CN103466097A - Recovery mechanism for small-scale unmanned aerial vehicle - Google Patents
Recovery mechanism for small-scale unmanned aerial vehicle Download PDFInfo
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- CN103466097A CN103466097A CN2013104393255A CN201310439325A CN103466097A CN 103466097 A CN103466097 A CN 103466097A CN 2013104393255 A CN2013104393255 A CN 2013104393255A CN 201310439325 A CN201310439325 A CN 201310439325A CN 103466097 A CN103466097 A CN 103466097A
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Abstract
The invention discloses a recovery mechanism for a small-scale unmanned aerial vehicle. Buffer and speed reduction damping is provided for the recovering process of the unmanned aerial vehicle by a hydraulic damping brake disc. Satisfied speed reduction damping forces can be provided for unmanned aerial vehicles with different recovery overload requirements by regulating the braking pressure of the brake disc. By a hydraulic actuating cylinder, a recovery net bracket can complete automatic folding so as to be conveniently transported. The mechanism comprises a net body, a net body bracket, a hydraulic system, a braking device and the like. The recovery mechanism for the small-scale unmanned aerial vehicle is suitable for narrow spaces such as mountain lands, islands and ships and has the characteristics of low cost, simplicity for operation, convenience for use and maintenance and the like.
Description
Technical field
The present invention relates to a kind of SUAV (small unmanned aerial vehicle) recovering mechanism, for realizing the recovery to SUAV (small unmanned aerial vehicle).
Background technology
At present domestic for the research of unmanned plane recovery barrier, be mainly to provide dumping force by turbine mechanism.In turbine mechanism, the design of the selection of resisting medium and turbine blade size directly affects damping.Turbine damping simulation calculation more complicated, testing expenses are higher, cause its design cost higher, and the design cycle is long.
Summary of the invention
The objective of the invention is: overcome the deficiencies in the prior art, a kind of with low cost, simple to operate, working service SUAV (small unmanned aerial vehicle) recovering mechanism easily is provided.
The present invention includes following technical scheme:
A kind of SUAV (small unmanned aerial vehicle) recovering mechanism, comprise that vertical dictyosome, horizontal support dictyosome, horizontal net body support frame, vertical web body support frame, a pair of brake gear, hydraulic efficiency pressure system, perpendicular arm launch hydraulic actuator, the first damping is related and the second damping is related;
The vertical web body support frame comprises transverse arm, a pair of perpendicular arm and erecting bed, the middle part of transverse arm is fixedly connected with erecting bed, a pair of perpendicular arm is arranged on the two ends of transverse arm, upper related slip ring and lower related slip ring are all arranged on each perpendicular arm, upper related slip ring is fixed on perpendicular arm top, and lower related slip ring is fixed on position on the lower side, perpendicular arm middle part;
The two ends that perpendicular arm launches hydraulic actuator connect respectively perpendicular arm and transverse arm, for supporting perpendicular arm, brake gear and hydraulic efficiency pressure system are fixed on erecting bed, hydraulic efficiency pressure system is connected to brake gear, perpendicular arm expansion hydraulic actuator and transverse arm by hydraulic tubing and launches hydraulic actuator, for brake gear, perpendicular arm expansion hydraulic actuator and transverse arm are provided, launches the operation pressure of hydraulic actuator; The related end of the first damping is connected with the online angle of vertical dictyosome, the other end is wrapped on brake gear, the first damping is related is led by upper related slip ring and lower related slip ring successively, the related end of the second damping is connected on the off line angle of vertical dictyosome, the other end is wrapped on brake gear, and the second damping is related is led by lower related slip ring;
Horizontal support dictyosome is placed in vertical dictyosome one side, and with the erecting bed homonymy, horizontal support dictyosome is by the horizontal development of a plurality of horizontal net body support frame.
Described perpendicular arm is perpendicular to transverse arm, and transverse arm and erecting bed are in same plane.
Article two, the first damping is related is wrapped on same brake gear, two related being connected on another brake gear of the second damping.
Also comprise that transverse arm launches hydraulic actuator, the two ends that transverse arm launches hydraulic actuator are arranged on respectively on transverse arm and erecting bed, for folding of transverse arm.
Vertical dictyosome comprises main cross band, vertical guipure and horizontal guipure up and down, vertically guipure and laterally the infall flexible connection of guipure, longitudinally guipure is removable to make horizontal guipure, and main cross band is positioned at the upper lower edge of vertical dictyosome up and down, main cross band with vertically between guipure, be fixedly connected with.Vertical dictyosome selects the polyamide fibre material to make.Brake gear provides the deceleration dumping force.
The present invention compared with prior art, has following advantage:
(1), for the recovering mechanism of dumping force is provided with turbine, along with unmanned plane slows down, the dumping force that turbine provides can descend rapidly, makes the deceleration distance of unmanned plane long.The present invention provides the deceleration dumping force by brake weight for unmanned plane reclaims.In the unmanned plane removal process, brake weight remains unchanged substantially, and the dumping force that makes to slow down keeps higher level substantially, makes the deceleration distance less of unmanned plane.
(2) being connected between dictyosome and support in the present invention, all adopt the mode connected fast, makes the expansion of dictyosome install very convenient, saves the operating time.After unmanned plane has reclaimed, can launch rapidly secondary recovery task, service efficiency is higher.
(3) in the present invention, the vertical web body support frame, by HYDRAULIC CONTROL SYSTEM Automatic-expanding and folding, makes the working service of this mechanism very convenient with transportation.
(4) the present invention adopts the forms of the two bars of two nets, and the mode that can hang hull at naval vessel side string is installed, and horizontal dictyosome is arranged on the perpendicular arm of vertical web body support frame, avoids taking the critical positions such as ship deck, hardstand.Therefore the present invention is applicable to land, island, naval vessel, the various ways such as vehicle-mounted, and comformability is more widely arranged.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is that vertical dictyosome forms schematic diagram;
Fig. 3 is that horizontal support dictyosome forms schematic diagram;
Fig. 4 is horizontal support dictyosome support schematic diagram;
Fig. 5 is vertical web body support frame front view;
Fig. 6 is vertical web body support frame birds-eye view
Fig. 7 is upper related slip ring schematic diagram;
Fig. 8 is lower related slip ring schematic diagram;
Fig. 9 is the brake gear schematic diagram.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described further.
As shown in Figure 1, the invention provides a kind of SUAV (small unmanned aerial vehicle) recovering mechanism, comprise that vertical dictyosome 1, horizontal support dictyosome 2, horizontal net body support frame 3, vertical web body support frame 4, a pair of brake gear 5, hydraulic efficiency pressure system 6, perpendicular arm launch hydraulic actuator 7, the first damping related 9 and the second damping related 10.
As shown in Figure 2, vertical dictyosome 1 comprises main cross band 11, vertical guipure 12 and horizontal guipure 13 up and down, vertically guipure 12 and laterally the infall flexible connection of guipure 13, longitudinally guipure 12 is removable to make horizontal guipure 13, main cross band 11 is positioned at the upper lower edge of vertical dictyosome 1 up and down, main cross band 11 with vertically between guipure 12, be fixedly connected with.Flexible connection can adopt following scheme: laterally guipure 13 is that two guipures are sewed together, with vertical guipure 12 infalls, vertically guipure 12 passes from horizontal guipure 13, laterally guipure 13 longitudinally guipure 12 slide up and down.Main cross band 11 Wang angle, two ends junction buttons are connected with the quick coupling hook on 10 with damping related 9 respectively up and down.Guipure adopts the strong high-strength polyamide fibre material of energy absorption performance to make.Vertically guipure 12 spacing distances are determined by the fuselage physical dimension, guarantee that the unmanned plane head can pass through fully smoothly, can by vertical guipure, be attached to cushion load fully on the leading edge of a wing like this, avoid the head stand under load.In the time of in unmanned aerial vehicle enters guipure, laterally guipure 13 can slide up and down, and can avoid damaging the unmanned plane structure.
Vertical web body support frame 4 as shown in Figure 5, Figure 6, comprise transverse arm 42, a pair of perpendicular arm 41 and erecting bed 43, the middle part of transverse arm 42 is fixedly connected with erecting bed 43, and a pair of perpendicular arm 41 is arranged on the two ends of transverse arm 42, perpendicular arm 41 is perpendicular to transverse arm 42, and transverse arm 42 and erecting bed 43 are in same plane.Upper related slip ring 44 and lower related slip ring 45 are all arranged on each perpendicular arm 41, and upper related slip ring 44 and lower related slip ring 45 all are designed with guide groove, as shown in Figure 7 and Figure 8.Upper related slip ring 44 is fixed on perpendicular arm 41 tops, and lower related slip ring 45 is fixed on position on the lower side, perpendicular arm 41 middle parts.Perpendicular arm 41 is divided into upper and lower two sections, by axle, connects, and after perpendicular arm is folding, upper semisection can pivot, and folding rear perpendicular arm lengths is shortened, and is suitable for transportation.The interface fixing with ground is left in erecting bed 43 bottoms, and the installation that can complete vertical web support and ground, special purpose vehicle, naval vessel etc. is fixed.Vertical web body support frame main body is welded with the channel-section steel material.
The expansion of transverse arm 42 launches hydraulic actuator 8 by transverse arm and completes with folding, and the expansion of perpendicular arm 41 completes by perpendicular arm expansion hydraulic actuator 7 with folding.The two ends that perpendicular arm launches hydraulic actuator 7 connect respectively perpendicular arm 41 and transverse arm 42, for supporting perpendicular arm 41, brake gear 5 and hydraulic efficiency pressure system 6 are fixed on erecting bed 43, hydraulic efficiency pressure system 6 is connected to brake gear 5, perpendicular arm expansion hydraulic actuator 7 and transverse arm by hydraulic tubing and launches hydraulic actuator 8, for brake gear 5, perpendicular arm expansion hydraulic actuator 7 and transverse arm launch hydraulic actuator 8, provides operation pressure.Under the setting pressure effect, perpendicular arm launches hydraulic actuator 7 and transverse arm launches hydraulic actuator 8 piston rods stretching, extensions, perpendicular arm (or transverse arm) is launched, and piston rod shrinks, folding perpendicular arm (or transverse arm).After perpendicular arm (or transverse arm) expansion (or folding) puts in place, under the control of travel switch, the automatic stop motion of pressurized strut piston rod also keeps pressure.
One end of the first damping related 9 is connected with the online angle of vertical dictyosome 1, the other end is wrapped on brake gear 5, the first damping related 9 is led by upper related slip ring 44 and lower related slip ring 45 successively, one end of the second damping related 10 is connected on the off line angle of vertical dictyosome 1, the other end is wrapped on brake gear 5, and the second damping related 10 is led by lower related slip ring 45; Article two, the first damping related 9 is wrapped on same brake gear 5, and two the second dampings related 10 are connected on another brake gear 5.
As shown in Figure 9, brake gear 5 adopts the TTS-240 brake system.Brake gear 5 chief components comprise: capstan winch 51, brake disc 52, brake facing 53, clamp 54, brake oil pipe 55, S. A. 56, mounting bracket 57.During work, hydraulic efficiency pressure system 6 has a road binders road to control specially the brake gear brake pressure, hydraulic oil promotes the piston/cylinder in clamp 54 through the wheel cylinder conversion by the oil circuit be connected with brake gear 6, makes piston/cylinder promote brake facing 53 extruding brake discs 52 to setting pressure and can keep pressure.Brake facing extruding brake disc produces friction, by the friction damping force produced, consumes unmanned plane kinetic energy.
Being illustrated in figure 4 horizontal support dictyosome support 3 mainly is comprised of link 31, pole 32, firm banking 33.Hole on firm banking 33 and ground are anchored fixing, and the tension of auxiliary cable wire.Pole 32 top design links.
As shown in Figure 3, horizontal support dictyosome 2 is placed in vertical dictyosome 1 one sides, and with erecting bed 43 homonymies, mainly by horizontal guipure 21, vertically guipure 22 and fast connecting fastener 23 form, fast connecting fastener 23 is vertically uniform in both sides along dictyosome, conveniently with the link 31 on horizontal support dictyosome support 3, is connected.Horizontal support dictyosome 2 is by a plurality of horizontal net body support frame 3 horizontal developments.The effect of horizontal support dictyosome 2 is that the support unmanned plane, prevent that it from directly falling to ground after unmanned plane bangs into arresting net and is recovered, and damages airborne equipment.
Hydraulic efficiency pressure system 6 provides pressure for hydraulic actuator, brake gear, and system has visual guidance panel, for controlling the folding and unfolding action of brake gear pressure and hydraulic actuator.
After unmanned plane bangs into vertical dictyosome with certain speed and attitude, drive vertical dictyosome and continue motion forward.Now four jiaos of vertical dictyosomes are related by the upper and lower damping of tension, drive capstan winch and rotate, thereby drive brake disc, rotate.Because brake disc is pushed by brake facing, and produce friction.Finally make unmanned plane under the effect of friction damping force, do level deceleration parabolic motion, after the unmanned plane horizontal velocity be wrapped in by vertical dictyosome reduces to 0 rapidly, vertically drop on horizontal support dictyosome, complete safe falling and reclaim.
The unspecified content of the present invention belongs to general knowledge known in this field.
Claims (7)
1. a SUAV (small unmanned aerial vehicle) recovering mechanism, is characterized in that: comprise that vertical dictyosome (1), horizontal support dictyosome (2), horizontal net body support frame (3), vertical web body support frame (4), a pair of brake gear (5), hydraulic efficiency pressure system (6), perpendicular arm launch hydraulic actuator (7), the first damping related (9) and the second damping related (10);
Vertical web body support frame (4) comprises transverse arm (42), a pair of perpendicular arm (41) and erecting bed (43), the middle part of transverse arm (42) is fixedly connected with erecting bed (43), a pair of perpendicular arm (41) is arranged on the two ends of transverse arm (42), upper related slip ring (44) and lower related slip ring (45) are all arranged on each perpendicular arm (41), upper related slip ring (44) is fixed on perpendicular arm (41) top, and lower related slip ring (45) is fixed on position on the lower side, perpendicular arm (41) middle part;
The two ends that perpendicular arm launches hydraulic actuator (7) connect respectively perpendicular arm (41) and transverse arm (42), for supporting perpendicular arm (41), brake gear (5) and hydraulic efficiency pressure system (6) are fixed on erecting bed (43), hydraulic efficiency pressure system (6) is connected to brake gear (5), perpendicular arm expansion hydraulic actuator (7) and transverse arm by hydraulic tubing and launches hydraulic actuator (8), for brake gear (5), perpendicular arm expansion hydraulic actuator (7) and transverse arm are provided, launches the operation pressure of hydraulic actuator (8); One end of the first damping related (9) is connected with the online angle of vertical dictyosome (1), the other end is wrapped on brake gear (5), the first damping related (9) is led by upper related slip ring (44) and lower related slip ring (45) successively, one end of the second damping related (10) is connected on the off line angle of vertical dictyosome (1), it is upper that the other end is wrapped in brake gear (5), and the second damping related (10) is led by lower related slip ring (45);
Horizontal support dictyosome (2) is placed in vertical dictyosome (1) one side, and with erecting bed (43) homonymy, horizontal support dictyosome (2) is by a plurality of horizontal net body support frames (3) horizontal development.
2. a kind of SUAV (small unmanned aerial vehicle) recovering mechanism according to claim 1, it is characterized in that: described perpendicular arm (41) is perpendicular to transverse arm (42), and transverse arm (42) and erecting bed (43) are in same plane.
3. a kind of SUAV (small unmanned aerial vehicle) recovering mechanism according to claim 1 is characterized in that: it is upper that two the first dampings related (9) are wrapped in same brake gear (5), and two the second dampings related (10) are connected on another brake gear (5).
4. according to the described a kind of SUAV (small unmanned aerial vehicle) recovering mechanism of any one in claim 1～3, it is characterized in that: also comprise that transverse arm launches hydraulic actuator (8), the two ends of transverse arm expansion hydraulic actuator (8) are arranged on respectively transverse arm (42) and erecting bed (43) is upper, for folding of transverse arm (42).
5. according to the described a kind of SUAV (small unmanned aerial vehicle) recovering mechanism of any one in claim 1～3, it is characterized in that: vertical dictyosome (1) comprises main cross band (11), vertical guipure (12) and horizontal guipure (13) up and down, vertically guipure (12) and laterally the infall flexible connection of guipure (13), longitudinally guipure (12) is removable to make horizontal guipure (13), main cross band (11) is positioned at the upper lower edge of vertical dictyosome (1) up and down, main cross band (11) with vertically between guipure (12), be fixedly connected with.
6. a kind of SUAV (small unmanned aerial vehicle) recovering mechanism according to claim 1 or 5, it is characterized in that: vertical dictyosome (1) selects the polyamide fibre material to make.
7. a kind of SUAV (small unmanned aerial vehicle) recovering mechanism according to claim 1, it is characterized in that: brake gear (5) provides the deceleration dumping force.
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| CN201310439325.5A CN103466097B (en) | 2013-09-24 | 2013-09-24 | A kind of SUAV recovering mechanism |
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| CN201310439325.5A CN103466097B (en) | 2013-09-24 | 2013-09-24 | A kind of SUAV recovering mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103693206A (en) * | 2013-12-31 | 2014-04-02 | 东北大学 | Autonomous circular launching and landing device for unmanned aerial vehicle |
| CN103950548A (en) * | 2014-04-29 | 2014-07-30 | 中国航天空气动力技术研究院 | Speed reducer for ground retrieving of small wheel type take-off and landing unmanned aircraft |
| CN104875903A (en) * | 2015-05-26 | 2015-09-02 | 合肥赛为智能有限公司 | Rotary net type unmanned aerial vehicle recovery device |
| CN105523191A (en) * | 2015-12-25 | 2016-04-27 | 海鹰航空通用装备有限责任公司 | Recovery net for unmanned aerial vehicle |
| CN106494631A (en) * | 2016-12-06 | 2017-03-15 | 中国工程物理研究院总体工程研究所 | A kind of SUAV hits net energy-absorbing retracting device and its method for designing |
| CN106945839A (en) * | 2016-01-06 | 2017-07-14 | 吕智慧 | Flight instruments and its flying method |
| CN109131912A (en) * | 2017-06-16 | 2019-01-04 | 上海复亚通信科技有限公司 | Unmanned plane recycling network |
| CN109883737A (en) * | 2019-01-02 | 2019-06-14 | 中南大学 | The lossless train acquisition equipment of air damping speed reduction screen driving system two-stage |
| CN110282146A (en) * | 2019-06-19 | 2019-09-27 | 西安电子科技大学 | A kind of fixed-wing unmanned plane recovery system |
| CN111735932A (en) * | 2020-06-03 | 2020-10-02 | 西南民族大学 | Land detection device based on agricultural development |
| CN113788155A (en) * | 2021-06-30 | 2021-12-14 | 厦门求特新材料有限公司 | Seamless system knit belt unmanned aerial vehicle anticollision recovery net mechanism |
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| CN106945839A (en) * | 2016-01-06 | 2017-07-14 | 吕智慧 | Flight instruments and its flying method |
| CN106494631B (en) * | 2016-12-06 | 2019-05-14 | 中国工程物理研究院总体工程研究所 | A kind of small drone hits the design method of net energy-absorbing recyclable device |
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| CN109131912B (en) * | 2017-06-16 | 2021-11-05 | 上海复亚智能科技有限公司 | Unmanned aerial vehicle retrieves net |
| CN109883737A (en) * | 2019-01-02 | 2019-06-14 | 中南大学 | The lossless train acquisition equipment of air damping speed reduction screen driving system two-stage |
| CN110282146A (en) * | 2019-06-19 | 2019-09-27 | 西安电子科技大学 | A kind of fixed-wing unmanned plane recovery system |
| CN111735932A (en) * | 2020-06-03 | 2020-10-02 | 西南民族大学 | Land detection device based on agricultural development |
| CN113788155A (en) * | 2021-06-30 | 2021-12-14 | 厦门求特新材料有限公司 | Seamless system knit belt unmanned aerial vehicle anticollision recovery net mechanism |
| CN113788155B (en) * | 2021-06-30 | 2024-07-02 | 厦门求特新材料有限公司 | Seamless woven belt unmanned aerial vehicle anti-collision recovery net mechanism |
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