CN102069911B - Pneumatic muscle parachute harness deformable parachute for accurate airdrop - Google Patents
Pneumatic muscle parachute harness deformable parachute for accurate airdrop Download PDFInfo
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- CN102069911B CN102069911B CN 201010590741 CN201010590741A CN102069911B CN 102069911 B CN102069911 B CN 102069911B CN 201010590741 CN201010590741 CN 201010590741 CN 201010590741 A CN201010590741 A CN 201010590741A CN 102069911 B CN102069911 B CN 102069911B
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Abstract
The invention relates to a pneumatic muscle parachute harness deformable parachute for accurate airdrop. The traditional airdrop parachute accurate airdrop system is complicated and has high cost and low precision. In the invention, a parachute harness net is arranged on the inner surface of a parachute canopy; the parachute harness net comprises a plurality of parachute harnesses; the junctions of the parachute harnesses are provided with parachute harness connecting pieces fixed on the parachute canopy; the parachute harnesses are divided into multiple parachute harness sections by the parachute harness connecting pieces; all the parachute harness sections are connected in series with asymmetric wall thickness structure pneumatic muscles for adjusting the lengths of the parachute harnesses; the gas input of the pneumatic muscles is controlled by a control unit; and a global position system (GPS) module, an air speed sensor and a landing speed sensor are respectively connected with the control unit. The invention has a simple structure, is convenient to regulate and can be used for carrying out real-time regulation on the landing speed and a landing posture.
Description
Technical field
The present invention relates to a kind of parachute, relate in particular to a kind of pneumatic muscles umbrella belt variable shape parachute.
Background technology
Parachute mainly is made up of canopy, pilot-parachute, umbrella rope, parachute-opening parts and pack etc.In when air-drop, environmental factors such as the running orbit of the parachute that drops out and wind speed, wind direction are depended in the position in level point.The influence of air-drop wind-engaging is very big, and the flying height of dropping transport plane usually will be lower than 660 meters, otherwise the supply of air-drop will be scattered in everywhere as the heavenly maids scatter blossoms, but flying height is too low, again the danger that can be shot down by ground air defense.
Ballistic circular parachute system is adopted in tradition air-drop operation, after the input, because can not the active anamorphic attachment for cinemascope, can't handle.Precision aerial delivery system has obtained research widely in recent years.The target of precision aerial delivery system provides rapidly, accurately, air-drop cheaply.Realize that at present the method for accurately dropping is divided into two kinds: accurate model prediction, planning and calculating (as the PADS system of the U.S.) before throwing, with throwing back active adjustment pose mode (i.e. guidance and control aerial delivery system, comprise guidance, navigation, control electronic component and software, the wind detector, and electromechanical actuator, as the AGAS system of the U.S., GDS system).The former is according to load weight, ambient atmosphere observed reading, wind speed information and drop kinetic model, calculation of complex accurately.Because data are obtained before throwing, with real data error is arranged, so precision can change in addition.The latter needs actuator, as motor, airscrew engine, inertial guidance acting device etc., can realize long-distance flight.
The active adjustment device is generally all very complicated after the common throwing, the cost height, and weight is big, and required energy consumption is big.Low-cost, high efficiency realizes that the research emphasis of landing track active adjustment has concentrated on variable-length umbrella rope and deformable canopy two aspects.
The RAD of the U.S. (but small-sized maneuvering air punching press) infundibulate parachute near predetermined altitude the time, can discharge a big pilot-parachute, and extracts one or more big traditional circular recorery parachutes out, has the advantage that shortens the air-drop time, but needs a plurality of umbrellas.
American Studies utilizes shape-memory alloy wire to make the umbrella rope, utilizes and heats to change the length of umbrella rope to shape-memory alloy wire, thereby regulate the landing track.But because alloy deformation of filament speed is slow, the method need be used for the high-altitude air-drop, in order to add the hot and cold going or staying to shape-memory alloy wire time enough is arranged.Pneumatic muscles is a kind of novel actuator, has action soon, and power/weight ratio advantages of higher is being studied at present for variable-length umbrella rope.
Throw the precision aerial delivery system complexity of back active adjustment pose at present, the cost height, precision is not high.Experiment learns that at 3000 meters height, throwing in precision is about 100 meters, and the shortcoming of existence has:
The actuator that adopts, as motor, airscrew engine etc., energy consumption is big, heavy, cost height;
The control method regulated quantity that adopts is limited, adopts pneumatic muscles to regulate umbrella rope length as AGAS, and canopy is carried out indirect deformation adjustment, and regulated quantity is limited;
The control method complexity that adopts need adopt a plurality of different umbrellas, complicated operation as RAD; Bias toward the control to the landing attitude, consider less to the control of sinking speed.
The patent retrieval of China does not also have to find to have relevant patent, the AGAS of the U.S. (" periodical ") has introduced the parachute assembly that utilizes pneumatic muscles umbrella rope, by initiatively elongating or shortening the umbrella rope, the descend attitude of utilizing parachute mooring point and the relativeness control of air-drop equipment center of gravity to equip.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of low-power consumption, low cost, the adjustable deformable parachute of umbrella band simple in structure are provided, this parachute can be realized the adjusting of sinking speed and drop point.
The technical scheme that technical solution problem of the present invention is taked is:
The present invention includes deformable canopy, high-pressure gasbag, pneumatic muscles, electromagnetic valve, power supply, umbrella rope, hang thing platform, GPS module, air velocity transducer, speed sensor, actuator and control unit.
The planar canopy edge of hemisphere is connected with an end of many umbrella ropes, the other end of many umbrella ropes all is connected with extension thing platform, the canopy inside face is furnished with umbrella band net, described umbrella band net is formed along the warp of the planar canopy of hemisphere and the umbrella band on the weft direction by many, umbrella on the warp has 6～10, umbrella band on the warp is evenly distributed, umbrella on the parallel has 3～8, umbrella band on the warp and the umbrella band junction on the parallel are provided with the umbrella band attaching parts that is fixed on the canopy, umbrella band attaching parts is divided into multistage umbrella band section with the umbrella band on the warp and the umbrella band on the parallel, be serially connected with the pneumatic muscles of regulating the umbrella strip length on every section umbrella band section, this pneumatic muscles is a kind of special pneumatic muscles that adopts asymmetric wall thickness India rubber tube structure, the gas of pneumatic muscles is come in and gone out to hold and is connected with the gas output end of electromagnetic valve, and the gas input end of electromagnetic valve is communicated with high-pressure gasbag; Driver output end is connected with the drive end of electromagnetic valve, and driver input end is connected with the signal output part of control unit; The GPS module mouth that is used for the parachute location is connected to the signal input part of control unit, and the air velocity transducer of measuring current wind speed is connected with the signal input part of control unit respectively with the speed sensor of measuring the speed that bales out; Power supply is actuator and control unit power supply.
The present invention has following beneficial effect with respect to prior art: canopy area and shape among the present invention can be changed by the adjusting of pneumatic muscles, thus speed and the attitude that can regulate landing in real time; Adopt warp-wise and many pneumatic muscles umbrellas of broadwise band layout, control method is various, flexible, can adapt to complicated environment for use; Adopt high pressure gas start pneumatic muscles, power-weight ratio is big, and energy consumption is little, and quality is light, and cost is low; Adopt high-pressure gasbag that air pressure is provided, noise is little during action.Adopted the pneumatic muscles of asymmetric wall thickness, make be bullied pneumatic muscles compression swelling shrink after, be not the cylinder of standard, but to the cylinder of wall thickness lateral bending song, can make the endosphere surf deform of the distortion of pneumatic muscles and canopy harmonious.Because canopy of the present invention can be regulated sinking speed by changing area, so parachute can the high altitude, low opening [parachuting technique] pattern land, also can the high altitude high opening pattern land.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is umbrella band network arrangements scheme drawing on the inside face of canopy of the present invention;
Fig. 3 is electric control structure scheme drawing of the present invention;
Fig. 4 is the section drawing of pneumatic muscles of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the present invention mainly comprises deformable canopy 2, high-pressure gasbag 6, pneumatic muscles 16, electromagnetic valve 13, power supply 7, umbrella rope 1, hangs thing platform 14, GPS module 8, air velocity transducer 9, speed sensor 10, control unit 11 and actuator 12.
The planar canopy 2 of hemisphere can adopt nylon fiber materials processing, diameter can be 3m, the edge is connected with an end of 8～12 umbrella ropes 1, and umbrella rope 1 claimed structure compactness, intensity height, softness, good springiness, uneven rate of elongation are little, can adopt hollow or the braided rope of core is arranged.The other end of many umbrella ropes 1 all is connected with extension thing platform 14.Extension thing platform 14 lower ends are fixedly connected with and are fallen article 15.Canopy 2 inside faces are furnished with umbrella band net, and umbrella band net is formed along the warp of the planar canopy 2 of hemisphere and the warp umbrella band 19 on the weft direction and parallel umbrella band 18 by many, and umbrella band 18,19 is connected with the canopy inside face by the umbrella line.The umbrella line can adopt intensity height, the lubricated good and uniform and stable fiber yarn material of the twist.Umbrella on the warp has 8, is evenly distributed, and the umbrella on the parallel has 4, is evenly distributed.Umbrella band on the warp and the umbrella band junction on the parallel are provided with the umbrella band attaching parts 17 that is fixed on the canopy 2, umbrella band attaching parts 17 can adopt aluminum alloy material, umbrella band attaching parts 17 is divided into multistage umbrella band section with the umbrella band on the warp and the umbrella band on the parallel, every section umbrella band Duan Shangke is serially connected with the pneumatic muscles 16 of regulating the umbrella strip length, pneumatic muscles 16 should adopt the asymmetric wall thickness rubber outer tube pneumatic muscles that possesses higher intensity and more high-power weight ratio, pressurized for ease of pneumatic muscles 16 shrinks, the wall thickness of India rubber tube is difficult for too thick, and the external diameter of pneumatic muscles 16 can be 2～3cm.All all be serially connected with pneumatic muscles 16 on the umbrella band section, also can be serially connected with pneumatic muscles 16 on the part umbrella band section.High-pressure gasbag 6 hangs over 2 times centers of canopy by 3～6 air bag ropes 5, and will be lower than the edge line of canopy 2.It is the rubber pneumatic bag of 0.4m that high-pressure gasbag 6 can adopt diameter.Power supply 7, GPS module 8, air velocity transducer 9, speed sensor 10, control unit 11, actuator 12 and electromagnetic valve 13 are installed concentratedly below high-pressure gasbag 6.
As shown in figures 1 and 3, the gas of pneumatic muscles 16 is come in and gone out to hold by gas-tpe fitting 4 and is connected with 3 one of gas pipings; Each pneumatic muscles 16 can connect a gas piping 3, self contained function separately; Also can be cascaded by many pneumatic muscles 16, provide high pressure gas by a gas piping 3, many pneumatic muscles 16 move simultaneously; The inside face that the gas piping 3 that connects pneumatic muscles 16 is close to canopy 2 distributes, and concentrates that being pooled to lets droop behind canopy 2 summits is connected with the gas output end of electromagnetic valve 13; The gas input end of electromagnetic valve 13 is communicated with high-pressure gasbag 6 by gas piping 3; Because high pressure gas are air, it is the common flexible pressure-resistant tracheae of 0.6cm that gas piping 3 can adopt diameter, and gas-tpe fitting 4 adopts rapid abutting joint pneumatic joint commonly used; Actuator 12 mouths are connected with the drive end of electromagnetic valve 13, and actuator 12 input ends are connected with the signal output part of control unit 11; GPS module 8 mouths that are used for the parachute location are connected to the signal input part of control unit 11, and the air velocity transducer 9 of measuring current wind speed is connected with the signal input part of control unit 11 respectively with the speed sensor 10 of measuring the speed that bales out; Power supply 7 is control unit 11 and actuator 12 power supplies, can adopt lithium ion chargeable battery, and energy density is big, and is reusable, and capacity 5AH gets final product.Electromagnetic valve 13 adopts two-position three-way valves, can realize the connection inflation of pneumatic muscles and high-pressure gasbag, with the connection exhaust of ambient atmosphere and seal three kinds of states of pressurize.
As shown in Figure 4, the pneumatic muscles among the present invention adopts asymmetric wall thickness rubber layer, and the pneumatic muscles rubber wall of pressing close to the canopy inner surface side is thinner, and the rubber wall of opposite side is thicker.Can produce the linear telescopic motion behind the common pneumatic muscles pressurized, and can produce bigger gap between the canopy negative camber, under air-flow, can produce bigger noise, and influence the stability of canopy.Because the present invention has adopted the pneumatic muscles of asymmetric wall thickness, make be bullied pneumatic muscles compression swelling shrink after, be not the cylinder of standard, but to the cylinder of wall thickness lateral bending song, can make the endosphere surf deform of the distortion of pneumatic muscles and canopy harmonious.
The distortion of the pneumatic muscles umbrella band of weft direction is mainly used in regulating descending speed; The distortion of the pneumatic muscles umbrella band of warp direction is mainly used in regulating descent direction; The compatible deformation of the pneumatic muscles umbrella band that warp and weft direction distribute can make canopy make the deformed movement that is similar to jellyfish.
Using method of the present invention is as follows: before the use, with high-pressure gasbag 6 high pressure air of substituting the bad for the good.Gas piping 3 and electromagnetic valve 13 and pneumatic muscles 16 are connected, guarantee not have gas leakage and take place.With after carrying the parachute that is fallen article 15 and dropping away from the high-altitude, canopy 2 is launched into the ball state under the gravity effect of wind-force effect and high-pressure gasbag 6 and the parts such as control unit 11 of installing down thereof.Regulate the step of canopy 2 descending speeds and attitude:
1, by applying identical high pressure gas to the pneumatic muscles 16 that distributes on the parallel, cause parallel umbrella band segment length to shorten, can cause that the wind-engaging drag area of canopy 2 diminishes, sinking speed is accelerated.Pneumatic muscles 16 shrinks more big, and canopy 2 wind-engaging drag areas are more little, and descending speed is more fast.
2, by applying different high pressure gas to the pneumatic muscles 16 that distributes on the parallel, cause the shortening in various degree of parallel umbrella band segment length, can cause that the symmetry of canopy 2 changes, namely no longer keep spheroidal, thus the descend attitude that can regulate parachute.After the distortion, parachute will shrink the reversing sense motion of a side canopy 2 to pneumatic muscles 16.
3, by applying identical high pressure gas to the pneumatic muscles 16 that distributes on the warp, cause the balanced shortening of warp umbrella band segment length, can cause that the wind-engaging drag area of canopy 2 diminishes, sinking speed is accelerated.Pneumatic muscles 16 shrinks more big, and canopy 2 wind-engaging drag areas are more little, and descending speed is more fast;
4, apply different high pressure gas by the pneumatic muscles 16 of upwards distributing for the footpath, cause radially umbrella band segment length shortening in various degree, can cause that the symmetry of canopy 2 changes, namely no longer keep spheroidal, thus the descend attitude that can regulate parachute.After the distortion, parachute will shrink the reversing sense motion of a side canopy 2 to pneumatic muscles 16;
5, regulate pneumatic muscles 16 on the pneumatic muscles umbrella band 18,19 that parallel and warp distribute simultaneously, and adopt different adjusting air pressure, then can realize 2 distortion of abundanter canopy, thus descending speed and the drop point site of regulating parachute more neatly.
GPS module 8 all inputs to control unit 11 with current wind speed, speed sensor 10 with current descending speed with position, the air velocity transducer 9 of parachute, judgement departs from the error degree in level point to control unit 11 according to location information, and speed signal and wind velocity signal decomposed obtain extraneous wind speed, then come pneumatic muscles 16 is charged and discharged the controlled atmosphere joint according to the control method of setting.When descending speed is too slow, can accelerate descending speed by shrinking for pneumatic muscles 16 pressurizations; Can shrink by pneumatic muscles 16 pressurizations of giving non-windward side side and compensate wind to the driftage of parachute.The conditioning signal of output is at first given actuator 12.Actuator 12 will be reconciled signal amplification rear drive electromagnetic valve 13 and be made the action that charges and discharge gas.
After in high pressure gas are charged into pneumatic muscles 16, pneumatic muscles is dilatational strain under pressure, the diameter chap, and length shortens.Because the present invention has designed the pneumatic muscles 16 of different wall, when expanding, thin-walled side swell increment is greater than the heavy wall side, thereby makes pneumatic muscles 16 when shortening, to the bent distortion of wall thickness lateral bending, can promote pneumatic muscles umbrella band to contact with the good of canopy inside face.After the use, canopy 2 and 1 packing of umbrella rope are wrapped on the high-pressure gasbag 6 reduced volume.
The present invention can strengthen the regulating power of distortion for each umbrella band section serial connection pneumatic muscles 16 by the umbrella band section of parallel and the warp of refinement canopy 2.Because the pneumatic muscles lumen is gas, so can not cause the weight of canopy that big increase is arranged.
Claims (1)
1. be used for the accurately pneumatic muscles umbrella belt variable shape parachute of air-drop, comprise deformable canopy, high-pressure gasbag, pneumatic muscles, electromagnetic valve, power supply, umbrella rope, hang thing platform, GPS module, air velocity transducer, speed sensor, actuator and control unit, it is characterized in that:
The planar canopy edge of hemisphere is connected with an end of many umbrella ropes, the other end of many umbrella ropes all is connected with extension thing platform, the canopy inside face is furnished with umbrella band net, described umbrella band net is formed along the warp of the planar canopy of hemisphere and the umbrella band on the weft direction by many, umbrella on the warp has 6～10, umbrella band on the warp is evenly distributed, umbrella on the parallel has 3～8, umbrella band on the warp and the umbrella band junction on the parallel are provided with the umbrella band attaching parts that is fixed on the canopy, umbrella band attaching parts is divided into multistage umbrella band section with the umbrella band on the warp and the umbrella band on the parallel, be serially connected with the pneumatic muscles of regulating the umbrella strip length on every section umbrella band section, the gas of pneumatic muscles is come in and gone out to hold and is connected with the gas output end of electromagnetic valve, and the gas input end of electromagnetic valve is communicated with high-pressure gasbag; Driver output end is connected with the drive end of electromagnetic valve, and driver input end is connected with the signal output part of control unit; The GPS module mouth that is used for the parachute location is connected to the signal input part of control unit, and the air velocity transducer of measuring current wind speed is connected with the signal input part of control unit respectively with the speed sensor of measuring the speed that bales out; Power supply is actuator and control unit power supply;
The rubber layer wall thickness of described pneumatic muscles is asymmetric, and what pneumatic muscles was pressed close to the canopy inner surface side is the thin rubber wall, and away from the canopy inner surface side is thick rubber wall;
Described umbrella rope is braided rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010590741 CN102069911B (en) | 2010-12-07 | 2010-12-07 | Pneumatic muscle parachute harness deformable parachute for accurate airdrop |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010590741 CN102069911B (en) | 2010-12-07 | 2010-12-07 | Pneumatic muscle parachute harness deformable parachute for accurate airdrop |
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| CN102069911A CN102069911A (en) | 2011-05-25 |
| CN102069911B true CN102069911B (en) | 2013-09-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105501449B (en) * | 2016-01-29 | 2018-07-17 | 成都云摄科技有限责任公司 | A kind of unmanned plane parachute system of automatic and quick parachute-opening |
| CN106697251B (en) * | 2016-12-12 | 2018-11-16 | 中国特种飞行器研究所 | A kind of pneumatic muscles variant stratospheric airship |
| CN107651197A (en) * | 2017-09-15 | 2018-02-02 | 上海近航智能科技有限公司 | Unmanned plane express delivery parachute and its delivery system |
| CN212630393U (en) * | 2019-11-25 | 2021-03-02 | 魏宏帆 | Mattress device and flexible supporting device |
| CN112370681B (en) * | 2020-11-16 | 2022-11-01 | 全球能源互联网研究院有限公司 | High-altitude falling protection method and device, air bag and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6131856A (en) * | 1997-09-15 | 2000-10-17 | Brown; Glen J. | Parachute trajectory control |
| CN1388039A (en) * | 2002-07-29 | 2003-01-01 | 池德龙 | Pneumatic reduction system for air bag parachute |
| US6575408B2 (en) * | 2001-05-11 | 2003-06-10 | The United States Of America As Represented By The Secretary Of The Army | Soft landing assembly for a parachute |
| CN2639179Y (en) * | 2003-04-29 | 2004-09-08 | 吴大军 | Low altitude parachute |
| CN201914462U (en) * | 2010-12-07 | 2011-08-03 | 中国计量学院 | Deformable parachute with pneumatic muscle parachute harnesses |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080173764A1 (en) * | 2007-01-23 | 2008-07-24 | Yeung Sung Oh | Out-door jacket connected parachute for low altitude deployment |
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- 2010-12-07 CN CN 201010590741 patent/CN102069911B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6131856A (en) * | 1997-09-15 | 2000-10-17 | Brown; Glen J. | Parachute trajectory control |
| US6575408B2 (en) * | 2001-05-11 | 2003-06-10 | The United States Of America As Represented By The Secretary Of The Army | Soft landing assembly for a parachute |
| CN1388039A (en) * | 2002-07-29 | 2003-01-01 | 池德龙 | Pneumatic reduction system for air bag parachute |
| CN2639179Y (en) * | 2003-04-29 | 2004-09-08 | 吴大军 | Low altitude parachute |
| CN201914462U (en) * | 2010-12-07 | 2011-08-03 | 中国计量学院 | Deformable parachute with pneumatic muscle parachute harnesses |
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