CN114620243B - Intelligent take-off and landing capturing system for aircraft - Google Patents
Intelligent take-off and landing capturing system for aircraft Download PDFInfo
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- CN114620243B CN114620243B CN202210512995.4A CN202210512995A CN114620243B CN 114620243 B CN114620243 B CN 114620243B CN 202210512995 A CN202210512995 A CN 202210512995A CN 114620243 B CN114620243 B CN 114620243B
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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
- B64F1/02—Arresting gear; Liquid barriers
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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
- B64F1/02—Arresting gear; Liquid barriers
- B64F1/0297—Arresting gear; Liquid barriers adjustable to align with aircraft trajectory
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/80—Energy efficient operational measures, e.g. ground operations or mission management
Abstract
The invention provides an intelligent taking-off and landing capturing system of an aircraft, which consists of an airborne terminal and a ground terminal, wherein the airborne terminal and the ground terminal are arranged on the aircraft; the ground terminal comprises a carrier loader, a communication response system, a control system, a visual positioning system, a multi-degree-of-freedom moving device and a capturing and locking device, the communication response system and the visual positioning system are arranged on the carrier loader, the communication response system and the visual positioning system establish the position relation between the carrier loader and the aircraft, the control system controls the carrier loader and the multi-degree-of-freedom moving device to adjust the position, capture and lock the device, and the capturing and locking device is arranged on the multi-degree-of-freedom moving device in a matched mode. The invention reduces the weight of the landing gear system, simplifies the complexity of the aircraft system, and increases the voyage and the voyage; the take-off and landing running distance of the aircraft is reduced, and the requirement of the aircraft on a runway is also reduced; the taking-off and landing of the aircraft can be independent of GNSS precision.
Description
Technical Field
The invention relates to the field of aircraft design, in particular to an intelligent take-off and landing capturing system for an aircraft.
Background
Landing gear is an important device for a horizontal takeoff and landing aircraft. When the existing aircraft takes off and lands, the wheel type landing gear is mainly used for supporting the take-off and landing on a runway. For a high-speed aircraft, a landing gear retraction function is required, a landing gear cabin, a landing gear retraction mechanism, a landing gear cabin door and a brake system are correspondingly required, and the weight of the landing gear system is about 4-5% of the weight of the whole aircraft.
For aircraft with emphasis on both time and range, the fuel loading may account for 60% of the total weight of the aircraft, and the weight of the landing gear system may account for more than 10% of the weight of the aircraft. If the landing gear can be eliminated, the range can be increased by more than 10%.
The civil aircraft usually needs to slide for a long distance before taking off and after landing, the working condition at the moment is low-efficiency for an engine, and for the most medium-short distance airlines, the ground sliding oil consumption can account for 10% -20% of the whole sailing range.
Some unmanned drone machines adopt a scheme of vehicle-mounted running, takeoff and separation, but a scheme of vehicle-mounted running and catching is not adopted for landing so far. This is mainly due to the fact that the technology adopted by the aircraft is difficult to guarantee the speed and position coordination between the ground coupe and the aircraft during the landing process, and the correctness and reliability of the capturing action, which is fatal for the aircraft.
Disclosure of Invention
Aiming at the problems in the prior art, the aircraft intelligent take-off and landing capturing system is provided, the horizontal take-off and landing support function of the aircraft is realized through the system, and the purposes of eliminating an undercarriage device on the aircraft and reducing the empty weight of the aircraft and the complexity of the system on the aircraft are achieved.
The technical scheme adopted by the invention is as follows: an intelligent take-off and landing capturing system of an aircraft consists of an airborne terminal and a ground terminal which are installed on the aircraft; the ground terminal comprises a carrier loader, a communication response system, a control system, a visual positioning system, a multi-degree-of-freedom moving device and a capturing and locking device, wherein the communication response system and the visual positioning system are arranged on the carrier loader, the control system controls the acceleration and deceleration of the carrier loader, the position adjustment of the multi-degree-of-freedom moving device, and the capturing, releasing, locking and unlocking actions of the capturing and locking device; the control system controls the multi-degree-of-freedom moving device to adjust the position of the capturing and locking device through the position relation between the carrier loader and the aircraft, and the position coordination between the capturing and locking device and the taking-off and landing hook device at the bottom of the aircraft is guaranteed.
Further, the multi-degree-of-freedom moving device comprises at least four actuating cylinders, a flat plate, a first slide rail group, a second slide rail group, a first trolley group, a second trolley group and a third trolley group; the actuating cylinder is arranged below the flat plate and is connected with the carrying vehicle and the flat plate; the first sliding rail group and the second sliding rail group are both composed of two parallel rails, are arranged on the upper surface of the flat plate, and are perpendicular to the advancing direction of the carrier loader; the first trolley group is arranged on the first slide rail group, and the second trolley group and the third trolley group are arranged on the second slide rail group; the first trolley group, the second trolley group and the third trolley group are identical in structure, trolleys on the trolley sliding rail group and the trolley sliding rail group are correspondingly arranged on the upper surface of the trolley, the trolley is provided with a capturing and locking device, and the rail direction of the trolley sliding rail group is perpendicular to the rail direction of the first sliding rail group.
The device comprises three position adjusting devices for replacing a multi-degree-of-freedom moving device, wherein each position adjusting device comprises a rotating base, a first driving joint, a second driving joint, a first fixed stay bar and a telescopic stay bar, and the rotating base is fixed at the top of a carrier loader and rotates along a central shaft; the first driving joint is arranged on the rotating base and is sequentially connected with the first fixed support rod, the second driving joint and the telescopic support rod, and the capturing and locking device is arranged at the tail end of the telescopic support rod; the three position adjusting devices are respectively arranged on the carrier loader in a front three-point mode, and the position of the capturing and locking device is adjusted by moving the position adjusting devices through the control system.
Further, the position adjusting device further comprises a third driving joint and a second fixed supporting rod; the first fixed stay bar is arranged between the first fixed stay bar and the second driving joint, one end of the first fixed stay bar is connected with the first driving joint, the other end of the first fixed stay bar is connected with the third driving joint, the third driving joint is simultaneously connected with one end of the second fixed stay bar, and the other end of the second fixed stay bar is connected with the second driving joint.
Furthermore, the lifting hook device of the airborne terminal is of a concave conical surface structure, and the shape of the lifting hook device is consistent with that of the capturing and locking device of the ground terminal.
Furthermore, the capturing and locking device is composed of a mechanical claw, a support arm and a conical surface structure matched with a hook of the airborne terminal, the support arm is used for being matched and positioned with the lifting hook device, the mechanical claw is fixed on the conical surface structure on the outer side of the support arm, and when the pressure reaches a certain value, the mechanical claw inwards grasps the lifting hook device.
Furthermore, the lifting hook device is a U-shaped hook and is arranged on a bottom plate of the landing gear cabin.
Furthermore, the capturing and locking device comprises two elastic sheets, a spring, a stop block, a base and a force bearing block; the base is composed of a cylindrical base and a rectangular base, and the rectangular base is fixed above the cylindrical base; the main body of the bearing block is in a cuboid shape, one end of the bearing block is fixed on the side surface of the cuboid base, the other end of the bearing block is in a pyramid shape, and the two sides of the main body are subjected to inward concave treatment on the junction part of the pyramid bottom and the cuboid; the two elastic sheets are respectively arranged at the concave parts at the two sides of the bottom of the pyramid and are matched with the spring and the stop block; the U-shaped hook is formed by extruding the elastic sheet, after passing through the elastic sheet, the elastic sheet returns to the maximum position due to the elasticity of the spring, the take-off and landing hook device on the aircraft is limited to be withdrawn, and the force bearing block penetrates into the U-shaped hook to complete capture.
Furthermore, the periphery of the bearing block is adhered with a damping buffer material.
Furthermore, the take-off and landing hook device is arranged at the bottom of the aircraft in a front three-point mode.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows:
1. reducing the weight of the landing gear system and simplifying the complexity of the aircraft system.
2. As the weight of the landing gear structure and system is reduced, the aircraft can carry more fuel, increasing range and time.
3. The takeoff and landing run distance is reduced, the aircraft and the carrier loader accelerate or decelerate at the same time, the takeoff and landing run distance of the aircraft is reduced, and the requirement of the aircraft on a runway is reduced.
4. The taking-off and landing of the aircraft can be independent of GNSS precision.
Drawings
Fig. 1 is a schematic diagram of an intelligent take-off and landing assistance system according to an embodiment of the present invention.
Fig. 2 is a schematic view of an aircraft take-off and landing hook device according to an embodiment of the invention.
Fig. 3 is a control schematic diagram of the intelligent take-off and landing assistance system of the invention.
Fig. 4 is a schematic diagram of an intelligent take-off and landing assistance system according to another embodiment of the invention.
Fig. 5 is a schematic view of a position adjustment device according to another embodiment of the present invention.
Fig. 6 is a schematic view of an aircraft take-off and landing hook assembly in another embodiment of the invention.
Fig. 7 is a schematic view of a capture and locking device in another embodiment of the invention.
Reference numerals: 1-a carrier vehicle, 2-a multi-degree-of-freedom moving device, 3-a capturing and locking device, 4-a position adjusting device,
201-actuators, 202-plates, 203-first skid set, 204-second skid set, 205-first car set, 206-second car set, 207-third car set, 208-cars,
301-mechanical claw, 302-support arm, 303-elastic sheet, 304-spring, 305-stop block, 306-cylindrical base, 307-cuboid base, 308-bearing block,
401-rotating base, 402-first driving joint, 403-second driving joint, 404-first fixed stay, 405-telescopic stay, 406-third driving joint, 407-second fixed stay;
501-concave conical surface structure, 502-U-shaped hook.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Example 1
As shown in fig. 1, the present embodiment provides an intelligent take-off and landing capturing system for an aircraft, which is composed of an onboard terminal and a ground terminal installed on the aircraft; the airborne terminal on the aircraft comprises a take-off and landing hook device and airborne communication response equipment, and the ground terminal is matched with the take-off and landing hook device arranged at the bottom of the aircraft for use.
Specifically, the ground terminal comprises a carrier loader 1, a communication response system, a control system, a visual positioning system, a multi-degree-of-freedom moving device 2 and a capturing and locking device 3, wherein the communication response system, the control system, the visual positioning system, the multi-degree-of-freedom moving device 2 and the capturing and locking device 3 are arranged on the carrier loader 1, the communication response system and the visual positioning system establish the position relation between the carrier loader and an aircraft, the control system controls the acceleration and deceleration of the carrier loader, the position adjustment of the multi-degree-of-freedom moving device 2 and the capturing, releasing, locking and unlocking actions of the capturing and locking device 3, the multi-degree-of-freedom moving device 2 is arranged above the carrier loader 1, and the capturing and locking device 3 is arranged on the multi-degree-of-freedom moving device 2 in a matched mode and used for capturing or releasing a lifting hook device and capturing the locking after the lifting hook device; the communication response system is mainly communicated with airborne communication response equipment in the aircraft and establishes a relative position relation between the aircraft and the ground terminal with lower precision; the visual positioning system is mainly used for establishing a relative position relation with high precision between the aircraft and the ground terminal.
In the working process, the control system controls the multi-degree-of-freedom moving device 2 to adjust the position of the capturing and locking device 3 through the position relation between the carrier loader 1 and the aircraft, so that the position adjustment in the pitching direction, the rolling direction, the height direction, the front-back direction, the left-right direction is realized, the position coordination between the capturing and locking device 3 and the lifting hook device at the bottom of the aircraft is ensured, and the capturing or releasing of the aircraft is realized.
Specifically, the multi-degree-of-freedom moving device 2 includes at least four actuators 201, a platform 202, a first slide rail set 203, a second slide rail set 204, a first car set 205, a second car set 206, and a third car set 207; the actuating cylinder 201 is arranged below the flat plate 202 and is connected with the carrier loader 1 and the flat plate 202; the first slide rail group 203 and the second slide rail group 204 are both composed of two parallel rails, and are arranged on the upper surface of the flat plate 202, and the direction of the rails is perpendicular to the advancing direction of the carrier loader 1; the first trolley set 205 is arranged on the first sliding rail set 203, and the second trolley set 206 and the third trolley set 207 are arranged on the second sliding rail set 204; the first trolley set 205, the second trolley set 206 and the third trolley set 207 are identical in structure, trolley slide rail sets and trolleys 208 on the trolley slide rail sets are correspondingly arranged on the upper surfaces of the first trolley set 205, the second trolley set 206 and the third trolley set 207, the trolleys are provided with the capturing and locking devices 3, and the track direction of the trolley slide rail sets is perpendicular to the track direction of the first slide rail set 203.
A first car set 205 is movable on the first skid set 203, and a second car set 206, a third car set 207 are movable on the second skid set 204. And the carriages 208 carrying the capturing and locking device 3 move on the respective sets of slide rails.
In the present embodiment, the number of the rams 201 is four, and the rams are respectively disposed at four corners of the plate 202. It should be noted that the actuating cylinders, the trolley sets and the trolleys mentioned in the embodiment are controlled by the control system to move, and the capturing and locking devices are adjusted to proper positions to capture the lifting hook devices.
In the embodiment, the communication response system provides a ground device ready signal for the aircraft when the aircraft lands, and acquires the position and speed real-time information of the aircraft;
the visual positioning system identifies and positions the aircraft take-off and landing hook device in the landing capture stage, and judges and feeds back the opening state of the cabin door;
the control system controls acceleration and braking of the carrier loader, starting acceleration of the carrier loader and position tracking and maintaining of the aircraft are controlled according to aircraft relative positioning information provided by the communication response system (when the distance is long) and the visual positioning system (after the aircraft enters a field range) in the aircraft landing stage, the mechanical claw is operated according to the visual positioning information to reliably capture the aircraft entering a landing running process when the aircraft lands and enters the capture range, and the mechanical claw is operated to enable the aircraft to enter a take-off posture after the take-off running reaches a specified speed and release the aircraft to take off after the lift force of the aircraft reaches a condition.
The landing gear system on the general aircraft mainly comprises a landing gear support, a brake system, a turning control device, a cabin door and a retraction structure, a landing gear retraction structure and a control device and the like. Meanwhile, in order to control and give the retraction and the turning of the landing gear, a braking system and the like, the complexity of other systems is required to be increased, such as the increase of a braking control signal in a flight tube computer, a hydraulic source and driving force required by the braking system and the like.
In order to reduce the weight of the landing gear system and simplify the complexity of the aircraft system, in this embodiment, the aircraft is not provided with the landing gear, structures such as a braking system, a turning control device, a landing gear retracting structure and a control device are omitted, only the take-off and landing hook device connected with the capturing and locking device and the airborne communication answering equipment (if other communication means exist on the aircraft, the equipment can be absent) communicating with the ground are arranged, the cabin door covers the take-off and landing hook device in flight to keep the surface of the aircraft complete and smooth, and the cabin door is opened during take-off and landing. The specific take-off and landing hook device is arranged at the bottom of the aircraft in a front three-point mode, namely the take-off and landing hook device is arranged in the front, and the two take-off and landing hook devices are arranged at the back.
It should be noted that the carrier loader provided by the invention has strong driving force, and can provide auxiliary acceleration driving force for the aircraft during take-off and running, and the aircraft can accelerate from 0 speed to the landing speed of the aircraft within a short distance (such as 100m) during landing; in another embodiment the carrier vehicle may be provided with ejection means.
As shown in fig. 3, the intelligent take-off and landing capturing system of the aircraft carries and fixes the aircraft through a carrier loader, and releases the aircraft during take-off; aircraft landing is capturing an aircraft. The specific working process is as follows:
when the aircraft takes off, the capturing and locking device locks the take-off and landing hook device and the capturing and locking device to ensure that the aircraft and the carrier loader do not move relatively, the control system controls the carrier loader to accelerate, and after the releasing and separating speed is reached, the capturing and locking device is opened to separate the aircraft from the carrier loader.
When the aircraft lands and approaches a runway, the aircraft communicates with a communication response system on the carrier loader through radio signals to obtain the absolute position of the carrier loader and simultaneously corrects a descending route of the aircraft to approach the carrier loader; when the aircraft is close enough to the carrying vehicle, the control system controls the carrying vehicle to accelerate to ensure that the carrying vehicle and the aircraft are controlled within a certain range at the ground projection position; after a certain relative position is reached, calculating the relative position relation between a mechanical claw on the carrying vehicle and a support on the aircraft through a visual positioning system, and outputting a signal to the multi-freedom-degree moving device; the position of the mechanical claw is finely adjusted by the multi-degree-of-freedom moving device, and the capturing and locking device is lifted to be in contact with a take-off and landing hook device on the aircraft; the mechanical claw is judged to be in place in contact with the take-off and landing hook device through a visual positioning system and a take-off and landing hook device feedback signal arranged on the aircraft, when the mechanical claw is in place in contact with the take-off and landing hook device, the capturing and locking device is locked, the carrier vehicle and the aircraft (if a deceleration measure is provided) are decelerated together, and finally the aircraft is transported away from the runway to reach a specified parking position.
In general, when taking off and landing, in order to make the unmanned aerial vehicle land on a runway with a width of tens of meters, the GNSS positioning requirement is relatively high. In the embodiment, the aircraft and the carrier loader are communicated by radio signals, and in a special period, under the condition that the GNSS receives interference, the radio signals between the aircraft and the carrier loader are not influenced by the GNSS signals, so that the relative position relationship between the aircraft and the carrier loader can be accurately judged, and the aircraft is guided to take off and land by the carrier loader.
Example 2
The present embodiment provides another aircraft intelligent take-off and landing capturing system, as shown in fig. 4, which is mainly similar to the aircraft intelligent take-off and landing capturing system in embodiment 1, and is different from the aircraft intelligent take-off and landing capturing system in that another position adjusting device 4 is adopted to replace the multi-degree-of-freedom moving device 2, the position adjusting device 4 is arranged on the carrier vehicle 1, the capturing and locking device 3 is installed on the position adjusting device 4, and the control system controls the position adjusting device 4 to adjust the position of the capturing and locking device 3.
Specifically, the position adjusting device 4 includes a rotating base 401, a first driving joint 402, a second driving joint 403, a first fixed stay 404, and a telescopic stay 405, wherein the rotating base 401 is fixed on the top of the carrier loader 1 and rotates along a central axis; the first driving joint 402 is arranged on the rotating base 401 and is connected with the first fixed stay bar 404, the second driving joint 403 and the telescopic stay bar 405 in sequence, and the capturing and locking device 3 is arranged at the tail end of the telescopic stay bar 405.
Wherein the rotating base 401, the first driving joint 402, the second driving joint 403 and the telescopic stay 405 are all adjusted by the control system. The driving joint can rotate to a designated position along an axis and is kept, and the telescopic support rod can move up and down along the vertical direction.
In this embodiment, the number of the position adjusting devices is three, and the position adjusting devices correspond to the take-off and landing hook devices on the aircraft. In operation, the control logic is the same as that of embodiment 1, referring to fig. 3, the control system adjusts the rotation, the first driving joint, the second driving joint and the telescopic stay bar according to the position of the lifting hook device, so that the capturing and locking device on the telescopic stay bar contacts the lifting hook device for capturing.
The advantage of adopting the position adjusting device to replace the multi-degree-of-freedom moving device is that the structure is extremely simple, the cost is reduced, but dead angles in a certain range with the first driving joint as the center exist.
Example 3
The embodiment is realized on the basis of embodiment 2, and in order to solve the problem that the position adjusting device in embodiment 2 has a dead angle within a certain range, another position adjusting device is proposed, as shown in fig. 5, a third driving joint 406 and a second fixed stay 407 are additionally arranged; the first fixed stay 404 is connected with the first driving joint 402 at one end, the third driving joint 406 is connected with one end of the second fixed stay 407 at the same time, and the other end of the second fixed stay 407 is connected with the second driving joint 403. The control system simultaneously controls the third drive joint 406.
By adopting the position adjusting device, the dead angle range of the position adjusting device in the embodiment 2 can be obviously reduced, and the adjusting range of the position adjusting device is effectively enlarged.
Example 4
The embodiment is realized based on any one of embodiments 1 to 3, and provides a lifting hook device and a capturing and locking device which are matched for use.
As shown in fig. 2, in this embodiment, the lifting hook device of the airborne terminal is a concave conical surface structure 501, and the shape is consistent with the capture and locking device of the ground terminal.
As shown in fig. 1, the capturing and locking device 3 is composed of a mechanical claw 301, a support arm 302 and a conical structure matched with a hook of the onboard terminal, the support arm 302 is used for being matched and positioned with the lifting hook device, the mechanical claw 301 is fixed on the outer side of the support arm, a sensor is arranged on the conical structure, and once the pressure reaches a certain value, the mechanical claw 301 grips the lifting hook device inwards.
Example 5
The embodiment is realized based on any one of embodiments 1 to 3, and provides another lifting hook device and a capturing and locking device which are matched for use.
In this embodiment, as shown in fig. 6, the take-off and landing hook device is a U-shaped hook 502 mounted on the landing gear bay floor.
Correspondingly, as shown in fig. 7, the capturing and locking device 3 used in cooperation includes two elastic sheets 303, a spring 304, a stopper 305, a base and a force-bearing block 308; the base is composed of a cylindrical base 306 and a cuboid base 307, and the cuboid base 307 is fixed above the cylindrical base 306; the main body of the bearing block 308 is cuboid, one end is fixed on the side surface of the cuboid base 307, the other end is pyramid, and the two sides of the main body are recessed at the junction of the pyramid bottom and the cuboid; the two elastic sheets 303 are respectively arranged at the concave parts at the two sides of the bottom of the pyramid and are provided with a spring 304 and a stop block 305 in a matching way; the U-shaped hook 502 is formed by extruding the elastic sheet 303, after the elastic sheet passes through the elastic sheet, the elastic sheet returns to the maximum position due to the elasticity of the spring, the take-off and landing hook device on the aircraft is limited to be withdrawn, and at the moment, the force bearing block penetrates into the U-shaped hook 502 to complete capture.
Preferably, in order to avoid the capturing and locking device from being subjected to too much impact during capturing, a shock absorption and buffering material is adhered around the bearing block 308 to avoid damage of the capturing and locking device.
It should be noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" in the description of the embodiments of the present invention are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases by those skilled in the art; the drawings in the embodiments are used for clearly and completely describing the technical scheme in the embodiments of the invention, and obviously, the described embodiments are a part of the embodiments of the invention, but not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (7)
1. An intelligent taking-off and landing capturing system of an aircraft is characterized by consisting of an airborne terminal and a ground terminal which are installed on the aircraft; the ground terminal comprises a carrier loader (1), a communication response system, a control system, a visual positioning system, a multi-degree-of-freedom moving device (2) and a capturing and locking device (3), wherein the communication response system and the visual positioning system are arranged on the carrier loader (1), the control system controls the acceleration and deceleration of the carrier loader (1), the position adjustment of the multi-degree-of-freedom moving device (2) and the capturing, releasing, locking and unlocking actions of the capturing and locking device (3), the multi-degree-of-freedom moving device (2) is arranged above the carrier loader (1), and the capturing and locking device (3) is arranged on the multi-degree-of-freedom moving device (2) in a matching way, the capturing and locking device (3) is used for capturing or releasing the lifting hook device and locking the lifting hook device after capturing; the control system controls the multi-degree-of-freedom moving device (2) to adjust the position of the capturing and locking device (3) through the position relation between the carrier loader (1) and the aircraft, and ensures that the capturing and locking device (3) is coordinated with the take-off and landing hook device at the bottom of the aircraft;
the multi-degree-of-freedom moving device (2) comprises at least four actuating cylinders (201), a flat plate (202), a first sliding rail set (203), a second sliding rail set (204), a first trolley set (205), a second trolley set (206) and a third trolley set (207); the actuating cylinder (201) is arranged below the flat plate (202) and is connected with the carrier loader (1) and the flat plate (202); the first slide rail group (203) and the second slide rail group (204) are both composed of two parallel rails, are arranged on the upper surface of the flat plate (202), and the direction of the rails is vertical to the advancing direction of the carrier loader (1); the first trolley set (205) is arranged on the first sliding rail set (203), and the second trolley set (206) and the third trolley set (207) are arranged on the second sliding rail set (204); the first trolley set (205), the second trolley set (206) and the third trolley set (207) are identical in structure, trolley slide rail sets and trolleys (208) on the trolley slide rail sets are correspondingly arranged on the upper surfaces of the first trolley set (205), the trolleys are provided with capturing and locking devices (3), and the track direction of the trolley slide rail sets is perpendicular to the track direction of the first slide rail sets (203).
2. The intelligent take-off and landing capturing system for aircraft according to claim 1, wherein the take-off and landing hook device of the onboard terminal is a concave conical structure (501) with a shape compatible with the capturing and locking device (3) of the ground terminal.
3. The aircraft intelligent take-off and landing capturing system of claim 2, wherein the capturing and locking device (3) is composed of a mechanical claw (301) and a conical surface structure of which a support arm (302) is matched with a hook of an onboard terminal, the support arm (302) is used for being matched and positioned with the take-off and landing hook device, the mechanical claw (301) is fixed on the conical surface structure on the outer side of the support arm, and the mechanical claw (301) grips the take-off and landing hook device inwards when the pressure reaches a certain value.
4. The aircraft intelligent take-off and landing capture system of claim 1, wherein the take-off and landing hook device is a U-shaped hook (502) mounted on a landing gear bay floor.
5. The intelligent take-off and landing capturing system for the aircraft according to claim 4, wherein the capturing and locking device (3) comprises two elastic sheets (303), a spring (304), a stop block (305), a base and a bearing block (308); the base is composed of a cylindrical base (306) and a cuboid base (307), and the cuboid base (307) is fixed above the cylindrical base (306); the main body of the bearing block (308) is cuboid, one end of the bearing block is fixed on the side surface of the cuboid base (307), the other end of the bearing block is pyramid-shaped, and the two sides of the main body are inwards concave at the junction of the pyramid bottom and the cuboid; the two elastic sheets (303) are respectively arranged at the concave parts at the two sides of the bottom of the pyramid and are provided with a spring (304) and a stop block (305) in a matching way; the U-shaped hook (502) is formed by extruding the elastic sheet (303), after passing through the elastic sheet (303), the elastic sheet (303) returns to the maximum position due to the elasticity of the spring (304), the take-off and landing hook device on the aircraft is limited to exit, and at the moment, the force bearing block (308) penetrates into the U-shaped hook (502) to complete capture.
6. The intelligent take-off and landing capturing system for the aircraft as claimed in claim 5, wherein shock-absorbing and buffering materials are adhered around the bearing blocks (308).
7. The intelligent take-off and landing capture system for aircraft according to claim 1, wherein the take-off and landing hook means is positioned at the bottom of the aircraft using the front three points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| US8464981B2 (en) * | 2011-01-26 | 2013-06-18 | Infoscitex Corporation | Unmanned aerial vehicle(UAV) recovery system |
| US9896222B2 (en) * | 2014-11-20 | 2018-02-20 | Insitu, Inc. | Capture devices for unmanned aerial vehicles, including track-borne capture lines, and associated systems and methods |
| US9809305B2 (en) * | 2015-03-02 | 2017-11-07 | Amazon Technologies, Inc. | Landing of unmanned aerial vehicles on transportation vehicles for transport |
| US9969495B2 (en) * | 2016-04-29 | 2018-05-15 | United Parcel Service Of America, Inc. | Unmanned aerial vehicle pick-up and delivery systems |
| JP6445510B2 (en) * | 2016-12-13 | 2018-12-26 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Unmanned air transport storage device, vehicle, and method for storing unmanned air transport |
| JP6864393B2 (en) * | 2017-03-01 | 2021-04-28 | 株式会社イシダ | Takeoff and landing equipment, takeoff and landing system and unmanned delivery system |
| CN107117325B (en) * | 2017-04-19 | 2021-05-25 | 中国航空工业集团公司西安飞机设计研究所 | Unmanned aerial vehicle ground emission and recovery dolly |
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Denomination of invention: An intelligent takeoff and landing acquisition system for aircraft Effective date of registration: 20230116 Granted publication date: 20220906 Pledgee: China Minsheng Banking Corp Chengdu branch Pledgor: SICHUAN TENGDUN TECHNOLOGY Co.,Ltd. Registration number: Y2023510000024 |
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