CN103277353A - Unmanned aerial vehicle low impact catapult pneumatic and hydraulic system - Google Patents
Unmanned aerial vehicle low impact catapult pneumatic and hydraulic system Download PDFInfo
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- CN103277353A CN103277353A CN2013101679706A CN201310167970A CN103277353A CN 103277353 A CN103277353 A CN 103277353A CN 2013101679706 A CN2013101679706 A CN 2013101679706A CN 201310167970 A CN201310167970 A CN 201310167970A CN 103277353 A CN103277353 A CN 103277353A
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Abstract
The invention relates to an unmanned aerial vehicle low impact catapult pneumatic and hydraulic system which is composed of a main oil pump electromagnetic unloading overflow valve, a main oil pump, a main oil pump motor, a supplemented oil pump electromagnetic unloading overflow valve, a supplemented oil pump, a supplemented oil pump motor, a cartridge valve, a first one-way valve, a safety valve, a motor, an electric-hydraulic proportional cartridge valve, a second one-way valve, a safety and stop valve, a third one-way valve, an energy accumulator, a pressure reducing valve, a speed regulating valve, an electromagnetic change valve, a proportional overflow valve, a decelerating hydraulic cylinder, an oil tank and oil pipes communicated with each element. According to the unmanned aerial vehicle low impact catapult pneumatic and hydraulic system, the hydraulic motor is adopted so as to drive a winding drum mechanism, the shortages that a high-speed hydraulic cylinder is adopted by a traditional pneumatic and hydraulic system and thus technology is complex and machining difficulty is large are overcome; the hydraulic motor is controlled by a proportional valve and closed-loop control is conducted on the rotation speed of the hydraulic motor, so that the ejection with high reliability and low impact in a start stage is achieved, and the shortages that the traditional pneumatic and hydraulic system is large in impact and poor in reliability are overcome.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle ejecting device, particularly the low catapult-launching gear gas-liquid pressing system that impacts of a kind of unmanned plane.
Background technique
Ejection mechanism is used very extensive in military field, for example emission of guided missile and rocket, the emission of ship-board aircraft, the launching of unmanned plane, the launching of Lifesaving chair, and from the space station, space shuttle or other aircraft launch and launch an artificial satellite etc.
The radiation pattern of unmanned plane is numerous, as hand throwing, airborne input, vehicle-mounted emission, launch, rocket assist etc.Unmanned aerial vehicle ejecting mode commonly used has elastic force to launch, combustion gas is launched, the gentle hydraulic catapult of electromagnetic launch.Elastic force launches the elastic force of the elastic element (as elastic cord, spring) that utilizes stretchability very strong and does power, and the required acceleration that takes off is provided, and is applicable to light (little) type unmanned plane; Combustion gas is launched and is referred to directly utilize powder gases to launch unmanned plane, realizes general emission by the active service cannon usually, consider anti-overloading performance, and the compatibility of general structure size and weapon; Electromagnetic launch is to utilize electromagnetic force to promote object, make object in short distance, accelerate to the device of launching behind the certain speed, because linear dc motion actuator has excellent controllability, can make things convenient for and accurately by the size of regulating output current change launch can size, make the electromagnetic launch utensil that the ability of accurately launching unmanned plane from light-duty to heavy be arranged.But electromagnetic launch is relatively poor in middle-size and small-size unmanned plane field Economy, therefore only is adapted to large-scale unmanned plane and carrier-borne aircraft; Gas-liquid is pressed and launched is to utilize hydraulic actuator (oil hydraulic cylinder) and accumulator to be used, instantaneous hydraulic oil is pressed in the oil hydraulic cylinder of pressurized gas in the accumulator realized, compare with rato mode commonly used, it is good that it has property safe and out of sight, good economy performance, advantages such as adaptability is good, can not produce light, sound, heat, signals such as smog, there is not the storage of fire control equipment, advantages such as transportation and problem of management, and the expense that consumable supplies and support ensure when carrying out the unmanned plane emission at every turn is lower, just can satisfy different unmanned planes to the usage requirement of take off weight and taking off speed by regulating charging pressure of accumulator with charge pressure within the specific limits in addition; Compare with the wheeled mode of taking off, the former takes off and need not airfield runway, has good maneuverability, can carry out unmanned aerial vehicle ejecting continuously and take off, and is easy to use, vehicle-mounted, carrier-borne all very suitable.
But traditional unmanned plane gas-liquid presses catapult technique still to have deficiency, impacts greatlyyer the start up period of at first being, is difficult to realize stepless speed regulation; Secondly, the high speed hydraulic cylinders that adopt in the accelerating process more, difficulty of processing is big, complex process.
Summary of the invention
At the defective that exists in the above-mentioned prior art, technical problem to be solved by this invention provides the low catapult-launching gear gas-liquid pressing system that impacts of a kind of unmanned plane, this system possesses traditional unmanned plane gas-liquid and presses advantages such as catapult technique good concealment, good economy performance, adaptability are good, has avoided simultaneously that its breakout pressure impacts greatly, high speed hydraulic cylinder is difficult to shortcomings such as processing.
For achieving the above object, the present invention is achieved in that
The low catapult-launching gear gas-liquid pressing system that impacts of a kind of unmanned plane, it is by main oil pump electromagnetism unloading overflow valve 1, main oil pump 2, main oil pump motor 3, slippage pump electromagnetism unloading overflow valve 4, slippage pump 5, slippage pump motor 6, cartridge valve 7, first one-way valve 8 and safety valve 9 thereof, oil hydraulic motor 10, electro-hydraulic proportion cartridge valve 11, second one-way valve 12, safety and stop valve piece 13, the 3rd one-way valve 14, accumulator 15, reduction valve 16, series flow control valve 17, solenoid directional control valve 18, proportional pressure control valve 19, deceleration oil hydraulic cylinder 20, fuel tank 21 and the oil pipe that is communicated between each original paper constitute; Main oil pump motor 3 drives main oil pump 2, main oil pump 2 inlet ports are connected with fuel tank 21, main oil pump 2 presses hydraulic fluid port to be connected accumulator 15 with safety with stop valve piece 13 by second one-way valve 12, and main oil pump electromagnetism unloading overflow valve 1 is connected across between the pressure hydraulic fluid port and fuel tank 21 of main oil pump 2; Accumulator 15 connects oil hydraulic motor 10 filler openings by electro-hydraulic proportion cartridge valve 11, and oil hydraulic motor 10 return openings are connected with fuel tank 21 by cartridge valve 7; Safety and stop valve piece 13 is connected with the 3rd one-way valve 14 simultaneously, and the reduction valve 16 that is linked in sequence, series flow control valve 17, solenoid directional control valve 18; Solenoid directional control valve 18 filler openings connect deceleration oil hydraulic cylinder 20, and its return opening connects fuel tank 21, and proportional pressure control valve 19 is connected across between deceleration oil hydraulic cylinder 20 rod chambers and the rodless cavity; Slippage pump motor 6 drives slippage pump 5, and slippage pump 5 inlet ports are connected with fuel tank 21, and slippage pump 5 presses hydraulic fluid port to be connected with oil hydraulic motor 10 filler openings by first one-way valve 8, and slippage pump electromagnetism unloading overflow valve 4 is connected across between the pressure hydraulic fluid port and fuel tank 21 of slippage pump 5.
The low hardware that impacts catapult-launching gear gas-liquid pressing system of unmanned plane comprises speed control system, movable pulley system, slides cart system; Speed control system carries out speed control by the movable pulley system by sliding cart system, slides dolly carrying unmanned plane, realizes that at last the low impact of unmanned plane is launched.
Described speed control system, main implementation method is: in electro-hydraulic proportion cartridge valve 11, by the displacement transducer feedback signal, realize the closed loop control to spool travel; The speed feedback of oil hydraulic motor drum mechanism built and given signal compare, and realize closed loop or open loop control to unmanned plane speed, and then realize that the quick acceleration of unmanned plane reaches the low control of impacting.
Further, described movable pulley system comprises movable pulley speed regulating structure and static pulley changement; The movable pulley speed regulating structure is used for accelerating unmanned plane to taking off speed, and the retarding braking that slides dolly; The static pulley changement is used for taking commutation to handle by flexible rope and transmits power to the slide rail below.
Further, the described cart system that slides accelerates to unmanned plane safe take-off speed with unmanned plane as the carrier that launches of unmanned plane on launching cradle, guarantees that the unmanned plane boost phase is reliable.
Because adopt technique scheme, a kind of low impact unmanned aerial vehicle ejecting device gas-liquid pressing system provided by the invention compared with prior art has such beneficial effect:
1) adopts the fluid motor-driven drum mechanism built, overcome transmission gas-liquid pressing system and adopted high speed hydraulic cylinder, complex process, the shortcoming that difficulty of processing is big;
2) adopt the Proportional Valve-controlled oil hydraulic motor, motor rotary speed is carried out closed loop control, the highly reliable low impact the start up period of can realizing is launched, and has overcome traditional gas-liquid pressing system and has impacted greatly the shortcoming of poor reliability.
Description of drawings
Fig. 1 is the low schematic diagram that impacts catapult-launching gear gas-liquid pressing system of unmanned plane of the present invention;
Fig. 2 is that the low hardware each several part that impacts catapult-launching gear gas-liquid pressing system of unmanned plane of the present invention concerns block diagram;
Fig. 3 is the low catapult-launching gear workflow diagram that impacts of unmanned plane of the present invention;
Fig. 4 is the low mechanical structure schematic representation that impacts catapult-launching gear gas-liquid pressing system of unmanned plane of the present invention;
Fig. 5 is the low catapult-launching gear speed control closed loop block diagram that impacts of unmanned plane of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
The low catapult-launching gear gas-liquid pressing system that impacts of a kind of unmanned plane, as shown in Figure 1, it is by main oil pump electromagnetism unloading overflow valve 1, main oil pump 2, main oil pump motor 3, slippage pump electromagnetism unloading overflow valve 4, slippage pump 5, slippage pump motor 6, cartridge valve 7, first one-way valve 8 and safety valve 9 thereof, oil hydraulic motor 10, electro-hydraulic proportion cartridge valve 11, second one-way valve 12, safety and stop valve piece 13, the 3rd one-way valve 14, accumulator 15, reduction valve 16, series flow control valve 17, solenoid directional control valve 18, proportional pressure control valve 19, deceleration oil hydraulic cylinder 20, fuel tank 21 and the oil pipe that is communicated between each original paper constitute; Main oil pump motor 3 drives main oil pump 2, main oil pump 2 inlet ports are connected with fuel tank 21, main oil pump 2 presses hydraulic fluid port to be connected accumulator 15 with safety with stop valve piece 13 by second one-way valve 12, and main oil pump electromagnetism unloading overflow valve 1 is connected across between the pressure hydraulic fluid port and fuel tank 21 of main oil pump 2; Accumulator 15 connects oil hydraulic motor 10 filler openings by electro-hydraulic proportion cartridge valve 11, and oil hydraulic motor 10 return openings are connected with fuel tank 21 by cartridge valve 7; Safety and stop valve piece 13 is connected with the 3rd one-way valve 14 simultaneously, and the reduction valve 16 that is linked in sequence, series flow control valve 17, solenoid directional control valve 18; Solenoid directional control valve 18 filler openings connect deceleration oil hydraulic cylinder 20, and its return opening connects fuel tank 21, and proportional pressure control valve 19 is connected across between deceleration oil hydraulic cylinder 20 rod chambers and the rodless cavity.Slippage pump motor 6 drives slippage pump 5, and slippage pump 5 inlet ports are connected with fuel tank 21, and slippage pump 5 presses hydraulic fluid port to be connected with oil hydraulic motor 10 filler openings by first one-way valve 8, and slippage pump electromagnetism unloading overflow valve 4 is connected across between the pressure hydraulic fluid port and fuel tank 21 of slippage pump 5.
Its controlling method is: rope pretension at first, make slide dolly with and rope be in the preparation acceleration mode; Unmanned plane accelerates then, reaches unmanned aerial vehicle ejecting speed; Then slide dolly and slow down, make unmanned plane and slide dolly and separate; After finishing emission work at last, slide dolly and begin backhaul.
As shown in Figure 2, the hardware of the low shock machine catapult-launching gear gas-liquid pressing system of a kind of novel unmanned plane comprises:
Speed control system, the quick acceleration and low impact that are used for unmanned plane are controlled;
The movable pulley system is used for the retarding braking that unmanned plane accelerated and slided dolly;
Slide cart system, as the unmanned aerial vehicle ejecting carrier, guarantee that the unmanned plane boost phase is reliable.
Figure 3 shows that the low catapult-launching gear workflow diagram that impacts of unmanned plane, at first accumulator group accumulation of energy in the hydraulic system, movable pulley system rope pretension, slide dolly then and drag the unmanned plane acceleration, after accelerating to taking off speed, slide dolly and slow down under the buffer stopper effect, the unmanned plane disengaging is slided dolly and is taken off, slide dolly at last and rely on gravity effect backhaul, enter next work cycle.
The concrete working procedure of the embodiment of the invention is as follows:
1) rope pretension process
Main oil pump motor 3 task driven main oil pumps 2, high pressure oil enters into accumulator 15 by second one-way valve 12, when pressure reaches the pressure of setting (different setting values can be finished launching of different type of machines), 1 automatic deloading of main oil pump electromagnetism unloading overflow valve, main oil pump motor 3 outages simultaneously, main oil pump 2 stalls stop to accumulator 15 fuel feeding.Simultaneously, the fluid of accumulator 15 acts on the oil hydraulic motor 10 through electro-hydraulic proportion cartridge valve 11, makes reel that oil hydraulic motor 10 is connected with the rope pretension, makes to slide dolly and all be in the state of preparing acceleration with rope.
2) unmanned plane accelerating process
Boost phase main oil pump 2 is in vehicle stop state.High pressure oil in the accumulator 15 enters into oil hydraulic motor 10 by electro-hydraulic proportion cartridge valve 11, simultaneously, cartridge valve 7 is opened, the fluid that adds speed hydraulic motor 10 inside is got back to fuel tank fast through cartridge valve 7, and in the fast rotational process, slippage pump motor 6 drive slippage pumps 5 through one-way valve 8 to oil hydraulic motor 10 low-pressure cavity repairings.Wherein, electro-hydraulic proportion cartridge valve 11 passing ratios are regulated the control that can realize oil hydraulic motor 10 rotating speeds.
3) slide dolly moderating process
In the rope pretension stage, the electromagnet 2DT of solenoid directional control valve 18 gets electric, and fluid regains deceleration oil hydraulic cylinder cylinder bar through the 3rd one-way valve 14, reduction valve 16, the series flow control valve 17 rod chamber fuel feeding to deceleration oil hydraulic cylinder 20, carries out to slide dolly and slow down and prepare.
When sliding moving of car to the buffer stopper position, the piston rod of deceleration oil hydraulic cylinder is drawn out, and the acceleration that 19 pairs of dollies of the hydraulic oil passing ratio relief valve of rod chamber slow down is controlled, and simultaneously rodless cavity is carried out repairing.
4) slide dolly backhaul process
After finishing the emission work of unmanned plane, slide dolly by gravity effect backhaul.
The low mechanical structure of impacting catapult-launching gear gas-liquid pressing system of unmanned plane of the present invention as shown in Figure 4, now is described in detail as follows:
1) oil hydraulic motor reel structure
The hydraulic actuator of unmanned aerial vehicle ejecting device uses oil hydraulic motor, and two oil hydraulic motors and a rope drum are connected, and by the rotation of oil hydraulic motor, drives the reel retraction cables, makes to slide dolly and unmanned plane acceleration.
2) movable pulley speedup structure
The effect of movable pulley speedup system is to make unmanned plane accelerate to safe take-off speed with sliding the launching cradle of dolly in finite length.The movement velocity of movable pulley speedup system own is the oil hydraulic motor rotational velocity, because the restriction of conditions such as the structure of oil hydraulic motor self, performance, make the rotating speed of oil hydraulic motor output and the condition that moment of torsion does not possess large-scale unmanned plane emission, therefore, must increase by a cover speedup system.Because the characteristic that running block has satisfies the requirement of this speedup system fully, and simple in structure, so adopt running block as speeder.
3) static pulley commutating structure
The oil hydraulic motor of unmanned aerial vehicle ejecting device is that rope by flexibility is connected with sliding between the dolly, and because oil hydraulic motor is positioned at the below of slide rail, power is transferred to slide dolly just must take the commutation processing to rope.
4) slide vehicle structure
Slide cart system as the carrier that launches of unmanned plane, on launching cradle, accelerate to unmanned plane safe take-off speed with unmanned plane.The overall process of whole high-speed motion (comprising accelerating sections and the braking section) time is very short, earlier by the static unmanned plane taking off speed that accelerates to, is decelerated to static then.Therefore the design aspect that slides dolly self must consider to accelerate and moderating process in complicated stress.
Slide another important aspect of vehicle structure design and must carry out coordinate design with unmanned plane exactly, need to slide according to the distribution form of unmanned plane the technical research of dolly and the coordinated movement of various economic factors of unmanned plane overall process.
5) slowing-down structure
The unmanned plane gas-liquid presses its function of deceleration system in the ejection system to be: when unmanned plane accelerated to safe take-off speed, the kinetic energy that slides dolly was absorbed by deceleration system, unmanned plane then with slide dolly and separate and take off.Deceleration system is to finish the principal organ of sliding dolly deceleration work after each emission, mainly is made up of oil hydraulic cylinder, running block, static pulley group, buffer stopper etc.
Figure 5 shows that the low catapult-launching gear speed control closed loop block diagram that impacts of unmanned plane, the electro-hydraulic proportion cartridge valve is by the internal displacement sensor feedback signal, make comparisons with the given signal of spool travel, and through amplifier signal is amplified, export corresponding control signal through controller again, by the proportion electro-magnet promotion spool generation displacement of current delivery to Proportional valve, the rotation of control oil hydraulic motor; In the whole speed control system, the motor drum mechanism built is passed through speed probe, compares with speed feedback and with given signal, passes through the electro-hydraulic proportion cartridge valve again to unmanned plane speed realization closed loop control, and then reaching fast of realization unmanned plane hanged down impact acceleration control.
Protection scope of the present invention is defined by the claims.Those skilled in the art can make various modifications or be equal to replacement the present invention in essence of the present invention and protection domain, this modification or be equal to replacement and also should be considered as dropping in protection scope of the present invention.
Claims (1)
1. a unmanned plane hangs down and impacts catapult-launching gear gas-liquid pressing system, and it is characterized in that: it is by main oil pump electromagnetism unloading overflow valve (1), main oil pump (2), main oil pump motor (3), slippage pump electromagnetism unloading overflow valve (4), slippage pump (5), slippage pump motor (6), cartridge valve (7), first one-way valve (8) and safety valve (9) oil hydraulic motor (10) thereof, electro-hydraulic proportion cartridge valve (11), second one-way valve (12), safety and stop valve piece (13), the 3rd one-way valve (14), accumulator (15), reduction valve (16), series flow control valve (17), solenoid directional control valve (18), proportional pressure control valve (19), deceleration oil hydraulic cylinder (20), fuel tank (21) and the oil pipe that is communicated between each original paper constitute; Main oil pump motor (3) drives main oil pump (2), main oil pump (2) inlet port is connected with fuel tank (21), main oil pump (2) presses hydraulic fluid port to be connected accumulator (15) with safety with stop valve piece (13) by second one-way valve (12), and main oil pump electromagnetism unloading overflow valve (1) is connected across between the pressure hydraulic fluid port and fuel tank (21) of main oil pump (2); Accumulator (15) connects oil hydraulic motor (10) filler opening by electro-hydraulic proportion cartridge valve (11), and oil hydraulic motor (10) return opening is connected with fuel tank (21) by cartridge valve (7); Safety and stop valve piece (13) are connected with the 3rd one-way valve (14) simultaneously, and the reduction valve that is linked in sequence (16), series flow control valve (17), solenoid directional control valve (18); Solenoid directional control valve (18) filler opening connects deceleration oil hydraulic cylinder (20), and its return opening connects fuel tank (21), and proportional pressure control valve (19) is connected across between deceleration oil hydraulic cylinder (20) rod chamber and the rodless cavity; Slippage pump motor (6) drives slippage pump (5), slippage pump (5) inlet port is connected with fuel tank (21), slippage pump (5) presses hydraulic fluid port to be connected with oil hydraulic motor (10) filler opening by first one-way valve (8), and slippage pump electromagnetism unloading overflow valve (4) is connected across between the pressure hydraulic fluid port and fuel tank (21) of slippage pump (5).
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| CN107762711A (en) * | 2017-11-16 | 2018-03-06 | 天津中德应用技术大学 | For improving the electricity generation system of vehicle-mounted hydraulic generating Index For Steady-state and loading methods |
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| CN113665834A (en) * | 2021-09-18 | 2021-11-19 | 北京航空航天大学 | High-pressure high-power hydraulic servo ejection system |
| CN114524107A (en) * | 2022-01-14 | 2022-05-24 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle pneumatic ejection system and method based on rodless cylinder vacuum differential pressure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104196771A (en) * | 2014-07-18 | 2014-12-10 | 燕山大学 | Electrical-hydraulic control device of anti-falling constraining device |
| CN104358722A (en) * | 2014-11-10 | 2015-02-18 | 武汉船用机械有限责任公司 | Hydraulic control system for ocean engineering crane |
| CN105346729B (en) * | 2015-11-16 | 2017-08-04 | 中国航天时代电子公司 | A kind of Gas fluid pressure system of unmanned plane emitter dynamic Control |
| CN105346729A (en) * | 2015-11-16 | 2016-02-24 | 中国航天时代电子公司 | Air and hydraulic pressure system with power-controlled unmanned aerial vehicle launcher |
| CN105480430A (en) * | 2015-12-24 | 2016-04-13 | 郑州彩通科技股份有限公司 | Hydraulic ejection system for unmanned aerial vehicle |
| GB2531683B (en) * | 2016-02-12 | 2018-03-28 | Robonic Ltd Oy | Arrangement in catapult |
| GB2531683A (en) * | 2016-02-12 | 2016-04-27 | Robonic Ltd Oy | Arrangement in catapult |
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| CN107323681A (en) * | 2017-06-30 | 2017-11-07 | 燕山大学 | One kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence and control method |
| CN107323681B (en) * | 2017-06-30 | 2020-02-25 | 燕山大学 | Intelligent-release pneumatic-hydraulic ejection system and control method for unmanned aerial vehicle |
| CN107762711A (en) * | 2017-11-16 | 2018-03-06 | 天津中德应用技术大学 | For improving the electricity generation system of vehicle-mounted hydraulic generating Index For Steady-state and loading methods |
| CN108507798A (en) * | 2017-12-27 | 2018-09-07 | 南昌大学 | Trolley accelerator on I-beam |
| CN108507798B (en) * | 2017-12-27 | 2023-12-22 | 南昌航空大学 | Trolley accelerating device on I-beam |
| CN113357205A (en) * | 2021-06-16 | 2021-09-07 | 浙江大学 | Gas-liquid ejection servo actuating system |
| CN113357205B (en) * | 2021-06-16 | 2022-11-29 | 浙江大学 | Gas-liquid ejection servo actuating system |
| CN113665834A (en) * | 2021-09-18 | 2021-11-19 | 北京航空航天大学 | High-pressure high-power hydraulic servo ejection system |
| CN114524107A (en) * | 2022-01-14 | 2022-05-24 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle pneumatic ejection system and method based on rodless cylinder vacuum differential pressure |
| CN114524107B (en) * | 2022-01-14 | 2023-09-19 | 成都飞机工业（集团）有限责任公司 | Pneumatic ejection system and method for unmanned aerial vehicle based on rodless cylinder vacuum differential pressure |
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