyroscope shell is fixed directly below the table top on the double six-degree-of-freedom upper platform, and the interior of the inertial navigation gyroscope shell is connected to a gyroscope body, the gyroscope body is hinged to the first M80 horizontal Hooke's hinge, and a dynamic wiring trough is fixed on the side of the second M80 horizontal Hooke's hinge away from the M10 servo electric cylinder.

[0016] Preferably, a fan is fixed on the inner wall of the support seat to achieve heat dissipation and prevent the internal temperature from being too high, which may cause the internal machine components to have difficulty in operating normally. A filter is fixedly connected to the outer side of the fan to prevent dust from entering the interior of the support seat from there.

[0017] Preferably, the second M80 horizontal Hooke's hinge is fixedly connected to the top of the double six-degree-of-freedom lower platform table top by bolts, and eight groups of bolts are provided.

[0018] Preferably, the limiting groove can limit the drone, and the up and down movement of the battery makes it easy to charge the drone or replace the battery.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) By setting up an XY-axis drone centering clamping structure, the platform can move the drone to the center of the carrier after the drone lands or before it takes off, so that the drone's take-off and landing position relative to the platform is consistent each time, which is convenient for drone control and avoids the impact of different take-off and landing positions on the drone program settings. By using two linear modules distributed vertically, the drone can be centered and clamped to a limit position, which also facilitates the subsequent wireless charging work to proceed smoothly, thereby realizing the function of sustainable wireless charging and bringing convenience to the staff in battery replacement;

[0021] (2) By designing a dual six-degree-of-freedom self-balancing structure, two six-degree-of-freedom platforms are stacked and placed to balance the impact of sea wave fluctuations on the platform, so that the platform is in a relatively balanced and stable state, allowing the drone to take off and land freely without being affected by the sea level. In addition, the dual six-degree-of-freedom platforms all use direct-connected electric cylinders, which have a faster platform response speed and less energy loss, and can better balance the impact of waves on the take-off and landing of the drone. At the same time, the entire process uses direct-connected electric cylinders, which makes the entire platform respond faster and reduces the loss of transmission efficiency. It can better compensate for the impact of waves on the platform and make the platform more stable. At the same time, an inertial navigation gyroscope is used to better respond to the real-time angle changes of the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the dual six-degree-of-freedom platform of the present invention;

[0025] Figure 3 It is a schematic diagram of the front view structure of the dual six-degree-of-freedom platform of the present invention;

[0026] Figure 4 It is a schematic diagram of the overall three-dimensional structure of the bearing seat of the present invention;

[0027] Figure 5 It is a schematic diagram of the internal three-dimensional structure of the bearing seat of the present invention;

[0028] Figure 6 It is a schematic diagram of the top view of the bearing seat of the present invention.

[0029] Explanation of the reference numerals in the figure: 1. Double six-degree-of-freedom lower platform table; 2. Double six-degree-of-freedom lower platform electrical box; 3. Double six-degree-of-freedom upper platform electrical box; 4. Bearing seat; 5. Double six-degree-of-freedom upper platform table; 6. M10 servo electric cylinder; 7. M110 inclined block; 8. First M80 horizontal Hooker hinge; 9. X-axis linear module; 10. Dynamic braiding line groove; 11. Fomar wheel; 12. Second M80 horizontal Hooker hinge; 13. Gyroscope body; 14. Inertial navigation gyroscope shell; 15. UAV landing platform; 16. Limiting groove; 17. Battery; 18. XY-axis UAV centering clamping structure; 1801. Y-axis push rod; 1802. X-axis push rod; 1803. UAV clamping block; 1804. First guide rail; 1805. Second guide block; 1806. First guide block; 1807. Second guide rail; 19. Two-axis slide base; 20. Y-axis linear module. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0031] Embodiment 1

[0032] In order to solve the problem that the existing double-glass photovoltaic modules do not have the snow removal function, the following solution is disclosed. Figure 1 , Figure 4 , Figure 5 and Figure 6 As shown:

[0033] A marine UAV take-off and landing platform based on sustainable charging technology, comprising a double six-degree-of-freedom lower platform table 1, a double six-degree-of-freedom lower platform electrical box 2 is fixed above the double six-degree-of-freedom lower platform table 1, and the double six-degree-of-freedom lower platform electrical box 2 is movably connected with an M10 servo electric cylinder 6 on all sides, a double six-degree-of-freedom upper platform table 5 is movably connected above the M10 servo electric cylinder 6, and a double six-degree-of-freedom upper platform electrical box 3 is fixed above the double six-degree-of-freedom upper platform table 5, a bearing seat 4 is movably connected above the bearing seat 4, and a two-axis slide base 19 is provided inside the bearing seat 4, a UAV landing table 15 is arranged above the bearing seat 4, and a limiting groove 16 is provided inside the UAV landing table 15, and a battery 17 is movably connected inside the limiting groove 16, an XY-axis UAV centering clamping structure 18 is arranged above the bearing seat 4, and four corners below the double six-degree-of-freedom lower platform table 1 are respectively connected with Fuma wheels 11;

[0034] The XY-axis drone centering clamping structure 18 includes a Y-axis push rod 1801, an X-axis push rod 1802, a drone clamping block 1803, a first guide rail 1804, and a second guide block 1805;

[0035] Y-axis push rod 1801; it is movably connected above the bearing seat 4 and distributed along the X-axis direction. It is provided with 2 sets of double six-degree-of-freedom lower platform electrical boxes. A drone clamping block 1803 is fixed to the inner side of the Y-axis push rod 1801. A first guide rail 1804 is fixed to the edge of the top of the bearing seat 4 below the Y-axis push rod 1801, and a second guide block 1805 is slidably connected to the outer side of the first guide rail 1804. The top of the second guide block 1805 is fixedly connected to the Y-axis push rod 1801.

[0036] X-axis push rod 1802; it is movably connected above the bearing seat 4 and distributed along the Y-axis direction, and is provided with 2 sets of double six-degree-of-freedom lower platform electrical boxes, a second guide rail 1807 is fixed at the edge of the top of the bearing seat 4 below the X-axis push rod 1802, and a first guide block 1806 is slidably connected to the outer side of the second guide rail 1807, and the top of the first guide block 1806 is fixedly connected to the X-axis push rod 1802, and a Y-axis linear module 20 and an X-axis linear module 9 are respectively fixed inside the bearing seat 4, and the two can control the movement of the Y-axis push rod 1801 and the X-axis push rod 1802;

[0037] The limiting groove 16 can limit the position of the drone, and the battery 17 can be moved up and down to facilitate charging or replacing the battery of the drone.

[0038] In this embodiment, when the motor is started, under the action of the forward and reverse threaded rods, the cooperation of the first guide rail 1804, the first guide block 1806, the second guide block 1805, and the second guide rail 1807 can drive the Y-axis push rod 1801 and the X-axis push rod 1802 to move toward each other synchronously, so as to center and limit the drone, which not only facilitates the control of the drone, but also facilitates the subsequent wireless charging work to proceed smoothly.

[0039] Embodiment 2

[0040] This embodiment is different from the first embodiment. By setting a double six-degree-of-freedom self-balancing structure, the influence of the ups and downs of the sea surface on the platform can be balanced. Figure 2 and Figure 3 As shown:

[0041] The four corners above the table top 1 of the double six-degree-of-freedom lower platform and the four corners below the table top 5 of the double six-degree-of-freedom upper platform are respectively movably connected with the second M80 horizontal Hook's hinge 12 and the first M80 horizontal Hook's hinge 8, and the two are connected through the M10 servo electric cylinder 6, the four corners at the bottom end of the table top 5 of the double six-degree-of-freedom upper platform are fixed with M110 inclined blocks 7, and the M110 inclined blocks 7 are respectively slidably connected with the first M80 horizontal Hook's hinge 8, an inertial navigation gyroscope shell 14 is fixed directly below the table top 5 of the double six-degree-of-freedom upper platform, and the interior of the inertial navigation gyroscope shell 14 is connected with a gyroscope body 13, and the gyroscope body 13 is hinged with the first M80 horizontal Hook's hinge 8, and a dynamic braiding line groove 10 is fixed on the side of the second M80 horizontal Hook's hinge 12 away from the M10 servo electric cylinder 6;

[0042] A fan is fixed on the inner wall of the support base 4 to achieve the effect of heat dissipation to prevent the internal temperature from being too high, which may cause the internal machine components to be difficult to operate normally. A filter is fixedly connected to the outer side of the fan to prevent dust from entering the interior of the support base 4 from there.

[0043] The second M80 horizontal Hooke's hinge 12 is fixedly connected to the top of the double six-degree-of-freedom lower platform table 1 by bolts, and eight groups of bolts are provided;

[0044] The limiting groove 16 can limit the position of the drone, and the battery 17 can be moved up and down to facilitate charging or replacing the battery of the drone.

[0045] In this embodiment, when in use, two six-degree-of-freedom platforms are used, and the upper and lower platforms are rotated 180 degrees to be superimposed and installed to form a double six-degree-of-freedom self-balancing platform. At the same time, the upper and lower platforms are installed with a gyroscope body 13 to compensate for the impact of waves on the platform, so that the upper surface 5 of the double six-degree-of-freedom upper platform is more stable, the drone landing platform is more stable, and the drone has a good take-off and landing environment.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A marine UAV take-off and landing platform based on sustainable charging technology, comprising a double six-degree-of-freedom lower platform table (1), characterized in that: A double six-degree-of-freedom lower platform electrical box (2) is fixed above the double six-degree-of-freedom lower platform table (1), and an M10 servo electric cylinder (6) is movably connected to the four sides of the double six-degree-of-freedom lower platform electrical box (2), and a double six-degree-of-freedom upper platform table (5) is movably connected above the M10 servo electric cylinder (6), and a double six-degree-of-freedom upper platform electrical box (3) is fixed above the double six-degree-of-freedom upper platform table (5), and a bearing seat ( 4), and a two-axis slide base (19) is provided inside the bearing seat (4), a drone landing platform (15) is provided above the bearing seat (4), and a limit slot (16) is provided inside the drone landing platform (15), a storage battery (17) is movably connected inside the limit slot (16), an XY-axis drone centering clamping structure (18) is provided above the bearing seat (4), and four corners below the double six-degree-of-freedom lower platform platform (1) are respectively connected to the Fomar wheels (11).

2. According to claim 1, a marine UAV take-off and landing platform based on sustainable charging technology is characterized by: The XY-axis drone centering clamping structure (18) comprises a Y-axis push rod (1801), an X-axis push rod (1802), a drone clamping block (1803), a first guide rail (1804), and a second guide block (1805); 1801; it is movably connected above the bearing seat (4) and distributed along the X-axis direction. It is provided with a double six-degree-of-freedom lower platform electrical box (2) group. A drone clamping block (1803) is fixed on the inner side of the Y-axis push rod (1801). A first guide rail (1804) is fixed at the edge of the top of the bearing seat (4) below the Y-axis push rod (1801). A second guide block (1805) is slidably connected to the outer side of the first guide rail (1804). The top of the second guide block (1805) is fixedly connected to the Y-axis push rod (1801). 1802; it is movably connected above the bearing seat (4) and distributed along the Y-axis direction. It is provided with a double six-degree-of-freedom lower platform electrical box (2) group. A second guide rail (1807) is fixed at the edge of the top of the bearing seat (4) below the X-axis push rod (1802), and a first guide block (1806) is slidably connected to the outer side of the second guide rail (1807). The top of the first guide block (1806) is fixedly connected to the X-axis push rod (1802). The interior of the bearing seat (4) is respectively fixed with a Y-axis linear module (20) and an X-axis linear module (9), which can control the movement of the Y-axis push rod (1801) and the X-axis push rod (1802).

3. According to claim 1, a marine UAV take-off and landing platform based on sustainable charging technology is characterized by: The four corners above the double six-degree-of-freedom lower platform surface (1) and the four corners below the double six-degree-of-freedom upper platform surface (5) are respectively movably connected with a second M80 horizontal Hooker's hinge (12) and a first M80 horizontal Hooker's hinge (8), and the two are connected via an M10 servo electric cylinder (6); the four corners at the bottom end of the double six-degree-of-freedom upper platform surface (5) are fixed with M110 inclined blocks (7), and the M110 inclined blocks (7) are respectively Slidingly connected to the first M80 horizontal Hooke's hinge (8), an inertial navigation gyroscope housing (14) is fixed directly below the upper table (5) of the double six-degree-of-freedom upper platform, and a gyroscope body (13) is connected inside the inertial navigation gyroscope housing (14), and the gyroscope body (13) is hinged to the first M80 horizontal Hooke's hinge (8), and a dynamic braided wire groove (10) is fixed on the side of the second M80 horizontal Hooke's hinge (12) away from the M10 servo electric cylinder (6).

4. The offshore UAV take-off and landing platform based on sustainable charging technology according to claim 1 is characterized by: A fan is fixed on the inner wall of the support seat (4) to achieve heat dissipation and prevent the internal temperature from being too high, which may cause the internal machine components to have difficulty in normal operation. A filter is fixedly connected to the outer side of the fan to prevent dust from entering the interior of the support seat (4) from there.

5. The offshore UAV take-off and landing platform based on sustainable charging technology according to claim 3 is characterized by: The second M80 horizontal Hooke's joint (12) is fixedly connected to the top of the double six-degree-of-freedom lower platform table (1) through bolts, and eight groups of bolts are provided.

6. The offshore UAV take-off and landing platform based on sustainable charging technology according to claim 1 is characterized by: The limiting groove (16) can have a limiting effect on the drone, and the up and down movement of the storage battery (17) facilitates charging the drone or replacing the battery.

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