Unmanned vehicle transfer device

Abstract

The unmanned aircraft transfer device comprises a frame, a walking structure and a steering structure which are connected with the frame through suspension, and a control system, the control system drives the walking structure and the steering structure to run through a hydraulic control system, and walking and steering of the transfer device are achieved. According to the utility model, the safety and the efficiency of the unmanned vehicle in the transportation and deployment stages are obviously improved through the walking structure and the steering structure which are hydraulically controlled, and a plurality of problems existing in the process of transferring the unmanned vehicle from a mother ship to the water surface in the prior art are solved.

Description

Technical Field

[0001] The utility model belongs to the field of unmanned aircraft transportation, and in particular relates to an unmanned aircraft transportation device. Background Art

[0002] Unmanned vehicles (UAVs) are surface vessels capable of performing specific tasks autonomously or remotely without direct human control. These vehicles integrate advanced navigation systems, communications equipment, and sensors, enabling them to conduct a variety of activities without a crew, including data collection, environmental monitoring, marine scientific research, and even military reconnaissance. With technological advancements and the continuous expansion of their application areas, UAVs have become an indispensable component of ocean exploration and utilization.

[0003] To transport unmanned aerial vehicles (UAVs) to their target locations far from land, a specially equipped mother ship is typically used. This mother ship not only transports the UAVs to their designated locations but also provides necessary maintenance. In practice, the UAVs are often housed within the mother ship's interior to ensure their safety throughout their journey.

[0004] When it is needed to go out to sea to perform a mission, it needs to be transferred from the cabin to the deployment location (on the deck or in the dock). Traditional transfer methods mostly rely on lifting equipment. Although this method can meet the basic transfer needs of unmanned aerial vehicles, it has many shortcomings in actual operation. Each loading / unloading requires complex preparation steps and requires multiple workers to work together, which is inefficient. Poor stability: Due to factors such as changes in sea conditions, using conventional cranes to transport unmanned aerial vehicles is prone to shaking or even loss of control, increasing the possibility of accidents. Improper operating techniques may pose a threat to precision instruments, especially in severe weather conditions. Any slight mistake may result in expensive repair costs. Unmanned aerial vehicles are at high risk of collision during transportation. Once a collision occurs, it may cause surface scratches at the least and damage internal components at the worst, seriously affecting the function of the unmanned aerial vehicle. Utility Model Content

[0005] The utility model aims to provide an unmanned vehicle transfer device to solve the technical problem of rapid and safe transfer of an unmanned vehicle on a mother ship.

[0006] To achieve the above objectives, the specific technical solution of an unmanned aerial vehicle transfer device of the present invention is as follows:

[0007] An unmanned aerial vehicle transfer device includes a frame, a walking structure and a steering structure connected to the frame through a suspension, and a control system; the walking structure includes a driving wheel and a driven wheel arranged on both sides of the suspension, the driving wheel is provided with a driving reducer, a parking brake and a walking motor, and the driven wheel is provided with a driven reducer and a service brake; the walking motor drives the driving wheel to rotate, driving the driven wheel to rotate synchronously, thereby realizing the movement of the transfer device; the steering structure realizes the steering of the movement of the transfer device through the rotation of the steering motor; the control system drives the operation of the walking structure and the steering structure through a hydraulic control system, the hydraulic control system includes a steering valve group for controlling the forward and reverse rotation of the steering motor, a walking valve group for controlling the forward and reverse rotation of the walking motor and the opening and closing of the parking brake, and a brake valve group for controlling the opening and closing of the service brake; in the hydraulic control system, hydraulic oil enters the A / B oil ports of the steering motor and the walking motor respectively, thereby realizing the forward and reverse rotation of the steering motor and the walking motor.

[0008] As a further improvement of the present invention, the hydraulic control system also includes a plurality of control valve groups respectively connected to the steering valve group, the traveling valve group and the brake valve group, and the hydraulic oil is guided to the A / B oil ports of the steering valve group, the traveling valve group and the brake valve group through the control valve groups.

[0009] As a further improvement of the present invention, the steering structure includes a steering motor and a rotary reducer, the rotary reducer includes an inner ring fixedly connected to the frame, an outer ring sleeved on the outside of the inner ring and fixedly connected to the suspension, and a worm wheel and a worm in meshing connection; the inner ring and the outer ring are rotatably connected through bearings, the worm wheel is connected to the outer ring, and the worm is connected to the steering motor; the steering motor drives the worm to rotate, the worm drives the worm wheel to rotate, and the worm wheel drives the outer ring to rotate relative to the inner ring.

[0010] As a further improvement of the present invention, in the travel valve group, the hydraulic oil flows to the shuttle valve and the balance valve respectively, the hydraulic oil passing through the shuttle valve enters the parking brake, the parking brake is opened, and the hydraulic oil passing through the balance valve enters the A / B oil port of the travel motor, causing the travel motor to rotate forward / reverse.

[0011] As a further improvement of the present invention, a proportional valve is provided in the control valve group, and the hydraulic oil is guided to the A / B oil ports of the steering valve group, the travel valve group and the brake valve group after passing through the proportional valve.

[0012] As a further improvement of the present invention, the parking brake is a normally closed brake, and when hydraulic oil enters the parking brake, the parking brake is disengaged from the travel motor, and the travel motor enters a no-brake state.

[0013] As a further improvement of the present invention, the service brake is a normally open brake, hydraulic oil enters the service brake, and the service brake brakes the travel motor.

[0014] Beneficial effects:

[0015] This new system utilizes an integrated control system, walking mechanism, and steering mechanism to rapidly transfer the unmanned aerial vehicle from the cabin to its deployment location (e.g., deck or dock), significantly improving transfer efficiency. Compared to traditional lifting equipment, this system eliminates the need for repeated position and angle adjustments, reducing operation time and manpower requirements.

[0016] The design of the suspension, travel structure, and steering mechanism effectively reduces the shaking of the UAV during transfer. In particular, the rotary reducer and worm gear transmission mechanism achieve smooth steering, ensuring the stability of the UAV during transfer and reducing the risk of collision.

[0017] A carefully designed suspension system, combined with the drive and driven wheels, ensures smooth movement even in complex sea conditions. The parking brake and service brake are configured as normally closed and normally open, respectively, automatically locking and releasing when not in use, effectively preventing accidental slippage. The introduction of a hydraulic control system not only provides a more precise power distribution mechanism, but also enhances response speed to unexpected situations (such as emergency stops).

[0018] The control system is simple and easy to use. The hydraulic control system realizes the forward and reverse control of the steering motor and travel motor, simplifying the operation process. At the same time, the setting of control elements such as proportional valves makes the operation more precise and convenient.

[0019] The smooth and rapid transfer of unmanned aerial vehicles within the cabin of the mother ship has been achieved, which not only overcomes the problems of low efficiency and insufficient stability in the existing technology, but also greatly improves the safety and reliability of the transfer process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of an unmanned aerial vehicle transfer device of the present utility model;

[0021] Figure 2 Schematic diagram of walking structure and steering structure;

[0022] Figure 3 It is a schematic diagram of the hydraulic control system;

[0023] Explanation of the marks in the figure: 100, frame; 200, control system; 210, steering valve group; 220, travel valve group; 221, shuttle valve; 222, balance valve; 230, brake valve group; 240, control valve group; 241, proportional valve; 242, pressure compensation valve; 310, suspension; 320, travel structure; 321, driving wheel; 322, driving reducer; 323, parking brake; 324, travel motor; 325, driven wheel; 326, service brake; 327, driven reducer; 330, steering structure; 331, steering motor; 332, rotary reducer. DETAILED DESCRIPTION

[0024] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to embodiments and drawings. The embodiments are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0025] Implementation example:

[0026] like Figure 1 The unmanned aerial vehicle transfer device shown includes a frame 100 as a load-bearing support, a suspension 310, a walking structure 320, and a steering structure 330 arranged at the four bases of the frame 100. The transfer device has functions such as steering, self-propelled travel, service braking, and parking. The steering function of the transfer device is realized by the steering structure 330, which is used to adjust the travel path of the transfer device to realize the transfer of the unmanned aerial vehicle from the cabin to the deployment position. The transfer device adopts an independent suspension 310 and is provided with a driving wheel 321 and a driven wheel 325. The driving wheel 321 is driven by a travel motor 324 to realize the self-propelled function and has a parking function; the driven wheel 325 is provided with a service brake 326 to realize the braking function during driving.

[0027] In this embodiment, the movement of the transfer device is driven and controlled by a hydraulic control system. The power source of the hydraulic control system is a hydraulic pump, which is driven by an electric motor. The hydraulic pump delivers hydraulic oil with a certain pressure and flow to each control valve. By manipulating the direction and opening size of the control valve, the movement direction and speed of the hydraulic actuator can be controlled, and ultimately the steering direction, steering speed, forward and backward movement, travel speed, service brake and parking functions of the transfer device can be realized.

[0028] like Figure 2The illustrated traveling structure 320 and steering structure 330 are connected to the suspension 310 and the frame 100. The steering structure 330 is provided at the connection between the suspension 310 and the frame 100. The steering structure 330 is driven by a steering motor 331, which drives a rotary reducer 332. The rotary reducer 332 is a worm gear structure. The inner ring of the rotary reducer 332 is connected to the frame 100 via bolts, and the outer ring of the rotary reducer is also connected to the suspension 310 via bolts. The steering motor 331 converts hydraulic energy input from the hydraulic system into mechanical energy output, driving the worm to rotate. The worm gear meshes with the worm gear, which in turn drives the worm wheel to rotate, ultimately driving the wheels to steer.

[0029] The traveling structure 320 is equipped with a driving wheel 321 and a driven wheel 325 on either side of the independent suspension. The driving wheel 321 is sequentially equipped with a driving reducer 322, a parking brake 323, and a traveling motor 324. While hydraulic oil enters the traveling motor 324 to drive it, it also controls the oil circuit to enter the parking brake 323, disabling the parking function and enabling the self-propelled transport mechanism. When hydraulic oil stops entering the traveling motor 324, the oil circuit controlling the parking brake 323 also stops supplying oil, returning the parking brake to its normal state, i.e., the parking state. The driven wheel 325 is equipped with only a driven reducer 327 and a service brake 326. The service brake 326 is normally released. When hydraulic oil is manually applied to the service brake 326, the brake pads within the service brake 326 engage the rotating shaft, acting as a service brake.

[0030] like Figure 3 The hydraulic control system shown includes a steering valve assembly 210 for controlling the forward and reverse rotation of the steering motor 331; a travel valve assembly 220 for controlling the forward and reverse rotation of the travel motor 324 and the opening and closing of the parking brake 323; a brake valve assembly 230 for controlling the opening and closing of the service brake 326; and three control valve assemblies 240 connected to the steering valve assembly 210, the travel valve assembly 220, and the brake valve assembly 230, respectively. Hydraulic oil is discharged from the oil tank into the control valve assembly 240 by a hydraulic pump. Once in the control valve assembly 240, the hydraulic oil passes through a pressure compensating valve 242 and a proportional valve 241 before being directed to the A / B ports of the steering valve assembly 210, the travel valve assembly 220, and the brake valve assembly 230, respectively.

[0031] Hydraulic oil entering steering valve assembly 210 flows into port A of the steering motor, driving the motor's output shaft to rotate. The motor's output shaft is connected to the worm, which in turn rotates the worm. The teeth on the worm mesh with those on the worm wheel, driving the rotary reducer to rotate, ultimately steering the wheel to one side. Switching the hydraulic oil to port B of the steering motor allows the wheel to steer the other way. Rotary reducer 332 features a worm-gear meshing structure. The worm's helix angle is very small, so only the worm drives the worm wheel, and the worm wheel cannot reversely drive the worm, resulting in excellent self-locking properties.

[0032] Hydraulic oil entering travel valve group 220 flows through counterbalance valve 222 into travel motor A / B ports. Simultaneously, it flows through shuttle valve 221 into parking brake 323, opening the normally closed parking brake and releasing the vehicle. Driven by the hydraulic oil, the travel motor's output shaft rotates, converting hydraulic energy into mechanical energy and transmitting it to drive reducer 322. Drive reducer 322 converts high-speed, low-torque mechanical energy into low-speed, high-torque mechanical energy and transmits it to drive wheel 321 for rotation. Drive wheel 321, through independent suspension, drives travel wheel 325, achieving self-propelled travel. Switching the hydraulic oil flow into travel motor A / B ports enables forward and backward wheel rotation.

[0033] The hydraulic oil entering the brake valve group 230 enters the service brake 326. During self-propelled driving, the hydraulic oil presses the brake pads and then holds the wheels tightly, thereby playing the role of service braking.

[0034] In this embodiment, both the service brake 326 and the parking brake 323 are wet brakes. The difference is that the parking brake 323 is normally closed, serving as a parking brake, and the same hydraulic fluid is used to release the parking brake 323 and drive the travel motor 324. The service brake 326 is normally open, and hydraulic fluid enters the brake for service braking only when the brake is manually actuated.

[0035] The unmanned aerial vehicle is routinely stored on a transfer device, which is secured inside the mother ship's cabin. During transfer, the transfer device is activated directly, allowing it to be smoothly and quickly transported to the designated location, preventing collision risks and increasing the overall efficiency of the vehicle. The transfer device is key to the smooth and rapid transfer of unmanned aerial vehicles. Research has been conducted on its mechanical structure, hydraulic principles, and design analysis to ensure it meets the technical requirements for unmanned aerial vehicle transfer.

[0036] It is understood that the present invention is described by way of certain embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the guidance of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. An unmanned aerial vehicle transfer device, characterized in that: It includes a vehicle frame, a walking structure and a steering structure connected to the vehicle frame via a suspension, and a control system; The walking structure includes a driving wheel and a driven wheel arranged on both sides of the suspension, wherein the driving wheel is provided with a driving reducer, a parking brake and a walking motor, and the driven wheel is provided with a driven reducer and a service brake; the walking motor drives the driving wheel to rotate, and drives the driven wheel to rotate synchronously, thereby realizing the walking of the transfer device; The steering structure realizes the steering of the transport device by rotating the steering motor; The control system drives the operation of the traveling structure and the steering structure through a hydraulic control system. The hydraulic control system includes a steering valve group for controlling the forward and reverse rotation of the steering motor, a traveling valve group for controlling the forward and reverse rotation of the traveling motor and the opening and closing of the parking brake, and a brake valve group for controlling the opening and closing of the service brake. In the hydraulic control system, hydraulic oil enters the A / B oil ports of the steering motor and the traveling motor respectively, thereby realizing the forward and reverse rotation of the steering motor and the traveling motor.

2. The unmanned aerial vehicle transfer device according to claim 1, characterized in that: The hydraulic control system also includes a plurality of control valve groups respectively connected to the steering valve group, the travel valve group and the brake valve group, and the hydraulic oil is directed to the A / B oil ports of the steering valve group, the travel valve group and the brake valve group through the control valve groups.

3. The unmanned aerial vehicle transfer device according to claim 1, characterized in that: The steering structure includes a steering motor and a rotary reducer, wherein the rotary reducer includes an inner ring fixedly connected to the vehicle frame, an outer ring sleeved outside the inner ring and fixedly connected to the suspension, and a worm gear and a worm in meshing connection; The inner ring and the outer ring are rotatably connected via a bearing, the worm wheel is connected to the outer ring, and the worm is connected to the steering motor; the steering motor drives the worm to rotate, the worm drives the worm wheel to rotate, and the worm wheel drives the outer ring to rotate relative to the inner ring.

4. The unmanned aerial vehicle transfer device according to claim 2, characterized in that: In the travel valve group, the hydraulic oil flows to the shuttle valve and the balance valve respectively. The hydraulic oil passing through the shuttle valve enters the parking brake, opens the parking brake, and the hydraulic oil passing through the balance valve enters the A / B oil port of the travel motor, causing the travel motor to rotate forward / reverse.

5. The unmanned aerial vehicle transfer device according to claim 2, characterized in that: The control valve group is provided with a proportional valve, and the hydraulic oil is guided to the A / B oil ports of the steering valve group, the travel valve group and the brake valve group after passing through the proportional valve.

6. The unmanned aerial vehicle transfer device according to claim 1, characterized in that: The parking brake is a normally closed brake. When hydraulic oil enters the parking brake, the parking brake is disengaged from the travel motor, and the travel motor enters a no-brake state.

7. The unmanned aerial vehicle transfer device according to claim 1, characterized in that: The service brake is a normally open brake. Hydraulic oil enters the service brake, and the service brake brakes the travel motor.

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