CN112173153B - Electromagnetic ejection system of continuous-emission unmanned aerial vehicle and unmanned aerial vehicle hangar - Google Patents
Electromagnetic ejection system of continuous-emission unmanned aerial vehicle and unmanned aerial vehicle hangar Download PDFInfo
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- CN112173153B CN112173153B CN202010988622.5A CN202010988622A CN112173153B CN 112173153 B CN112173153 B CN 112173153B CN 202010988622 A CN202010988622 A CN 202010988622A CN 112173153 B CN112173153 B CN 112173153B
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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
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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Abstract
The unmanned aerial vehicle electromagnetic catapulting system comprises an unmanned aerial vehicle electromagnetic catapulting device and an unmanned aerial vehicle hangar, wherein the unmanned aerial vehicle hangar is arranged on one side of an unmanned aerial vehicle catapulting end of the unmanned aerial vehicle electromagnetic catapulting device, and comprises a conveying mechanism capable of carrying a certain number of unmanned aerial vehicles, so that the carried unmanned aerial vehicles can be filled on an unmanned aerial vehicle catapulting platform; after the unmanned aerial vehicle catapulting platform carries the unmanned aerial vehicle, the unmanned aerial vehicle catapulting platform accelerates along the catapulting guide rail under the drive of catapulting motor, realizes that the unmanned aerial vehicle catapulting takes off the back of catapulting, and unmanned aerial vehicle catapulting platform braking and along catapulting guide rail reverse motion realize that the unmanned aerial vehicle catapulting platform resets to prepare unmanned aerial vehicle loading and catapulting next time. Unmanned aerial vehicle hangar realizes unmanned aerial vehicle storage, transportation. At ordinary times, a certain number of unmanned aerial vehicles can be stored, so that the maintainability and reliability of the unmanned aerial vehicle are improved; in the war, the unmanned aerial vehicle can be continuously filled into the electromagnetic catapult by the conveying mechanism, so that the unmanned aerial vehicle can continuously catapult and take off.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle catapulting and take-off, and particularly relates to a continuous-transmitting unmanned aerial vehicle electromagnetic catapulting system adopting an unmanned aerial vehicle hangar.
Background
The unmanned aerial vehicle cluster take-off mode is a hotspot problem of current unmanned aerial vehicle technical research, and the emerging unmanned aerial vehicle take-off mode of electromagnetic catapulting has obvious advantages compared with the traditional take-off mode.
The current situation is that unmanned aerial vehicles not exceeding 50kg adopt rubber band ejection, unmanned aerial vehicles about 100kg adopt pneumatic ejection mode, and not exceeding 500kg adopt hydraulic/pneumatic mode more, and rocket boosting mode is adopted within 2000kg, and the defects of troublesome control and operation exist in these modes, and the requirement on operators is higher. And the speeds of the emission modes are difficult to control, and each emission mode can use fewer unmanned aerial vehicles. In addition, the rocket boosting mode involves the use of gunpowder, so that the safety guarantee workload is high. Moreover, the defects of large equipment volume, poor maneuverability, high energy consumption and the like exist, and the battlefield situation is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an electromagnetic catapulting system of a continuous-transmitting unmanned aerial vehicle and an unmanned aerial vehicle library. The catapult-assisted take-off device has the advantages of controllable whole catapult-assisted take-off process, short transmission interval and low transmission cost. The unmanned aerial vehicle launching system has the characteristics of strong maneuverability, good concealment, capability of launching unmanned aerial vehicle clusters with different numbers according to different task requirements, and the like, is a perfect of a traditional unmanned aerial vehicle launching method, and fills a study blank of launching unmanned aerial vehicle clusters by using a single electromagnetic ejector at home and abroad.
In order to achieve the technical purpose, the invention adopts the following specific technical scheme:
The unmanned aerial vehicle electronic catapulting system comprises an unmanned aerial vehicle electronic catapulting device and an unmanned aerial vehicle library, wherein the unmanned aerial vehicle electronic catapulting device comprises a catapulting frame, an unmanned aerial vehicle catapulting platform and a catapulting motor, the catapulting frame is provided with a catapulting guide rail, the unmanned aerial vehicle catapulting platform is connected to the catapulting guide rail in a sliding manner, the unmanned aerial vehicle catapulting platform is connected with the catapulting motor and can move bidirectionally along the catapulting guide rail under the driving of the catapulting motor, one end of the catapulting guide rail is an unmanned aerial vehicle loading end, and the other end of the catapulting guide rail is an unmanned aerial vehicle catapulting end; the unmanned aerial vehicle library is arranged on one side of an unmanned aerial vehicle ejection end of the unmanned aerial vehicle electronic ejection device, and comprises a conveying mechanism capable of carrying a certain number of unmanned aerial vehicles, so that the carried unmanned aerial vehicles can be filled on an unmanned aerial vehicle ejection platform at an unmanned aerial vehicle loading end; after the unmanned aerial vehicle catapulting platform carries the unmanned aerial vehicle at the unmanned aerial vehicle loading end, the unmanned aerial vehicle catapulting platform is driven by the catapulting motor to accelerate along the catapulting guide rail to the unmanned aerial vehicle catapulting end, after the catapulting of the unmanned aerial vehicle is taken off, the unmanned aerial vehicle catapulting platform brakes and moves to the unmanned aerial vehicle loading end along the catapulting guide rail in a reverse mode, and reset of the unmanned aerial vehicle catapulting platform is achieved to prepare the next unmanned aerial vehicle loading and catapulting.
As a preferred scheme of the invention, the unmanned aerial vehicle hangar comprises a vertical support frame, and the conveying mechanism is arranged in the vertical support frame; the conveying mechanism comprises a sliding mechanism and more than one layer of transmission platform, the more than one layer of transmission platform is arranged on the sliding mechanism, a vertical rail is arranged on the vertical supporting frame, the sliding mechanism is in sliding connection with the vertical rail on the vertical supporting frame, and the transmission platform is driven by the sliding mechanism to slide up and down along the vertical supporting frame.
As a preferable scheme of the invention, the sliding mechanism comprises a sliding motor, a plurality of sliding tables, a horizontal supporting platform and guide rods, wherein each sliding table is driven by the sliding motor, and a vertical rail corresponding to each sliding table is arranged on the vertical supporting frame; more than one layer of horizontal support platforms are connected together through a plurality of guide rods in a mounting way and then are connected with each sliding table in a mounting way as a whole; the sliding motor drives each sliding table, and each horizontal supporting platform is synchronously driven to slide up and down under the driving of each sliding table. Further, the horizontal support platforms of the adjacent layers are connected together through a plurality of telescopic guide rods.
As a preferable scheme of the invention, the transmission platform comprises a mounting seat, a transmission motor, a belt transmission assembly and a transmission guide rail, wherein the transmission platform is mounted on each horizontal supporting platform through the mounting seat, the mounting seat is provided with the transmission motor and the transmission guide rail, the transmission motor is in transmission connection with the transmission guide rail through the belt transmission assembly, and a certain number of unmanned aerial vehicles can be arranged on the transmission guide rail.
As a preferable scheme of the invention, the sliding motors are connected with reduction boxes, the output ends of the reduction boxes are in transmission connection with the sliding tables through the intermediate transmission mechanism, the sliding motors drive the corresponding reduction boxes, and then the intermediate transmission mechanism drives the sliding tables to synchronously move, so that the sliding tables slide up and down along the vertical guide rail; the transmission motor is connected with the transmission guide rail through a synchronous wheel and a synchronous belt, the transmission motor drives the synchronous wheel to be synchronous so as to realize horizontal transmission of the unmanned aerial vehicle on the transmission guide rail, the unmanned aerial vehicle catapulting device catapults one unmanned aerial vehicle every time, after the unmanned aerial vehicle catapulting platform resets, the next unmanned aerial vehicle is transmitted to the unmanned aerial vehicle catapulting platform through controlling the sliding motor and the transmission motor, and then the unmanned aerial vehicle catapulting for the next time is carried out.
As a preferable scheme of the invention, the unmanned aerial vehicle catapulting system further comprises a control system, wherein the control system controls the unmanned aerial vehicle hangar and the catapulting motor, controls the unmanned aerial vehicle hangar to load the unmanned aerial vehicle to the unmanned aerial vehicle catapulting platform according to a set time sequence, enables the catapulting motor and the unmanned aerial vehicle hangar to work in a coordinated manner, and completes the task of continuous catapulting and take-off according to a set mode.
As a preferred scheme of the invention, the invention further comprises an energy storage device, the energy storage device provides working power for each electric equipment in the unmanned aerial vehicle hangar and the unmanned aerial vehicle electric catapulting device, the energy storage device adopts a mode of combining a super capacitor and a storage battery, wherein the storage battery provides stable low-frequency average power, and the super capacitor rapidly provides high-frequency power of the rest part of the load.
As a preferable scheme of the invention, the invention also comprises a driver, wherein the ejection motor is a moving-coil permanent magnet linear motor, the driver is a three-phase full-bridge alternating current circuit formed by 6 full-control power devices, and the driver drives the moving-coil permanent magnet linear motor.
As a preferable scheme of the invention, the ejection rack and the ejection guide rail on the ejection rack are arranged at a certain inclination angle with the horizontal plane.
As a preferable scheme of the invention, the invention further comprises mobile transportation equipment, and the unmanned aerial vehicle electronic ejection device and the unmanned aerial vehicle hangar are both carried on the mobile transportation equipment (such as a vehicle).
The invention provides an unmanned aerial vehicle hangar, which comprises a vertical supporting frame and a conveying mechanism capable of carrying a certain number of unmanned aerial vehicles, wherein the conveying mechanism is arranged in the vertical supporting frame; the conveying mechanism comprises a sliding mechanism and more than one layer of transmission platform, the more than one layer of transmission platform is arranged on the sliding mechanism, a vertical rail is arranged on the vertical supporting frame, the sliding mechanism is in sliding connection with the vertical rail on the vertical supporting frame, and the transmission platform is driven by the sliding mechanism to slide up and down along the vertical supporting frame. The unmanned aerial vehicle hangar is a box type structure integrating unmanned aerial vehicle storage and transportation. At ordinary times, a certain number of unmanned aerial vehicles can be stored, so that the maintainability and reliability of the unmanned aerial vehicle are improved; in the war, the unmanned aerial vehicle can be continuously filled into the electromagnetic catapult by the conveying mechanism, so that the unmanned aerial vehicle can continuously catapult and take off, and the unmanned aerial vehicle has stronger war reaction capacity.
The beneficial effects of the invention are as follows:
The ejection motor of the continuous-emission type unmanned aerial vehicle electromagnetic ejection system provided by the invention adopts the moving-coil permanent magnet linear motor, so that the whole weight is smaller, the power density is high, the transportation is convenient and flexible, and the maneuverability of the system is improved. The position sensors are arranged on the two sides of the ejection motor, so that the position of the unmanned aerial vehicle ejection platform can be detected in real time, the unmanned aerial vehicle ejection platform can be switched between the unmanned aerial vehicle ejection end and the unmanned aerial vehicle loading end, continuous ejection is realized, and ejection efficiency is improved.
After each unmanned aerial vehicle is ejected by the unmanned aerial vehicle electronic ejection device, the unmanned aerial vehicle ejection platform resets, the next unmanned aerial vehicle is transmitted to the unmanned aerial vehicle ejection platform through controlling a sliding motor and a transmission motor in an unmanned aerial vehicle library, and then the next unmanned aerial vehicle is ejected, so that continuous batch ejection of the unmanned aerial vehicles is realized, and meanwhile, automatic ejection is realized.
The hybrid energy storage module combining the super capacitor and the storage battery can effectively shorten the charge and discharge time of the ejection period, improve the electromagnetic ejection rate, effectively reduce the discharge current of the storage battery and prolong the service life of the storage battery on the basis of improving the power density and the energy density.
The unmanned aerial vehicle electric ejection device and the unmanned aerial vehicle hangar are both carried on mobile transportation equipment (such as vehicles), and the unmanned aerial vehicle electric ejection device has the advantages of good concealment, convenience in maintenance, strong universality, flexibility in maneuvering, high reliability and the like.
Drawings
Fig. 1 is a schematic structural view of embodiment 1.
Fig. 2 is a schematic structural diagram of a second embodiment 1.
Fig. 3 is a schematic structural view of the unmanned aerial vehicle electrical ejection device in embodiment 2.
Fig. 4 is a schematic structural view of the unmanned aerial vehicle electrical ejection device in embodiment 3.
Fig. 5 is a schematic structural diagram of a unmanned aerial vehicle library in embodiment 4.
Fig. 6 is a right side view of the unmanned aerial vehicle library in embodiment 4;
fig. 7 is a front view of the unmanned aerial vehicle library in embodiment 4;
Fig. 8 is a plan view of the unmanned aerial vehicle pool in embodiment 4.
Detailed Description
In order to make the technical scheme and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a continuously-sending unmanned aerial vehicle electromagnetic catapulting system which comprises an unmanned aerial vehicle electromagnetic catapulting device 1 and an unmanned aerial vehicle hangar 2, wherein the unmanned aerial vehicle electromagnetic catapulting device 1 and the unmanned aerial vehicle hangar 2 are both carried on mobile transportation equipment 3 (such as a vehicle). The mobile transport device 3 (e.g. a vehicle) is further equipped with a control system 4, an energy storage device 5 and a drive 6. The unmanned aerial vehicle electromagnetic catapulting device 1 is used as an actuating mechanism for catapulting the unmanned aerial vehicle, provides acceleration thrust required by catapulting take-off for the unmanned aerial vehicle, and the unmanned aerial vehicle electromagnetic catapulting device 1 can adopt a permanent magnet linear motor type unmanned aerial vehicle electromagnetic catapulting device with a publication number of 106394924A. The control system controls the ejection motor and the unmanned aerial vehicle hangar in the unmanned aerial vehicle electric ejection device. The unmanned aerial vehicle hangar is used for storing and transporting unmanned aerial vehicles. The driver is used for driving the ejection motor. The energy storage equipment provides energy for each electric equipment in the system. The invention solves the problems of large equipment volume, poor maneuverability, high energy consumption and low efficiency in continuous emission of the unmanned aerial vehicle in the prior art.
Referring to fig. 1 and 2, the unmanned aerial vehicle electric ejection device 1 in this embodiment includes an ejection frame 101, an unmanned aerial vehicle ejection platform 102, and an ejection motor 103. The catapulting machine frame 101 is provided with an catapulting guide rail 104, the unmanned aerial vehicle catapulting platform 102 is slidably connected to the catapulting guide rail 104, the unmanned aerial vehicle catapulting platform 102 can move bidirectionally along the catapulting guide rail 104 under the drive of the catapulting motor 103, one end of the catapulting guide rail 104 is an unmanned aerial vehicle loading end, and the other end of the catapulting guide rail 104 is an unmanned aerial vehicle catapulting end. The unmanned aerial vehicle loading end and the unmanned aerial vehicle ejection end are both provided with position sensors, and the position sensors are used for detecting the position of the unmanned aerial vehicle ejection platform 102 and transmitting detected information to a control system. The unmanned aerial vehicle hangar 2 sets up in the one side of its unmanned aerial vehicle ejection end of unmanned aerial vehicle electronic ejection device 1, unmanned aerial vehicle hangar 2 can load the unmanned aerial vehicle that its carried to the unmanned aerial vehicle ejection platform 102 that is in unmanned aerial vehicle loading end including the transport mechanism that can carry on a certain amount of unmanned aerial vehicle. The unmanned aerial vehicle catapulting platform 102 is located the unmanned aerial vehicle loading end, and after the conveying mechanism in the control unmanned aerial vehicle hangar loads unmanned aerial vehicle to unmanned aerial vehicle catapulting platform 102, open catapulting motor 103, unmanned aerial vehicle catapulting platform 102 is along catapulting guide rail 104 to unmanned aerial vehicle catapulting end accelerated motion under the drive of catapulting motor 103, realizes unmanned aerial vehicle's catapulting take off. After the unmanned aerial vehicle catapult-assisted take-off, the unmanned aerial vehicle catapulting platform 102 brakes and moves reversely to the unmanned aerial vehicle loading end along the catapulting guide rail 104, so that the unmanned aerial vehicle catapulting platform 102 is reset to prepare for the next unmanned aerial vehicle loading and catapulting. According to the invention, continuous ejection of the unmanned aerial vehicle is realized, and ejection efficiency is improved.
The ejection motor 103 is used as an executing mechanism to provide acceleration thrust for the unmanned aerial vehicle ejection and take-off. The control system 4 controls the unmanned aerial vehicle hangar 2 and the ejection motor 103, controls the unmanned aerial vehicle hangar 2 to load the unmanned aerial vehicle to the unmanned aerial vehicle ejection platform 102 according to a set time sequence, enables the ejection motor 103 to work in coordination with the unmanned aerial vehicle hangar 2, and completes the task of continuous ejection and take-off according to a set mode. The energy storage device 5 provides working power for each electric equipment in the unmanned aerial vehicle hangar and the unmanned aerial vehicle electric ejection device, the energy storage device 5 adopts a super capacitor and storage battery combination mode, wherein the storage battery provides stable low-frequency average power, and the super capacitor rapidly provides high-frequency power of the rest part of the load. On the basis of improving the power density and the energy density, the combination can effectively shorten the charge and discharge time of the ejection period, improve the electromagnetic ejection rate, effectively reduce the discharge current of the storage battery and prolong the service life of the storage battery.
The ejection motor 103 is a moving coil permanent magnet linear motor, and is driven by the driver 6. The driver 6 is a three-phase full-bridge alternating current circuit formed by 6 full-control power devices, and the driver 6 drives the moving-coil permanent magnet linear motor under the control of the control system 4. According to the working characteristics of the electromagnetic catapulting system of the continuous-emission unmanned aerial vehicle, the acceleration distance of the electromagnetic catapulting device is limited, the working current of the catapulting motor is large, and the continuous catapulting is carried out. After the ejection is completed once, the motor rotor needs to be pulled back to the initial position by reverse operation. Under continuous working conditions, an external radiator needs to be considered to radiate heat generated by the working of the power device.
The moving coil type permanent magnet linear motor comprises stator magnetic steel and rotor armatures, linear sliding blocks which are in sliding fit with ejection guide rails are arranged on the left side and the right side of the bottom surface of the unmanned aerial vehicle ejection platform, the two rotor armatures are fixedly supported on the left side and the right side of the bottom surface of the unmanned aerial vehicle ejection platform through the linear sliding blocks on the two sides and do linear motion along the ejection guide rails along the linear sliding blocks, the stator magnetic steel which is arranged in a long straight line along the ejection guide rail direction is fixed in the ejection guide rails and located between the rotor armatures on the two sides, and a clamping sleeve for clamping the stator magnetic steel is arranged in the ejection guide rails. Further, the motor also comprises a current collector, wherein the current collector stably transmits external electric energy to the moving coil permanent magnet linear motor; the current collector comprises a relay and a power supply rail, the power supply rail is arranged on the lower surface of the ejection rack, and the relay and the rotor armature are arranged together through bolts.
Fig. 3 is a schematic structural diagram of an electro-mechanical ejection device for an unmanned aerial vehicle in embodiment 2, which shows a form of electro-mechanical ejection device for an unmanned aerial vehicle, including an ejection frame 101, an ejection platform 102 for the unmanned aerial vehicle, and an ejection motor 103. The catapulting machine frame 101 is provided with an catapulting guide rail 104, the unmanned aerial vehicle catapulting platform 102 is slidably connected to the catapulting guide rail 104, the unmanned aerial vehicle catapulting platform 102 can move bidirectionally along the catapulting guide rail 104 under the drive of the catapulting motor 103, one end of the catapulting guide rail 104 is an unmanned aerial vehicle loading end, and the other end of the catapulting guide rail 104 is an unmanned aerial vehicle catapulting end. The ejection rack 101 and the ejection guide rail 104 on the ejection rack 101 are arranged at a certain inclination angle with the horizontal plane. As shown in fig. 2, a traveling wheel base 109 is connected to the bottom of one end of the ejector frame 101, and two traveling wheels 107 are fixed to the traveling wheel base 109. The bottom of the other end of the ejection rack 101 is connected with a supporting rod 106, and the supporting rod 106 is formed by connecting two sections of supporting struts. The supporting rod 106 is connected with the ejection rack 101 through a foldable connecting piece, and two sections of supporting rods are connected through a foldable joint piece 110. The entire brace 106 may be folded when not in use. Meanwhile, the moving and position adjustment of the whole unmanned aerial vehicle electronic catapulting device are realized through the traveling wheel 107, and the unmanned aerial vehicle electronic catapulting device has the advantages of good concealment, convenience in maintenance, strong universality, flexibility in maneuvering, high reliability and the like.
Fig. 4 is a schematic structural diagram of an electro-mechanical ejection device for an unmanned aerial vehicle in embodiment 3, which shows a second form of electro-mechanical ejection device for an unmanned aerial vehicle, in which a single-side wheel support structure is used, and a foldable support structure is used at the end of an ejection frame. When unmanned aerial vehicle ejection is not needed, the foldable support frame can be freely dragged through the support wheels on the support frame. The device has the advantages of good concealment, convenient maintenance, strong universality, flexibility, high reliability and the like. As shown in fig. 3, includes an ejector rack 101, an unmanned aerial vehicle ejection platform 102, and an ejection motor 103. The catapulting machine frame 101 is provided with an catapulting guide rail 104, the unmanned aerial vehicle catapulting platform 102 is slidably connected to the catapulting guide rail 104, the unmanned aerial vehicle catapulting platform 102 can move bidirectionally along the catapulting guide rail 104 under the drive of the catapulting motor 103, one end of the catapulting guide rail 104 is an unmanned aerial vehicle loading end, and the other end of the catapulting guide rail 104 is an unmanned aerial vehicle catapulting end. The ejection rack 101 and the ejection guide rail 104 on the ejection rack 101 are arranged at a certain inclination angle with the horizontal plane. As shown in fig. 3, the bottom of one end of the ejection rack 101 is connected to the installation plane, the bottom of the other end of the ejection rack 101 is connected with a supporting rod 106 in a foldable manner, a plurality of supporting rods 106 are connected to form a supporting frame, a travelling wheel 107 is arranged in the center of the bottom of the supporting frame, and two sides of the bottom of the supporting frame are respectively connected with a supporting leg 108 through foldable connecting pieces. When unmanned aerial vehicle catapult is carried out, the supporting frame and the supporting legs are opened, the catapulting guide rail 104 is supported by the two supporting legs, and meanwhile, the catapulting rail 104 and the horizontal plane form a certain inclination angle. When unmanned aerial vehicle ejection is not needed, the supporting frame and the two supporting legs can be folded, so that space is saved, and hiding is facilitated. And when only two support legs are folded, the whole unmanned aerial vehicle electronic catapulting device can be moved and adjusted in position through the travelling wheels 107.
The supporting rod 106 is formed by connecting two sections of supporting struts. The supporting rod 106 is connected with the ejection rack 101 through a foldable connecting piece, and two sections of supporting rods are connected through a foldable joint piece 110. The entire brace 106 may be folded when not in use. And meanwhile, the whole unmanned aerial vehicle electronic catapulting device is moved and adjusted in position through the travelling wheel 107.
Referring to fig. 5 to 8, embodiment 4 provides a unmanned aerial vehicle hangar, which is a box-type structure for storing and transporting unmanned aerial vehicles. At ordinary times, a certain number of unmanned aerial vehicles can be stored, so that the maintainability and reliability of the unmanned aerial vehicle are improved; in the war, the transmission system can continuously load the unmanned aerial vehicle into the electromagnetic catapult, so that the unmanned aerial vehicle can continuously catapult and take off, and the unmanned aerial vehicle has stronger war reaction capacity. According to the index of cluster catapult-assisted take-off, the system structure is reasonably designed, and the size is reasonably designed to ensure the space utilization rate and the maneuverability of the system.
The unmanned aerial vehicle hangar comprises a vertical supporting frame and a conveying mechanism capable of carrying a certain number of unmanned aerial vehicles, wherein the conveying mechanism is arranged in the vertical supporting frame; the conveying mechanism comprises a sliding mechanism and more than one layer of transmission platform, the more than one layer of transmission platform is arranged on the sliding mechanism, a vertical rail is arranged on the vertical supporting frame, the sliding mechanism is in sliding connection with the vertical rail on the vertical supporting frame, and the transmission platform is driven by the sliding mechanism to slide up and down along the vertical supporting frame.
The vertical support frame is composed of a first support column 201, a second support column 202, a third support column 203 and a fourth support column 204, and bottoms of the first support column 201, the second support column 202, the third support column 203 and the fourth support column 204 are all fastened on an installation plane through bolt installation. Vertical tracks are arranged on opposite inner sides of the first support column 201 and the second support column 202. Vertical rails are provided on opposite inner sides of the third support column 203 and the fourth support column 204.
The sliding mechanism comprises a sliding motor, a sliding table, a horizontal supporting platform and a guide rod. The slide motors in this embodiment are a first slide motor 209 and a second slide motor 210, respectively. Four sliding tables are respectively a first sliding table 205, a second sliding table 206, a third sliding table 207 and a fourth sliding table 208. The horizontal support platform has three layers, namely a 1# horizontal support platform 219, a 2# horizontal support platform 220 and a 3# horizontal support platform 221 from bottom to top. In order to ensure the compactness of the structure and realize the reasonable utilization of the space, the horizontal support platforms are connected through the telescopic guide rods 216, and the horizontal support platforms can be piled up at the bottom of the unmanned aerial vehicle warehouse after the ejection task is completed.
The first sliding table 205 is slidably connected to the vertical rail of the first support column 201, the second sliding table 206 is slidably connected to the vertical rail of the second support column 202, the third sliding table 207 is slidably connected to the vertical rail of the third support column 203, and the fourth sliding table 208 is slidably connected to the vertical rail of the fourth support column 204. The first slide motor 209 and the second slide motor 210 are respectively mounted at the upper ends of the third support column 203 and the fourth support column 204. The output ends of the first sliding motor 209 and the second sliding motor 210 are respectively connected with a first reduction gearbox 217 and a second reduction gearbox 218, the output ends of the first reduction gearbox 217 and the second reduction gearbox 218 are in transmission connection with each sliding table through an intermediate transmission mechanism, the first sliding motor 209 and the second sliding motor 210 drive the corresponding reduction gearboxes, and then the intermediate transmission mechanism drives each sliding table to synchronously move, so that each sliding table can slide up and down along the vertical guide rail.
Specifically, the output end of the first reduction gearbox 217 is drivingly connected to a 1# drive shaft 211, and the 1# drive shaft 211 is connected between the first support column 201 and the third support column 203. The 1# transmission shaft 211 is respectively connected with the first sliding table 205 on the first supporting column 201 and the third sliding table 207 on the third supporting column 203 in a transmission way through transmission wheels and transmission belts at two ends of the transmission shaft. The output of the second reduction gearbox 218 is drivingly connected to the 2# drive shaft 212, and the 2# drive shaft 212 is connected between the second support column 202 and the fourth support column 204. The 2# transmission shaft 212 is respectively connected with the second sliding table 206 on the second support column 202 and the fourth sliding table 208 on the fourth support column 204 in a transmission way through transmission wheels and transmission belts at two ends of the transmission shaft.
The # 1 horizontal support platform 219, the # 2 horizontal support platform 220 and the # 3 horizontal support platform 221 are connected together by a plurality of telescopic guide rods 216. The front end and the rear end of the 3# horizontal support platform 221 at the uppermost layer are fixedly connected with the first sliding table 205, the second sliding table 206, the third sliding table 207 and the fourth sliding table 208 respectively. In this way, the first slide motor 209 and the second slide motor 210 work synchronously, the first slide motor 209 and the second slide motor 210 synchronously drive the 1# transmission shaft 211 and the 2# transmission shaft 212 through the first reduction gearbox 217 and the second reduction gearbox 218 respectively, synchronously drive the first sliding table 205, the second sliding table 206, the third sliding table 207 and the fourth sliding table 208 to synchronously move up and down along the corresponding vertical guide rails respectively, and synchronously drive the horizontal support platforms to move up and down.
And each horizontal supporting platform is provided with a transmission platform. The transmission platform comprises a mounting seat, a transmission motor, a belt transmission assembly and a transmission guide rail. The # 1 horizontal support platform 219, the # 2 horizontal support platform 220 and the # 3 horizontal support platform 221 are respectively provided with a # 1 transmission platform 213, a # 2 transmission platform 214 and a # 3 transmission platform 215. Each transmission platform has the same structure and comprises a mounting seat 222, a transmission motor 223, a belt transmission assembly 224 and a transmission guide rail 225, wherein the transmission platforms are respectively mounted on the corresponding horizontal support platforms through the mounting seat 222, the mounting seat 222 is provided with the transmission motor 223 and the transmission guide rail 225, the transmission motor 223 is in transmission connection with the transmission guide rail 225 through the belt transmission assembly, and a certain number of unmanned aerial vehicles can be mounted on the transmission guide rail 225. The limiting blocks 226 are arranged on the conveying guide rails 225, so that each unmanned aerial vehicle can be reliably arranged at a set position and are arranged on the conveying guide rails 225 at equal intervals.
The transmission motor 223 is connected with the transmission guide rail 225 through a synchronous wheel and a synchronous belt, the transmission motor 223 drives the synchronous wheel and the synchronous belt to further realize horizontal transmission of the unmanned aerial vehicle on the transmission guide rail 225, the unmanned aerial vehicle catapulting device catapults one unmanned aerial vehicle every time, and after the unmanned aerial vehicle catapulting platform resets, the next unmanned aerial vehicle is transmitted to the unmanned aerial vehicle catapulting platform through controlling the sliding motor and the transmission motor, and then the unmanned aerial vehicle catapulting of the next time is carried out.
The above embodiment may be further designed from the following aspects, the control of the ejection motor including: and detecting the displacement of the rotor, and taking a displacement signal detected by a sensor as the input of phase change of the motor. Meanwhile, the method also comprises the step of detecting the electrical parameters of the ejection motor, provides parameters for closed-loop control of the ejection motor, and is a basis for driving protection. The microprocessor is provided with a singlechip, an ARM and a DSP, so that the control system has very high operation speed and precision, and can realize a complex control algorithm and control the ejection motor in real time. The resources and functions of the DSPs in the three microprocessors are powerful, and the three microprocessors have high operation speed and precision, so that a complex control algorithm can be realized, and the ejection motor can be controlled in real time.
The unmanned aerial vehicle hangar is controlled to be a process control system, can adopt PLC control system, and this system compares with the singlechip, and its interference killing feature is strong, and the fault rate is low, and the extension of easy equipment is convenient for maintain. According to the characteristics of the continuous electromagnetic ejection system, the interface of the PLC is communicated with the serial port of the computer, the touch screen is used as a human-computer interaction interface (HMI) to monitor the system, and the monitoring comprises checking the working state of each element and the running state of the system and sending running control commands. In a PLC control system, after a PLC main control cabinet is electrified, whether an emergency stop switch is pressed down or not and whether a system has faults or not are judged. If the fault or the scram is pressed, performing fault removal and scram reset; judging a control mode if no fault exists or after the fault is processed, and manually controlling an operator to manually complete the loading task of the unmanned aerial vehicle; and the single machine automatic control is realized by a PLC control device according to task requirements to automatically complete automatic filling of the unmanned aerial vehicle. In order to ensure reliable operation of the unmanned aerial vehicle hangar, the PLC is subjected to interlocking programming, and only one working mode is allowed to be adopted by the PLC system. The control system controls the starting, stopping, forward/reverse rotation and the motor rotation speed of the servo motor by the instruction implemented by the touch screen. Firstly, a dialog box is required to be arranged in a touch screen, the task requirement a of unmanned aerial vehicle cluster take-off can be input, namely, the unmanned aerial vehicle is launched once within a second, and then the data attribute of the dialog box is set to be integer variable data in a corresponding PLC. The aim is to realize the motor running speed meeting the task requirement by controlling the motor rotation speed after inputting the numerical value in the dialog box.
The continuous-emission type electromagnetic ejection system can adopt a hybrid energy storage system consisting of a storage battery, a super capacitor and a bidirectional DC/DC converter, and distributes power to the storage battery and the super capacitor based on fuzzy control. The hybrid energy storage system realizes high maneuverability of the continuous-emission electromagnetic ejection system and has the characteristic of high power density. The fuzzy control realizes reasonable distribution of target power among the energy storage units, can effectively reduce the discharge electric quantity of the super capacitor, and reduces the ejection time interval.
In view of the foregoing, it will be evident to those skilled in the art that these embodiments are thus presented in terms of a simplified form, and that these embodiments are not limited to the particular embodiments disclosed herein.
Claims (11)
1. The unmanned aerial vehicle warehouse is characterized by comprising a vertical supporting frame and a conveying mechanism capable of carrying a certain number of unmanned aerial vehicles, wherein the conveying mechanism is arranged in the vertical supporting frame; the conveying mechanism comprises a sliding mechanism and more than one layer of transmission platform, the more than one layer of transmission platform is arranged on the sliding mechanism, a vertical rail is arranged on the vertical supporting frame, the sliding mechanism is in sliding connection with the vertical rail on the vertical supporting frame, the transmission platform is driven by the sliding mechanism to slide up and down along the vertical supporting frame, the vertical supporting frame consists of a first supporting column, a second supporting column, a third supporting column and a fourth supporting column, and the bottoms of the first supporting column, the second supporting column, the third supporting column and the fourth supporting column are all fastened on an installation plane through bolts; Vertical tracks are arranged on the inner side surfaces of the first support column and the second support column opposite to each other; the inner side surfaces of the third support column and the fourth support column, which are opposite, are provided with vertical tracks, and the sliding mechanism comprises a sliding motor, a sliding table, a horizontal support platform and a guide rod; the two sliding motors are respectively a first sliding motor and a second sliding motor; the sliding tables are four, namely a first sliding table, a second sliding table, a third sliding table and a fourth sliding table; the horizontal support platform is provided with three layers, namely a 1# horizontal support platform, a 2# horizontal support platform and a 3# horizontal support platform from bottom to top, and the horizontal support platforms are connected through a telescopic guide rod; the vertical track of the first support column is connected with a first sliding table in a sliding way, the vertical track of the second support column is connected with a second sliding table in a sliding way, the vertical track of the third support column is connected with a third sliding table in a sliding way, and the vertical track of the fourth support column is connected with a fourth sliding table in a sliding way; The first sliding motor and the second sliding motor are respectively arranged at the upper ends of the third support column and the fourth support column; the output ends of the first sliding motor and the second sliding motor are respectively connected with a first reduction gearbox and a second reduction gearbox, the output ends of the first reduction gearbox and the second reduction gearbox are in transmission connection with each sliding table through an intermediate transmission mechanism, the first sliding motor and the second sliding motor drive the corresponding reduction gearbox, and further drive each sliding table to synchronously move through the intermediate transmission mechanism, so that each sliding table can slide up and down along a vertical guide rail, the output end of the first reduction gearbox is in transmission connection with a 1# transmission shaft, and the 1# transmission shaft is connected between a first support column and a third support column; the No. 1 transmission shaft is respectively connected with a first sliding table on the first support column and a third sliding table on the third support column in a transmission way through transmission wheels and transmission belts at two ends of the No. 1 transmission shaft; The output end of the second reduction gearbox is in transmission connection with a 2# transmission shaft, and the 2# transmission shaft is connected between the second support column and the fourth support column; the 2# transmission shaft is respectively connected with a second sliding table on the second support column and a fourth sliding table on the fourth support column in a transmission way through transmission wheels and transmission belts at two ends of the transmission shaft; the front end and the rear end of the 3# horizontal support platform at the uppermost layer are fixedly connected with the first sliding table, the second sliding table, the third sliding table and the fourth sliding table respectively; the first sliding motor and the second sliding motor synchronously work, the first sliding motor and the second sliding motor synchronously drive the 1# transmission shaft and the 2# transmission shaft through the first reduction gearbox and the second reduction gearbox respectively, synchronously drive the first sliding table, the second sliding table, the third sliding table and the fourth sliding table to synchronously move up and down along the corresponding vertical guide rails, synchronously drive each horizontal supporting platform to move up and down, and each horizontal supporting platform is provided with a transmission platform; The transmission platform comprises a mounting seat, a transmission motor, a belt transmission assembly and a transmission guide rail; the horizontal support platform 1, the horizontal support platform 2 and the horizontal support platform 3 are respectively provided with a transmission platform 1, a transmission platform 2 and a transmission platform 3; the structure of each transmission platform is the same, each transmission platform comprises a mounting seat, a transmission motor, a belt transmission assembly and a transmission guide rail, the transmission platforms are respectively mounted on the corresponding horizontal support platforms through the mounting seats, the mounting seats are provided with the transmission motors and the transmission guide rails, the transmission motors are in transmission connection with the transmission guide rails through the belt transmission assembly, and a certain number of unmanned aerial vehicles can be arranged on the transmission guide rails; The transmission motor drives the belt transmission assembly belt to further realize horizontal transmission of the unmanned aerial vehicle on the transmission guide rail.
2. The electronic ejection system of the continuous-sending unmanned aerial vehicle is characterized in that: the unmanned aerial vehicle catapulting device comprises an unmanned aerial vehicle catapulting device and the unmanned aerial vehicle hangar as claimed in claim 1, wherein the unmanned aerial vehicle catapulting device comprises a catapulting frame, an unmanned aerial vehicle catapulting platform and a catapulting motor, the catapulting frame is provided with a catapulting guide rail, the unmanned aerial vehicle catapulting platform is connected to the catapulting guide rail in a sliding manner, the unmanned aerial vehicle catapulting platform is connected with the catapulting motor and can move bidirectionally along the catapulting guide rail under the driving of the catapulting motor, one end of the catapulting guide rail is an unmanned aerial vehicle loading end, and the other end of the catapulting guide rail is an unmanned aerial vehicle catapulting end; the unmanned aerial vehicle library is arranged on one side of an unmanned aerial vehicle loading end of the unmanned aerial vehicle electronic ejection device, and comprises a conveying mechanism capable of carrying a certain number of unmanned aerial vehicles, so that the carried unmanned aerial vehicles can be filled on an unmanned aerial vehicle ejection platform at the unmanned aerial vehicle loading end; after the unmanned aerial vehicle catapulting platform carries the unmanned aerial vehicle at the unmanned aerial vehicle loading end, the unmanned aerial vehicle catapulting platform is driven by the catapulting motor to accelerate along the catapulting guide rail to the unmanned aerial vehicle catapulting end, after the catapulting of the unmanned aerial vehicle is taken off, the unmanned aerial vehicle catapulting platform brakes and moves to the unmanned aerial vehicle loading end along the catapulting guide rail in a reverse mode, and reset of the unmanned aerial vehicle catapulting platform is achieved to prepare the next unmanned aerial vehicle loading and catapulting.
3. The continuous-emission unmanned aerial vehicle electrical ejection system of claim 2, wherein: the unmanned aerial vehicle hangar comprises a vertical supporting frame, and the conveying mechanism is arranged in the vertical supporting frame; the conveying mechanism comprises a sliding mechanism and more than one layer of transmission platform, the more than one layer of transmission platform is arranged on the sliding mechanism, a vertical rail is arranged on the vertical supporting frame, the sliding mechanism is in sliding connection with the vertical rail on the vertical supporting frame, and the transmission platform is driven by the sliding mechanism to slide up and down along the vertical supporting frame.
4. The continuous-emitting unmanned aerial vehicle electromagnetic ejection system of claim 3, wherein: the sliding mechanism comprises a plurality of sliding motors, sliding tables, a horizontal supporting platform and guide rods, wherein each sliding table is driven by the sliding motors, and a vertical rail corresponding to each sliding table is arranged on the vertical supporting frame; more than one layer of horizontal support platforms are connected together through a plurality of guide rods in a mounting way and then are connected with each sliding table in a mounting way as a whole; the sliding motor drives each sliding table, and each horizontal supporting platform is synchronously driven to slide up and down under the driving of each sliding table.
5. The continuous-emission unmanned aerial vehicle electromagnetic ejection system of claim 4, wherein: the horizontal support platforms of the adjacent layers are connected together through a plurality of telescopic guide rods.
6. The continuous-emission unmanned aerial vehicle electromagnetic ejection system of claim 4, wherein: the transmission platform comprises a mounting seat, a transmission motor, a belt transmission assembly and a transmission guide rail, the transmission platform is mounted on each horizontal supporting platform through the mounting seat, the mounting seat is provided with the transmission motor and the transmission guide rail, the transmission motor is in transmission connection with the transmission guide rail through the belt transmission assembly, and a certain number of unmanned aerial vehicles can be mounted on the transmission guide rail.
7. The continuous shooting unmanned aerial vehicle electrical ejection system of claim 6, wherein: the sliding motors are connected with reduction boxes, the output ends of the reduction boxes are in transmission connection with the sliding tables through intermediate transmission mechanisms, the sliding motors drive the corresponding reduction boxes, and then the sliding tables are driven to synchronously move through the intermediate transmission mechanisms, so that the sliding tables can slide up and down along the vertical guide rails; the transmission motor is connected with the transmission guide rail through a synchronous wheel and a synchronous belt, the transmission motor drives the synchronous wheel to be synchronous so as to realize horizontal transmission of the unmanned aerial vehicle on the transmission guide rail, the unmanned aerial vehicle catapulting device catapults one unmanned aerial vehicle every time, after the unmanned aerial vehicle catapulting platform resets, the next unmanned aerial vehicle is transmitted to the unmanned aerial vehicle catapulting platform through controlling the sliding motor and the transmission motor, and then the unmanned aerial vehicle catapulting for the next time is carried out.
8. The continuous hair play unmanned aerial vehicle electrical ejection system of any one of claims 2to 7, wherein: the unmanned aerial vehicle catapulting system comprises a unmanned aerial vehicle, a control system, an unmanned aerial vehicle library and an catapulting motor, wherein the control system controls the unmanned aerial vehicle library to load an unmanned aerial vehicle to an unmanned aerial vehicle catapulting platform according to a set time sequence, so that the catapulting motor and the unmanned aerial vehicle library work in a coordinated manner, and a continuous catapulting and take-off task is completed according to a set mode.
9. The continuous-emission unmanned aerial vehicle electrical ejection system of claim 8, wherein: the energy storage device provides working power for each electric equipment in the unmanned aerial vehicle hangar and the unmanned aerial vehicle electric ejection device, and adopts a super capacitor and storage battery combination mode, wherein the storage battery provides stable low-frequency average power, and the super capacitor rapidly provides high-frequency power of the rest part of the load.
10. The continuous-emission unmanned aerial vehicle electrical ejection system of claim 8, wherein: the device comprises a motor, a motor and a motor controller, wherein the motor is a moving coil type permanent magnet linear motor, the motor is a three-phase full-bridge alternating current circuit formed by 6 full-control power devices, and the motor controller drives the moving coil type permanent magnet linear motor.
11. The continuous-emission unmanned aerial vehicle electrical ejection system of claim 2, wherein: the ejection rack and the ejection guide rail on the ejection rack are arranged at a certain inclination angle with the horizontal plane.
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| CN112572817B (en) * | 2021-01-25 | 2022-05-24 | 南京航空航天大学 | Continuous automatic ejection device for fixed-wing unmanned aerial vehicle and control method thereof |
| CN114572412B (en) * | 2022-03-09 | 2023-06-06 | 中国人民解放军海军工程大学 | Unmanned aerial vehicle library system for lifting transfer and control method thereof |
| CN114399897B (en) * | 2022-03-28 | 2022-06-14 | 北京航空航天大学 | Unmanned aerial vehicle bee colony dense continuous emission control system based on high-speed optical fiber bus |
| FR3141684A1 (en) * | 2022-11-03 | 2024-05-10 | Dae | Vehicle comprising a linear motor launch system powered by a supercapacitor energy accumulator |
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| CN109436364B (en) * | 2018-10-22 | 2021-10-15 | 南京航空航天大学 | Device and method for continuous launching of unmanned aerial vehicle |
| CN109229410A (en) * | 2018-10-23 | 2019-01-18 | 西北工业大学 | A kind of rotary unmanned plane air-launching method and device |
| CN209776831U (en) * | 2019-04-08 | 2019-12-13 | 中国人民解放军国防科技大学 | Continuous-firing electromagnetic catapulting system for unmanned aerial vehicle |
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