CN102328752B - Rotating ejection device for small and medium unmanned aerial vehicle - Google Patents
Rotating ejection device for small and medium unmanned aerial vehicle Download PDFInfo
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- CN102328752B CN102328752B CN 201110197645 CN201110197645A CN102328752B CN 102328752 B CN102328752 B CN 102328752B CN 201110197645 CN201110197645 CN 201110197645 CN 201110197645 A CN201110197645 A CN 201110197645A CN 102328752 B CN102328752 B CN 102328752B
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Abstract
The invention relates to a rotating ejection device for small and medium unmanned aerial vehicles, which is characterized in that two motors are fixedly arranged on a stand column of an ejection frame; gears of the two motors are respectively installed on output shafts of the two motors; a gear disc is sheathed on the gears of the two motors, and the inner teeth of the gear disc are engaged with the gears of the two motors; a counterweight bar and a linkage crossbar are arranged above the gear disc, are symmetrically clamped and sheathed on a supporting bar and are tightly fixed through two fastening pieces; a counterweight is installed on the counterweight bar and can slide along the counterweight bar; one end of a movable swing arm is hinged with the end of the linkage crossbar through a connecting piece; and the other end of the movable swing arm is hinged with an unmanned aerial vehicle gripping and releasing mortise lock. By controlling the rotating speed of the motors of the rotating ejection device to control the ejection speed of the small and medium unmanned aerial vehicles to be within 0 to 50m/s, the overload of the small and medium unmanned aerial vehicles during takeoff can be effectively reduced, and the service lives of the unmanned aerial vehicles can be prolonged. The rotating ejection device for the small and medium unmanned aerial vehicles has the characteristics that the production cost and the using cost are low, the occupied area is small, the device is convenient to operate and can be mounted on vehicles and ships for use.
Description
Technical field
The invention belongs to the aviation machine technical field
Background technology
The traditional unmanned plane launch mode of China can be divided into rocket assist emission, hydraulic catapult, Pneumatic ejection and ground roll-out and take off etc.Large-scale unmanned plane adopts the ground roll-out mode of taking off usually, for middle-size and small-size unmanned plane, usually adopts the high and safety measure of expense to require high catapult-assisted take-off mode.No matter which kind of catapult-assisted take-off mode, will be all mechanical energy by the Conversion of Energy that closed-center system is stored, and makes unmanned plane accelerate to the emission rate of safe take-off.Traditional hydraulic catapult system and pneumatic bomb are penetrated tens meters even tens meters long easily of systems, and floor area is large, expansion is removed and received difficulty.Rocket assist system line of thrust control with adjust require complicated and can not repeated usage, when rocket comes off and rear-mounted engine installation easily interfere, and relate to storage and the use of priming system, costly, and there is the signals such as acousto-optic cigarette during emission, easily give away one's position.
Summary of the invention
The present invention is directed to that traditional unmanned aerial plane launching system manufactures that operating costs is high, floor area large, complicated operation, the shortcoming that easily exposes, a kind of middle-size and small-size unmanned plane rotary throwing device has been proposed.
The present invention includes impelling frame column, driver train, rotating mechanism; Driver train comprises two motors, two motor gears and toothed disc; Two motors are fixed on impelling frame column; Two motor gears are contained in respectively on the output shaft of two motors; Toothed disc is sleeved on two motor gears, and the internal tooth of toothed disc and two motor gear engagements; Rotating mechanism comprises that weight linear meter, clump weight, two fasteners, interlock cross bar, attaching parts, activity swing arm and unmanned planes grasp the release mortise lock; Weight linear meter and interlock cross bar are positioned at the top of toothed disc, and symmetrical chuck, on strut bar, and tightens up by two fasteners; Clump weight is contained on weight linear meter, and can slide along weight linear meter; One end of activity swing arm is hinged by the termination of attaching parts and interlock cross bar; The other end of activity swing arm is hinged with unmanned plane and grasps the release mortise lock.
Impelling frame column comprises A-frame, strut bar, motor fixedly auricle, dowel disc; Spider is adjustable mechanism, is fixed on an end of strut bar; Positioning disk sleeve is contained on strut bar, is positioned at the fixedly top of auricle of motor.
Two fasteners all are positioned at the top of weight linear meter and interlock cross bar, and cover is clipped on the circumference of strut bar; Weight linear meter one end is semi-round fixed cover, and the internal diameter of this fixed cover is identical with the external diameter of strut bar; One end of interlock cross bar is also semi-round fixed cover, and the internal diameter of this fixed cover is identical with the external diameter of strut bar; There is hinge hole the other end termination of interlock cross bar; The interlock cross bar is positioned at the upper surface of dowel disc, on the circumference that is distributed in strut bar of weight linear meter symmetry, and is installed on dowel disc by the fixed cover of interlock cross bar one end.Two fasteners are the semicircle cover, and the attachment lug radially protruded is all arranged on each fastener circumference.
Unmanned plane grasps the release mortise lock and comprises mortise lock coupling end, latch, anchor shaft, snap close and tension spring; Unmanned plane grasps the release mortise lock and is connected on movable rocker arm by the mortise lock coupling end, and lower end is fixed with snap close by anchor shaft, and snap close can rotate around anchor shaft; The upper end of snap close is for there being latch, and there is tension spring lower end; There is an aperture equated with the anchor shaft radius in the place that described snap close is two side full symmetrics and upper middle, and the lower end of snap close is outer mutually inclined-plane, and upper end is inside inclined-plane; The side of described latch is the triangle be harmonious with the snap close upper end, can move up and down.
The present invention reduces by controlling spider the height that unmanned plane grasps the release mortise lock, unmanned plane is grasped and discharges mortise lock and be inserted in slot special on unmanned plane and realize grasping of unmanned plane, spider is elevated to predetermined altitude, the quality of according to quality and the takeoff speed of institute's impelling unmanned plane, regulating clump weight and clump weight are in the position of strut bar, fix A-frame and strut bar, completed so the front installation of emission of unmanned plane.Starter motor, driven gear dish and movable rocker arm rotate, start Unmanned Aerial Vehicle Powerplants makes unmanned plane and rocking arm accelerate to rotate simultaneously simultaneously, because movable rocker arm and interlock cross bar are hinged, continuous increase along with velocity of rotation, unmanned plane around the radius of strut bar rotation also in continuous increase, when this design can effectively reduce unmanned plane and reaches takeoff speed, the cireular frequency that the interlock cross bar rotates.When unmanned plane reaches takeoff speed, keep the motor uniform rotation.After adjusting flight attitude by the power system of unmanned plane, start unmanned plane and grasp the release inserting lock device, unmanned plane grasps the release mortise lock with unmanned plane to be separated, and the unmanned plane impelling is taken off.
The present invention is applicable to take-off weight and is less than 500kg, and the span is less than 6m, and takeoff speed is less than the middle-size and small-size unmanned plane machine of 50m/s.Rotative speed by controlling the rotary throwing device motor by the emission rate of middle-size and small-size unmanned plane at 0m/s between 50m/s.
The present invention provides emitted energy by electrical motor, and occupation of land space little ， mechanism is simple, is convenient to launch and remove receipts, and can vehicle-mountedly uses.Provide auxiliary power by Unmanned Aerial Vehicle Powerplants, and control the pitch angle while taking off, easy to operate; Grasp and discharge the emission installation and release that mortise lock is realized unmanned plane by unmanned plane, easy to use.The takeoff speed of by controlling motor, can actv. regulating unmanned plane, be applicable to the emission of the middle-size and small-size unmanned plane of the different takeoff speeds of Different Weight.Compare traditional short takeoff mode, the present invention can effectively reduce the overload in middle-size and small-size unmanned plane take-off process, extends the service life of unmanned plane.
Manufacture that operating costs is low, floor area is little, easy to operate and can be vehicle-mounted and carrier-borne use
The accompanying drawing explanation
Fig. 1 is swivel mount column schematic diagram;
Fig. 2 is that motor coordinates schematic diagram with toothed disc;
Fig. 3 is the assembling schematic diagram of motor, motor gear, weight linear meter, fastener, interlock cross bar and strut bar;
Fig. 4 is that interlock cross bar, activity swing arm and unmanned plane grasp release mortise lock connection diagram;
Fig. 5 is that unmanned plane grasps the structural representation that discharges mortise lock;
Fig. 6 is that unmanned plane grasps the structural representation that discharges snap close in mortise lock;
Fig. 7 is the structural representation of middle-size and small-size unmanned plane rotary throwing device.Wherein:
1. fixing auricle 4. dowel disc 5. motors of A-frame 2. strut bar 3. motors
6. motor gear 7. toothed disc 8. weight linear meter 9. clump weight 10. fasteners
11. interlock cross bar 12. attaching parts 13. activity swing arm 14. unmanned planes grasp the release mortise lock
15. latch 16. anchor shaft 17. snap close 18. snap close 19. tension springs
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further detailed
The middle-size and small-size unmanned plane rotary throwing device of the present embodiment comprises impelling frame column, driver train, rotating mechanism.
As shown in Figure 7.Two motors 5 are fixed on impelling frame column.Two motor gears 6 are contained in respectively on the output shaft of two motors 5.Toothed disc 7 is sleeved on two motor gears 6, and the internal tooth of toothed disc 7 and two motor gear 6 engagements, when motor 5 rotates, by two motor gears, 6 driven gear dishes 7, rotates.Weight linear meter 8 and interlock cross bar 11 are positioned at the top of toothed disc, and symmetrical chuck, on strut bar 2, and tightens up by fastener 10.Clump weight 9 is contained on weight linear meter 8, and can slide along weight linear meter 8.One end of activity swing arm 13 is hinged with the termination of interlock cross bar 11 by attaching parts 12; The other end of activity swing arm 13 is hinged with unmanned plane and grasps release mortise lock 14.
As shown in Figure 1.Impelling frame column comprises A-frame 1, strut bar 2, motor fixedly auricle 3, dowel disc 4.Spider 1, for supporting whole device, is weldingly fixed on an end of strut bar 2; Described spider 1 is adjustable mechanism, and the length of three feets by adjusting triangle support 1, with the levelness of adjusting triangle frame 1 and the height of strut bar 2.Motor fixedly auricle 3 is positioned at the other end of strut bar 2, and is symmetrically distributed on strut bar 2 circumference; Described motor fixedly has mounting hole on auricle 3, for fixed motor.Dowel disc 4 is sleeved on strut bar 2, is positioned at the fixedly top of auricle 3 of motor, for support rotary mechanism.
As shown in Figure 2, driver train comprises two motors 5, two motor gears 6 and toothed discs 7.The motor that two motors 5 are separately fixed at strut bar 2 is fixedly on auricle.Two motor gears 6 are contained in respectively on the output shaft of two motors 5.Toothed disc 7 is annular arrangement, and in it, ring surface is profile of tooth; Toothed disc 7 is sleeved on two motor gears 6, and the internal tooth of toothed disc 7 and two motor gear 6 engagements, when motor 5 rotates, by two motor gears, 6 driven gear dishes, rotate.
As shown in Figure 3 and Figure 4.Rotating mechanism comprises that weight linear meter 8, clump weight 9, two fasteners 10, interlock cross bar 11, attaching parts 12, activity swing arm 13 and unmanned planes grasp and discharge mortise lock 14.Weight linear meter 8 and interlock cross bar 11 also are positioned at dowel disc 4 tops, and symmetrical cover is clipped on the circumference of strut bar 12.Two fasteners 10 are positioned at the top of weight linear meter 8 and interlock cross bar 11, and cover is clipped on the circumference of strut bar 12, for tightening up weight linear meter 8 and interlock cross bar 11.Clump weight 9 is contained on weight linear meter 8, and can slide along weight linear meter 8.One end of activity swing arm 13 is hinged with the termination of interlock cross bar 11 by attaching parts 12; The other end of activity swing arm 13 is hinged with unmanned plane and grasps release mortise lock 14, by this unmanned plane, grasps and discharges mortise lock 14, and unmanned plane is mounted on the present embodiment.
Weight linear meter 8 one ends are semi-round fixed cover, and the internal diameter of this fixed cover is identical with the external diameter of strut bar 2; Weight linear meter 8 is positioned at the upper surface of dowel disc 4, and is installed on strut bar 2 by described fixed cover.One end of interlock cross bar 11 is also semi-round fixed cover, and the internal diameter of this fixed cover is identical with the external diameter of strut bar 2; There is hinge hole the other end termination of interlock cross bar 11.Interlock cross bar 11 is positioned at the upper surface of dowel disc 4, on the circumference that is distributed in strut bar 2 of weight linear meter 8 symmetries, and is installed on dowel disc 4 by the fixed cover of interlock cross bar one end.Two fasteners 10 are the semicircle cover, and the attachment lug protruded is all arranged radially on the circumference of each fastener 10, on strut bar 2, and make two fasteners 10 be positioned at interlock cross bar 11 and weight linear meter 8 tops two fastener 10 chucks; Two fasteners 10 are tightened up mutually, realize fixing weight linear meter 8 and interlock cross bar 11.Activity swing arm 13 is shaft-like, and all there is through hole at two ends, is respectively used to grasp release mortise lock 14 with attaching parts 12 and unmanned plane and coordinates.
As shown in Figure 5.Unmanned plane grasps release mortise lock 14 and comprises mortise lock coupling end 15, latch 16, anchor shaft 17, snap close 18 and tension spring 19.Unmanned plane grasps and discharges the auricle of mortise lock 14 by the upper end of mortise lock coupling end 15 and be connected on movable rocker arm, and lower end is fixed with snap close 18 by anchor shaft 17, and snap close 18 can rotate around anchor shaft 17.There is a pair of attachment lug the upper end of described mortise lock coupling end 15, and lower end has two pair radius to equate aperture with anchor shaft 17 radiuses; Described anchor shaft 17 is two radiuses, cylindrical shaft equal in length.The latch 16 of the upper end of snap close 18 for moving up and down, there are two mutual close tension springs 19 of snap close 18 of prevention lower end.There is an aperture equated with anchor shaft 17 radiuses in the place that described snap close 18 is two side full symmetrics and upper middle, and the lower end of snap close 18 is outer mutually inclined-plane, and upper end is inside inclined-plane; The side of described latch 16 is the triangle be harmonious with snap close 18 upper ends, can move up and down.
While grasping, unmanned plane is grasped to the snap close 18 that discharges mortise lock 14 to be aimed at the slot that unmanned plane is special and promotes downwards, snap close 18 is subject to the interaction force compressive tension spring 19 of slot to snap close, snap close 18 enters after slot the tension force effect that is subject to tension spring 19, snap close 18 returns to original position, now, realize the mutual snap close of the slot of snap close 18 and unmanned plane, realize grasping unmanned plane.Electric device is housed on latch 16 and can makes latch 16 up-and-down movements, start electric device drive latch 16 and move downward, snap close 18 the compressive tension spring 19 of extruding both sides, realize separating of snap close 18 and unmanned plane slot, can realize the release of unmanned plane.
While using the present embodiment, unmanned plane is grasped in the special slot discharged on mortise lock 14 insertion unmanned planes, realize grasping unmanned plane.The length of synchronization regulation A-frame 1, the rising unmanned plane grasps the height that discharges mortise lock 14, unmanned plane is raised to the firing altitude of appointment, fixes A-frame 1 and strut bar 2.According to this unmanned plane quality and takeoff speed, regulate quality and the position on strut bar 2 of the clump weight 9 on weight linear meter 8.Unmanned plane emission dead work completes.During the emission unmanned plane, while starter motor and unmanned plane power system, the 11 drive activity swing arms 13 of interlock cross bar and unmanned plane are done and are accelerated to rotate, when the speed of unmanned plane reaches takeoff speed, keep the rotating mechanism uniform rotation, regulate the flight attitude of unmanned plane self by the unmanned plane power system after, start unmanned plane and grasp the release mortise lock, discharge unmanned plane and take off.
The quality of the present embodiment by regulating clump weight 9 and clump weight 9 be in the position of strut bar 8, the counterweight while realizing casting device to different unmanned plane impelling.When rotating mechanism rotates, increase with velocity of rotation, can effectively increase the unmanned plane be hinged on movable rocker arm 12 and grasp and discharge the radius of rotation of mortise lock 14 around strut bar 2, thereby the spin velocity of interlock cross bar 11 when reducing unmanned plane and reaching takeoff speed increases the stability of casting system.Activity swing arm 13 and unmanned plane grasp that to discharge mortise lock 14 hinged, and unmanned plane can be regulated its acceleration and pitch angle while taking off by the power system of itself.
Claims (4)
1. one kind middle-size and small-size unmanned plane rotary throwing device, is characterized in that, comprises impelling frame column, driver train, rotating mechanism; Driver train comprises two motors (5), two motor gears (6) and toothed disc (7); Two motors (5) are fixed on impelling frame column; Two motor gears (6) are contained in respectively on the output shaft of two motors (5); It is upper that toothed disc (7) is sleeved on two motor gears (6), and the internal tooth of toothed disc (7) and two motor gears (6) engagement; Rotating mechanism comprises that weight linear meter (8), clump weight (9), two fasteners (10), interlock cross bar (11), attaching parts (12), activity swing arm (13) and unmanned plane grasp release mortise lock (14); Weight linear meter (8) and interlock cross bar (11) are positioned at the top of toothed disc (7), and symmetrical chuck is upper at strut bar (2), and tightens up by two fasteners (10); It is upper that clump weight (9) is contained in weight linear meter (8), and can slide along weight linear meter (8); One end of activity swing arm (13) is hinged with the termination of interlock cross bar (11) by attaching parts (12); The other end of activity swing arm (13) is hinged with unmanned plane and grasps release mortise lock (14); Unmanned plane grasps release mortise lock (14) and comprises mortise lock coupling end (15), latch (16), anchor shaft (17), snap close (18) and tension spring (19); Unmanned plane grasps release mortise lock (14) and is connected in the activity swing arm by mortise lock coupling end (15), and lower end is fixed with snap close (18) by anchor shaft (17), and snap close (18) can rotate around anchor shaft (17); There is latch (16) upper end of snap close (18), and there is tension spring (19) lower end; Described snap close (18) is two, and respectively there is an aperture equated with anchor shaft (17) radius in two places that latch in side full symmetric and upper middle, and the lower end of snap close (18) is outside inclined-plane, and upper end is inside inclined-plane; The side of described latch (16) is the triangle be harmonious with two snap closes (18) upper end, can move up and down.
2. a kind of middle-size and small-size unmanned plane rotary throwing device as claimed in claim 1, is characterized in that, impelling frame column comprises A-frame (1), strut bar (2), motor fixedly auricle (3), dowel disc (4); A-frame (1) is adjustable mechanism, is fixed on an end of strut bar (2); It is upper that dowel disc (4) is sleeved on strut bar (2), is positioned at the fixedly top of auricle (3) of motor.
3. a kind of middle-size and small-size unmanned plane rotary throwing device as claimed in claim 2, is characterized in that, two fasteners (10) all are positioned at the top of weight linear meter (8) and interlock cross bar (11), and cover is clipped on the circumference of strut bar (2); Weight linear meter (8) one ends are semi-round fixed cover, and the internal diameter of this fixed cover is identical with the external diameter of strut bar (2); One end of interlock cross bar (11) is also semi-round fixed cover, and the internal diameter of this fixed cover is identical with the external diameter of strut bar (2); There is hinge hole the other end termination of interlock cross bar (11); Interlock cross bar (11) is positioned at the upper surface of dowel disc (4), on the symmetrical circumference that is distributed in strut bar (2) of weight linear meter (8), and is installed on dowel disc (4) by the fixed cover of interlock cross bar one end.
4. a kind of middle-size and small-size unmanned plane rotary throwing device as claimed in claim 3, is characterized in that, two fasteners (10) are the semicircle cover, and the attachment lug radially protruded is all arranged on the circumference of each fastener (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110197645 CN102328752B (en) | 2011-07-14 | 2011-07-14 | Rotating ejection device for small and medium unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110197645 CN102328752B (en) | 2011-07-14 | 2011-07-14 | Rotating ejection device for small and medium unmanned aerial vehicle |
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| CN102328752A CN102328752A (en) | 2012-01-25 |
| CN102328752B true CN102328752B (en) | 2013-12-25 |
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| CN 201110197645 Expired - Fee Related CN102328752B (en) | 2011-07-14 | 2011-07-14 | Rotating ejection device for small and medium unmanned aerial vehicle |
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Families Citing this family (9)
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| CN104417763A (en) * | 2013-08-30 | 2015-03-18 | 李志武 | Convolution acceleration taking-off scheme |
| CN103496596A (en) * | 2013-10-18 | 2014-01-08 | 陈伟通 | Stacking robot |
| CN104058100A (en) * | 2014-06-23 | 2014-09-24 | 杨举 | Device for launching and landing aircrafts |
| CN104787351B (en) * | 2015-04-17 | 2016-10-19 | 东北大学 | A kind of unmanned plane is launched and retracting device |
| CN105564664B (en) * | 2015-12-15 | 2018-07-20 | 刘可平 | Short distance takes off method |
| CN106742023A (en) * | 2017-01-14 | 2017-05-31 | 谭燕斌 | One kind spins up formula and takes off launcher |
| CN108860645A (en) * | 2018-07-07 | 2018-11-23 | 胡俊 | A kind of aerial vehicle launcher under particular surroundings |
| CN112298594B (en) * | 2020-11-11 | 2022-02-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Device for inertial projection of unmanned aerial vehicle |
| CN115056997A (en) * | 2022-06-30 | 2022-09-16 | 中国航天空气动力技术研究院 | Solar unmanned aerial vehicle rapid flying mechanism and flying method |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586797C (en) * | 2008-06-13 | 2010-02-03 | 北京航空航天大学 | Small-sized unmanned aerial vehicle rotating ejector rack |
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