CN102910288B - Multi-purpose flexible ram air parachute UAS - Google Patents
Multi-purpose flexible ram air parachute UAS Download PDFInfo
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- CN102910288B CN102910288B CN201210431155.1A CN201210431155A CN102910288B CN 102910288 B CN102910288 B CN 102910288B CN 201210431155 A CN201210431155 A CN 201210431155A CN 102910288 B CN102910288 B CN 102910288B
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Abstract
The invention provides a kind of Multi-purpose flexible ram air parachute unmanned plane, mainly comprise: flexible ram air parachute (1), cabin body (2), screw (12) and slide-type undercarriage (15); The bottom of flexible ram air parachute (1) is by umbrella rope (10) connecting cabin body (2); Cabin body (2) inside is provided with controlling organization (13), modularization mission module (14) and engine (11); Screw (12) is arranged on the afterbody of cabin body (2); Skid landing gear (15) is arranged on cabin body (2) bottom; In modularization mission module, carry the needed equipment of different purposes; This Multi-purpose flexible ram air parachute unmanned plane has following beneficial effect: safe and reliable, radiation pattern is various, and the cruise time is long, and flight range is wide, and volume is little lightweight, easy to use, and use field is extensive, is a kind of desirable unmanned vehicle.
Description
Technical field
The present invention relates to unmanned vehicle field, particularly, relate to a kind of improved Multi-purpose flexible ram air parachute unmanned plane.
Background technology
Traditional unmanned plane wing is fixed wing, this unmanned plane involves great expense, load is little relatively, maintenance use is complicated, needs a large amount of auxiliary facilities, and will carry out long professional training to operating personnel, therefore, traditional unmanned plane is generally used for the specific uses such as high-altitude military surveillance.
In order to adapt to many-sided demand, people study and have manufactured various aircraft. The patent of invention ZL93202125.5 (Granted publication CN2204774Y) of research institute of parachutist of the Chinese People's Liberation Army discloses the flexible ram air parachute of a kind of active flight, the flexible ram air parachute of this active flight is for demonstration flight, advertising, frontier defense patrol and amusement flight, although this aircraft has replaced fixed wing with flexible ram air parachute, is not unmanned plane.
On the basis of traditional unmanned plane, in conjunction with ram air parachute structure, there is remote controlled powered flexible ram air parachute, this is a kind of unmanned vehicle, compared with traditional fixed-wing unmanned plane, has the advantages such as lightweight, cost is low, stock is convenient. It can pull and take off from ground by vehicle, low to take-off venue and landing site requirements; Also can, from aerial input, in combined type transportation system, complete vital task; Can be used in addition exploration and investigation ground situation, carry out aerial atmosphere pollution sampling and volcano monitoring etc. But the flying distance of this remote controlled powered flexible ram air parachute is short, and can only in visual range, fly, that is to say, although accomplished unmannedly, compared with unmanned plane truly, in function, also have great gap.
Therefore, at present in the urgent need to have a kind of safe and reliable, easy manipulation, with low cost, can make flying distance reach the flexible ram air parachute multi-purpose unmanned aerial vehicle of 200 kms by remote control and independent navigation.
Summary of the invention
In order to solve the above-mentioned problems in the prior art, the present invention introduces the feature of traditional dirigible, adopt high-new flight control technology, a kind of brand-new Multi-purpose flexible ram air parachute unmanned plane is provided, can realize the independent navigation flight under multiple-task load, flying distance reaches 200 kms, can adopt ground traction transmitting and two kinds of radiation patterns of airplane air dropping transmitting, has safe and reliable, easy manipulation, low cost and other advantages.
For achieving the above object, the technical solution adopted in the present invention is:
A kind of Multi-purpose flexible ram air parachute unmanned plane, is characterized in that, mainly comprises: flexible ram air parachute, cabin body, screw and slide-type undercarriage;
The bottom of flexible ram air parachute is by umbrella rope connecting cabin body;
Body inside, cabin is provided with controlling organization, modularization mission module and engine;
Screw is arranged on the afterbody of cabin body;
Skid landing gear is arranged on body bottom, cabin;
In modularization mission module, carry the needed equipment of different purposes;
Controlling organization comprises: GPS navigation system, and it is according to predefined target location parameter and positional parameter, and guiding unmanned plane autonomous flight also drops to target area;
Controlling organization also comprises: be received in the electronic equipment that the radio signal sent of ultra-high frequency wireless telecommunications mark of settling target area is independently carried out target-seeking flight;
Controlling organization also comprises: the radio signal that reception ground remote control system is sent is handled parachute rope to control drive circuit and the servo control mechanism of flight.
Multi-purpose flexible ram air parachute unmanned plane of the present invention can be launched by above-ground launcher,
Above-ground launcher mainly comprises: tractor, transmitting firm banking, screw protect frame, tighten up capstan winch, belt tensioner and transmitting releasing mechanism;
Transmitting firm banking is located on tractor; Armed Multi-purpose flexible ram air parachute unmanned plane is placed on transmitting firm banking, and by belt tensioner with tighten up capstan winch and be connected; Screw protects frame and is located at the front end of emission base; Transmitting releasing mechanism is located at firm banking middle part, is positioned at unmanned plane to be launched below.
Multi-purpose flexible ram air parachute unmanned plane of the present invention also can be by installing dropping gear transmitting aboard.
Multi-purpose flexible ram air parachute unmanned plane of the present invention is provided with ground remote control system, it controls this flexibility ram air parachute unmanned plane during flying after predetermined altitude, fly to task object coordinate points according to prebriefed pattern, after task impact point spirals and finishes the work, turn back to spatial domain, destination according to projected route, and decision height information and landing field wind direction information, the mode that adopts sparrow to fall realizes pinpoint landing.
According to technique scheme, the navigation system that the present invention adopts has three kinds: by GPS navigation system autonomous flight and drop to target area; Or settle ultra-high frequency wireless telecommunications mark in target area, implement autonomous target-seeking flight by obtaining radio signal; Also can switch at any time the manual control model of ground staff, handle parachute rope by electronic servo and control its heading, finally realize precision landing.
According to technique scheme, described modularization mission module freight space is in body inside, flexible ram air parachute unmanned engine room, portability composite fuel case, and container or fixing electronic article ensure the simple balance of effective capacity value self endurance in totally-enclosed aircraft.
According to technique scheme, Multi-purpose flexible ram air parachute unmanned plane of the present invention adopts the flexible ram air parachute of punching type as lifting body, drive with screw, in flexible ram air parachute bottom, connect and hang cabin body by umbrella rope, flexible ram air parachute operating mechanism, engine and screw etc. are installed on the body of cabin.
Compared with prior art, flexible ram air parachute unmanned plane of the present invention has following beneficial effect:
1. by introducing the feature of traditional dirigible and adopting the high-new flight control technologies such as remote control independent navigation, make security of system reliable;
2. flying height is from tens meters to several kms, and flying distance can reach 200 kms, and has the advantages such as radiation pattern is various, the cruise time is long, flight range is wide, volume is little, lightweight, easy to use, purposes is varied;
3. use field is extensive, comprises the lift-launch of multitask load, real-time Communication for Power relaying, urgent air-dropped material, continues battlefield detection, search and rescue aid, electronic warfare, natural calamity prevention and processing, science are reconnoitred, frontier policeman etc.
4. simple in structure, operation is controlled easily, and load capacity is large, is that a kind of very effective aerial platform and article are delivered platform.
Brief description of the drawings
Fig. 1 is the Multi-purpose flexible ram air parachute unmanned plane of the one embodiment of the invention oblique view under vehicle-mounted state.
Fig. 2 is the structural representation of the Multi-purpose flexible ram air parachute unmanned plane of one embodiment of the invention.
Fig. 3 is the connection diagram of Multi-purpose flexible ram air parachute unmanned plane and the ground traction emitter of one embodiment of the invention.
Fig. 4 is the Multi-purpose flexible ram air parachute unmanned aerial vehicle of the one embodiment of the invention schematic diagram that launches.
Fig. 5 is Multi-purpose flexible ram air parachute unmanned plane airdrop-launched schematic diagram of the present invention.
Fig. 6 is the control system block diagram of the Multi-purpose flexible ram air parachute unmanned plane of one embodiment of the invention.
In figure: the flexible ram air parachute of 1-, 2-cabin body, 3-tractor, 4-screw protects frame, and 5-launches firm banking, and 6-tightens up capstan winch, 7-belt tensioner, 8-launches releasing mechanism, 9-1-cross bar, 9-2-connecting rod, 10-umbrella rope, 11-engine, 12-screw, 13-controlling organization, 14-modularization mission module, 15-slide-type undercarriage.
Detailed description of the invention
Below in conjunction with brief description of the drawings embodiments of the invention.
Fig. 1 is the Multi-purpose flexible ram air parachute unmanned plane of the one embodiment of the invention oblique view under vehicle-mounted state, and Fig. 2 is the structural representation of the Multi-purpose flexible ram air parachute unmanned plane of one embodiment of the invention. Referring to Fig. 1 and Fig. 2, the Multi-purpose flexible ram air parachute unmanned plane of the present embodiment comprises: flexible ram air parachute 1, cabin body 2, screw 12 and slide-type undercarriage 15; The bottom of flexible ram air parachute 1 is by umbrella rope 10 connecting cabin bodies 2; Body 2 inside in cabin are provided with controlling organization 13, modularization mission module 14 and engine 11; Screw 12 is arranged on the afterbody of cabin body 2; Skid landing gear 15 is arranged on cabin body 2 bottoms; In modularization mission module 14, carry the needed equipment of different purposes; Controlling organization 13 comprises: GPS navigation system, and it is according to predefined target location parameter and positional parameter, and guiding unmanned plane autonomous flight also drops to target area; Controlling organization 13 also comprises: be received in the electronic equipment that the radio signal sent of ultra-high frequency wireless telecommunications mark of settling target area is independently carried out target-seeking flight; Controlling organization 13 also comprises: the radio signal that reception ground remote control system is sent is handled parachute rope to control drive circuit and the servo control mechanism of flight.
The Multi-purpose flexible ram air parachute unmanned plane of the present embodiment is launched by above-ground launcher.
Fig. 3 is the connection diagram of the Multi-purpose flexible ram air parachute unmanned plane of one embodiment of the invention and ground traction emitter, and Fig. 4 is the Multi-purpose flexible ram air parachute unmanned aerial vehicle of the one embodiment of the invention schematic diagram that launches. Referring to Fig. 3 and Fig. 4, in the present embodiment, above-ground launcher mainly comprises: tractor 3, transmitting firm banking 5, screw protect frame 4, tighten up capstan winch 6, belt tensioner 7 and transmitting releasing mechanism 8; Transmitting firm banking 5 is located on tractor 3; Armed Multi-purpose flexible ram air parachute unmanned plane is placed on transmitting firm banking 5, and by belt tensioner 7 with tighten up capstan winch 6 and be connected; Screw protects frame 4 and is located at the front end of emission base 5; Transmitting releasing mechanism 8 is located at firm banking 5 middle parts, is positioned at unmanned plane to be launched below.
More particularly, the ground surface launching of the present embodiment adopts ground mover 3 traction transmittings, on tractor 3, be provided with the transmitting firm banking 5 that is frame structure, first carry out the assembling of soft wing multi-purpose unmanned aerial vehicle,, flexible ram air parachute 1, screw 12 and skid landing gear 15 are installed on cabin body 2, then this soft wing unmanned plane are placed on transmitting firm banking 5; The cabin body 2 of soft wing unmanned plane by belt tensioner 7 with tighten up capstan winch 6 and be connected, tighten up capstan winch 6 and be fixed on tractor 3; Be provided with screw at the front end of emission base 5 and protect frame 4, be wound around for protective umbrella made rope 10 and screw 12, the lower limb that screw protects frame 4 is fixedly connected with protection retaining mechanism, and the other end of protection retaining mechanism is connected with emission base 5; Concrete connected mode is as follows: protection retaining mechanism comprises connecting rod 9-2 and the cross bar 9-1 being connected with emission base 5, cross bar 9-1 is provided with bayonet socket, one end of connecting rod 9-2 and cross bar 9-1 are hinged, the other end of connecting rod 9-2 protects frame 4 with screw and is fixedly connected with, connecting rod 9-2 be provided with cross bar 9-1 on the suitable bayonet lock of bayonet socket; In the time that the bayonet lock of connecting rod 9-2 inserts the bayonet socket on cross bar 9-1, it is vertical with cabin body 2 that screw protects frame 4, and when the hole on bayonet lock and the cross bar 9-1 of connecting rod 9-2 is during in separated position, it is parallel with unmanned plane during flying body 2 that screw protects frame 4; Described belt tensioner 7 is connected with cabin body 2 by transmitting releasing mechanism 8.
Below narrate the process that the flexible ram air parachute unmanned aerial vehicle of the present embodiment launches: tractor 3 starts sliding race, flexible ram air parachute 1 is subject to air lift and goes up to the air, after aerial directly over flexible ram air parachute 1 rises to tractor 3, to protect retaining mechanism release, screw protects frame 4 and fell to horizontal level; Add after ski-running goes to predetermined speed at tractor 3, extract the latch of transmitting releasing mechanism 8, flexible punching press unmanned plane and emission base 5 are thrown off completely, launch.
The bright Multi-purpose flexible ram air parachute unmanned plane of the present embodiment adopts the flexible ram air parachute 1 of punching type as lifting body, drives with screw 12. In flexible ram air parachute 1 bottom, connect and hang cabin body 2 by umbrella rope 10, operating mechanism, engine 11 and the screw 12 etc. of flexible ram air parachute 1 are installed on cabin body 2.
The modularization mission module 14 of the present embodiment is positioned at the inside of flexible ram air parachute unmanned engine room body 2, carries composite fuel case, and container or fixing electronic device ensure the simple balance of effective capacity value self endurance in totally-enclosed aircraft.
Fig. 6 is the control system block diagram of the Multi-purpose flexible ram air parachute unmanned plane of one embodiment of the invention. As shown in Figure 6, the Multi-purpose flexible ram air parachute unmanned plane of the present embodiment is provided with ground remote control system, it controls this flexibility ram air parachute unmanned plane during flying after predetermined altitude, fly to task object coordinate points according to prebriefed pattern, after task impact point spirals and finishes the work, turn back to spatial domain, destination according to projected route, and decision height information and landing field wind direction information, the mode that adopts sparrow to fall realizes pinpoint landing.
The control system of the Multi-purpose flexible ram air parachute unmanned plane of the present embodiment is made up of navigation system, remote control system and controlling organization 13 3 parts, each several part adopts Modular Structure Design, control circuit and hardware system are rigidly connected and are fixed in airborne controlling organization 13, outer outlet and the gps antenna of handling umbrella rope 3 of being also provided with of airborne controlling organization 13; Control terminal is six passage Futaba remote controllers and ground handling station. The navigation system of flexible ram air parachute unmanned plane is divided into three kinds of navigate modes: by GPS navigation system autonomous flight and drop to target area; Or settle ultra-high frequency wireless telecommunications mark in target area, implement autonomous target-seeking flight by obtaining radio signal; Also can switch at any time the manual control model of ground staff, handle umbrella rope 10 by electronic servo and control its heading, finally realize precision landing. In six passage Futaba remote controllers of control terminal, four passages are controlled respectively the left control wire of flexible ram air parachute, the right control wire of flexible ram air parachute, throttle and flame-out, and all the other two passages are used for controlling the operation relevant with task device. Controlling organization 13 adopts the principle of fuzzy control, by the yaw angle obtaining, sets rational control rate. Handling umbrella rope 10 adjusts flexible ram air parachute 1. In addition, adopt capstan winch structure, utilize direct current drive mechanism, big power controller part, high efficient energy sources supply, meet the Control requirements to flexible ram air parachute unmanned plane. Aspect height control, according to the handling of flexible ram air parachute, adopt the flying height that regulates the mode of throttle to control flexible ram air parachute unmanned plane, in the time highly exceeding predetermined altitude range, raise or lower height by opening greatly or reducing throttle.
The slide-type undercarriage 15 of the present embodiment has stronger shock-absorbing capacity, can absorb the impact that flexible ram air parachute unmanned plane is produced completely, therefore can realize unmanned plane safe retrieving.
In when landing, the needed landing site area of Multi-purpose flexible ram air parachute unmanned plane of the present invention is less, roughly suitable with the required place of pure helicopter, therefore selectable landing place multiregion greatly, more safe and reliable.
Fig. 5 is Multi-purpose flexible ram air parachute unmanned plane airdrop-launched schematic diagram of the present invention. Self-evident, those skilled in the art can implement airdrop-launched with reference to Fig. 5 and description of the present invention completely.
Claims (1)
1. Multi-purpose flexible ram air parachute UAS, is characterized in that, mainly comprises: the flexible punching press wingUmbrella (1), cabin body (2), screw (12), slide-type undercarriage (15) and above-ground launcher;
The bottom of flexible ram air parachute (1) is by umbrella rope (10) connecting cabin body (2), and wherein this umbrella rope is directBe fixedly connected on the body of cabin, described screw is arranged in a side of this cabin body;
Cabin body (2) inside is provided with controlling organization (13), modularization mission module (14) and engine (11);
Screw (12) is arranged on the afterbody of cabin body (2);
Skid landing gear (15) is arranged on cabin body (2) bottom;
In modularization mission module (14), carry the needed equipment of different purposes;
Controlling organization (13) comprising: GPS navigation system, it is according to predefined target location parameter and fixedPosition parameter, guiding unmanned plane autonomous flight also drops to target area;
Controlling organization (13) also comprises: be received in the nothing sent of ultra-high frequency wireless telecommunications mark of settling target areaThe line signal of telecommunication independently carries out the electronic equipment of target-seeking flight;
Controlling organization (13) also comprises: the radio signal that reception ground remote control system is sent is handled described umbrellaRope is to control drive circuit and the servo control mechanism of flight;
This unmanned plane is launched by above-ground launcher,
Above-ground launcher mainly comprises: tractor (3), transmitting firm banking (5), screw protect frame (4),Tighten up capstan winch (6), belt tensioner (7) and transmitting releasing mechanism (8);
Wherein, transmitting firm banking (5) is located on tractor (3); Armed Multi-purpose flexible punching pressIt is upper that parafoil unmanned plane is placed in transmitting firm banking (5), and by belt tensioner (7) with tighten up capstan winch (6) evenConnect; Screw protects frame (4) and is only located at the front end of launching firm banking (5); Transmitting releasing mechanism (8) is establishedIn transmitting firm banking (5) middle part, be positioned at unmanned plane to be launched below;
This unmanned plane is provided with ground remote control system, and it controls this flexibility ram air parachute unmanned plane during flying to predetermined highAfter degree, fly to task object coordinate points according to prebriefed pattern, after task impact point spirals and finishes the work,Turn back to spatial domain, destination according to projected route, and decision height information and landing field wind direction information, adoptThe mode that sparrow falls realizes pinpoint landing;
Wherein, described screw protects frame and is wound around for protective umbrella made rope and screw, and screw protects the lower limb of frameFix with the protection retaining mechanism arranging, the other end of protection retaining mechanism is connected with transmitting firm banking;
Wherein, tractor starts sliding race, and flexible ram air parachute is subject to air lift and goes up to the air, when the flexible punching press wingUmbrella will protect retaining mechanism release after rising to aerial directly over tractor, propeller protect frame fell toHorizontal level, adds after ski-running goes to predetermined speed at tractor, extracts the latch of transmitting releasing mechanism, instituteState unmanned plane and depart from completely with transmitting firm banking, launch.
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| CN201210431155.1A CN102910288B (en) | 2012-10-31 | 2012-10-31 | Multi-purpose flexible ram air parachute UAS |
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| CN201210431155.1A CN102910288B (en) | 2012-10-31 | 2012-10-31 | Multi-purpose flexible ram air parachute UAS |
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| CN102910288A CN102910288A (en) | 2013-02-06 |
| CN102910288B true CN102910288B (en) | 2016-05-11 |
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| CN103241363B (en) * | 2013-05-17 | 2015-12-02 | 哈尔滨工业大学 | The hard and soft hybrid class parafoil flexible gas-filled wing unmanned plane of row array formula suspension cable control type |
| CN106428614B (en) * | 2015-07-29 | 2020-11-03 | 孝感嘉瑞应用科技开发有限公司 | Unmanned vehicles intelligence recovery platform |
| CN105329447B (en) * | 2015-11-25 | 2017-04-05 | 襄阳宏伟航空器有限责任公司 | A kind of leading edge air chamber automatic forming ram air parachute |
| CN105448064A (en) * | 2015-11-30 | 2016-03-30 | 无锡觅睿恪科技有限公司 | UAV (unmanned aerial vehicle) remote control provided with built-in wind direction detection device |
| CN105366055A (en) * | 2015-12-15 | 2016-03-02 | 谷家菊 | Flexible-wing unmanned aerial vehicle with fog dispersal function |
| CN105383698A (en) * | 2015-12-15 | 2016-03-09 | 谷家菊 | Fog-dissipation unmanned aerial vehicle with flexible wings |
| CN105539859B (en) * | 2016-01-29 | 2018-02-09 | 襄阳宏伟航空器有限责任公司 | A kind of fixed high control system of soft wing unmanned plane low-latitude flying |
| CN106184802B (en) * | 2016-09-30 | 2018-05-04 | 襄阳宏伟航空器有限责任公司 | A kind of soft wing unmanned aerial vehicle orbit launching device and the method for soft wing unmanned plane launch |
| CN106184804B (en) * | 2016-09-30 | 2018-10-09 | 襄阳宏伟航空器有限责任公司 | A kind of large size unmanned plane self-monitoring remote control detachment system and method |
| CN107804457B (en) * | 2017-11-22 | 2023-11-10 | 襄阳宏伟航空器有限责任公司 | Parafoil rope protection device for parafoil unmanned aerial vehicle |
| CN108706102A (en) * | 2018-06-20 | 2018-10-26 | 周欢东 | A kind of unmanned plane express delivery of the big load complex environment based on electric power paraglider |
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