CN109733609B - Multi-group wheel connecting rod type unmanned aerial vehicle throwing device and throwing method - Google Patents
Multi-group wheel connecting rod type unmanned aerial vehicle throwing device and throwing method Download PDFInfo
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- CN109733609B CN109733609B CN201811619742.7A CN201811619742A CN109733609B CN 109733609 B CN109733609 B CN 109733609B CN 201811619742 A CN201811619742 A CN 201811619742A CN 109733609 B CN109733609 B CN 109733609B
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Abstract
The invention discloses a multi-group wheel connecting rod type unmanned aerial vehicle throwing device which comprises a mother machine, a connecting rod mechanism throwing device and a plurality of rotating wheel type storage frames, wherein the connecting rod mechanism throwing device is arranged at the tail part of the body of the mother machine, the plurality of rotating wheel type storage frames are sequentially arranged at the tail part of the body of the mother machine to form an unmanned aerial vehicle throwing channel, and the connecting rod mechanism throwing device is arranged behind the rotating wheel type storage frame at the tail end of the unmanned aerial vehicle throwing channel. The aerial delivery work of the fixed-wing unmanned aerial vehicle with higher efficiency than that of the existing delivery mode can be realized by virtue of the advantages of large navigational speed, large range and large quantity loading of the aircraft platform.
Description
Technical Field
The invention relates to the technical field of aircraft air-based recovery, in particular to a multi-group wheel connecting rod type unmanned aerial vehicle launching device and a launching method.
Background
At present, the main throwing modes of the fixed-wing unmanned aerial vehicle are as follows: hand throwing, sliding rail, ejection, runway and air throwing. The air base is based on medium and small-sized platforms such as fighters and the like, is carried and launched in an external hanging mode, but has great limitation on the number and the volume of the thrown unmanned aerial vehicles, can not realize the distribution of medium and large unmanned aerial vehicles with large density, and has low throwing cost-effectiveness ratio.
Disclosure of Invention
The purpose of the invention is as follows: the multi-group wheel connecting rod type unmanned aerial vehicle throwing device and the throwing method can realize rapid throwing of a large number of medium-sized and large-sized unmanned aerial vehicles separated from a mother aircraft by means of self gravity.
The technical scheme of the invention is as follows:
the utility model provides a multiunit wheel connecting rod formula unmanned aerial vehicle puts in device, puts in device 2, two at least runner type storage framves 3 including female machine 1, link mechanism put in device 2 and set up at 1 fuselage afterbody of female machine, two at least runner type storage framves 3 arrange in proper order and set up at 1 fuselage afterbody of female machine, form unmanned aerial vehicle and put in the passageway, link mechanism put in device 2 and arrange and put in 3 backs of the most terminal runner type storage frame of passageway at unmanned aerial vehicle.
The link mechanism throwing device 2 comprises a slide rail 11, two groups of swing rods 5, a fixed edge 4 and a belt type transmission device 6, wherein the fixed edge 4 is fixed at the tail part of the mother machine 1, one ends of the two groups of swing rods 5 are connected with the fixed edge 4, the other ends of the two groups of swing rods are connected with the slide rail 11, damping devices 7 are arranged at the left end and the right end of the slide rail 11, and the belt type transmission device 6 is further arranged on the slide rail 11.
The runner type storage frame 3 include runner 12, main pivot 13, storage frame fore-stock 14, storage frame after-poppet 15, runner 12 fix between storage frame fore-stock 14, storage frame after-poppet 15 through main pivot 13, runner 12 can be rotatory around main pivot 13, evenly distributed has a plurality of unmanned aerial vehicle stores pylon 16 on the outer circumference of runner 12.
The joint of one group of swing rods 5 and the fixed edge 4 is provided with a driving motor 8, an angle measuring sensor 9 and a stop device 10.
And a storage rack driving module is arranged on one side of the storage rack front support 14 and comprises a driving motor 8, a speed reducer 17, a stopping device 10 and an angle measuring sensor 9.
The storage rack front support 14 is provided with a rack front driving module, the storage rack rear support 15 is provided with a rack rear driving module, the rack front driving module and the rack rear driving module are the same and respectively comprise a driving motor 8, a speed reducer 17 and a deflection mechanism 18, two ends of the deflection mechanism 18 are respectively connected with the driving motor 8 and the speed reducer 17, and the deflection mechanism 18 is internally provided with the driving motor 8, the speed reducer 17, a stopping device 10 and an angle measuring sensor 9.
The rotation directions of the two deflection mechanisms 18 in the front hanger driving module and the rear hanger driving module are opposite.
Unmanned aerial vehicle stores pylon 16 on be provided with before the stores pylon fixing device 21 and stores pylon after fixing device 22, fixing device 19 and after-fixing device 20 before unmanned aerial vehicle stores pylon 16 bottom still is provided with, preceding fixing device 19 and after-fixing device 20 be mechanical stop device or electromagnetism stop device.
Unmanned aerial vehicle stores pylon 16 and runner 12 adopt detachable to be connected, and 16 upper surfaces of unmanned aerial vehicle stores pylon are provided with the driving rack, the unmanned aerial vehicle stores pylon on still be provided with an idle passageway.
A multi-group wheel connecting rod type unmanned aerial vehicle throwing device comprises the following steps:
step 1: fixing the unmanned aerial vehicle 27 on the unmanned aerial vehicle hanger 16 through the front fixing device 19 and the rear fixing device 20;
step 2: the driving motor 8 at the joint of the swing rod 5 and the fixed edge 4 drives and fixes the link mechanism throwing device 2 to a position close to one side of the rotary wheel type storage rack 3;
and step 3: according to the instruction, the rotary wheel type storage rack 3 is driven to rotate to a throwing position where a certain unmanned aerial vehicle is located at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device 21 and a rear hanger fixing device 22 on the unmanned aerial vehicle hanger 16;
and 5: the front driving module and the rear driving module in the front storage rack support 14 and the rear storage rack support 15 deflect to working positions to drive the rotating wheel 12, so that the unmanned aerial vehicle hanger 16 moves to the link mechanism throwing device 2 and is limited by the damping device 7 arranged at the left end of the sliding rail 11;
step 6: the designated throwing position of the link mechanism throwing device 2 is driven and fixed by a driving motor 8 at the joint of the swing rod 5 and the fixed edge 4;
and 7: the limiting of the damping device 7 at the left end of the slide rail 11 is released, the belt type transmission device 6 drives the unmanned aerial vehicle hanger 16 to the tail end of the slide rail 11, and the damping device 7 at the right end of the slide rail 11 realizes speed reduction and positioning;
and 8: the drone 27 on the drone pylon 16 deflects its own elevator 24 downwards on command;
and step 9: the front fixing device 19 and the rear fixing device 20 on the unmanned aerial vehicle hanger 16 are unlocked, the unmanned aerial vehicle 27 is separated from the mother aircraft 1 under the action of gravity, a lock hook driving module on the unmanned aerial vehicle 27 deflects and locks a lock hook module on the unmanned aerial vehicle to a retracted state, and the lock hook module consists of a front lock hook 25, a rear lock hook 26 and a connecting rod 23;
step 10: the unmanned aerial vehicle hanger 16 which is released is driven to the left end of the slide rail 11 through the belt type transmission device 6 and limited by the damping device 7 at the left end;
step 11: the link mechanism throwing device 2 with the unmanned aerial vehicle hanging rack 16 is driven and fixed to a position close to one side of the rotary wheel type storage rack 3 by a driving motor 8 at the joint of the swinging rod 5 and the fixed edge 4;
step 12: the damping device 7 at the left end of the sliding rail 11 is relieved from limiting, the driving motor 8 in the storage rack rear support 15 drives the unmanned aerial vehicle hanger 16 to return to the corresponding position of the rotary wheel type storage rack 3, and the unmanned aerial vehicle hanger is locked by the hanger front fixing device 21 and the hanger rear fixing device 22;
step 13: rotating the rotary wheel type storage rack 3 to a designated angle in sequence, and repeating the steps 4 to 12 to finish unmanned aerial vehicle throwing;
step 14: rotating a rotary wheel type storage rack 3 at the tail end of the unmanned aerial vehicle throwing channel to a vertically lowest throwing position of the vacant channel;
step 15: and (5) repeating the step 2 to the step 14, and sequentially completing the unmanned aerial vehicle throwing on the rest of the rotary wheel type storage frames 3.
The invention has the beneficial effects that: the device and the method provide storage capacity of medium and large unmanned aerial vehicles with at least 12 same configurations, and realize quick release of the medium and large unmanned aerial vehicles separated from a main machine by means of self gravity by relying on a link mechanism release device and a rotating wheel type storage mode. The aerial delivery work of the fixed-wing unmanned aerial vehicle with higher efficiency than that of the existing delivery mode can be realized by virtue of the advantages of large navigational speed, large range and large quantity loading of the aircraft platform.
Drawings
FIG. 1 is a schematic view of an apparatus of the present invention;
FIG. 2 is a schematic view of a link mechanism dropping device;
figure 3 is a schematic view of a wheeled storage rack;
fig. 4 is a schematic view of a drone.
Detailed Description
The invention is further explained by combining the attached drawings, and the multi-group wheel connecting rod type unmanned aerial vehicle throwing device comprises a mother machine 1, a connecting rod mechanism throwing device 2 and at least two rotating wheel type storage frames 3, wherein the connecting rod mechanism throwing device 2 is arranged at the tail part of the body of the mother machine 1, the at least two rotating wheel type storage frames 3 are sequentially arranged at the tail part of the body of the mother machine 1 to form an unmanned aerial vehicle throwing channel, and the connecting rod mechanism throwing device 2 is arranged behind the rotating wheel type storage frame 3 at the tail end of the unmanned aerial vehicle throwing channel.
The link mechanism throwing device 2 comprises a slide rail 11, two groups of swing rods 5, a fixed edge 4 and a belt type transmission device 6, wherein the fixed edge 4 is fixed at the tail part of the mother machine 1, one ends of the two groups of swing rods 5 are connected with the fixed edge 4, the other ends of the two groups of swing rods are connected with the slide rail 11, damping devices 7 are arranged at the left end and the right end of the slide rail 11, and the belt type transmission device 6 is further arranged on the slide rail 11.
The runner type storage frame 3 include runner 12, main pivot 13, storage frame fore-stock 14, storage frame after-poppet 15, runner 12 fix between storage frame fore-stock 14, storage frame after-poppet 15 through main pivot 13, runner 12 can be rotatory around main pivot 13, evenly distributed has a plurality of unmanned aerial vehicle stores pylon 16 on the outer circumference of runner 12.
The joint of one group of swing rods 5 and the fixed edge 4 is provided with a driving motor 8, an angle measuring sensor 9 and a stop device 10.
And a storage rack driving module is arranged on one side of the storage rack front support 14 and comprises a driving motor 8, a speed reducer 17, a stopping device 10 and an angle measuring sensor 9.
The storage rack front support 14 is provided with a rack front driving module, the storage rack rear support 15 is provided with a rack rear driving module, the rack front driving module and the rack rear driving module are the same and respectively comprise a driving motor 8, a speed reducer 17 and a deflection mechanism 18, two ends of the deflection mechanism 18 are respectively connected with the driving motor 8 and the speed reducer 17, and the deflection mechanism 18 is internally provided with the driving motor 8, the speed reducer 17, a stopping device 10 and an angle measuring sensor 9.
The rotation directions of the two deflection mechanisms 18 in the front hanger driving module and the rear hanger driving module are opposite.
Unmanned aerial vehicle stores pylon 16 on be provided with before the stores pylon fixing device 21 and stores pylon after fixing device 22, fixing device 19 and after-fixing device 20 before unmanned aerial vehicle stores pylon 16 bottom still is provided with, preceding fixing device 19 and after-fixing device 20 be mechanical stop device or electromagnetism stop device.
Unmanned aerial vehicle stores pylon 16 and runner 12 adopt detachable to be connected, and 16 upper surfaces of unmanned aerial vehicle stores pylon are provided with the driving rack, the unmanned aerial vehicle stores pylon on still be provided with an idle passageway.
A multi-group wheel connecting rod type unmanned aerial vehicle throwing device comprises the following steps:
step 1: fixing the unmanned aerial vehicle 27 on the unmanned aerial vehicle hanger 16 through the front fixing device 19 and the rear fixing device 20;
step 2: the driving motor 8 at the joint of the swing rod 5 and the fixed edge 4 drives and fixes the link mechanism throwing device 2 to a position close to one side of the rotary wheel type storage rack 3;
and step 3: according to the instruction, the rotary wheel type storage rack 3 is driven to rotate to a throwing position where a certain unmanned aerial vehicle is located at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device 21 and a rear hanger fixing device 22 on the unmanned aerial vehicle hanger 16;
and 5: the front driving module and the rear driving module in the front storage rack support 14 and the rear storage rack support 15 deflect to working positions to drive the rotating wheel 12, so that the unmanned aerial vehicle hanger 16 moves to the link mechanism throwing device 2 and is limited by the damping device 7 arranged at the left end of the sliding rail 11;
step 6: the designated throwing position of the link mechanism throwing device 2 is driven and fixed by a driving motor 8 at the joint of the swing rod 5 and the fixed edge 4;
and 7: the limiting of the damping device 7 at the left end of the slide rail 11 is released, the belt type transmission device 6 drives the unmanned aerial vehicle hanger 16 to the tail end of the slide rail 11, and the damping device 7 at the right end of the slide rail 11 realizes speed reduction and positioning;
and 8: the drone 27 on the drone pylon 16 deflects its own elevator 24 downwards on command;
and step 9: the front fixing device 19 and the rear fixing device 20 on the unmanned aerial vehicle hanger 16 are unlocked, the unmanned aerial vehicle 27 is separated from the mother aircraft 1 under the action of gravity, a lock hook driving module on the unmanned aerial vehicle 27 deflects and locks a lock hook module on the unmanned aerial vehicle to a retracted state, and the lock hook module consists of a front lock hook 25, a rear lock hook 26 and a connecting rod 23;
step 10: the unmanned aerial vehicle hanger 16 which is released is driven to the left end of the slide rail 11 through the belt type transmission device 6 and limited by the damping device 7 at the left end;
step 11: the link mechanism throwing device 2 with the unmanned aerial vehicle hanging rack 16 is driven and fixed to a position close to one side of the rotary wheel type storage rack 3 by a driving motor 8 at the joint of the swinging rod 5 and the fixed edge 4;
step 12: the damping device 7 at the left end of the sliding rail 11 is relieved from limiting, the driving motor 8 in the storage rack rear support 15 drives the unmanned aerial vehicle hanger 16 to return to the corresponding position of the rotary wheel type storage rack 3, and the unmanned aerial vehicle hanger is locked by the hanger front fixing device 21 and the hanger rear fixing device 22;
step 13: rotating the rotary wheel type storage rack 3 to a designated angle in sequence, and repeating the steps 4 to 12 to finish unmanned aerial vehicle throwing;
step 14: rotating a rotary wheel type storage rack 3 at the tail end of the unmanned aerial vehicle throwing channel to a vertically lowest throwing position of the vacant channel;
step 15: and (5) repeating the step 2 to the step 14, and sequentially completing the unmanned aerial vehicle throwing on the rest of the rotary wheel type storage frames 3.
Claims (7)
1. The utility model provides a multiunit wheel connecting rod formula unmanned aerial vehicle puts in device which characterized in that: the unmanned aerial vehicle throwing device comprises a mother machine (1), a connecting rod mechanism throwing device (2) and at least two runner type storage frames (3), wherein the connecting rod mechanism throwing device (2) is arranged at the tail part of the body of the mother machine (1), the at least two runner type storage frames (3) are sequentially arranged at the tail part of the body of the mother machine (1) to form an unmanned aerial vehicle throwing channel, the connecting rod mechanism throwing device (2) is arranged at the rear part of the runner type storage frame (3) at the tail end of the unmanned aerial vehicle throwing channel, the connecting rod mechanism throwing device (2) comprises a sliding rail (11), two groups of swinging rods (5), a fixed edge (4) and a belt type transmission device (6), the fixed edge (4) is fixed at the tail part of the mother machine (1), one end of each group of the two groups of swinging rods (5) is connected with the fixed edge (4), the other end of each group of the swinging rods is connected with the sliding rail (11), damping devices (7) are arranged at the left end and the right end of the sliding rail (11), a belt type transmission device (6) is also arranged on the sliding rail (11); the rotating wheel type storage rack (3) comprises a rotating wheel (12), a main rotating shaft (13), a storage rack front support (14) and a storage rack rear support (15), wherein the rotating wheel (12) is fixed between the storage rack front support (14) and the storage rack rear support (15) through the main rotating shaft (13), the rotating wheel (12) can rotate around the main rotating shaft (13), and a plurality of unmanned aerial vehicle hangers (16) are uniformly distributed on the outer circumference of the rotating wheel (12);
the working process of the multi-group wheel connecting rod type unmanned aerial vehicle throwing device comprises the following steps:
step 1: fixing an unmanned aerial vehicle (27) on an unmanned aerial vehicle hanger (16) through a front fixing device (19) and a rear fixing device (20);
step 2: a driving motor (8) at the joint of the swing rod (5) and the fixed edge (4) drives and fixes the link mechanism throwing device (2) to a position close to one side of the rotary wheel type storage rack (3);
and step 3: according to the instruction, the rotary wheel type storage rack (3) is driven to rotate to a throwing position where a certain unmanned aerial vehicle is located at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device (21) and a rear hanger fixing device (22) on an unmanned aerial vehicle hanger (16);
and 5: a front driving module in a front support (14) of the storage rack and a rear driving module in a rear support (15) of the storage rack drive a rotating wheel (12), so that an unmanned aerial vehicle hanger (16) moves to a link mechanism throwing device (2) and is limited by a damping device (7) arranged at the left end of a sliding rail (11);
step 6: the designated throwing position of the link mechanism throwing device (2) is driven and fixed by a driving motor (8) at the joint of the swing rod (5) and the fixed edge (4);
and 7: the limiting of the damping device (7) at the left end of the sliding rail (11) is released, the unmanned aerial vehicle hanger (16) is driven to the tail end of the sliding rail (11) by the belt type transmission device (6), and the damping device (7) at the right end of the sliding rail (11) is used for realizing speed reduction and positioning;
and 8: an unmanned aerial vehicle (27) on the unmanned aerial vehicle pylon (16) deflects its own elevator (24) downwardly on command;
and step 9: a front fixing device (19) and a rear fixing device (20) on an unmanned aerial vehicle hanger (16) are unlocked, an unmanned aerial vehicle (27) is separated from a mother machine (1) under the action of gravity, a lock hook driving module on the unmanned aerial vehicle (27) deflects and locks a lock hook module on the unmanned aerial vehicle to a withdrawing state, and the lock hook module consists of a front lock hook (25), a rear lock hook (26) and a connecting rod (23) which are sequentially connected;
step 10: the released unmanned aerial vehicle hanger (16) is driven to the left end of the sliding rail (11) through the belt type transmission device (6) and limited by the damping device (7) at the left end;
step 11: the link mechanism throwing device (2) with the unmanned aerial vehicle hanging rack (16) is driven by a driving motor (8) at the joint of the swinging rod (5) and the fixed edge (4) and is fixed to a position close to one side of the rotary wheel type storage rack (3);
step 12: the damping device (7) at the left end of the sliding rail (11) is relieved from limiting, the unmanned aerial vehicle hanger (16) is driven by the driving motor (8) in the storage rack rear support (15) to return to the corresponding position of the rotary wheel type storage rack (3), and the hanger front fixing device (21) and the hanger rear fixing device (22) are locked;
step 13: rotating the rotary wheel type storage rack (3) to a designated angle in sequence, and repeating the steps 4-12 to finish unmanned aerial vehicle throwing;
step 14: rotating a rotary wheel type storage rack (3) at the tail end of the unmanned aerial vehicle throwing channel to a vertically lowest throwing position of the vacant channel;
step 15: and (5) repeating the step 2 to the step 14, and sequentially completing the unmanned aerial vehicle throwing on the rest of the rotary wheel type storage racks (3).
2. The multi-group wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: and a driving motor (8), an angle measuring sensor (9) and a stopping device (10) are arranged at the joint of one of the two groups of swing rods (5) and the fixed edge (4).
3. The multi-group wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: a storage rack driving module is arranged on one side of the storage rack front support (14), and comprises a driving motor (8), a speed reducer (17), a stopping device (10) and an angle measuring sensor (9).
4. The multi-group wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: the storage rack is characterized in that a rack front driving module is arranged on a storage rack front support (14), a rack rear driving module is arranged on a storage rack rear support (15), the rack front driving module and the rack rear driving module are the same and respectively comprise a driving motor (8), a speed reducer (17) and a deflection mechanism (18), and two ends of the deflection mechanism (18) are respectively connected with the driving motor (8) and the speed reducer (17).
5. The multi-group wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: unmanned aerial vehicle stores pylon (16) on be provided with before stores pylon fixing device (21) and stores pylon after fixing device (22), fixing device (19) and after fixing device (20) before unmanned aerial vehicle stores pylon (16) bottom still is provided with, preceding fixing device (19) and after fixing device (20) be mechanical stop device or electromagnetism stop device.
6. The multi-group wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: unmanned aerial vehicle stores pylon (16) and runner (12) adopt detachable to be connected, and unmanned aerial vehicle stores pylon (16) upper surface is provided with the driving rack, unmanned aerial vehicle stores pylon (16) on still be provided with an idle passageway.
7. The multi-group wheel link type unmanned aerial vehicle throwing device of claim 4, wherein: the two deflection mechanisms (18) in the front hanger driving module and the two deflection mechanisms (18) in the rear hanger driving module have opposite rotating directions.
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| CN201811619742.7A CN109733609B (en) | 2018-12-27 | 2018-12-27 | Multi-group wheel connecting rod type unmanned aerial vehicle throwing device and throwing method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU59521U1 (en) * | 2006-08-08 | 2006-12-27 | Открытое Акционерное Общество "Государственное Машиностроительное Конструкторское Бюро "Радуга" Имени А.Я. Березняка" | AVIATION COMPLEX |
| CN105151303A (en) * | 2015-08-06 | 2015-12-16 | 张子林 | Unmanned aerial vehicle delivery device and method |
| CN107792371A (en) * | 2017-09-27 | 2018-03-13 | 北京航空航天大学 | A kind of unmanned plane space base rapid fire apparatus and method for system of being towed target based on aviation trailing cable |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8191828B2 (en) * | 2008-05-13 | 2012-06-05 | The Boeing Company | Methods and apparatus for aerial recovery of flying apparatus |
| US10179648B2 (en) * | 2015-06-08 | 2019-01-15 | Howard Martin Chin | Airborne drone launch and recovery apparatus |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU59521U1 (en) * | 2006-08-08 | 2006-12-27 | Открытое Акционерное Общество "Государственное Машиностроительное Конструкторское Бюро "Радуга" Имени А.Я. Березняка" | AVIATION COMPLEX |
| CN105151303A (en) * | 2015-08-06 | 2015-12-16 | 张子林 | Unmanned aerial vehicle delivery device and method |
| CN107792371A (en) * | 2017-09-27 | 2018-03-13 | 北京航空航天大学 | A kind of unmanned plane space base rapid fire apparatus and method for system of being towed target based on aviation trailing cable |
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