CN106477056B - Unmanned Aerial Vehicle with Lifting Platform - Google Patents

Abstract

A kind of unmanned vehicle with hoistable platform, including unmanned vehicle and platform, feature is that aircraft carries a hoistable platform on the back, vertical guide post is fixed on platform, unmanned vehicle can be gone up and down along vertical guide post, have on platform from power mains induced electricity getting device, there is cricoid iron core on device, iron core consists of two parts, it can open and close, it is axial outside iron core to be wound with induction electricity taking coil, power transmission line is passed through from the ring that two parts iron core forms when taking electricity, there is the bearing support of the translation of left and right two or rotation on platform, cored and induction electricity taking coil is fixed on bearing support, there is one to pass through two bearing supports simultaneous with the screw rod of left hand thread and right-handed thread, the bearing of screw rod is fixed on platform, the rotation of motor drive screw rod, left-handed nut and right-handed nut on screw rod relatively move can be such that iron core is closed when clamping two bearing supports, Type on aircraft with parallelogram holding mechanism, which can boot, holds up platform, and benefit is convenient to unmanned vehicle independent charging.

Description

Unmanned Aerial Vehicle with Lifting Platform

Technical field:

The invention relates to the improvement of an unmanned aerial vehicle inductively picking up power from a power line.

Background technique:

UAV inspection of transmission lines appeared in the 1980s. With the development of UAV technology, it has been widely used in recent years. However, the short time of electric UAV has become the main problem of limited application. The main solution is charging at the intelligent charging dock on the tower. In the "North China Power Grid Co., Ltd. Science and Technology Project Fund Application Report" published on the Internet, the project name is "Intelligent Line Inspection Robot for Transmission Lines" and it uses iron core coils to induct power from transmission lines. The plan is mentioned in the report, but there is no specific implementation plan. The report makes a detailed description of the domestic and foreign status and technical solutions of UAV line inspection. The walking mechanism of line inspection is still mainly wheeled.

The object of the present invention is to provide a device for inductively picking up power from a transmission line for an unmanned aerial vehicle.

Invention content:

An unmanned aerial vehicle with a lifting platform, including an unmanned aerial vehicle and a platform. With the vertical guide sleeve matched with the vertical guide post, the unmanned aerial vehicle can be raised and lowered along the vertical guide post.

The unmanned aerial vehicle relies on the aerodynamic force provided by the rotor to ascend and descend by gravity. There is a spring movable pin on the platform, and a hook is fixed on the unmanned aerial vehicle. After the pin is locked automatically, when the support frame moves to the closed position of the iron core, the spring movable pin is pushed away. After the spring movable pin is opened, when the unmanned aerial vehicle falls to the lower limit position of the lower part of the vertical guide column, it can be touched by the protrusion on the vertical guide column. all blocked.

The platform can be raised and lowered by the motor-driven parallelogram link push mechanism, the short link hinge at the top of the parallelogram link lift mechanism is hinged with the platform, and the long link center hinge at the bottom end of the parallelogram link lift mechanism is connected with the aircraft machine. The plate protruding downward from the body is hinged, and the motor with the reducer is fixed on the plate protruding downward from the aircraft fuselage. A push nut is hinged at the hinge of the short connecting rod at the bottom of the push mechanism, and the axis of the threaded hole of the push nut Perpendicular to the axis of the hinge shaft of the connecting rod, the push nut cooperates with the push screw, and the motor with a reducer drives the push screw to lift the platform.

The connecting wires between all electrical equipment on the platform and the unmanned aerial vehicle are wound into a spring shape and installed inside or outside the vertical guide pillars of the platform.

At least one section of the vertical guide post has an opening, and the spring-like wire is installed in the vertical guide post with the opening slot.

Both sides of the platform perpendicular to the axis of the transmission line protrude with vertical walls. The upper edge of the vertical wall prevents the power line from falling too much. There is a switch on the vertical wall. The switch is triggered when the transmission line approaches or touches the upper edge of the vertical wall.

The platform is equipped with an induction power taking device from the transmission line. The induction power taking device has a ring-shaped iron core. The ring-shaped iron core is composed of two parts, which can be opened and closed. When they are combined together, they form a ring shape. There is an induction power-taking coil. When taking power, the transmission line passes through the ring composed of two parts of the iron core. There are two left and right support frames on the platform, and the iron core is fixed on the support frame. Coil, two supporting frames are placed opposite to each other. When the two supporting frames are close to each other, the iron core forms a closed magnetic circuit. There is a screw with both left-handed and right-handed threads. The axis of the screw is perpendicular to the axis of the iron core. The bearing of the screw Fixed on the platform, the screw passes through the two supporting frames. There are left-handed nuts and right-handed nuts on the screw that are matched with it. The motor drives the screw to rotate. The iron core is closed, and there are rollers on both sides of the supporting frame,

The platform is box-shaped, and there are horizontal guide columns or guide sleeves on the support frame. There are at least three raised strips on the box bottom of the box-shaped platform, and there are at least two protrusions on each raised strip that cooperate with the guide columns or guide sleeves. The horizontal hole, the bearing of the screw rod is on the protruding strip, the left-handed nut and the right-handed nut are respectively fixed on the left support frame or the right support frame, and each support frame is fixed with a semi-circular iron core and an induction power-taking coil. Rollers with vertical axes are arranged on both sides of one support frame, and rollers with horizontal axis are arranged on both sides of at least one support frame.

The unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle. The four rotors distributed along the symmetry line are vertical axes and mainly provide lift. The rotors whose axis coincides with the symmetry plane are horizontal axes and are dedicated to provide forward power. Iron When the core is in the closed position, the UAV uses the aerodynamic force provided by the rotor to move along the power line. The UAV has a tail rotor with a horizontal axis, and the UAV rotor has a protective cover.

The spring movable pin is controlled by a cam driven by a geared motor,

The motor that drives the screw to rotate is a servo motor. The automatic control circuit sends corresponding commands to the servo motor according to the detected voltage level obtained by the induction coil, and automatically adjusts the size of the air gap between the two parts of the iron core.

In addition, a coil is wound on the iron core or the induction coil is used as the transmitting and receiving coil of the power line carrier communication.

The guide column is fixed on the protruding bar, and the guide sleeve is arranged on the supporting frame, and the guide column and the guide sleeve cooperate with each other.

The raised bar can be divided into two parts up and down along the horizontal center line of the horizontal hole, and the upper and lower parts of the raised bar are fixed with screws.

The raised strip also can not be split, and the whole raised strip is fixed with the platform with screws.

A support frame that rotates in the form of a hinge. Two support frames form a hinge. The platform is supported by a hinge shaft. The torsion spring separates the two support frames. The left-handed nut squeezes one support frame and the right-hand nut squeezes the other support frame.

Both sides of the platform parallel to the axis of the screw protrude with vertical walls. The upper edge of the vertical wall prevents the power line from falling too much. There is at least a pair of photoelectric switches composed of a laser diode transmitter and receiver on the vertical wall. The photoelectric switch sends out a signal when the power line blocks light.

It has a pair of guide covers, the guide covers are fixed on the platform, and there is a depression on the guide cover. When the support frame is at the extreme position of separation, the induction power-taking coil fixed on it is under the depression, and the upper part of the depression has a slope or a curved surface, the slope or The curved surface guides the transmission line to slide to the middle position along the guide surface in the form of a slope or a curved surface. At least two guide posts are fixed on the raised strips on the platform below the iron core splitting surface. There are guide sleeves on the supporting frame. The guide posts and guide sleeves cooperate with each other. Two parts, the upper and lower raised strips are fixed with screws.

There is a hole in the front portion of the shaft of the horizontal shaft roller on both sides of a support frame in the two support frames, and the corresponding position on the other support frame has a shaft that matches the hole, and the shaft is inserted into the hole when the two support frames are close together.

The motor driving the screw is an electric motor with a reducer, the output shaft of the reducer drives the screw through a coupling, and the motor with a reducer is fixed on the box wall of the platform.

Invention effect:

The unmanned aerial vehicle inductively picks up power from the transmission line of the present invention, so that the charging of the unmanned aerial vehicle can be carried out automatically under the condition of unmanned control in the field, which almost infinitely increases the idle time of the unmanned aerial vehicle, and makes the transmission line patrol work The change is simple, the screw drive with left and right helical threads makes the structure simple, and reduces the additional weight except the iron core and the induction coil, and the lifting platform can effectively prevent the unmanned aerial vehicle from the power transmission line induction power pickup device in the unpowered state The lower wind blows around the power line and flips around for easy access to the power line.

Description of drawings:

1. Vertical wall 2. Photoelectric switch 3. Support frame 4. Touch column 5. Horizontal axis roller 6. Horizontal axis roller axis 7. Induction power coil 8. Platform 9. Lower roller 10. Guide column 11. Screw 12. Protruding bar 13. Nut 14. Coupling 15. Drive screw motor 16. Vertical guide post 17. Iron core 18. Roller for vertical axis 19. Horizontal rotor 20. Unmanned aerial vehicle fuselage 21. Hook 22. Guide cover 23. Camera 24. Tail rotor 25. Raised part 26. Connecting rod assembly 27. Protruding plate below the UAV 28. Push motor 29. Push screw 30. Push nut 31. Horizontal axis rotor 32. Spring movable pin 33. Torsion spring 34. Touch lever 35. Micro switch 36. Shaft of hinged support frame 37. Convex nail of retaining spring 38. Movable pin guide rail 39. Cam driven by reduction motor

Figure 1 is a perspective view of a power-taking platform with a translational support frame,

Fig. 2 is a perspective view when the power-taking platform with a translational support frame is assembled with the unmanned aerial vehicle,

Fig. 3 is a perspective view of a power-taking platform with a translational support frame assembled with an unmanned aerial vehicle and the unmanned aerial vehicle has a parallelogram pushing mechanism,

Fig. 4 is a perspective view of a power-taking platform with a hinged support frame,

Fig. 5 is the perspective view of the cam-controlled translational movable pin driven by the reduction motor and the lower roller assembly together,

Fig. 6 is a perspective view of the translation movable pin and the lower roller assembly together when the support frame is in the closed position of the iron core,

Figure 7 is a perspective view of a geared motor driven cam controlled swinging movable pin assembly.

Detailed ways:

The present invention is described in detail below in conjunction with example:

Referring to accompanying drawing 1, 8 is the platform for bearing the parts such as iron core induction power-taking coil and transmission mechanism, is rectangular box shape, is the rectangular box with flanging that is made of plastics in this example, there is on the bottom of the box Three parallel raised strips 12 are arranged symmetrically along the line of symmetry of the box. The raised strips are strips with a rectangular section. Each raised strip has two horizontal holes that cooperate with the guide column 10 or the guide sleeve. The corresponding holes on the box are concentric and connected, and the raised strip is divided into two parts up and down along the horizontal center line of the horizontal hole. The lower part is injection molded on the bottom of the box, and the upper and lower raised strips are fixed with screws. Raised bar also can not split, and whole raised bar is fixed on the bottom surface of box-shaped platform with screw, and circular tubular guide column 10 is fixed in the horizontal hole on the raised bar.

If when there is a long guide sleeve on the support frame 3, the guide sleeve can slide in the horizontal holes on the raised bars on both sides.

The bearing of screw rod 11 is on the raised strips, and there are corresponding holes on the three raised strips, and the limit position microswitches can also be installed on the raised strips on both sides.

17 is the iron core, which is in the shape of a cylinder, made of high magnetic permeability materials such as silicon steel sheets, and is divided into two halves along the center line. The outside of the iron core is also semi-circular, and two induction coils are connected in series. Because the induction coil will move with the supporting frame, the lead wire of the induction coil will be wound into a spring shape.

3 is the support frame, made of high molecular polymer, the upper part is matched with the induction coil, and the induction coil is cemented or resin casted and fixed in the upper semicircular groove. There are three holes in the lower part, and the holes on the left and right sides are guide holes. , the hole in the middle is fixed with a left-handed or right-handed nut made of metal, and a section protrudes outward from the walls of the two end faces of the semicircular groove, which is integrated with the support frame 3, and there are rollers 5 on the horizontal axis and vertical shafts on it. The bearing of the roller 18, also has the hole that places microswitch 35 and bump post 4.

11 is the screw, which has a section of thread on the left and right along the center line of the length, one side is a left-handed thread and the other is a right-handed thread, the end of the screw is made into a gear shape, and the output shaft of the drive screw motor with a reducer has both gears The connection is via an internal gear coupling.

Both sides of platform 8 parallel to the screw rod axis protrude with vertical wall 1, and the upper edge of the vertical wall stops the power line from falling too much. During the box-shaped platform, vertical wall 1 is exactly the box wall of the box-shaped platform.

There is a switch on the vertical wall 1, which sends a signal when the power line approaches or touches the edge of the vertical wall. There are various types of switches. For example, a hinge is fixed under the horizontal supporting plate, and one page of the hinge is fixed on the vertical wall. An angular pressing plate is fixed under the supporting plate, and the pressing plate presses the micro switch fixed on the vertical wall. Or the nylon wire is tensioned on the two supports with a spring, and the two ends touch the micro switch, and a signal is sent when the power line presses the nylon wire. But the most convenient is to use a photoelectric switch. In this example, there are photoelectric switches 2 composed of a pair of laser diode transmitters and receivers on the two vertical walls. When the power line blocks the light, the photoelectric switch sends out a signal. the upper edge of .

In order to strengthen the supporting force of the shaft of the horizontal axis roller on the support frame, there is a hole in the front part of the shaft 6 of the horizontal axis roller on both sides of a support frame in the two support frames, and the corresponding position on the other support frame has a A shaft fitted with holes, the shaft is inserted into the hole when the two support frames are brought together.

The 9th, the roller below the transmission line, the bearing frame of the roller below the transmission line is inlaid and fixed on the bottom surface of the box-shaped platform 8 or on the box wall. When there is a translation movable pin, the guide rail of the movable pin is integrated with the bearing frame of the roller below the transmission line.

Support frame also can adopt the mode opening and closing of rotation, as shown in Figure 4, two support frames form a hinge, the support of hinge shaft 36 is arranged at the box bottom of box-shaped platform, torsion spring 33 makes two support frames separate, There are studs 37 on the side of the support frame to block the spring force end. The upper part of the support frame is the same as the aforementioned translation support frame. The same screw rod 11 with left-handed thread and right-handed thread passes through two The supporting frame, the left-handed nut extrudes a supporting frame and the right-handed nut extrudes another supporting frame, there is a baffle plate to prevent it from rotating under the nut, and the support of the screw rod is embedded on the box wall of the box-shaped platform. When having the rotating type spring movable pin, the side of the supporting frame protrudes with a touch bar 34, and the touch bar touches an arm of the rotating type movable pin at the iron core closed position to make the movable pin unlock.

In order to increase the capture range of the unmanned aerial vehicle from the transmission line induction power-taking device to capture the transmission line, a pair of guide covers 22 are provided. The guide covers 22 are thin-walled parts made of plastic. The guide covers are fixed on the platform, and there are depressions on the guide covers. When the supporting frame is in the extreme position of separation, the fixed induction power-taking coil is under the depression, and the upper part of the depression has a slope or a curved surface, and the slope or curved surface guides the transmission line to slide to the middle position along the slope or the curved surface.

In order to prevent the unmanned aerial vehicle from rolling over the power line by the wind blowing from the power line induction device, vertical guide posts 16 are arranged on the four corners of the platform, and the vertical guide posts can be tubes made of polymer materials. , the unmanned aerial vehicle fuselage 20 has a vertical guide sleeve that cooperates with the vertical guide post 16, the unmanned aerial vehicle can go up and down along the vertical guide post, the lower end of the vertical guide post has a raised portion 25, and the unmanned aerial vehicle falls to the vertical guide post Can be blocked by the protrusion 25 on the vertical guide post during the lower limit position of the bottom.

A spring movable pin 32 is arranged on the platform, and a hook 21 is fixed on the unmanned aerial vehicle body, and when the unmanned aerial vehicle rises to the upper limit position close to the platform, the inclined plane on the hook pushes away the spring movable pin and locks automatically.

The switch of each limit position can adopt micro switch or non-contact switch that meets the requirements.

Considering comprehensively that the main work of the unmanned aerial vehicle’s induction power collection device from the transmission line is the line inspection work of the transmission line. Sometimes it is necessary to use the method of hanging on the transmission line to inspect the line. At this time, the unmanned aerial vehicle needs to use the aerodynamic force provided by the rotor to transmit power along Line movement, and when capturing and aligning power lines from below, the steering needs to be sensitive, so the unmanned aerial vehicle used is a multi-rotor unmanned aerial vehicle, as shown in Figures 2 and 3, the unmanned aerial vehicle fuselage 20 is one of the box-oriented Stretch out the pattern of six rods, the four horizontal rotors 19 distributed along the line of symmetry are vertical shafts, which mainly provide lift. The aircraft has a horizontal shaft rotor 31 whose axis coincides with the plane of symmetry and is horizontal. The rotor that provides forward power, the unmanned aircraft has a tail rotor 24 with a horizontal axis to make the steering sensitive, and the rotor of the unmanned aircraft has a protective cover to prevent collision damage.

When using the method of hanging on the transmission line to inspect the line, the method of touching the spring movable pin when the support frame is in the closed position of the iron core cannot be used. At this time, the spring movable pin is controlled by a cam driven by a deceleration motor, as shown in Figure 5 and Figure 7. Shown, shown in Figure 5 is a translational spring movable pin, and shown in Figure 7 is a rotary spring movable pin.

Because the current passing through the transmission line changes greatly, sometimes it may be an order of magnitude difference, resulting in an excessively large gap between the voltage level obtained by the induction coil, so the motor 15 that drives the screw to rotate can be a servo motor, and the automatic control circuit is based on the detected induction coil. The voltage obtained by the electric coil sends a corresponding command to the servo motor, and automatically adjusts the size of the air gap between the two parts of the iron core, so that the voltage obtained by the induction electric coil is basically constant.

Since the transmission line inspection work may be in a place where there is no signal in the barren mountains, it is also optional to make full use of the power line carrier communication. At this time, a coil is wound or the induction coil is used as the sending and receiving resonant coil of the power line carrier communication. The high-frequency signal obtained by the coil is separated from the power frequency through a high-pass filter, and resonates with the predetermined sending and receiving frequency, and the signal is obtained through the traditional power line carrier communication signal processing method. Due to the narrow frequency band of power line carrier communication, it can only convey relatively simple information, such as GPS position, simple command, single image and other information, but this is already very useful.

For the convenience of catching power lines and observing power lines, there is an upward camera 23 on the aircraft, and the images taken by the camera are used to correct the position of the aircraft according to a predetermined image program.

The induction coil on the platform and the connection wire between other equipment that may be installed and the UAV are wound into a spring shape, installed in or outside the vertical guide post of the platform, and the spring-shaped wire is installed When in the vertical guide post, at least one section of the vertical guide post has an opening, and the lead wire is drawn out from the opening slot and moves in the opening slot. To prevent wear, an anti-wear sleeve can be added.

Sometimes the power line is inconvenient for the aircraft to be particularly close. At this time, the model of the bootstrap lifting platform with a parallelogram connecting rod pushing mechanism can be used, as shown in Figure 3: there are three holes on the plane of the thin-plate connecting rod, two of which are There is a central hole at the intersection of two symmetry lines, and there is a hole at each of the two heads. The holes are on the center line and symmetrical to the left and right. Two such connecting rods are hinged at the central hole. Multiple such connecting rod groups use heads. The holes at the top are hinged in series to form the connecting rod assembly 26 of the parallelogram structure. A group of short connecting rods are respectively arranged at the two ends of such a connecting rod assembly of the parallelogram structure, and there are two holes on the short connecting rods. The distance between the holes is The distance between the holes on the long connecting rods is the same, the two short connecting rods are hinged, and the holes at the other two ends of the two short connecting rods are respectively connected to a long connecting rod to form a parallelogram. The platform is hinged, and the joints of the two short connecting rods at the lower end are hinged with the push nut 30, and the push nut cooperates with a push screw 29, and the push screw is connected with the reduction motor 28 through a coupling, and the UAV fuselage extends downward. A hollow plate 27 is produced. The connecting rod group 26 of parallelogram structure is between the two inner walls of the hollow plate. There is a hole on the symmetry line of the lower part of the hollow plate. The central hinge of the center is hinged with the hollow plate 27 through this hole, and the reduction motor is fixed on the outer wall of the hollow plate. The deceleration motor drives the lifting screw to lift the platform.

Such a parallelogram connecting rod pushing mechanism can also be used in two groups in parallel, so that two identical hollow plates need to be stretched out on the fuselage.

The general working conditions are as follows: the unmanned aerial vehicle carries the platform of the induction power-taking device, approaches the transmission line from below, and corrects the position according to the predetermined image program so that the transmission line is directly above the platform and the axis of the iron core is close to the axis of the transmission line At this time, the unmanned aerial vehicle rises. When the unmanned aerial vehicle rises to the upper edge of the box-shaped platform when the power line is close to the upper edge of the box-shaped platform, the photoelectric switch gives a signal to drive the screw motor to drive the screw with left and right helical threads. The two halves of the iron core induction power coil move closer to the center until the iron cores touch or there is only a small gap, touch the micro switch to give a signal to stop the motor, and at the same time the support frame knocks the spring movable pin on the platform away, without The human aircraft descends to the bottom along the vertical guide pillars on the platform by gravity, and hangs there to start charging. After the charging is completed, the unmanned aerial vehicle rises along the vertical guide column. When it reaches the limit position, the inclined surface on the hook fixed on the unmanned aerial vehicle pushes away the spring movable pin, and then the spring movable pin automatically locks the unmanned aerial vehicle and the platform. The micro switch at the bottom of the platform gives a signal to make the motor drive the screw reverse, and drives the two halves of the iron core on the support frame to separate the induction coil. When it reaches the limit position, the micro switch gives a signal, the motor stops, and there is no one After the aircraft descends a certain distance and breaks away from the power line, it starts to cruise normally.

For example, the method of hanging on the transmission line is used to inspect the line. At this time, the UAV uses the aerodynamic force provided by the rotor to move along the transmission line. The screw reverses, driving the two halves of the iron core on the support frame to separate the induction coil, and when it reaches the limit position, the micro switch gives a signal, and the unmanned aerial vehicle descends a certain distance until it is separated from the power line, and then moves forward for a certain distance to avoid splitting Behind obstacles such as the separator of the transmission line, the unmanned aerial vehicle carries the platform of the induction power-taking device, approaches the transmission line from below the transmission line, and corrects the position according to the predetermined image program so that the transmission line is directly above the platform and the axis of the iron core is in line with the transmission line. When the axes are close to coincidence, the unmanned aerial vehicle rises at this time. When the unmanned aerial vehicle rises to the point where the transmission line is close to the upper edge of the box-shaped platform, the photoelectric switch gives a signal to drive the screw motor to drive the screw with left and right helical threads to rotate, driving the support frame The two halves of the iron core induction power coils move closer to the center until the iron cores touch or there is only a small gap, touch the micro switch to give a signal to stop the motor, and the UAV moves forward again until it encounters the split power transmission again. Repeat the aforementioned work cycle when separating the wires. Unmanned aerial vehicles can be charged while working. If it is necessary to just hang on the power line and the UAV rotor stops, the cam driven by the deceleration motor will open the spring movable pin, and the UAV will drop to the bottom along the vertical guide rod on the platform by gravity, and hang there to charge.

When using the model of the bootstrap lifting platform with a parallelogram connecting rod pushing mechanism, the aircraft hovers under the transmission line, starts the motor of the lifting mechanism, the platform rises to the photoelectric switch to give a signal, and the screw rotates to close the iron core. Need to hang there to recharge or line up after ascending.

Although the platform in the simplest case can be a flat plate on which the bearings of the screw and the guide rails of the transmission mechanism are fixed, and the platform can also carry other forms of power-taking induction power-taking coils, for example, the induction power-taking coils are only wound around one On the side iron core, the other side is just an iron core. Rotate or translate this iron core to form a closed magnetic circuit with the iron core wound with the induction coil. The induction coil can be wound on one side of the iron core. The side can also be wound separately on both sides, only the support frame with one side of the horizontal axis roller moves or both support frames move and adopt separate screw drive respectively, all possible, but these are not preferred.

The platform can also carry a wheeled running mechanism.

Claims (10)

1. a kind of unmanned vehicle with hoistable platform, including unmanned vehicle, it is characterised in that: there is a hoistable platform, The upper surface of the bottom surface of hoistable platform and unmanned vehicle are opposite, and vertical guide post is fixed on hoistable platform, is had on unmanned vehicle With the vertical guide sleeve of vertical guide post cooperation, unmanned vehicle can be gone up and down along vertical guide post, be had on hoistable platform from power transmission line Sensing electricity getting device.

2. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: unmanned vehicle is by rotation The air force that the wing provides rises and declines by gravity, has spring removable pin on hoistable platform, is fixed on unmanned vehicle Hook, inclined-plane when unmanned vehicle rises to close to the upper limit position of hoistable platform on hook open after spring removable pin from It is dynamic to lock, spring removable pin is opened when bearing support is moved to iron core closed position or spring removable pin is by a decelerator The cam of driving controls, and can be hung down when unmanned vehicle is down to the lower limit position of vertical guide post lower part after spring removable pin is opened Lug boss on straight guide post blocks.

3. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: hoistable platform is by electronic The parallelogram connection-rod holding mechanism lifting of machine driving, the short connecting rod hinged place of parallelogram connection-rod holding mechanism the top It is hinged with hoistable platform, the hinged place at parallelogram connection-rod holding mechanism the lowermost long connecting rod center and aircraft fuselage to The plate of lower stretching is hinged, and the motor with retarder is fixed on the plate that aircraft fuselage extends downwardly, and holding mechanism is most lower The short connecting rod hinged place at end is hinged with an election nut, and the axis of the screw thread axially bored line and connecting rod link axis of electing nut hangs down Directly, it elects nut and elects screw rod cooperation, the motor drive with retarder, which elects screw rod, goes up and down hoistable platform.

4. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: all on hoistable platform Connecting wire between electrical equipment and unmanned vehicle is coiled into spring shape installed in the vertical guide post of hoistable platform or covers Outside the vertical guide post of hoistable platform.

5. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: hoistable platform and power transmission line The vertical both sides protrusion of axis has wall, and the upper edge of wall stops power transmission line excessively to decline, with switch, power transmission line on wall Trigger switch when close or touching wall upper edge.

6. having the unmanned vehicle of hoistable platform according to claim 1 or described in 2,3,4,5, it is characterised in that: from transmission of electricity Line sensing electricity getting device has cricoid iron core, and cricoid iron core consists of two parts, and can open and close, form ring when being combined Shape, iron core is axial outside to be wound with induction electricity taking coil, and power transmission line is passed through from the ring that two parts iron core forms when taking electricity, hoistable platform On have two bearing supports in left and right, fix on bearing support cored, there is induction electricity taking coil, two branch outside wherein at least one iron core Bolster is staggered relatively, when two bearing supports close to when iron core formed closed magnetic circuit, have one simultaneous with left hand thread and dextrorotation The screw rod of screw thread, the axis of screw rod and the axis of iron core are vertical, and the bearing of screw rod is fixed on hoistable platform, and screw rod passes through two Bearing support, there is left-handed nut and the right-handed nut for cooperating relative configuration with it on screw rod simultaneously, and the rotation of motor drive screw rod is left Spin nut and right-handed nut relatively move can be such that iron core is closed when clamping two bearing supports, and there are roller in the two sides of bearing support.

7. the unmanned vehicle according to claim 6 with hoistable platform, it is characterised in that: hoistable platform is box-like , there are horizontal guide post or guide sleeve on bearing support, there are at least three raised items in the cassette bottom of box-like hoistable platform, every There are at least two lateral apertures cooperated with guide post or guide sleeve on raised item, the bearing of screw rod is on raised item, left-handed nut It is separately fixed on left bearing support or right bearing support with right-handed nut, iron core and the induction of semicircular is fixed on each bearing support There are the roller of vertical axis in electricity taking coil, the two sides of each bearing support, and there are the rolling of trunnion axis in the two sides of at least one bearing support simultaneously Son.

8. the unmanned vehicle according to claim 1 with hoistable platform, it is characterised in that: unmanned vehicle is revolves more Wing unmanned vehicle, 4 rotors along line of symmetry distribution are vertical axes, mainly provide lift, axis is overlapped with the plane of symmetry Rotor is trunnion axis, is the rotor of dedicated offer onward impulse, and iron core unmanned vehicle in closed position is mentioned with rotor The air force of confession is moved along power transmission line, and unmanned vehicle has the tail rotor of trunnion axis, and the rotor of unmanned vehicle is with anti- Shield.

9. the unmanned vehicle according to claim 6 with hoistable platform, it is characterised in that: the electricity driven screw turns Motivation is servomotor, and the voltage levels that automatic control circuit is obtained according to the induction electricity taking coil detected are to servo-electric Machine issues corresponding order, the size of the air gap between adjust automatically two parts iron core.

10. the unmanned vehicle according to claim 6 with hoistable platform, it is characterised in that: be in addition wound on iron core Coil believes coil using induction electricity taking coil as the transmitting-receiving of power line carrier communication.