Aircraft parking apron and vehicle
By designing a lifting gimbal support and a rotating rocker arm on the aircraft landing pad, combined with a transmission mechanism and optical coupler sensors, the problem of inaccurate gimbal positioning caused by the aircraft's landing position deviation was solved, enabling stable interaction and rapid takeoff preparation of the aircraft.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SZ ZHUOYU TECH CO LTD
- Filing Date
- 2026-06-30
- Publication Date
- 2026-07-31
AI Technical Summary
When the landing position of an aircraft deviates from the existing aircraft landing pad, it is difficult to interact with the ground equipment. The output shaft of the gimbal motor is prone to drift or misposition, resulting in mechanical impact and component wear.
Design an aircraft landing pad that includes a lifting gimbal support and a rotating rocker arm. The gimbal is stably supported and positioned by a single drive mechanism. The rocker arm status is monitored by a transmission mechanism and an optocoupler sensor to ensure that the gimbal does not rotate arbitrarily under inertial conditions.
It enables precise positioning and rapid interaction of the aircraft, prevents damage to the gimbal motor, shortens takeoff preparation time, and improves the simplicity and reliability of the structure.
Smart Images
Figure CN122482020A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aircraft technology, and more particularly to an aircraft landing pad and a vehicle carrying the aircraft landing pad. Background Technology
[0002] With the continuous development of science and technology and aircraft technology, aircraft have been widely used in many fields. Correspondingly, aircraft landing pads have emerged to support aircraft. These pads provide landing platforms and, after landing, allow aircraft to interact with ground facilities such as the landing pad itself, for tasks such as charging, payload replacement, battery replacement, and resupply. However, if the aircraft lands at an off-center location, subsequent interactions with ground facilities become difficult.
[0003] Existing aircraft landing pads are generally located on the vehicle itself. The aircraft has a gimbal equipped with an imaging device, and after landing, the aircraft is powered off (the gimbal motor is de-energized). When the vehicle experiences continuous turbulence, rapid acceleration / deceleration, the gimbal (gimbal motor output shaft) is prone to arbitrary rotation due to inertia. On the one hand, this can easily cause the gimbal motor output shaft to drift, lose synchronization data, or become inaccurate in positioning. On the other hand, it can easily cause the gimbal motor output shaft to "reverse drive" under load. This uncontrolled rotation can cause severe mechanical shocks to the gear sets, transmission belts, or linkage mechanisms inside the gimbal motor, leading to gear breakage, excessive transmission clearance, or even structural fracture, severely shortening the lifespan of mechanical components. Summary of the Invention
[0004] In view of the deficiencies existing in the prior art, a first aspect of the present invention provides an aircraft landing pad, the aircraft having a gimbal equipped with an imaging device, comprising: A docking platform used to carry aircraft; The lifting mechanism is located on the gimbal support section of the docking platform; A first rotating part is disposed on the docking platform, and the gimbal support part is connected to the first rotating part and moves up and down under the drive of the first rotating part; and A drive mechanism for driving the first rotating part is provided on the docking platform.
[0005] In some embodiments of the present invention, the aircraft landing pad includes: a rocker arm rotatably disposed on the docking platform, the rocker arm being used to abut against a structural component of the aircraft, thereby enabling the aircraft to move from a landing position to a target position; a second rotating part disposed on the docking platform, the rocker arm being connected to the second rotating part and rotating under the drive of the second rotating part; and a transmission mechanism connecting the first rotating part and the second rotating part, and transmitting the power of the first rotating part to the second rotating part with a delay.
[0006] In some embodiments of the present invention, the aircraft has landing gear mounted on its arms, and the docking platform is provided with positioning recesses. After the aircraft moves to the target position, the landing gear falls into the positioning recesses.
[0007] In some embodiments of the present invention, the transmission mechanism includes: an arc-shaped groove disposed on the first rotating part; a connecting rod whose two ends are respectively pivotally connected to the first rotating part and the second rotating part, and the connecting rod is provided with a sliding part that can be arranged in the arc-shaped groove.
[0008] In some embodiments of the present invention, the arcuate groove extends along the rotation direction of the first rotating part, so that after the sliding part slides from one end of the arcuate groove to the other end, the connecting rod transmits the power of the first rotating part to the second rotating part.
[0009] In some embodiments of the present invention, the gimbal support is connected to the docking platform by a first elastic element, and the gimbal support is connected to the first rotating part by a traction element. The traction element has a connection point on the first rotating part, the connection point having a proximal end near the gimbal support and a distal end away from the gimbal support. During the movement of the connection point from the proximal end to the distal end, the gimbal support is pulled down by the traction element, and the first elastic element is compressed. During the movement of the connection point from the distal end to the proximal end, the gimbal support is pushed up by the elastic force released by the first elastic element.
[0010] In some embodiments of the present invention, the traction element is a traction rope, the connection point has an intermediate position between the proximal end and the distal end, and when the connection point moves from the proximal end to the intermediate position, the length of the traction rope changes by L1 per unit rotation angle, and when the connection point moves from the distal end to the intermediate position, the length of the traction rope changes by L2 per unit rotation angle, and L2 is less than L1.
[0011] In some embodiments of the present invention, the aircraft has a gimbal motor for driving the gimbal to rotate, and the aircraft landing pad includes: an auxiliary limiting member rotatably disposed on the landing platform, the gimbal support being able to abut against the gimbal from below, the auxiliary limiting member being able to abut against the gimbal from above or side-above, and the auxiliary limiting member and the gimbal support together restricting the six degrees of freedom of the gimbal.
[0012] In some embodiments of the present invention, the auxiliary limiting member includes: a rotating rod vertically rotatably disposed on the docking platform and a locking member disposed at the end of the rotating rod, wherein an arc-shaped locking groove is formed on the locking member so that the output shaft of the gimbal motor can at least partially enter the arc-shaped locking groove.
[0013] In some embodiments of the present invention, two optocouplers are provided on one of the docking platform and the second rotating part, and an encoding disk that can be identified by the optocouplers is provided on the other side. The control system can know the state of the rocker arm based on the encoding information obtained by the two optocouplers. The state includes at least an avoidance state, a state in which the rocker arm is centered and abutting the aircraft structure, and a state in which the rocker arm is centered but not abutting the aircraft structure.
[0014] A second aspect of the present invention provides a vehicle comprising: any of the aircraft landing pads described above.
[0015] In summary, firstly, the aircraft landing pad provided by this invention uses a single drive mechanism, coupling the lifting gimbal support to a rotating rocker arm, thus resulting in a simple structure, low cost, and high reliability. Secondly, the rocker arm can "center" an aircraft that has deviated from its target position after landing. Thirdly, even if the aircraft landing pad experiences continuous turbulence or rapid acceleration / deceleration, the gimbal support can abut against the lower part of the gimbal, providing support and preventing the gimbal (gimbal motor) from rotating arbitrarily when powered off, thus preventing output shaft drift, loss of synchronization data, misalignment, or mechanical damage to the gimbal motor. When launching the aircraft, the system can be powered on in advance, allowing the gimbal to rotate ahead of time under the drive of the gimbal motor, facilitating earlier takeoff preparation and shortening takeoff time. Attached Figure Description
[0016] Figure 1a A schematic diagram of an aircraft landing pad structure provided in an embodiment of the present invention (the gimbal support is lowered and the rocker arm is in an avoidance state). Figure 1b for Figure 1a Another structural diagram of the aircraft landing pad is shown (the gimbal support is raised and the rocker arm is in the center position). Figure 2a for Figure 1a A top-down view of the aircraft parking apron shown; Figure 2b for Figure 1b A top-down view of the aircraft parking apron shown; Figure 3a For the aircraft to land Figure 1a A schematic diagram of the aircraft parking apron shown; Figure 3b For the aircraft to land Figure 1b A schematic diagram of the aircraft parking apron shown; Figure 4 for Figure 3b The image shown is a 3D view of the aircraft landing on the aircraft parking apron. Figure 5 for Figure 4 The diagram shows the relationship between the gimbal support and the gimbal. Figure 6 for Figure 1a A schematic diagram of the docking platform mechanism shown (rear side); Figure 7 for Figure 1a The diagram shows the relationship between the positioning recess and the landing gear on the aircraft arm; Figure 8 for Figure 6 A schematic diagram showing the positional changes of the connection points of the traction element shown; Figure 9 A schematic diagram illustrating the interaction between the auxiliary limiting device installed on the docking platform and the gimbal. Figure 10 A schematic diagram of an optocoupler sensor installed on a docking platform; Figure 11 A schematic diagram of the encoder disk installed in the second rotating part; Figure 12a This is a schematic diagram showing the positional relationship between the optocoupler sensor and the encoder disk (the rocker arm is in a avoidance state). Figure 12b This is a schematic diagram showing the positional relationship between the optical coupler sensor and the encoder disk (with the rocker arm centered and in contact with the aircraft structural component). Figure 12c This is a schematic diagram showing the positional relationship between the optical coupler sensor and the encoder disk (with the rocker arm centered and not in contact with the aircraft structural components). Figure 13 A schematic diagram of a vehicle provided for another embodiment of the present invention.
[0017] Explanation of reference numerals in the attached figures : Aircraft parking apron 100; aircraft 200; vehicles 300; power system 400; Gimbal A; Arm B; Tripod B'; Connection point C; Near end C1; Far end C2; Mid-position C3; Gimbal motor D; 10 docking platform; 11 circuit board; 12 positioning recess; Gimbal support 20; First elastic element 21; Traction element 22; Rocker arm 30; Gear shaft 31; First rotating part 40; Second rotating part 50; pull rod 51; protrusion 52; tension spring 53; Drive mechanism 60; Transmission mechanism 70; arc groove 71; connecting rod 72; first rotating shaft 72a; second rotating shaft 72b; sliding part 73; Auxiliary limiting component 80; Rotary rod 81; Limiting component 82 Optical coupler sensor 90a; encoder disk 90b. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort should fall within the protection scope of this invention.
[0019] In this article, "vehicle" can refer to vehicles, ships, robots, etc. Vehicles can be driverless or manned, ships can be driverless or manned, and robots can be remotely controlled or autonomous. Of course, the term "vehicle" is not limited to the specific types listed above and can refer to other types of vehicles as well.
[0020] In this article, "aircraft" can refer to unmanned aerial vehicles (UAVs), which can be applied to at least one of the following fields: aerial photography, agriculture, plant protection, express delivery, disaster relief, infectious disease monitoring, surveying and mapping, power line inspection, etc. "Aircraft" can be a rotorcraft, a fixed-wing UAV, an unmanned helicopter, or a hybrid fixed-wing / rotorcraft. Among these, rotorcraft can be single-rotor, dual-rotor, tri-rotor, quadcopter, hexacopter, octagonal, decacopter, dodecagonter, etc.
[0021] As shown in Figures 1-6, an embodiment of the present invention provides an aircraft landing pad 100, which mainly includes a docking platform 10 for carrying an aircraft 200, a gimbal support 20, a first rotating part 40, and a drive mechanism 60. The gimbal support 20 is flexibly mounted on the docking platform 10. Figure 1a The gimbal support section 20 is in an upward state. Figure 1b (With the gimbal support 20 in a lowered state). The first rotating part 40 is mounted on the docking platform 10, and the gimbal support 20 is connected to the first rotating part 40, moving up and down under the drive of the first rotating part 40. A drive mechanism 60 (e.g., a motor) is mounted on the docking platform 10 and is used to drive the first rotating part 40.
[0022] Furthermore, the aircraft parking apron 100 also includes a rocker arm 30, a second rotating part 50, and a transmission mechanism 70. The rocker arm 30 is rotatably mounted on the parking platform 10. Figure 1a With rocker arm 30 in the center position, Figure 1b With the rocker arm 30 in a avoidance position, it abuts against the structural components of the aircraft 200, thereby enabling the aircraft 200 to move from the landing position to the target position. A second rotating part 50 is mounted on the docking platform 10, and the rocker arm 30 is connected to the second rotating part 50, rotating under the drive of the second rotating part 50. A transmission mechanism 70 connects the first rotating part 40 and the second rotating part 50, and transmits the power of the first rotating part 40 to the second rotating part 50 with a delay.
[0023] For example, the aircraft 200 has a gimbal A equipped with an imaging device. The gimbal A can be located at the nose, tail, or underside of the fuselage near the nose or tail. The gimbal A has a gimbal motor D, which can change its orientation (change the shooting direction of the imaging device) under the drive of the output shaft of the gimbal motor D.
[0024] For example, the imaging device includes at least one of the following: camera, video camera, mobile phone, ultrasonic imaging device, infrared imaging device, etc.
[0025] For example, the structural components of the aircraft 200 may be at least one of the following: fuselage, arms attached to the fuselage, landing gear attached to the fuselage or arms, etc.
[0026] For example, the drive mechanism 60 may be a motor, cylinder, electric actuator, electro-hydraulic actuator, etc.
[0027] For example, the target location is a central location on the docking platform 10, and the target location may include at least one of the following: a charging location, a location that facilitates the operation of the device to change the load, a battery location, or a location for replenishing raw materials.
[0028] For example, the operating device includes a replacement mechanism (not shown) for replacing the load or other components of the aircraft 200 (such as the battery or water tank of the aircraft 200). The replacement mechanism may include at least one of the following: a replacement manipulator, other auxiliary mechanical structures, etc. For example, the operating device of the ground equipment may include components such as a manipulator and a charging head installed on the aircraft parking apron 100.
[0029] For example, the charging method includes at least one of the following: charging the aircraft 200 by magnetically contacting the charging contacts on the aircraft 200 with the charging contacts provided on the aircraft parking apron 100; or charging the aircraft 200 by using a wireless charging device provided on the aircraft parking apron 100; or charging the aircraft 200 by connecting a charging cable to a charging module provided on the aircraft parking apron 100 and a charging interface on the aircraft 200.
[0030] For example, the supply of raw materials may include liquid raw materials and solid raw materials. Liquid raw materials include at least one of the following: gasoline, detergents, liquid pesticides, etc.; solid raw materials include at least one of the following: solid pesticides, fire extinguishing powder, etc.
[0031] In the embodiment shown in Figures 1-6, the structural components of the aircraft 200 refer to the four arms B connected to the fuselage, and correspondingly, there are also four rocker arms 30, so that each rocker arm 30 can abut against one of the arms B of the aircraft 200. The rocker arms 30 are bent, and the bend is rounded (forming a circular platform), which matches the contour of the landing gear B' set on the arm B, thereby improving the centering accuracy. The gimbal A, which carries the imaging device, is set in the nose direction of the aircraft 200, and the gimbal support 20 is also located in the nose direction of the docking platform 10. The gimbal support 20 and the rocker arms 30 operate as follows: For example, before the aircraft 200 lands, the gimbal support 20 is in a descending state, and the rocker arms 30 are in a avoidance state (the four rocker arms 30 are arranged along or adjacent to the central axis of the docking platform 10). The aircraft 200 lands on the upper left of the docking platform 10, the aircraft 200 is powered off, and the gimbal A rotates from facing downwards and forwards (forming an angle with the fuselage) to facing forwards (horizontal position). The drive mechanism 60 drives the first rotating part 40 to rotate clockwise, the gimbal support part 20 rises, and the transmission mechanism 70 transmits the power of the first rotating part 40 to the second rotating part 50 with a delay. The four rocker arms 30 start to rotate synchronously outward from the central axis of the docking platform 10. The upper left arm B of the aircraft 200 first abuts against the rocker arm 30 that has rotated to the upper left. As the aircraft 200 moves, the other three rocker arms 30 abut against the corresponding side arm B one after another. The four rocker arms 30 work together to move the aircraft 200 from the landing position to the target position. Finally, the gimbal support part 20 abuts against the lower part of the gimbal A, forming a support for the gimbal A.
[0032] In the above process, by setting the starting position of the gimbal support 20 to a plane lower than the docking platform 10 (for example, embedded in the docking platform 10), the gimbal support 20 can rise before the rocker arm 30 without interfering with the rotation of the rocker arm 30.
[0033] For example, before the aircraft 200 takes off, the gimbal support 20 is in an ascending state (the gimbal support 20 abuts against the lower part of the gimbal A), and the rocker arms 30 are in a centered state (the four rocker arms 30 abut against the arm B of the aircraft 200). The drive mechanism 60 drives the first rotating part 40 to rotate counterclockwise, the gimbal support 20 descends, the aircraft 200 is powered on, and the gimbal A rotates from facing directly forward (horizontal position) to facing forward and downward (forming an angle with the fuselage). The transmission mechanism 70 transmits the power of the first rotating part 40 to the second rotating part 50 with a delay, and the four rocker arms 30 rotate synchronously towards the central axis of the docking platform 10 (the four rocker arms 30 disengage from the arm B of the aircraft 200), and the aircraft 200 takes off.
[0034] During the above process, the gimbal support 20 descends before the rocker arms 30 to avoid interference with the rocker arms 30. The aircraft 200 can be powered on as soon as the gimbal support 20 begins to descend, without having to wait for the four rocker arms 30 to detach from the aircraft's arm B. This allows the aircraft 200 to prepare for takeoff in advance and shortens takeoff time.
[0035] Those skilled in the art should understand that, firstly, the aircraft landing pad 100 provided by this invention uses a single drive mechanism 60 to couple the lifting gimbal support 20 to the rotating rocker arm 30, thus the aircraft landing pad 100 has a simple structure, low cost, and high reliability. Secondly, the rocker arm 30 can "center" the aircraft 200 that has deviated from its target position after landing. Thirdly, even if the aircraft landing pad 100 experiences continuous turbulence and rapid acceleration / deceleration, the gimbal support 20 can abut against the lower part of the gimbal A, providing support for the gimbal A and preventing arbitrary rotation of the gimbal A (gimbal motor D) when it is powered off, preventing drift of the output shaft of the gimbal motor D, loss of synchronization data, misalignment of positioning, or mechanical damage to the gimbal motor D. When the aircraft 200 is launched, it can be powered on in advance, allowing the gimbal A to rotate in advance under the drive of the gimbal motor D, which helps the aircraft 200 to prepare for takeoff in advance and shortens the takeoff time.
[0036] Combination Figure 7 As shown, the aircraft 100 further includes a landing gear B' mounted on the arm B, and a positioning recess 12 is provided on the docking platform 10. After the aircraft 100 moves to the target position, the landing gear B' falls into the positioning recess 12.
[0037] Those skilled in the art should understand that after the aircraft 100 "centers," the landing gear B' on the arm B falls into the positioning recess 12. In other words, the positioning recess 12 further restricts the movement of the landing aircraft 100, allowing the gimbal support 20 to stably abut against the lower part of the gimbal A, thus providing support for the gimbal A.
[0038] Combination Figure 8 As shown, the transmission mechanism 70 further includes an arc-shaped groove 71 disposed on the first rotating part 40 and a connecting rod 72. The two ends of the connecting rod 72 are pivotally connected to the first rotating part 40 and the second rotating part 50, respectively, and the connecting rod 72 is provided with a sliding part 73 that can be arranged in the arc-shaped groove 71.
[0039] Furthermore, the arc-shaped groove 71 extends along the rotation direction of the first rotating part 40, so that after the sliding part 73 slides from one end of the arc-shaped groove 71 to the other end, the connecting rod 72 transmits the power of the first rotating part 40 to the second rotating part 50.
[0040] For example, one end of the connecting rod 72 is pivotally connected to the first rotating part 40 via a first pivot 72a, which is slidably disposed within the arcuate groove 71, i.e., the first pivot 72a acts as the aforementioned sliding part 73. The other end of the connecting rod 72 is pivotally connected to the second rotating part 50 via a second pivot 72b.
[0041] For example, the first rotating part 40 can be a rotating cam disposed on the back side of the docking platform 10. The drive mechanism 60 is a motor disposed on the back side of the docking platform 10. The first rotating part 40 (rotating cam) has teeth, and the output shaft of the drive mechanism 60 and the first rotating part 40 (rotating cam) can be driven by gears, thereby driving the first rotating part 40 to rotate by the drive mechanism 60.
[0042] For example, the second rotating part 50 can also be a rotating cam disposed on the back side of the docking platform 10. The docking platform 10 is provided with four waterproof bearings or bushings. Four rocker arms 30 pass through the corresponding waterproof bearings or bushings and are then connected to the second rotating part 50 via a pull rod 51. Specifically, one end of the pull rod 51 is connected to the rocker arm 30 via a pivot, and the other end is connected to the second rotating part 50 via a pivot. Thus, the rocker arm 30 can rotate as the second rotating part 50 rotates.
[0043] In the embodiment shown in Figures 1-6, each rocker arm 30 has a gear shaft 31 at its end, and the four rocker arms 30 are arranged in pairs. Taking a pair of front rocker arms 30 as an example, their gear shafts 31 mesh with each other, and only one front rocker arm 30 is connected to the second rotating part 50 via a tie rod 51. Therefore, the power of the front rocker arm 30 pulled by the tie rod 51 is transmitted to the other front rocker arm 30 through the gear shaft 31. The combination of connecting rods and gears saves space on both sides of the docking platform 10.
[0044] For example, the second rotating part 50 (rotating cam) has two protrusions 52, each protrusion 52 being connected to the back side of the docking platform 10 via a tension spring 53. When the rocker arm 30 is in the avoidance state, the tension spring 53 is stretched. When the rocker arm 30 is in the centering state, the tension spring 53 contracts, allowing the rocker arm 30, which abuts against the structural component of the aircraft 200, to apply a certain preload to the structural component, preventing the aircraft 200 from changing position after "centering".
[0045] Combination Figure 8 As shown, the gimbal support 20 is further connected to the docking platform 10 by a first elastic element 21 (e.g., a spring), and the gimbal support 20 is connected to the first rotating part 40 by a traction element 22. The traction element 22 has a connection point C on the first rotating part 40. The connection point C has a proximal end C1 near the gimbal support 20 and a distal end C2 away from the gimbal support 20. During the process of the connection point C moving from the proximal end C1 to the distal end C2, the gimbal support 20 is pulled down by the traction element 22, and the first elastic element 21 is compressed. During the process of the connection point C moving from the distal end C2 to the proximal end C1, the gimbal support 20 is pushed up by the elastic force released by the first elastic element 21.
[0046] Furthermore, the traction element 22 is a traction rope (e.g., a steel rope), and the connection point C has an intermediate position C3 between the proximal end C1 and the distal end C2. When the connection point C moves from the proximal end C1 to the intermediate position C3, the length of the traction rope changes by L1 per unit rotation angle. When the connection point C moves from the distal end C2 to the intermediate position C3, the length of the traction rope changes by L2 per unit rotation angle, and L2 is less than L1.
[0047] For example, when connection point C moves from the near end C1 to the middle position C3, the first rotating part 40 (rotating cam) rotates by 46°, the traction rope is stretched by 16.5mm, and the length change of the traction rope per unit rotation angle is L1 = 0.358mm / degree. When connection point C moves from the middle position C3 to the far end C2, the first rotating part 40 (rotating cam) rotates by 36°, the traction rope is stretched by 3.5mm, and the length change of the traction rope per unit rotation angle is L2 = 0.097mm / degree. This achieves a faster descent speed in the first half of the gimbal support 20's descent and a slower descent speed in the second half of the descent.
[0048] Furthermore, when the connection point C moves to the middle position C3, the power of the first rotating part 40 begins to be transmitted to the second rotating part 50 (that is, the sliding part 73 slides from one end of the arc groove 71 to the other end).
[0049] The working principle of the gimbal support 20 and rocker arm 30, which have the above-mentioned two-stage motion, is as follows: For example, before the aircraft 200 lands, the gimbal support 20 is in a descending state (connection point C is at the far end C2 position), and the rocker arms 30 are in a avoidance state (the four rocker arms 30 are arranged along or adjacent to the central axis of the docking platform 10). The aircraft 200 lands on the upper left of the docking platform 10, the aircraft 200 is powered off, and the gimbal A rotates from facing downwards and forwards (forming an angle with the fuselage) to facing forwards (horizontal position). The drive mechanism 60 drives the first rotating part 40 to rotate clockwise, and the connection point C moves from the far end C2 to the middle position C3. The gimbal support part 20 slowly rises from the inside of the docking platform 10 to the bearing surface of the docking platform 10. The sliding part 73 of the transmission mechanism 70 slides from one end to the other in the arc groove 71. The power of the first rotating part 40 is transmitted to the second rotating part 50. The four rocker arms 30 begin to rotate synchronously outward from the central axis of the docking platform 10. The upper left arm B of the aircraft 200 first abuts against the rocker arm 30 that has rotated to the upper left. As the aircraft 200 moves, the other three rocker arms 30 successively abut against the corresponding side arms B. The four rocker arms 30 work together to move the aircraft 200 from the landing position to the target position. At the same time, the connection point C moves from the middle position C3 to the near end C1, and the gimbal support part 20 continues to rise rapidly until it abuts against the lower part of the gimbal A, providing support for the gimbal A.
[0050] For example, before the aircraft 200 takes off, the gimbal support 20 is in an ascending state (connection point C is at the near end C1, and the gimbal support 20 abuts against the lower part of the gimbal A), and the rocker arms 30 are in a centered state (the four rocker arms 30 abut against the arm B of the aircraft 200). The drive mechanism 60 drives the first rotating part 40 to rotate counterclockwise, the connection point C moves from the near end C1 to the middle position C3, the gimbal support 20 quickly descends to the bearing surface of the docking platform 10, the aircraft 200 is powered on, the gimbal A rotates from facing forward (horizontal position) to facing forward and downward (forming an angle with the fuselage), the sliding part 73 of the transmission mechanism 70 slides from one end to the other end in the arc groove 71, the power of the first rotating part 40 is transmitted to the second rotating part 50, and the four rocker arms 30 rotate synchronously towards the central axis of the docking platform 10 (the four rocker arms 30 disengage from the arm B of the aircraft 200). At the same time, the connection point C moves from the middle position C3 to the far end C2, and the gimbal support 20 continues to descend slowly until it descends into the interior of the docking platform 10, and the aircraft 200 takes off.
[0051] Those skilled in the art should understand that the gimbal support 20 of the aircraft landing pad 100 provided by the present invention operates "slowly at first, then quickly," with a short pause in between. This allows the gimbal support 20 to avoid the rotating rocker arm and provides time for the gimbal A to rotate from a downward-facing position (forming an angle with the fuselage) to a horizontal position after shutdown, preventing the gimbal support 20 from prematurely contacting the gimbal A and causing overload of the gimbal motor D. During descent, the "fast at first, then slow" approach allows the gimbal support 20 to avoid the rotating rocker arm and also allows for earlier startup, enabling the gimbal A to rotate earlier under the drive of the gimbal motor D. This facilitates the aircraft 200's preparation for takeoff in advance and shortens takeoff time.
[0052] Combination Figure 4 , 5 As shown in Figure 9, the aircraft 200 further includes a gimbal motor D for driving the gimbal A to rotate. The aircraft landing pad 100 includes an auxiliary limiting member 80 rotatably mounted on the docking platform 10. The gimbal support 20 can abut against the gimbal A from below, and the auxiliary limiting member 80 can abut against the gimbal A from above or from the side. The auxiliary limiting member 80 and the gimbal support 20 together restrict the six degrees of freedom of the gimbal A.
[0053] Furthermore, the auxiliary limiting member 80 includes a rotating rod 81 that is vertically rotatably mounted on the docking platform 10 and a limiting member 82 located at the end of the rotating rod 81. An arc-shaped groove is formed on the limiting member 82 so that the output shaft of the gimbal motor D can at least partially enter the arc-shaped groove.
[0054] Those skilled in the art should be able to, in order to further prevent the gimbal A from rotating arbitrarily when powered off, provide support for the gimbal A from another direction using the auxiliary limiting member 80, which, together with the aforementioned gimbal support 20, restricts the six degrees of freedom of the gimbal A in the front, back, left, right, up, and down directions. This provides reliable limiting for the gimbal A even when the vehicle experiences continuous bumps (vibrations) or rapid acceleration / deceleration. Furthermore, the arc-shaped groove formed on the limiting member 82 can be used to "engage" with the output shaft of the gimbal motor D, directly restricting the rotation of the output shaft of the gimbal motor D.
[0055] like Figure 10 , 11 As shown in 12a, 12b and 12c, two optical couplers 90a are provided on one side of the docking platform 10 and the second rotating part 50, and an encoding disk 90b that can be recognized by the optical couplers 90a is provided on the other side. The control system can know the state of the rocker arm 30 based on the encoding information obtained by the two optical couplers 90a. The state includes at least the avoidance state, the state of being centered and abutting the aircraft structure, and the state of being centered but not abutting the aircraft structure.
[0056] For example, a circuit board 11 (PCB or PCBA) is provided on the back side of the docking platform 10, and two optocoupler sensors 90a are provided on the circuit board 11 at intervals, and an encoder disk 90b is provided on the second rotating part 50.
[0057] The two optocoupler sensors 90a and the encoder disk 90b operate as follows: When the rocker arm 30 is in the avoidance state: if one optocoupler sensor 90a cannot detect the scale of the encoder disk 90b (the light emitted by the transmitter of the optocoupler sensor 90a is reflected back to the receiver of the optocoupler sensor 90a after passing through the encoder disk 90b), the optocoupler sensor 90a outputs a high-level signal and is recorded as "0"; if one optocoupler sensor 90a detects the scale of the encoder disk 90b (the light emitted by the transmitter of the optocoupler sensor 90a is not reflected back to the receiver of the optocoupler sensor 90a after passing through the encoder disk 90b), the optocoupler sensor 90a outputs a low-level signal and is recorded as "1", and the control system (circuit board 11) receives the output signal "01"; When the rocker arm is centered and abuts against the aircraft structure at position 30: the two optocoupler sensors 90a recognize the scale of the encoder disk 90b (the light emitted by the transmitter of the optocoupler sensor 90a is not reflected back to the receiver of the optocoupler sensor 90a by the encoder disk 90b), the optocoupler sensor 90a outputs a low-level signal as "1", and the control system (circuit board 11) receives the output signal "11".
[0058] When the rocker arm is centered at point 30 and not in contact with the aircraft structural components: one optocoupler sensor 90a detects the scale of the encoder disk 90b (the light emitted by the transmitter of the optocoupler sensor 90a is not reflected back to the receiver of the optocoupler sensor 90a by the encoder disk 90b), and the optocoupler sensor 90a outputs a low-level signal as "1". When one optocoupler sensor 90a does not detect the scale of the encoder disk 90b (the light emitted by the transmitter of the optocoupler sensor 90a is reflected back to the receiver of the optocoupler sensor 90a by the encoder disk 90b), the optocoupler sensor 90a outputs a high-level signal as "0", and the control system (circuit board 11) receives the output signal "10".
[0059] Those skilled in the art should understand that, depending on the state of the rocker arm 30, the control system (circuit board 11) sends warning information to external devices via wired or wireless communication modules to achieve position monitoring of the rocker arm 30.
[0060] For example, "external devices" can refer to vehicle control systems, shipboard control systems, computer terminals, handheld mobile devices (mobile phones), etc.
[0061] For example, "alert information" can refer to information such as sound, light, or display of a specific icon.
[0062] Reference Figure 13As shown, another embodiment of the present invention provides a vehicle 300, including the aircraft landing pad 100 and the power system 400 as described above.
[0063] Those skilled in the art should understand that, since the vehicle 300 uses the aforementioned aircraft parking apron 100, it should have all the technical effects brought about by the aforementioned aircraft parking apron 100.
[0064] For example, firstly, the aircraft landing pad 100 provided by this invention uses a single drive mechanism 60 to couple the lifting gimbal support 20 to the rotating rocker arm 30. Therefore, the aircraft landing pad 100 has a simple structure, low cost, and high reliability. Secondly, the rocker arm 30 can "center" the aircraft 200 that has deviated from the target position after landing. Thirdly, even if the aircraft landing pad 100 experiences continuous turbulence and rapid acceleration / deceleration, the gimbal support 20 can abut against the lower part of the gimbal A, providing support for the gimbal A and preventing the gimbal A (gimbal motor D) from rotating arbitrarily when powered off. This prevents the output shaft of the gimbal motor D from drifting, losing synchronization data, becoming inaccurate in positioning, or causing mechanical damage to the gimbal motor D. When the aircraft 200 is launched, it can be powered on in advance, allowing the gimbal A to rotate in advance under the drive of the gimbal motor D, which helps the aircraft 200 to prepare for takeoff in advance and shortens the takeoff time.
[0065] For example, the gimbal support 20 of the aircraft landing pad 100 provided by this invention operates with a "slow start followed by fast speed" during ascent, with a short pause in between. This allows the gimbal support 20 to avoid the rotating rocker arm and provides time for the gimbal A to rotate from a downward-facing position (forming an angle with the fuselage) to a horizontal position after shutdown, preventing the gimbal support 20 from prematurely contacting the gimbal A and causing overload of the gimbal motor D. During descent, the "fast start followed by slow speed" not only allows the gimbal support 20 to avoid the rotating rocker arm but also allows for earlier startup, enabling the gimbal A to rotate earlier under the drive of the gimbal motor D. This helps the aircraft 200 prepare for takeoff earlier and shortens takeoff time.
[0066] In the description of this specification, the references to terms such as "certain embodiments," "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0067] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. An aircraft landing pad, wherein the aircraft has a gimbal equipped with an imaging device, characterized in that, include: A docking platform used to carry aircraft; The lifting mechanism is located on the gimbal support section of the docking platform; The first rotating part is installed on the docking platform, and the gimbal support part is connected to the first rotating part and moves up and down under the drive of the first rotating part. as well as A drive mechanism for driving the first rotating part is provided on the docking platform.
2. The aircraft parking apron according to claim 1, characterized in that, include: A rocker arm is rotatably mounted on the docking platform. The rocker arm is used to abut against the structural components of the aircraft, thereby enabling the aircraft to move from the landing position to the target position. The second rotating part is provided on the docking platform, and the rocker arm is connected to the second rotating part and rotates under the drive of the second rotating part; as well as A transmission mechanism connects the first rotating part and the second rotating part, and transmits the power of the first rotating part to the second rotating part with a delay.
3. The aircraft parking apron according to claim 2, characterized in that: The aircraft has landing gear mounted on its arms, and the docking platform has positioning recesses. After the aircraft moves to the target position, the landing gear falls into the positioning recesses.
4. The aircraft parking apron according to claim 2, characterized in that, The transmission mechanism includes: An arc-shaped groove is provided on the first rotating part; A connecting rod is pivotally connected at both ends to the first rotating part and the second rotating part, respectively, and the connecting rod is provided with a sliding part that can be arranged in the arc-shaped groove.
5. The aircraft parking apron according to claim 4, characterized in that: The arc-shaped groove extends along the rotation direction of the first rotating part, so that after the sliding part slides from one end of the arc-shaped groove to the other end, the connecting rod transmits the power of the first rotating part to the second rotating part.
6. The aircraft parking apron according to claim 1, characterized in that: The gimbal support is connected to the docking platform by a first elastic element, and the gimbal support is connected to the first rotating part by a traction element. The traction element has a connection point on the first rotating part, and the connection point has a proximal end near the gimbal support and a distal end far from the gimbal support. During the process of the connection point moving from the proximal end to the distal end, the gimbal support is pulled down by the traction element, and the first elastic element is compressed. During the process of the connection point moving from the distal end to the proximal end, the gimbal support is pushed up by the elastic force released by the first elastic element.
7. The aircraft parking apron according to claim 6, characterized in that: The traction element is a traction rope, and the connection point has an intermediate position between the proximal end and the distal end. When the connection point moves from the proximal end to the intermediate position, the length of the traction rope changes by L1 per unit rotation angle. When the connection point moves from the distal end to the intermediate position, the length of the traction rope changes by L2 per unit rotation angle, and L2 is less than L1.
8. The aircraft landing pad according to claim 1, wherein the aircraft has a gimbal motor for driving the rotation of the gimbal, characterized in that... The aircraft parking apron includes: An auxiliary limiting member is rotatably mounted on the docking platform. The gimbal support can abut against the gimbal from below, and the auxiliary limiting member can abut against the gimbal from above or from the side. The auxiliary limiting member and the gimbal support together restrict the six degrees of freedom of the gimbal.
9. The aircraft parking apron according to claim 8, characterized in that, The auxiliary limiting component includes: A rotating rod is vertically rotatably mounted on the docking platform, and a locking member is provided at the end of the rotating rod. The locking member has an arc-shaped locking groove so that the output shaft of the gimbal motor can at least partially enter the arc-shaped locking groove.
10. The aircraft parking apron according to claim 2, characterized in that: Two optocouplers are provided on one of the docking platform and the second rotating part, and an encoding disk that can be recognized by the optocouplers is provided on the other side. The control system can know the state of the rocker arm based on the encoding information obtained by the two optocouplers. The state includes at least the avoidance state, the state of being centered and abutting the aircraft structure, and the state of being centered but not abutting the aircraft structure.
11. A vehicle, characterized in that, include: The aircraft parking apron as described in any one of claims 1-10.