The invention discloses a telescopic sleeve arm type unmanned aerial vehicle air-based recovery device and a safe docking envelope modeling method. The recovery device comprises a fixed platform arranged at the cabin tail of a mother aircraft cabin; the lower end of the fixed platform is connected with a rotating base and is connected with the sleeve arm through a controllable pitching joint; the rotating base and the controllable pitching joint are driven by a servo motor to realize rotation and pitching adjustment of the sleeve arm; the sleeve arm is hollow and is provided with a telescopic arm; the telescopic arm is mounted on the lead screw in the sleeve arm in a sliding manner through a sliding rail in the sleeve arm; the lead screw is controlled by an end rotating shaft to rotate; a manipulator is arranged at the extending end of the telescopic arm; and mechanical clamps are arranged at the lower ends of the manipulators; according to the method, the safety recovery butt joint envelope model is established according to the telescopic sleeve arm motion constraint and the recovery safety constraint, grabbing and recovery of the flying unmanned aerial vehicle are achieved in cooperation with the tail end manipulator and the mechanical clamp in the safety butt joint envelope, the air-based recovery efficiency of the unmanned aerial vehicle is remarkably improved, and the air-based recovery safety of the unmanned aerial vehicle is guaranteed.
本发明公开了一种伸缩套臂式无人机空基回收装置及安全对接包络建模方法,回收装置包括置于母机机舱舱尾的固定平台;固定平台下端连接有转动底座,通过可控俯仰关节与套臂连接;转动底座和可控俯仰关节通过伺服电机驱动,实现套臂的转动与俯仰调节;套臂内部中空,安装有伸缩臂;伸缩臂通过套臂内部的滑轨滑动安装于套臂内部的丝杠上;丝杠由端部转轴控制转动;伸缩臂伸出端末尾设有机械手;机械手下端设有机械夹具;本发明根据伸缩套臂运动约束及回收安全约束建立安全回收对接包络模型,在安全对接包络内配合末端机械手和机械夹具实现对飞行无人机的抓取回收,显著提高了无人机空基回收效率,保障了无人机空基回收安全。
Telescopic sleeve arm type unmanned aerial vehicle air-based recovery device and safe docking envelope modeling method
一种伸缩套臂式无人机空基回收装置及安全对接包络建模方法
03.09.2021
Patent
Elektronische Ressource
Chinesisch
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