CN109896038B - Unmanned aerial vehicle ejection system - Google Patents
Unmanned aerial vehicle ejection system Download PDFInfo
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- CN109896038B CN109896038B CN201910222753.XA CN201910222753A CN109896038B CN 109896038 B CN109896038 B CN 109896038B CN 201910222753 A CN201910222753 A CN 201910222753A CN 109896038 B CN109896038 B CN 109896038B
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Abstract
The invention relates to an unmanned aerial vehicle ejection system which comprises a clamping mechanism, a traction mechanism, a pitching mechanism, a slewing mechanism, a leveling mechanism, a guide mechanism and a braking mechanism. When the unmanned aerial vehicle is in a static stage and an ejection stage, the positioning balls in the lower rotating rod enter the ball clamping holes under the spring force of the spring of the lower rotating rod, so that the guide wheel releasing device is locked; unmanned aerial vehicle slides in the couple inslot at the release stage, the small tractor couple, makes lower bull stick spring compression under wire rope's effect to make the location ball in the lower bull stick break away from with the ball card hole, guide pulley release overturns clockwise, thereby realizes unmanned aerial vehicle's release. The unmanned aerial vehicle launching system can realize all-dimensional and multi-angle launching of the unmanned aerial vehicle, so that the unmanned aerial vehicle can launch more accurately.
Description
Technical Field
The invention belongs to the field of aviation equipment, and particularly relates to an unmanned aerial vehicle ejection system which can ensure that an unmanned aerial vehicle can rapidly and stably take off under complex landforms, and can be combined with a vehicle-mounted transportation platform to realize safe transportation of roads and railways.
Background
At present, the takeoff of a small and medium-sized unmanned aerial vehicle is limited by a field, and an ejection device is mostly adopted to assist the takeoff of the unmanned aerial vehicle. The existing unmanned aerial vehicle ejection system has various forms, and has more application modes such as pneumatic ejection, electromagnetic ejection, spring ejection and the like; and the application scope of the prior ejection device is narrow, and the damage of the airplane caused by the factors such as the ejection angle, the ejection speed, the terrain, the fault of the release device and the like can not well meet the requirement of the take-off of the unmanned aerial vehicle in the process of separating the airplane from the platform.
Disclosure of Invention
The invention aims to overcome the defects and provide the unmanned aerial vehicle ejection system with stable performance. The unmanned aerial vehicle ejection system adopts a mode that a variable frequency motor is wound by a stay wire, different launching speed requirements can be realized, the locking of a pitching mechanism can be realized by using a positioning pin by adopting a hydraulic lifting device, and the safe takeoff of the unmanned aerial vehicle under all directions and multiple angles can be realized by combining a slewing device with meteorological conditions such as wind direction of a launching site.
The purpose of the invention is realized as follows:
the invention relates to an unmanned aerial vehicle ejection system which comprises a guide mechanism, a clamping mechanism, a traction mechanism, a pitching mechanism, a slewing mechanism and a braking mechanism; the guide mechanism comprises a traction trolley, a guide rail and a stiffening beam, the stiffening beam is fixedly connected with the guide rail, and the traction trolley can slide along the guide rail under the action of a traction rope; the clamping mechanism comprises wing supporting plates, a machine body hook and a guide wheel releasing device, the wing supporting plates are respectively arranged on two sides of a platform of the traction trolley, the machine body hook is positioned at the rear part of the platform of the traction trolley, and the guide wheel releasing device is hinged with the platform of the traction trolley through a connecting pin; the traction mechanism comprises a variable frequency motor, a winding drum wheel, an electromagnet, a buffer spring and a guide wheel; the variable frequency motor and the winding drum wheel are coaxially connected and fixed on the swing mechanism, the traction rope bypasses the guide wheel fixed on the guide rail and is connected with the winding drum wheel, and the traction rope is connected with the traction trolley through the buffer spring; the pitching mechanism comprises a hydraulic oil cylinder, a supporting rod and a pitching platform, wherein the first end of the hydraulic oil cylinder is hinged with the reinforcing beam, the second end of the hydraulic oil cylinder is hinged with the middle part of the supporting rod, the fixed end of the supporting rod is hinged with the pitching platform, the sliding end of the supporting rod slides in a positioning guide groove on the reinforcing beam, the pitching platform is connected with the swing mechanism, and the pitching of the pitching platform is realized through the expansion and contraction of the hydraulic oil cylinder; the slewing mechanism comprises an upper turntable, a lower turntable, a planetary gear set and a rolling body positioned between the upper turntable and the lower turntable, the planetary gear set is arranged between the upper turntable and the pitching platform and connected with the planetary gear set, and the lower turntable is connected with the bearing platform; the brake mechanism comprises a brake pull rod, a buffer spring, a traction trolley hook, a hook groove and a thrust plate, the brake pull rod is connected with the buffer spring and can slide in the guide groove of the guide rail, the traction trolley hook is connected with a sliding pin of the guide wheel release device through the steel wire rope, and the traction trolley hook can slide in the hook groove and is constrained by the thrust plate to have maximum displacement; the guide wheel releasing device comprises an upper rotating rod, a lower rotating rod, positioning balls and ball clamping holes, a connecting pin hinged with the traction trolley is arranged at the intersection of the upper rotating rod and the lower rotating rod, through holes are formed in the upper rotating rod and the lower rotating rod, an upper rotating rod spring and a lower rotating rod spring are arranged in the through holes respectively, the positioning balls are arranged at two ends of the through holes respectively, and the positioning balls in the lower rotating rod can be clamped in the ball clamping holes; when the unmanned aerial vehicle is in a static stage and an ejection stage, the positioning balls in the lower rotating rod enter the ball clamping holes under the spring force action of the spring of the lower rotating rod, so that the guide wheel releasing device is locked; unmanned aerial vehicle is when the release stage, and the small tractor couple slides in the couple inslot, makes down the bull stick spring compression under wire rope's effect to make the location ball in the bull stick break away from with the ball card hole, guide pulley release overturns clockwise, thereby realizes unmanned aerial vehicle's release.
Preferably, the unmanned aerial vehicle ejection system further comprises a leveling mechanism, the leveling mechanism comprises a bearing platform, a large arm and telescopic support legs, the bearing platform is outwards provided with the large arms along the radial direction, each large arm is provided with an opening, and the telescopic support legs can be telescopically arranged in the openings in a penetrating mode.
Furthermore, the electromagnet is fixedly arranged on one side of the traction trolley and is attracted with the traction trolley through electromagnetic force when being electrified; under the action of the variable frequency motor, when the traction force is greater than the electromagnetic force, the traction trolley can slide on the sliding guide rail of the pitching platform, and different initial tension can be added to the traction trolley by adjusting the size of the electrified current of the electromagnet.
Preferably, a positioning pin is arranged in the positioning guide groove of the pitching platform, and the pitching platform can be locked by inserting the positioning pin.
Preferably, the traction trolley is provided with a positioning clamp hole, and the thrust plate is fixedly connected to the rear part of the traction trolley.
Preferably, the guide wheel releasing device is located at the front end of the traction trolley, and the wing supporting plates are respectively and symmetrically arranged on two sides of the platform of the traction trolley.
Preferably, the upper rotating rod and the lower rotating rod are integrally formed into an L-shaped hollow rod.
Preferably, the guide wheel releasing device is provided with a fixed baffle plate, and the fixed baffle plate is connected with the outer wall of the upper rotating rod and can abut against the platform of the traction trolley.
Preferably, the planetary gear set comprises a motor, a planetary gear, a sun gear and an internal gear drum, and the planetary gear, the sun gear and the internal gear drum form a revolving gear train.
The unmanned aerial vehicle ejection system adopts the variable frequency motor as a power source, utilizes the traction rope, the guide wheel and the electromagnet to eject and propel, and has controllable traction force and convenient adjustment; utilize planetary gear speed reducer and hydraulic cylinder to adjust the launch angle of device, can accomplish the regulation of every single move angle and deflection angle, can realize the transmission of unmanned aerial vehicle all-round, multi-angle, make unmanned aerial vehicle transmission more accurate. The leveling mechanism comprises telescopic supporting legs and a large arm, can finish automatic leveling and can meet the requirement of all-terrain launching. The brake pull rod is adopted for braking, the brake buffer performance is good, and the work is reliable. The unmanned aerial vehicle ejection system provided by the invention adopts the vehicle-mounted power supply and the pump station to provide energy, and has the advantages of simple structure, convenience in transportation, high reliability and long service life.
Drawings
To visually illustrate the specific implementation steps of the present invention, the schematic diagram will now be described as follows:
fig. 1 is a schematic structural diagram of an unmanned aerial vehicle ejection system of the present invention;
fig. 2 is a schematic diagram of a part of a traction structure, a pitching mechanism and a braking mechanism of the unmanned aerial vehicle ejection system;
FIG. 3 is a schematic view of a leveling mechanism;
FIG. 4 is a schematic view of the clamping mechanism, idler release;
FIGS. 5A and 5B are schematic views of a guide wheel release apparatus;
FIGS. 6A and 6B are schematic views of a pitch mechanism, a brake mechanism, and a guide mechanism;
FIG. 7 is a schematic structural view of a planetary gear set; and
FIG. 8 is a schematic diagram of the structure of the upper turntable, the lower turntable and the rolling body.
Wherein the main reference numerals are:
the device comprises a traction mechanism 100, a leveling mechanism 200, a clamping mechanism 300, a pitching mechanism 400, a guide mechanism 500, a brake mechanism 600, a slewing mechanism 700, a variable frequency motor 101, a traction rope 102, a guide wheel 103, an electromagnet 104, a buffer spring 105, a reel wheel 106, a traction trolley 107, a bearing platform 201, a large arm 202, a telescopic leg 203, a wing support plate 301, a fuselage hook 302, a guide wheel release device 303, a fixed baffle 3030, an upper rotating rod 3031, an upper rotating rod spring 3032, a lower rotating rod 3033, a lower rotating rod spring 3034, a connecting pin 3035, a lower rotating rod open slot 3036, a sliding pin 3037, a steel wire rope 3038, a positioning ball 3039, a ball clamping hole 304, a hydraulic oil cylinder 401, a support rod 402, a positioning guide groove 403, a positioning pin 404, a positioning hole 405, a pitching platform 406, a guide rail 501, a reinforcing beam 502, a brake pull rod 601, a buffer spring 602, a traction trolley hook 603, a guide groove 604, a hook groove 605 and a thrust plate 606, an upper rotary table 701, a lower rotary table 702, rolling bodies 703, a planetary gear set 704, a motor 7040, planetary gears 7041, a sun gear 7042 and an internal gear rotary drum 7043.
Detailed Description
As shown in fig. 1, the drone ejection system of the present invention includes a towing mechanism 100, a leveling mechanism 200, a gripping mechanism 300, a pitching mechanism 400, a guiding mechanism 500, a braking mechanism 600, and a slewing mechanism 700. The whole set of device is powered by a vehicle-mounted power supply or a pump station, and transportation of various vehicles is conveniently realized.
As shown in fig. 2, the traction mechanism 100 includes a variable frequency motor 101, a traction rope 102, a guide pulley 103, an electromagnet 104, a buffer spring 105, a reel pulley 106, and a traction trolley 107. The variable frequency motor 101 and the winding drum wheel 106 are coaxially connected and fixed on the swing mechanism 700, the traction rope 102 on the winding drum wheel 106 bypasses the guide wheel 103 fixed on the guide rail 501 and is connected with the buffer spring 105, the buffer spring 105 is connected with the traction trolley 107, and the buffer spring 105 can ensure that the traction trolley 107 keeps still under the condition that the motor obtains a certain initial speed, so that the ejection distance is shortened. The electromagnet 104 is fixed behind the traction trolley 107, and is attracted to the traction trolley 107 through electromagnetic force when being electrified, meanwhile, under the action of the variable frequency motor 101, when the traction force is larger than the electromagnetic force, the traction trolley 107 can slide on the sliding guide rail 501 of the pitching platform 406, different initial tension can be added to the traction trolley 107 by adjusting the electrified current of the electromagnet 104, by adopting the above mode, larger initial acceleration can be obtained, the takeoff speed can be ensured to be reached at the fastest speed under the condition that the ejection distance is limited, and meanwhile, different traction speeds can be obtained by adjusting the pulse frequency of the variable frequency motor 101.
As shown in fig. 3, the leveling mechanism 200 includes a load-bearing platform 201, a boom 202, and telescoping legs 203. The bearing platform 201 is provided with a plurality of large arms 202 along the radial direction, each large arm 202 is provided with an opening, and the telescopic support legs 203 penetrate through the openings. The number of large arms 202 may be three or four, etc. The height of the telescopic supporting legs 203 is adjusted to meet the ejection requirement of all terrain.
As shown in fig. 4 and with reference to fig. 1 and 2, a clamping mechanism 300 is located on the wagon 107, the clamping mechanism 300 including a wing support plate 301, a stator release 303, and a fuselage hook 302. The wing supporting plates 301 are symmetrically arranged on two sides of the platform of the traction trolley 107, and the fuselage hook 302 is located at the rear part of the platform of the traction trolley 107 and used for applying pushing force to the unmanned aerial vehicle. The wing support plate 301 is attached to the wagon 107 for securing and supporting the wing.
As shown in fig. 5A and 5B, wherein fig. 5B is a schematic view of the outline along the line C-C in fig. 5A. The guide wheel release device 303 includes a fixed stop plate 3030, an upper lever 3031, an upper lever spring 3032, a lower lever 3033, a lower lever spring 3034, a connecting pin 3035, a lower lever open slot 3036, a sliding pin 3037, a wire cable 3038, a positioning ball 3039 and a ball catch hole 304. The fixed baffle 3030 is connected with the outer wall of the upper rotating rod 3031 and can abut against the platform of the traction trolley 107. An upper lever 3031 and a lower lever 3033 are arranged in an L-shape, an upper lever spring 3032 is disposed in the upper lever 3031, a lower lever spring 3034 is disposed in the lower lever 3033, and a connecting pin 3035 is disposed at the intersection of the upper lever 3031 and the lower lever 3033 and articulates the guide wheel release 303 with the platform of the wagon 107. The slide pin 3037 is disposed in the lower lever spring 3034 and the positioning ball 3039 is located at the lower lever 3033 near the ball catch bore 304. Referring to fig. 6A again, in the stage of the unmanned aerial vehicle stillness and ejection, the positioning ball 3039 enters the ball catching hole 304 under the spring force of the lower rotating rod spring 3034, so that locking of the guide wheel releasing device 303 can be realized, in the releasing stage, when the traction trolley 107 reaches the end point of the guide rail 501, the traction trolley hook 603 is hung on the brake pull rod 601, and under the resistance action of the brake pull rod 601, the traction trolley hook 603 slides in the hook groove 605, so that the lower rotating rod spring 3034 is compressed under the action of the steel wire rope 3038, so that the positioning ball 3039 is separated from the ball catching hole 304, the clockwise turning of the guide wheel releasing device 303 is realized, and the release of the unmanned aerial vehicle is realized.
As shown in fig. 2 and 6A, pitch mechanism 400 includes hydraulic ram 401, support bar 402, positioning guide 403, positioning pin 404, positioning hole 405, and pitch platform 406. The first end of the hydraulic oil cylinder 401 is hinged with the reinforcing beam 502, and the second end of the hydraulic oil cylinder 401 is hinged with the middle part of the supporting rod 402. The fixed end of the support rod 402 is hinged to the pitch platform 406, and the sliding end of the support rod 402 can slide in the positioning guide slot 403. The positioning hole 405 and the positioning guide groove 403 are both formed in the reinforcing beam 502, the pitching platform 406 is connected with the rotating mechanism 700, the support rod 402 can be driven to slide in the positioning guide groove 403 by contraction of the hydraulic oil cylinder 401, and when the pitching mechanism 400 is lifted to a preset position, the positioning pin 404 is inserted into the positioning hole 405, so that locking of the pitching mechanism 400 can be realized, and stability of the whole mechanism in the ejection process is guaranteed.
As shown in fig. 2, fig. 6A and fig. 6B, the guiding mechanism 500 of the present application includes a towing trolley 107, a guide rail 501 and a reinforcing beam 502, wherein the towing trolley 107 can slide along the guide rail 501 under the action of the variable frequency motor 101 and the traction rope 102. Brake mechanism 600 includes brake lever 601, buffer spring 602, wagon hitch 603, guide slot 604, hitch slot 605, and thrust plate 606. The brake pull rod 601 is connected with a buffer spring 602 and can slide in a guide groove 604, the guide groove 604 is opened on the guide rail 501, a traction trolley hook 603 is connected with a sliding pin 3037 of the guide wheel releasing device 303 through a steel wire rope 3038, can slide in a hook groove 605, and is restrained by a thrust plate 606 to move maximally. When the traction trolley 107 reaches the end point of the guide rail, the traction trolley hook 603 is hung on the brake pull rod 601, the traction trolley hook 603 slides in the hook groove 605 under the resistance action of the brake pull rod 601, and when the traction trolley hook 603 is in contact with the thrust plate 606, the traction trolley hook 603 drives the brake pull rod 601 to stretch the buffer spring 602, so that the traction trolley 107 is rapidly decelerated until the traction trolley stops.
As shown in fig. 7 and 8, the swing mechanism 700 includes an upper turntable 701, a lower turntable 702, rolling bodies 703, and a planetary gear set 704. The planetary gear set 704 includes a motor 7040, planetary gears 7041, a sun gear 7042, and an internal gear drum 7043. The upper turntable 701 as a part of the slewing mechanism 700 is connected with the internal gear rotating drum 7043, the lower turntable 702 is connected with the bearing platform 201, the rolling body 703 is positioned between the annular grooves of the upper turntable 701 and the lower turntable 702, the planetary gear set 704 is positioned between the upper turntable 701 and the pitching platform 406, the rotation of the upper turntable 701 can be realized by driving the planetary gear set 704 to rotate through the rotation of the motor 7040, and therefore the whole slewing device is driven to realize slewing.
The unmanned aerial vehicle ejection system has the following specific working process:
1. the leveling mechanism 200 is adjusted to a proper position, the unmanned aerial vehicle is arranged on the traction trolley 107, the front wheel of the unmanned aerial vehicle is clamped on the guide wheel releasing device 303, and the fuselage and the wings are fixed by a fuselage hook 302 and a wing supporting plate 301 respectively.
2. Aiming at an aerial photography unmanned aerial vehicle with the weight of 20kg, 6-grade wind speed can be borne, the wind direction is measured before the take-off, the swing mechanism 700 is adjusted to the upwind launching direction so as to facilitate the take-off of the unmanned aerial vehicle, the ejection angle of the pitching mechanism 400 is adjusted to 18-25 degrees, the current of the electromagnet 104 is adjusted to be about 40A, and the initial release tension is about 220N.
3. Starting the variable frequency motor 101, rapidly propelling the unmanned aerial vehicle along the track under the action of the traction mechanism 100, when the unmanned aerial vehicle approaches the stroke end, driving the guide wheel releasing device 303 to turn clockwise by the traction trolley hook 603 under the action of the brake pull rod 601, releasing the front wheel of the unmanned aerial vehicle, taking off the unmanned aerial vehicle, and at the same time, rapidly decelerating the traction trolley 107 under the action of the buffer spring 602 until the unmanned aerial vehicle is static.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. An unmanned aerial vehicle ejection system which characterized in that: the device comprises a guide mechanism, a clamping mechanism, a traction mechanism, a pitching mechanism, a slewing mechanism and a braking mechanism;
the guide mechanism comprises a traction trolley, a guide rail and a stiffening beam, the stiffening beam is fixedly connected with the guide rail, and the traction trolley can slide along the guide rail under the action of a traction rope;
the clamping mechanism comprises wing supporting plates, a machine body hook and a guide wheel releasing device, the wing supporting plates are respectively arranged on two sides of a platform of the traction trolley, the machine body hook is positioned at the rear part of the platform of the traction trolley, and the guide wheel releasing device is hinged with the platform of the traction trolley through a connecting pin;
the traction mechanism comprises a variable frequency motor, a winding drum wheel, an electromagnet, a buffer spring and a guide wheel; the variable frequency motor and the winding drum wheel are coaxially connected and fixed on the swing mechanism, the traction rope bypasses the guide wheel fixed on the guide rail and is connected with the winding drum wheel, and the traction rope is connected with the traction trolley through the buffer spring;
the pitching mechanism comprises a hydraulic oil cylinder, a supporting rod and a pitching platform, wherein the first end of the hydraulic oil cylinder is hinged with the reinforcing beam, the second end of the hydraulic oil cylinder is hinged with the middle part of the supporting rod, the fixed end of the supporting rod is hinged with the pitching platform, the sliding end of the supporting rod slides in a positioning guide groove on the reinforcing beam, the pitching platform is connected with the swing mechanism, and the pitching of the pitching platform is realized through the expansion and contraction of the hydraulic oil cylinder;
the slewing mechanism comprises an upper turntable, a lower turntable, a planetary gear set and a rolling body positioned between the upper turntable and the lower turntable, the planetary gear set is arranged between the upper turntable and the pitching platform, and the lower turntable is connected with the bearing platform;
the brake mechanism comprises a brake pull rod, a buffer spring, a traction trolley hook, a hook groove and a thrust plate, the brake pull rod is connected with the buffer spring and can slide in the guide groove of the guide rail, the traction trolley hook is connected with a sliding pin of the guide wheel release device through a steel wire rope, and the traction trolley hook can slide in the hook groove and is constrained by the thrust plate to have maximum displacement; and
the guide wheel releasing device comprises an upper rotating rod, a lower rotating rod, positioning balls and ball clamping holes, a connecting pin hinged with the traction trolley is arranged at the intersection of the upper rotating rod and the lower rotating rod, through holes are formed in the upper rotating rod and the lower rotating rod, an upper rotating rod spring and a lower rotating rod spring are arranged in the through holes respectively, the two ends of each through hole are provided with the positioning balls respectively, and the positioning balls in the lower rotating rod can be clamped in the ball clamping holes; when the unmanned aerial vehicle is in a static stage and an ejection stage, the positioning balls in the lower rotating rod enter the ball clamping holes under the spring force action of the spring of the lower rotating rod, so that the guide wheel releasing device is locked; unmanned aerial vehicle is when the release stage, and the small tractor couple slides in the couple inslot, makes down the bull stick spring compression under wire rope's effect to make the location ball in the bull stick break away from with the ball card hole, guide pulley release overturns clockwise, thereby realizes unmanned aerial vehicle's release.
2. The unmanned aerial vehicle ejection system of claim 1, wherein: the leveling mechanism comprises a bearing platform, large arms and telescopic supporting legs, the bearing platform is outwards provided with the large arms along the radial direction, each large arm is provided with an opening, and the telescopic supporting legs can be telescopically arranged in the openings in a penetrating mode.
3. The unmanned aerial vehicle ejection system of claim 1 or 2, wherein: the electromagnet is fixedly arranged on one side of the traction trolley and is attracted with the traction trolley through electromagnetic force when being electrified; under the action of the variable frequency motor, when the traction force is greater than the electromagnetic force, the traction trolley can slide on the sliding guide rail of the pitching platform, and different initial tension can be added to the traction trolley by adjusting the size of the electrified current of the electromagnet.
4. The unmanned aerial vehicle ejection system of claim 3, wherein: the positioning guide groove of the pitching platform is internally provided with a positioning pin, and the pitching platform can be locked by inserting the positioning pin.
5. The unmanned aerial vehicle ejection system of claim 3, wherein: a positioning clamp hole is formed in the upper surface of the traction trolley, and the thrust plate is fixedly connected to the rear portion of the traction trolley.
6. The unmanned aerial vehicle ejection system of claim 3, wherein: the guide wheel releasing device is positioned at the front end of the traction trolley, and the wing supporting plates are respectively and symmetrically arranged on two sides of a platform of the traction trolley.
7. The unmanned aerial vehicle ejection system of claim 3, wherein: the upper rotating rod and the lower rotating rod are L-shaped hollow rods which are integrally manufactured.
8. The unmanned aerial vehicle ejection system of claim 3, wherein: the guide wheel releasing device is provided with a fixed baffle which is connected with the outer wall of the upper rotating rod and can be abutted against the platform of the traction trolley.
9. The unmanned aerial vehicle ejection system of claim 3, wherein: the planetary gear set comprises a motor, a planetary gear, a sun gear and an internal gear rotating drum, and the planetary gear, the sun gear and the internal gear rotating drum form a rotary gear train.
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| CN110816783B (en) * | 2019-10-25 | 2021-05-14 | 哈尔滨工业大学（威海） | Launching device for water-entering experiment of navigation body and method for realizing continuous release of launching device |
| CN111924124B (en) * | 2020-08-11 | 2022-12-09 | 西北工业大学 | Vehicle-mounted small unmanned aerial vehicle multi-frame electromagnetic launching device and launching method |
| CN112880961B (en) * | 2021-02-26 | 2023-06-13 | 中国民航管理干部学院 | Rotary ejection platform and rotary ejection system |
| CN113247290B (en) * | 2021-06-24 | 2021-12-03 | 成都飞机工业（集团）有限责任公司 | Bounce takeoff device of unmanned aerial vehicle |
| CN115489749B (en) * | 2022-11-16 | 2023-03-24 | 成都航空职业技术学院 | Fixed wing unmanned aerial vehicle launches take-off and land integrated system |
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| CN109896038A (en) | 2019-06-18 |
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