CN115539458B - Spring cylinder with variable performance and unmanned aerial vehicle docking device thereof - Google Patents
Spring cylinder with variable performance and unmanned aerial vehicle docking device thereofInfo
- Publication number
- CN115539458B CN115539458B CN202211319965.8A CN202211319965A CN115539458B CN 115539458 B CN115539458 B CN 115539458B CN 202211319965 A CN202211319965 A CN 202211319965A CN 115539458 B CN115539458 B CN 115539458B
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- Prior art keywords
- cylinder
- spring
- aerial vehicle
- unmanned aerial
- piston rod
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1404—Characterised by the construction of the motor unit of the straight-cylinder type in clusters, e.g. multiple cylinders in one block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1471—Guiding means other than in the end cap
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/149—Fluid interconnections, e.g. fluid connectors, passages
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/16—Characterised by the construction of the motor unit of the straight-cylinder type of the telescopic type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/202—Externally-operated valves mounted in or on the actuator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
- F15B15/226—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having elastic elements, e.g. springs, rubber pads
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Actuator (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本发明公开一种可变性能的弹簧气缸及其无人机对接装置，弹簧气缸本体包括气缸内腔，气缸内腔沿其活塞杆滑动方向上的两端分别连通有第一连接管路，伺服阀包括用于气缸内腔连通大气降低其刚度的第一连通位、用于气缸内腔断开与大气连通增强其刚度的封堵位，第一连通位和封堵位可切换设置并分别与各第一连接管路连通，通过伺服阀动作使得气缸内腔连通第一连通位，第一连通位中的第一连通位管路与外界大气接通，此时弹簧气缸的刚度单独由其内侧弹簧自身的刚度提供，通过伺服阀动作使得气缸内腔接通封堵位，此时气缸内腔处于关闭状态，气缸内腔中被封闭的气体自身具有刚度，那么此时弹簧气缸的刚度由弹簧刚度和封闭气体的刚度复合而成。
The present invention discloses a spring cylinder with variable performance and a UAV docking device thereof. The spring cylinder body includes a cylinder inner cavity. Both ends of the cylinder inner cavity along the sliding direction of its piston rod are respectively connected with first connecting pipelines. The servo valve includes a first connecting position for connecting the cylinder inner cavity to the atmosphere to reduce its stiffness, and a blocking position for disconnecting the cylinder inner cavity from the atmosphere to enhance its stiffness. The first connecting position and the blocking position can be switched and respectively connected to each first connecting pipeline. The servo valve is actuated to connect the cylinder inner cavity to the first connecting position, and the first connecting position pipeline in the first connecting position is connected to the outside atmosphere. At this time, the stiffness of the spring cylinder is provided solely by the stiffness of its inner spring itself. The servo valve is actuated to connect the cylinder inner cavity to the blocking position. At this time, the cylinder cavity is in a closed state. The gas enclosed in the cylinder cavity itself has stiffness. At this time, the stiffness of the spring cylinder is a composite of the spring stiffness and the stiffness of the enclosed gas.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle docking, in particular to a spring cylinder with variable performance and an unmanned aerial vehicle docking device thereof.
Background
Unmanned aerial vehicle interfacing apparatus is one kind and catches unmanned aerial vehicle and fix the smart machine at specific platform, unmanned aerial vehicle interfacing apparatus both has the ability with unmanned aerial vehicle safety docking, has again and places unmanned aerial vehicle's ability to appointed position. After the unmanned aerial vehicle finishes the return voyage, the unmanned aerial vehicle is generally subjected to docking recovery by a vehicle, a ship and other mobile parents. However, due to the influence of environmental factors such as stormy waves, road surfaces and the like, jolt can be generated between the unmanned aerial vehicle and the parent body. The rigidity of the recovered parent body is too high, the unmanned aerial vehicle can be damaged by collision with the unmanned aerial vehicle, the rigidity of the recovered parent body is too low, and the device can be unstable during the recovery of the unmanned aerial vehicle. Accordingly, the prior art is in need of development. Chinese patent publication No. CN202011493156 proposes a docking device that is lifted by a push rod. However, the push rod has obvious defects in lifting, the rigidity is large and cannot be changed, and jolt generated by rigid butt joint can damage the unmanned aerial vehicle. Chinese patent publication No. CN201710286228 proposes a device for docking by using electromagnetic adsorption principle, which has a small docking distance, and the generated magnetic field may interfere with the communication of the unmanned aerial vehicle.
At present, the unmanned aerial vehicle interfacing apparatus mainly comprises a case, a hatch cover, a lifting table, an unmanned aerial vehicle locking device, a leveling mechanism, a charger, a camera, a sensor and other structures. The cabin cover is used for the protection of interfacing apparatus, and the elevating platform is used for unmanned aerial vehicle's berthhing, and unmanned aerial vehicle locking device is used for unmanned aerial vehicle's locking, and leveling mechanism is used for docking apparatus's position appearance adjustment when docking, and the charger is used for unmanned aerial vehicle's charging, and camera, sensor are used for the control to unmanned aerial vehicle state. When receiving the docking command, the unmanned aerial vehicle docking device opens the hatch cover, the lifting platform stretches out, the leveling mechanism adjusts the posture of the leveling mechanism under the assistance of the camera and the sensor to wait for the unmanned aerial vehicle to dock, after the docking device is docked with the unmanned aerial vehicle, the unmanned aerial vehicle locking device locks the unmanned aerial vehicle to prevent the unmanned aerial vehicle from shaking or even separating relative to the docking device, and then the charging device charges the unmanned aerial vehicle.
The marine unmanned aerial vehicle docking device with the marine STABLE platform supplier STABLE cooperation of TideWise companies in Brazil realizes docking through unmanned aerial vehicle and docking device simultaneously carrying out position regulation and control, and unmanned aerial vehicle docking device keeps the stability of device through STABLE platform's control, and unmanned aerial vehicle adjusts self gesture through visual guidance to guarantee unmanned aerial vehicle for docking device's position appearance, make between unmanned aerial vehicle and the docking device keep the relative static of other directions except the vertical direction in order to realize that unmanned aerial vehicle can drop on docking platform relatively perpendicularly. However, unmanned aerial vehicle's gesture adjustment and stable platform's unmanned aerial vehicle dock under stability control have its defect, and when the stormy waves were great, unmanned aerial vehicle interfacing apparatus gesture's change was faster, and unmanned aerial vehicle received the disturbance also more violently, and unmanned aerial vehicle hardly adjusts the gesture rapidly and accurately, also produced the collision with interfacing apparatus more easily. Therefore, the unmanned aerial vehicle posture adjustment guided by vision is difficult to complete the docking device, and the docking device is required to have some active docking functions.
Disclosure of Invention
The invention aims to provide a spring cylinder with variable performance and an unmanned aerial vehicle docking device thereof, which are used for solving the problems in the prior art, and the configuration based on pneumatic transmission can be responded quickly and changed in rigidity, so that the rapidity, the stability and the safety of the docking process are ensured.
The invention provides a spring cylinder with variable performance, which comprises a spring cylinder body and a servo valve used for controlling the spring cylinder body to be communicated with the atmosphere, wherein the spring cylinder body comprises a cylinder inner cavity, first connecting pipelines are respectively communicated with the two ends of the cylinder inner cavity along the sliding direction of a piston rod of the cylinder inner cavity, the servo valve comprises a first communicating position used for enabling the cylinder inner cavity to be communicated with the atmosphere to reduce the rigidity of the cylinder inner cavity, a blocking position used for enabling the cylinder inner cavity to be disconnected from the atmosphere to enhance the rigidity of the cylinder inner cavity, the first communicating position and the blocking position are arranged in a switchable manner and are respectively communicated with the first connecting pipelines, a first communicating position pipeline used for communicating the first connecting pipelines with the atmosphere is arranged on the first communicating position, and a breaking circuit used for blocking the first connecting pipelines from being communicated with the atmosphere is arranged on the blocking position.
Preferably, the servo valve is connected with a reversing valve, two second connecting pipelines are communicated between the reversing valve and the servo valve, the reversing valve comprises a second communicating position for communicating high-pressure air in the inner cavity of the cylinder to adjust the elongation of the piston rod and a third communicating position communicated with the atmosphere, the second communicating position is provided with a high-pressure air inlet channel and a high-pressure air return channel which are respectively communicated with the two second connecting pipelines and the high-pressure air source, and the third communicating position is provided with an atmosphere channel which is synchronously communicated with the two second connecting pipelines and the atmosphere.
Preferably, the first communication position comprises a positive communication position and a negative communication position which respectively drive the piston rod to extend and retract, the first communication position pipeline comprises two groups of air inlet channels and air outlet channels which are respectively arranged in the positive communication position and the negative communication position, and the directions of the two groups of air inlet channels and the directions of the two groups of air outlet channels which are communicated into the two first connecting pipelines are opposite.
Preferably, the positive communication position and the negative communication position are respectively matched with an adjusting mechanism for adjusting the air inlet pressure, and each adjusting mechanism is communicated with each first connecting pipeline.
Preferably, the high-pressure air source comprises an air storage tank and a high-pressure air pump communicated with the air storage tank, and the high-pressure air pump is communicated between the air storage tank and the second communication position.
Still provide an unmanned aerial vehicle interfacing apparatus, including quick-witted case, a plurality of piston rod up and the vertical setting of axle center spring cylinder, each spring cylinder is along vertical direction coaxial series connection, between the adjacent two spring cylinder, be located the below spring cylinder tip department is equipped with the mount, be equipped with the top on the mount spring cylinder gliding guide rail, and the below spring cylinder's piston rod is connected the top on spring cylinder's the cylinder body, unmanned aerial vehicle butt joint is in the top on spring cylinder's the piston rod.
Preferably, a locking mechanism for locking the unmanned aerial vehicle is arranged on the chassis, and the locking mechanism is opposite to the end part of the piston rod of the uppermost spring cylinder.
Preferably, a sliding cover for blocking the case is arranged at the top of the case.
Preferably, a guide rail groove extending along the vertical direction is formed in the outer wall of the cylinder body of the spring cylinder, and the guide rail is slidably arranged in the guide rail groove in a penetrating mode.
Preferably, a piston is slidably arranged in the cylinder of the cylinder cavity, a piston rod for connecting a to-be-supported object is arranged at one end of the cylinder cavity in a penetrating manner, the piston rod is connected with the piston, and a spring is connected between the other end of the piston rod and the piston.
Compared with the prior art, the invention has the following technical effects:
First, the spring cylinder body includes the cylinder inner chamber, the cylinder inner chamber has first connecting line along the both ends in its piston rod slip direction intercommunication respectively, the servo valve is including the first intercommunication position that is used for cylinder inner chamber intercommunication atmosphere to reduce its rigidity, be used for cylinder inner chamber disconnection and the shutoff position of its rigidity of atmosphere intercommunication reinforcing, first intercommunication position and shutoff position switchably set up and communicate with each first connecting line respectively, be equipped with the first intercommunication position pipeline of each first connecting line of intercommunication and atmosphere on the first intercommunication position, be equipped with the disconnection that blocks each first connecting line and atmosphere intercommunication on the shutoff position, make cylinder inner chamber intercommunication first intercommunication position through the servo valve action, because the first intercommunication position pipeline in the first intercommunication position is put through with external atmosphere, the rigidity of spring cylinder is provided by its inboard spring self alone this moment, and then make cylinder inner chamber switch on shutoff position through the servo valve action, because shutoff position disconnection cylinder inner chamber and atmosphere switch on this moment, the cylinder inner chamber is in the state of closing this moment, the gas self that is sealed has rigidity in the cylinder inner chamber, then the rigidity of spring cylinder is by spring rigidity and the rigidity of sealing gas is compound.
The second, the servo valve is connected with the switching-over valve, the intercommunication has two second connecting lines between switching-over valve and the servo valve, the switching-over valve is including being used for the cylinder inner chamber to communicate the second intercommunication position of high-pressure gas regulation piston rod elongation, with the third intercommunication position of atmospheric communication, be equipped with the high-pressure intake passage and the high-pressure return passage of two second connecting lines of intercommunication respectively and high-pressure air source on the second intercommunication position, be equipped with the atmospheric path of two second connecting lines of synchronous intercommunication and atmosphere on the third intercommunication position, through switching-over valve action and switch over to the third intercommunication position, make the atmospheric path on the third switch-on position switch on second connecting line and atmosphere, and then through switching-over valve action and switch over to the second intercommunication position, make the high-pressure intake passage and the high-pressure return passage on the second intercommunication position switch on second connecting line and high-pressure air passage, and then through the servo valve action, make the cylinder inner chamber switch on with high-pressure intake passage and high-pressure return passage, utilize high-pressure to promote piston and removal, make the piston rod or the piston rod need not change the extension of piston rod to stretch out the piston rod.
Third, the first communicating position comprises a positive communicating position and a negative communicating position which respectively drive the piston rod to extend and retract, the first communicating position pipeline comprises two groups of air inlet channels and air outlet channels which are respectively arranged in the positive communicating position and the negative communicating position, the directions of the two groups of air inlet channels and the air outlet channels which are communicated into the two first connecting pipelines are opposite, that is to say, the positive communicating position and the negative communicating position are switched through the servo valve, the directions of high-pressure air entering the two groups of air inlet channels and the high-pressure air outlet channels are opposite, and the directions of the high-pressure air entering the two first connecting channels are opposite, so that the high-pressure air pushes the pistons in the spring cylinder to move oppositely, and the piston rod of the spring cylinder extends or retracts.
Fourth, each spring cylinder is coaxially connected in series along the vertical direction, a fixing frame is arranged between two adjacent spring cylinders, a guide rail for sliding the spring cylinder above is arranged on the fixing frame, a piston rod of the spring cylinder below is connected to a cylinder body of the spring cylinder above, the unmanned aerial vehicle is in butt joint with a piston rod of the spring cylinder above, in terms of rigidity, when all spring cylinders are in a closed state, the rigidity of each spring cylinder is the composite rigidity of closed gas and a spring, the rigidity of the whole butt joint device is the largest, when part of spring cylinders are in a closed state, the other spring cylinders are in an on state with the atmosphere, the rigidity of the whole butt joint device is reduced by the composite rigidity of part of spring cylinders and the independent spring rigidity, when all spring cylinders are in an on state with the atmosphere, the rigidity of the whole butt joint device is only the independent spring rigidity, the rigidity is the smallest, that is to say, through the serial connection of all spring cylinders, the butt joint work of the unmanned aerial vehicle is more adaptively performed, in terms of the length, the servo valve and the reversing valve are conducted, so that the spring cylinders are high in order to adjust the connection of the spring cylinders, the positions of the piston rod above the piston rod of the piston rod can be more adaptively changed along the piston rod of the unmanned aerial vehicle, and the piston rod of the piston rod can be more adaptively extended or the piston rod of the piston rod is more in the position of the piston rod is more adaptively changed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a docking device of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of a spring cylinder series arrangement of the present invention;
FIG. 3 is a schematic view of a spring cylinder variable stiffness mode of the present invention;
FIG. 4 is a schematic view of a spring cylinder variable length mode of the present invention;
FIG. 5 is a schematic diagram of a spring cylinder stiffness modulation scheme of the present invention;
FIG. 6 is a schematic diagram of a spring cylinder length adjustment mode of the present invention;
FIG. 7 is a schematic diagram of a spring cylinder stiffness and length together control mode of the present invention;
The device comprises a 1-chassis, a 2-sliding cover, a 3-locking mechanism, a 4-serial spring cylinder assembly, a 5-spring cylinder, a 6-guide rail, a 7-fixing frame, an 8-reverse communication position, a 9-blocking position, a 10-normal communication position, an 11-second connecting pipeline, 12-atmosphere, a 13-air storage tank, a 14-third communication position, a 15-second communication position, a 16-reversing valve, a 17-high-pressure air pump and a 18-servo valve.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a spring cylinder with variable performance and an unmanned aerial vehicle docking device thereof, which are used for solving the problems in the prior art, and the configuration based on pneumatic transmission can be responded quickly and changed in rigidity, so that the rapidity, the stability and the safety of the docking process are ensured.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1 to 7, this embodiment provides a spring cylinder with variable performance, including a spring cylinder body, a servo valve 18 for controlling the communication between the spring cylinder body and the atmosphere 12, the spring cylinder body includes a cylinder cavity, two ends of the cylinder cavity along the sliding direction of the piston rod of the cylinder cavity are respectively communicated with a first connecting pipeline, the servo valve 18 includes a first connecting position for the cylinder cavity to communicate with the atmosphere 12 to reduce the rigidity of the cylinder cavity, a blocking position 9 for the cylinder cavity to be communicated with the atmosphere 12 to enhance the rigidity of the cylinder cavity, the first connecting position and the blocking position 9 are arranged in a switchable manner and are respectively communicated with each first connecting pipeline, a first connecting position pipeline for communicating each first connecting pipeline with the atmosphere 12 is arranged on the first connecting position 9, a circuit breaker for blocking the communication between each first connecting pipeline and the atmosphere 12 is arranged on the blocking position 9, the first connecting position is communicated with the first connecting pipeline through the action of the servo valve 18, the rigidity of the spring cylinder cavity is provided by the rigidity of the spring of the inner side alone at this moment, and the cylinder cavity is closed by the action of the servo valve 18, and the rigidity of the cylinder cavity 9 is closed by the spring cavity of the cylinder cavity of the closed at this moment, and the rigidity of the cylinder cavity is closed by the spring cavity of the closed at this moment.
The reversing valve 16 comprises a second communication position 15 for communicating the cylinder inner cavity with high pressure air to adjust the extension of the piston rod and a third communication position 14 communicated with the atmosphere 12, the second communication position 15 is provided with a high pressure air inlet channel and a high pressure air return channel which are respectively communicated with the two second communication pipelines 11 and a high pressure air source, the third communication position 14 is provided with an atmosphere channel which is synchronously communicated with the two second communication pipelines 11 and the atmosphere 12, the reversing valve 16 acts and is switched to the third communication position 14, the atmosphere channel in the third communication position is communicated with the second communication pipeline 11 and the atmosphere 12, and then acts through the servo valve 18 to switch the communication between the cylinder inner cavity and the atmosphere 12 or to switch the high pressure air inlet channel and the high pressure air return channel on the second communication position 15 to the second communication pipeline 11 and the high pressure air return channel, and then acts through the servo valve 18, so that the communication position is switched to push the air inlet channel and the high pressure air return channel to the high pressure air inlet channel and the high pressure air return channel on the cylinder inner cavity, and the piston rod need not to be stretched out by a piston rod or a piston rod of a person, and the piston rod is not required to be changed.
That is, each spring cylinder 5 has two working modes, namely a stiffness-variable mode and a length-variable mode, and the working principle of the air path is shown in fig. 3 and 4. As shown in fig. 3, the reversing valve 16 is located at the third communication position 14, and the servo valve 18 performs position control to lock the spring cylinder 5 or communicate with the atmosphere 12, so as to realize the change of the stiffness of the spring cylinder 5, and when the spring cylinder 5 is locked, the stiffness is high, and when the spring cylinder 5 communicates with the atmosphere 12, the stiffness is low. As shown in fig. 4, the reversing valve 16 is located at the second communication position 15, and the servo valve 18 performs inlet and outlet pressure regulation, so that the spring cylinder 5 is locked or moved, and the length of the spring cylinder 5 is changed.
Further, the first communicating position includes a forward communicating position 10 and a reverse communicating position 8 for driving the piston rod to extend and retract respectively, the first communicating position pipeline includes two groups of air inlet channels and air outlet channels respectively arranged in the forward communicating position 10 and the reverse communicating position 8, the directions of the two groups of air inlet channels and the air outlet channels passing into the two first connecting pipelines are opposite, that is to say, the forward communicating position 10 and the reverse communicating position 8 are switched through the servo valve 18, the directions of high-pressure air entering into the two groups of air inlet channels and the air outlet channels are opposite, and the directions of the high-pressure air entering into the two first connecting pipelines are opposite, so that the high-pressure air pushes the pistons in the spring cylinder 5 to move oppositely, and the piston rod of the spring cylinder 5 is stretched or retracted.
Preferably, the positive communication position 10 and the negative communication position 8 are respectively matched with an adjusting mechanism for adjusting air inlet pressure, each adjusting mechanism is communicated with each first connecting pipeline, the extending speed of the piston rod is controlled by setting the adjusting mechanism to control air inlet amount, and the on-off of the air channel can be controlled to ensure that the piston rod extends or retracts to the corresponding length.
The high-pressure air source comprises an air storage tank 13 and a high-pressure air pump 17 communicated with the air storage tank 13, the high-pressure air pump 17 is communicated between the air storage tank 13 and the second communication position 15, and the high-pressure air source is provided for each air passage through the communication of the high-pressure air pump 17 and the air storage tank 13 so as to effectively enable the piston rod to move and push the corresponding spring cylinder body.
Further, the unmanned aerial vehicle docking device comprises a chassis 1 and a plurality of spring cylinders 5 with upward piston rods and vertical axes, wherein each spring cylinder 5 is coaxially connected in series along the vertical direction to form a serial spring cylinder assembly 4, a fixing frame 7 is arranged at the end part of each spring cylinder 5 positioned below the spring cylinders, a guide rail 6 for sliding the spring cylinder 5 positioned above is arranged on the fixing frame 7, the piston rods of the spring cylinders 5 positioned below the fixing frame are connected to the cylinder body of the spring cylinder 5 positioned above, the unmanned aerial vehicle is docked to the piston rod of the spring cylinder 5 positioned above, and in terms of rigidity, when all the spring cylinders 5 are in a closed state, the rigidity of each spring cylinder 5 is the composite rigidity of closed gas and a spring, the rigidity of the whole docking device is the largest, when part of the spring cylinders 5 are in a closed state, the rest of the spring cylinders 5 are in a state of being connected with the atmosphere 12, the rigidity of the whole docking device is reduced, when all the spring cylinders 5 are in a state of being connected with the atmosphere 12, the rigidity of the whole docking device is only in an independent spring rigidity, that is the smallest, that is, the rigidity of the whole docking device is more suitable for the plurality of cylinders in series connection through the serial connection of the cylinders, and the rigidity of the cylinders are not suitable for different persons; in terms of length, the servo valve 18 and the reversing valve 16 are conducted, so that the spring air cylinder 5 is connected with high-pressure air to adjust the expansion and contraction of the piston rod of the spring air cylinder 5, the upper spring air cylinder 5 can slide along the guide rail 6 under the expansion and contraction action of the piston rod of the lower spring air cylinder 5 to change the position of the upper spring air cylinder, the piston rod of the uppermost spring air cylinder 5 is independently extended or retracted to integrally change the position of the piston rod butted with the unmanned aerial vehicle, the change of various lengths is presented, and the docking work of the unmanned aerial vehicle is more suitable. That is, the whole docking device uses the spring cylinder 5 as a basic docking component, has simple structure and quick response, solves the problems of poor flexibility, interference to the unmanned aerial vehicle and the like in the prior art, and can simultaneously change rigidity and length to adapt to different docking environments.
As shown in fig. 2, 5, 6 and 7, as a preferred embodiment of the present invention, the whole docking device has two spring cylinders 5 connected in series, and includes a guide rail 6 and a fixing frame 7, and the upper spring cylinder 5 and the lower spring cylinder 5 are connected together by the fixing frame 7 at their piston rods. In the preferred embodiment, the whole butt joint device air path is composed of two spring air cylinders 5, two servo valves 18, two reversing valves 16, an air pump and a high-pressure air source, wherein each reversing valve 16 can only be communicated with the air path composed of the corresponding servo valve 18 and the spring air cylinder 5, and the high-pressure air source and the air pump are shared. Each reversing valve 16 forms a single basic pneumatic circuit with one spring cylinder 5 and one servo valve 18, and a plurality of basic pneumatic circuits are connected in parallel to form a whole circuit, but each basic pneumatic circuit is not affected mutually. The rigidity of the butt joint device is switched through gas circuit switching, the change of various rigidities can be realized according to the change of the states of the valve and the spring cylinder 5, and the high rigidity state of the butt joint device is obtained through the compressibility of gas.
The rigidity adjustment has 3 working modes, namely a rigidity adjustment mode, a length adjustment mode and a rigidity and length adjustment mode, and the working principle of the air circuit is shown in figures 5,6 and 7. The two reversing valves 16 are located at the third communication position 14, as shown in fig. 5, the two servo valves 18 perform position regulation and control to enable each spring cylinder 5 to be closed or communicated with the atmosphere 12, when the servo valves 18 are located at the positive communication position 10 or the negative communication position 8, the spring cylinders 5 are communicated with the outside atmosphere 12, the rigidity of the spring cylinders 5 is only provided by the springs inside the spring cylinders, when the servo valves 18 are located at the blocking positions 9, the spring cylinders 5 are in a closed state, the rigidity of the spring cylinders 5 is provided by the composite rigidity of the closed gas and the springs, the rigidity change of the device rigidity of the two spring cylinders 5 connected in series is realized, the stability of the butt joint process is ensured, when each spring cylinder 5 is closed, the rigidity of the butt joint device is the largest, and when each spring cylinder 5 is communicated with the atmosphere 12, the rigidity of the butt joint device is the smallest. And the length is adjusted, namely, two reversing valves 16 are positioned at a second communication position 15, as shown in fig. 6, two servo valves 18 are used for regulating inlet and outlet pressure, so that two spring cylinders 5 are closed or moved to realize the change of the extension length of piston rods, specifically, when the servo valves 18 are positioned at a positive communication position 10 or a negative communication position 8, the piston rods of the spring cylinders 5 extend or retract, and after reaching a preset position, the servo valves 18 are switched to a blocking position 9. In addition, one reversing valve 16 is in the second connection position, and the other reversing valve 16 is in the third connection position, as shown in fig. 7, the two spring cylinders 5 respectively realize the change of length and rigidity, and the length of other spring cylinders 5 can be regulated and controlled while the rigidity of the plurality of spring cylinders 5 at the tail end is regulated and controlled, so that the position of the docking device is regulated and controlled while the docking device is docked with the unmanned aerial vehicle, and the docking efficiency can be effectively improved.
As another preferred embodiment of the present invention, a locking mechanism 3 for locking the unmanned aerial vehicle is provided on the chassis 1, the locking mechanism 3 is disposed opposite to the end of the piston rod of the uppermost spring cylinder 5, after the docking is completed, the spring cylinder 5 withdraws the unmanned aerial vehicle, after the unmanned aerial vehicle reaches a predetermined position, the locking mechanism 3 locks the unmanned aerial vehicle, at this time, the spring cylinder 5 is separated from the unmanned aerial vehicle and is fully withdrawn, and after the spring cylinder 5 is fully withdrawn, the entire unmanned aerial vehicle docking process is completed. When the unmanned aerial vehicle needs to be separated, the locking mechanism 3 is unlocked, and the unmanned aerial vehicle flies away.
Further, the top of machine case 1 is equipped with the sliding closure 2 that is used for shutoff machine case 1, and when unmanned aerial vehicle interfacing apparatus was in non-operating condition, each spring cylinder 5 was in the state of retrieving, and sliding closure 2 is closed, and when unmanned aerial vehicle interfacing apparatus carries out unmanned aerial vehicle interfacing task, sliding closure 2 was opened, and spring cylinder 5 stretches out and dock with unmanned aerial vehicle to avoid machine case 1 inside and unmanned aerial vehicle and spring cylinder 5 to receive external pollution easily.
Further, a guide rail 6 groove extending along the vertical direction is formed in the outer wall of the cylinder body of the spring cylinder 5, the guide rail 6 is slidably arranged in the guide rail 6 groove in a penetrating manner, and the upper spring cylinder 5 can move relative to the axis direction of the lower spring cylinder 5 through the guide rail 6 due to the fact that the guide rail 6 is fixed on the fixing frame 7 and located in the guide rail 6 groove of the spring cylinder 5.
Further, a piston is slidably arranged in the cylinder cavity, a piston rod for connecting a to-be-supported object is arranged at one end of the cylinder cavity in a penetrating manner, the piston rod is connected with the piston, and a spring is connected between the other end of the piston rod and the piston to form a spring cylinder 5, so that the gas compression and the composite adjustment of the spring deformation are realized.
The adaptation to the actual need is within the scope of the invention.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided herein to facilitate understanding of the principles and embodiments of the present invention and to provide further advantages and practical applications for those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. The unmanned aerial vehicle docking device is characterized by comprising a chassis and a plurality of spring cylinders, wherein piston rods of the spring cylinders face upwards, and the axes of the spring cylinders are arranged vertically;
The spring cylinder comprises a spring cylinder body and a servo valve used for controlling the spring cylinder body to be communicated with the atmosphere, the spring cylinder body comprises a cylinder inner cavity, two ends of the cylinder inner cavity along the sliding direction of a piston rod of the cylinder inner cavity are respectively communicated with first connecting pipelines, the servo valve comprises a first communicating position used for enabling the cylinder inner cavity to be communicated with the atmosphere to reduce the rigidity of the cylinder inner cavity, and a blocking position used for enabling the cylinder inner cavity to be disconnected with the atmosphere to be communicated with the atmosphere to enhance the rigidity of the cylinder inner cavity, the first communicating position and the blocking position are arranged in a switchable manner and are respectively communicated with the first connecting pipelines, the first communicating position is provided with first communicating position pipelines communicated with the first connecting pipelines and the atmosphere, and the blocking position is provided with a breaking circuit for blocking the first connecting pipelines and the atmosphere;
Each spring cylinder is coaxially connected in series along the vertical direction, a fixing frame is arranged between two adjacent spring cylinders and positioned at the end part of the spring cylinder below, a guide rail for sliding the spring cylinder above is arranged on the fixing frame, a piston rod of the spring cylinder below is connected to a cylinder body of the spring cylinder above, and the unmanned aerial vehicle is in butt joint with the piston rod of the spring cylinder at the uppermost part;
the reversing valve comprises a second communication position and a third communication position, a high-pressure air inlet channel and a high-pressure air return channel which are respectively communicated with the two second connection pipelines and a high-pressure air source are arranged on the second communication position, and an atmospheric channel which is synchronously communicated with the two second connection pipelines and the atmosphere is arranged on the third communication position;
The cylinder is characterized in that a piston is slidably arranged in the cylinder cavity, a piston rod used for connecting a to-be-supported object is arranged at one end of the cylinder cavity in a penetrating mode, the piston rod is connected with the piston, and a spring is connected between the other end of the piston rod and the piston.
2. The unmanned aerial vehicle docking device of claim 1, wherein the first communication site comprises a forward communication site and a reverse communication site which drive the piston rod to extend and retract respectively, the first communication site pipeline comprises two groups of air inlet channels and air outlet channels which are respectively arranged in the forward communication site and the reverse communication site, and the directions of the two groups of air inlet channels and the two groups of air outlet channels which are communicated into the two first connecting pipelines are opposite.
3. The unmanned aerial vehicle docking device of claim 2, wherein the forward communication position and the reverse communication position are each provided with an adjusting mechanism for adjusting the intake pressure, and each adjusting mechanism is in communication with each first connecting pipe.
4. The unmanned aerial vehicle docking device of claim 3, wherein the high-pressure air source comprises an air reservoir and a high-pressure air pump in communication with the air reservoir, the high-pressure air pump in communication between the air reservoir and the second communication site.
5. The unmanned aerial vehicle docking device of claim 4, wherein a locking mechanism for locking the unmanned aerial vehicle is arranged on the chassis, and the locking mechanism is arranged opposite to the end part of the piston rod of the uppermost spring cylinder.
6. The unmanned aerial vehicle docking device of claim 5, wherein a sliding cover for sealing off the enclosure is provided on top of the enclosure.
7. The unmanned aerial vehicle docking device of claim 6, wherein the outer wall of the cylinder body of the spring cylinder is provided with a guide rail groove extending in the vertical direction, and the guide rail is slidably inserted into the guide rail groove.
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