CN106494631B - A kind of small drone hits the design method of net energy-absorbing recyclable device - Google Patents
A kind of small drone hits the design method of net energy-absorbing recyclable device Download PDFInfo
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- CN106494631B CN106494631B CN201611110614.0A CN201611110614A CN106494631B CN 106494631 B CN106494631 B CN 106494631B CN 201611110614 A CN201611110614 A CN 201611110614A CN 106494631 B CN106494631 B CN 106494631B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000013461 design Methods 0.000 title claims abstract description 9
- 239000000463 material Substances 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000010008 shearing Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000004064 recycling Methods 0.000 description 11
- 238000011084 recovery Methods 0.000 description 10
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- 229910000831 Steel Inorganic materials 0.000 description 2
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- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
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Abstract
The invention discloses a kind of small drone to hit net energy-absorbing recyclable device, and four vertical bars, two first crossbars and two second crossbars collectively constitute a mounting bracket, and the excessive root spring of a Zhang Ruan Netcom is mounted on the bracket.The invention also discloses the design methods that a kind of small drone hits net energy-absorbing recyclable device, comprising the following steps: calculates unmanned maneuver energy；Calculate spring structure parameter, including spring plasticity energy, spring plastic elongation length, spring wire length.Small drone of the present invention hits net energy-absorbing recyclable device using extension spring as energy absorbing component, unmanned maneuver energy is absorbed by the plastic deformation of spring, its structure is simple, is convenient for production, is low in cost, convenient for application, and the material that practices every conceivable frugality while ensuring safe retrieving small drone, reduce cost, significant effect.
Description
Technical field
The present invention relates to a kind of small drone to hit net energy-absorbing recyclable device and its design method, belongs to unmanned plane recycling skill
Art field.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.
Common unmanned plane way of recycling such as mainly has parachuting recycling, net collision recovery and alightings run at the types at present, wherein
Net collision recovery mode is suitble to fixed-wing unmanned plane to use on narrow recycling place or naval vessels.Foreign countries are to unmanned plane net collision recovery
Research starts from late 1970s, and so far, existing " pioneer ", " silver fox ", " killer bee ", " detects " Aquila/goshawk "
Examine soldier " etc. many types of unmanned plane successfully used net collision recovery system.Research of the China to unmanned aerial vehicle net recovery technology
It starts from the early 1990s, including the research of net collision recovery ground interdiction device, carrier-borne net collision recovery technical research and hitting net
Recovery system research etc..Currently used unmanned aerial vehicle net recovery system mainly include arresting net, column, guiding rope, damper,
The parts such as drawstring, traction device and pulley, common energy-absorbing critical component are turbine damper.Since turbine damper design is multiple
Miscellaneous, manufacturing cost is higher, is not suitable for the recycling of small drone.Therefore, simple, economical and effective energy absorption device how is designed
Recycling small drone is prior art problem to be solved.
Summary of the invention
The object of the invention is that provide to solve the above-mentioned problems, a kind of structure is simple, effective small-sized nothing
It is man-machine to hit net energy-absorbing recyclable device and its design method.
The present invention through the following technical solutions to achieve the above objectives:
A kind of small drone hits net energy-absorbing recyclable device, including a soft net, more springs, four vertical bars, two pieces
One cross bar and two second crossbars, using the direction of energy-absorbing recyclable device recycling unmanned plane as front, the soft net removes edge
Outer part moves back to form bag-shaped, one square opening of edge formation of the soft net, the more springs being parallel to each other
One end be uniformly installed on the soft net square opening four sides, the lower end of four vertical bars is fixed on ground, two
The both ends for the first crossbar for being parallel to each other and being distributed up and down are connect with the upper end of the vertical bar of front two and lower section respectively,
Two are parallel to each other and the both ends upper end and top with two vertical bars below respectively of the second crossbar of left and right distribution
The first crossbar by two close end position connect, the first crossbar and the second crossbar are mutually perpendicular to, described in more
The other end of spring is uniformly installed on the square body of rod formed by two first crossbars and the vertical bar of front two.It uses
When, unmanned plane is open from the square of soft net to be entered, and is realized buffering under spring tension effect, is completed recycling.
Preferably, four vertical bars, two first crossbars and two second crossbars are steel pipe, soft net
It is generally made using plastic ties, spring is coil spring；The height of the vertical bar is 5m, diameter 40mm, wall thickness are
4mm。
A kind of small drone hits the design method of net energy-absorbing recyclable device, comprising the following steps:
(1) unmanned maneuver energy is calculated:
Hit net moment unmanned plane during flying speed V0, unmanned plane quality m passes through formula (1) and calculates unmanned maneuver energy:
In formula, UuavFor the kinetic energy at unmanned aerial vehicle net moment, unit J；
(2) spring structure parameter is calculated, comprising the following steps:
(2.1) number of springs n, spring spring filament diameter d, number of coils n are sets；
(2.2) every vertical bar elasticity energy U is calculatedre；
(2.3) each spring energy U is calculatedse；
(2.4) by number of springs, vertical bar elasticity energy UreWith spring energy UseCalculate spring plasticity energy Usp；
(2.5) judge spring plasticity energy UspWhether zero is less than or equal to；
(2.6) if the judging result of step (2.5) is yes, return step (2.1), or reduce number of springs n, or reduce
Spring spring filament diameter d, or reduce number of coils ns；
(2.7) if the judging result of step (2.5) be it is no, by spring plasticity energy UspCalculate the variation of spring spring silk torsion angle
ΔΦ；
(2.8) mean diameter of coil D is calculated by spring spring filament diameter d, number of springs n；
(2.9) spring plastic elongation length H is calculated by spring silk torsion angle changes delta Φ, mean diameter of coil D；
(2.10) by number of coils nsCalculate spring wire length L；
(2.11) judge whether spring plastic elongation length H is greater than spring wire length L；
(2.12) if the judging result of step (2.11) is yes, return step (1), or increase number of springs n, or increase
Spring spring filament diameter d or number of coils ns；
(2.13) if the judging result of step (11) be it is no, complete spring structure parameter calculating.
Preferably, the calculation method of the step (2.2) are as follows:
Vertical bar is generated flexible deformation by spring tension, and the strain energy of every vertical bar is calculated by formula (2):
In formula: UreStrain energy for vertical bar in stretch section, unit J；MreFor the moment of flexure of vertical bar cross section, unit m2.N；Gr
For the modulus of shearing of vertical bar material, unit Pa；JrpFor vertical bar cross section pole inertia away from unit m4；lrFor vertical bar height, unit
m。
The calculation method of the step (2.3) are as follows:
Each spring is calculated in the strain energy of stretch section by formula (3):
In formula: UseStrain energy for spring in stretch section, unit J；MseStart to surrender moment corresponding spring for spring spring silk
The torque of silk cross section, unit m2.N；GsFor the modulus of shearing of spring spring silk, unit Pa；JspFor the extremely used of spring spring silk cross section
Property is away from unit m4；L is spring spring filament length degree, unit m.
The calculation method of the step (2.4) are as follows:
The strain energy of spring plasticity section is calculated by formula (4):
In formula: N is vertical bar quantity, and n is number of springs.
The calculation method of the step (2.7) are as follows:
Assuming that spring spring silk is perfectl plastic material, the torsion angle increment of spring spring silk plasticity section is calculated by formula (5):
In formula: ΔΦ is the torsion angle increment of spring spring silk plasticity section；TseFor spring spring silk plasticity section torsional moment, unit
N.m。
The calculation method of the step (2.8) are as follows:
Mean diameter of coil is calculated by formula (6):
In formula: D is mean diameter of coil, unit m；τseFor spring spring silk shear yield strength, unit Pa；D is that spring spring silk is straight
Diameter, unit m；ngMaximum overload is recycled for unmanned plane；G is acceleration of gravity, unit m/s2；M is unmanned plane quality, units/kg；n
For number of springs.
The calculation method of the step (2.9) are as follows:
Spring plastic elongation length is calculated by formula (7):
In formula: H is spring plastic elongation length, unit m.
The beneficial effects of the present invention are:
Small drone of the present invention hits net energy-absorbing recyclable device using extension spring as energy absorbing component, passes through spring
Plastic deformation absorb unmanned maneuver energy, structure is simple, convenient for production, it is low in cost, convenient for application, and ensuring to return safely
Practice every conceivable frugality material while receiving small drone, reduces cost, significant effect.
Detailed description of the invention
Fig. 1 is the perspective view that small drone of the present invention hits net energy-absorbing recyclable device；
Fig. 2 is that small drone of the present invention hits net energy-absorbing recyclable device and removes the perspective view after soft net and spring；
Fig. 3 is the schematic view of the front view figure for the spring that small drone of the present invention hits net energy-absorbing recyclable device.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1, Figure 2 and Figure 3, small drone of the present invention hit net energy-absorbing recyclable device include a soft net 2,
1, four vertical bar of more springs, two first crossbars and two second crossbars, four vertical bars are respectively vertical bar 3,5,9,10, and two
First crossbar is respectively first crossbar 6,7, and two second crossbars are respectively second crossbar 4,8, is returned with the energy-absorbing recyclable device
The direction for receiving unmanned plane is front, and part of the soft net 2 in addition to edge moves back to form bag-shaped, edge one four directions of formation of soft net 2
Shape opening, the one end for more springs 1 being parallel to each other uniformly be installed on soft net 2 square opening four sides, four vertical bars 3,
5, ground is fixed in 9,10 lower end, the both ends of two first crossbars 6,7 for being parallel to each other and being distributed up and down respectively with front two
The upper end of root vertical bar 3,9 is connected with lower section, two be parallel to each other and the both ends of the second crossbar 4,8 of left and right distribution respectively and below
The upper end of two vertical bars 5,10 is connected with the first crossbar 6 of top by the position of two close end, and first crossbar 6,7 is horizontal with second respectively
Bar 4,8 is mutually perpendicular to, and the other end of more springs 1 is uniformly installed on by two first crossbars 6,7 and the vertical bar 3 of front two, 9 shapes
At the square body of rod on；Four vertical bars, 3,5,9,10, two first crossbars 6,7 and two second crossbars 4,8 are steel pipe, soft
Net 2 is generally made using plastic ties, and spring 1 is coil spring；The height of vertical bar 3,5,9,10 is 5m, diameter is
40mm, wall thickness 4mm.
As shown in Figure 1, in use, unmanned plane enters from the square of soft net 2 opening, under the pulling force effect of spring 1 in fact
It now buffers, completes recycling.
In conjunction with Fig. 1-Fig. 3, small drone of the present invention hits the design method of net energy-absorbing recyclable device, including following step
It is rapid:
(1) unmanned maneuver energy is calculated:
Hit net moment unmanned plane during flying speed V0, unmanned plane quality m passes through formula (1) and calculates unmanned maneuver energy:
In formula, UuavFor the kinetic energy at unmanned aerial vehicle net moment, unit J；
(2) structural parameters of spring 1 are calculated, comprising the following steps:
(2.1) the circle number n of the quantity n of spring 1, the spring filament diameter d of spring 1, spring 1 is sets；
(2.2) calculate every vertical bar 3,5,9,10 (wherein a vertical bar or all vertical bars are directly hereafter indicated with " vertical bar ",
Without reference numerals) elasticity can Ure；
This step circular are as follows:
Vertical bar is generated flexible deformation by the pulling force of spring 1, and the strain energy of every vertical bar is calculated by formula (2):
In formula: UreStrain energy for vertical bar in stretch section, unit J；MreFor the moment of flexure of vertical bar cross section, unit m2.N；Gr
For the modulus of shearing of vertical bar material, unit Pa；JrpFor vertical bar cross section pole inertia away from unit m4；lrFor vertical bar height, unit
m；
(2.3) elasticity for calculating each spring 1 can Use；
This step circular are as follows: calculate each spring 1 in the strain energy of stretch section by formula (3):
In formula: UseStrain energy for spring 1 in stretch section, unit J；MseStart to surrender moment correspondence for the spring silk of spring 1
Spring silk cross section torque, unit m2.N；GsFor the modulus of shearing of the spring silk of spring 1, unit Pa；JspIt is horizontal for the spring silk of spring 1
The pole inertia in section is away from unit m4；L is the spring filament length degree of spring 1, unit m；
(2.4) by the quantity of spring 1, vertical bar elasticity energy UreElasticity with spring 1 can UseCalculate the plasticity energy U of spring 1sp；
This step circular are as follows:
The strain energy of the plasticity section of spring 1 is calculated by formula (4):
In formula: N is vertical bar quantity, and this example 4, n is the quantity of spring 1；
(2.5) judge the plasticity energy U of spring 1spWhether zero is less than or equal to；
(2.6) if the judging result of step (2.5) is yes, return step (2.1), or reduce the quantity n of spring 1, or
Reduce the spring filament diameter d of spring 1, or reduces the circle number n of spring 1s；
(2.7) if the judging result of step (2.5) be it is no, by the plasticity energy U of spring 1spCalculate the spring silk torsion of spring 1
Angle changes delta Φ；
This step circular are as follows:
Assuming that the spring silk of spring 1 is perfectl plastic material, the torsion of the spring silk plasticity section of spring 1 is calculated by formula (5)
Angle increment:
In formula: ΔΦ is the torsion angle increment of the spring silk plasticity section of spring 1；TseFor the spring silk plasticity section twisting resistance of spring 1
Square, unit N.m；
(2.8) the central diameter D of spring 1 is calculated by the spring filament diameter d of spring 1, number of springs n；
This step circular are as follows:
The central diameter of spring 1 is calculated by formula (6):
In formula: D is the central diameter of spring 1, unit m；τseFor the spring silk shear yield strength of spring 1, unit Pa；D is spring 1
Spring filament diameter, unit m；ngMaximum overload is recycled for unmanned plane；G is acceleration of gravity, unit m/s2；M is unmanned plane quality,
Units/kg；N is the quantity of spring 1；
(2.9) the plastic elongation length H of spring 1 is calculated by the central diameter D of spring silk torsion angle changes delta Φ, spring 1；
This step circular are as follows:
The plastic elongation length of spring 1 is calculated by formula (7):
In formula: H is the plastic elongation length of spring 1, unit m；
(2.10) by the circle number n of spring 1sCalculate spring wire length L；
(2.11) judge whether the plastic elongation length H of spring 1 is greater than spring wire length L；
(2.12) if the judging result of step (2.11) is yes, return step (1), or increase the quantity n of spring 1, or
Increase the spring filament diameter d of the spring 1 or circle number n of spring 1s；
(2.13) if the judging result of step (11) be it is no, complete spring 1 structural parameters calculate.
In conjunction with Fig. 1-Fig. 3, illustrate that this small drone hits setting for net energy-absorbing recyclable device below with a specific embodiment
Meter process:
Small drone quality 4kg, target speed 20m/s, length 1m are hit, it is desirable that maximum recycling overload is 10.
Step 1: the spring wire material of spring 1 is chosen according to " general service mild steel wire YBT-5294-2006 ", then spring
The elastic modulus E of spring wire material about 200GPa, shear modulus G about 77GPa；
Step 2: calculating unmanned aerial vehicle target kinetic energy by formula (1) is 800J；The quantity of spring 1 is set as 18, spring 1
Spring filament diameter Ф 3.55mm, the circle number 10 of spring 1；The plasticity energy 41J of spring 1 is calculated by formula (2)~formula (7),
The plastic elongation length 3.7m of spring 1, the filament length degree 4.7m of spring 1, the plasticity of spring 1 can be greater than zero, and the plasticity of spring 1
Tensile elongation H is greater than the spring wire length L of spring 1, and the structural parameters of the spring 1 of the material and setting of selected spring 1 meet
It is required that.
Carry out recovery test verifying according to the structural parameters of the spring 1 of acquisition, experiments have shown that, this energy-absorbing recyclable device is realized
Quality 4kg, hit target speed 20m/s unmanned plane recycling, recycle maximum overload 10.1g.
Above-described embodiment is presently preferred embodiments of the present invention, is not a limitation on the technical scheme of the present invention, as long as
Without the technical solution that creative work can be realized on the basis of the above embodiments, it is regarded as falling into the invention patent
Rights protection scope in.
Claims (1)
1. the design method that a kind of small drone hits net energy-absorbing recyclable device, it is characterised in that: the following steps are included:
(1) unmanned maneuver energy is calculated:
Hit net moment unmanned plane during flying speed V0, unmanned plane quality m passes through formula (1) and calculates unmanned maneuver energy:
In formula, UuavFor the kinetic energy at unmanned aerial vehicle net moment, unit J；
(2) spring structure parameter is calculated, comprising the following steps:
(2.1) number of springs n, spring spring filament diameter d, number of coils n are sets；
(2.2) every vertical bar elasticity energy U is calculatedre；
Calculation method are as follows:
Vertical bar is generated flexible deformation by spring tension, and the strain energy of every vertical bar is calculated by formula (2):
In formula: UreStrain energy for vertical bar in stretch section, unit J；MreFor the moment of flexure of vertical bar cross section, unit m2.N；GrIt is perpendicular
The modulus of shearing of bar material, unit Pa；JrpFor vertical bar cross section pole inertia away from unit m4；lrFor vertical bar height, unit m；
(2.3) each spring energy U is calculatedse；
Calculation method are as follows:
Each spring is calculated in the strain energy of stretch section by formula (3):
In formula: UseStrain energy for spring in stretch section, unit J；MseStart to surrender moment corresponding spring silk cross for spring spring silk
The torque in section, unit m2.N；GsFor the modulus of shearing of spring spring silk, unit Pa；JspFor the pole inertia of spring spring silk cross section
Away from unit m4；L is spring spring filament length degree, unit m；
(2.4) by number of springs, vertical bar elasticity energy UreWith spring energy UseCalculate spring plasticity energy Usp；
Calculation method are as follows:
The strain energy of spring plasticity section is calculated by formula (4):
In formula: N is vertical bar quantity, and n is number of springs；
(2.5) judge spring plasticity energy UspWhether zero is less than or equal to；
(2.6) if the judging result of step (2.5) is yes, return step (2.1), or reduce number of springs n, or reduce spring
Spring filament diameter d, or reduce number of coils ns；
(2.7) if the judging result of step (2.5) be it is no, by spring plasticity energy UspCalculate spring spring silk torsion angle changes delta
Φ；
Calculation method are as follows:
Assuming that spring spring silk is perfectl plastic material, the torsion angle increment of spring spring silk plasticity section is calculated by formula (5):
In formula: ΔΦ is the torsion angle increment of spring spring silk plasticity section；TseFor spring spring silk plasticity section torsional moment, unit N.m；
(2.8) mean diameter of coil D is calculated by spring spring filament diameter d, number of springs n；
Calculation method are as follows:
Mean diameter of coil is calculated by formula (6):
In formula: D is mean diameter of coil, unit m；τseFor spring spring silk shear yield strength, unit Pa；D is spring spring filament diameter, single
Position m；ngMaximum overload is recycled for unmanned plane；G is acceleration of gravity, unit m/s2；M is unmanned plane quality, units/kg；N is spring
Quantity；
(2.9) spring plastic elongation length H is calculated by spring silk torsion angle changes delta Φ, mean diameter of coil D；
Calculation method are as follows:
Spring plastic elongation length is calculated by formula (7):
In formula: H is spring plastic elongation length, unit m；
(2.10) by number of coils nsCalculate spring wire length L；
(2.11) judge whether spring plastic elongation length H is greater than spring wire length L；
(2.12) if the judging result of step (2.11) is yes, return step (1), or increase number of springs n, or increase spring
Spring filament diameter d or number of coils ns；
(2.13) if the judging result of step (11) be it is no, complete spring structure parameter calculating.
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| CN203127149U (en) * | 2013-01-18 | 2013-08-14 | 东北大学 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
| CN103466097A (en) * | 2013-09-24 | 2013-12-25 | 中国航天空气动力技术研究院 | Recovery mechanism for small-scale unmanned aerial vehicle |
| CN105438494A (en) * | 2016-01-15 | 2016-03-30 | 中国人民解放军国防科学技术大学 | Net colliding recycling device capable of regressing and buffering of unmanned aerial vehicle |
| 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 |
| CN205707386U (en) * | 2016-05-18 | 2016-11-23 | 牛特 | A kind of UAV Intelligent safe recovery device |
| CN206231634U (en) * | 2016-12-06 | 2017-06-09 | 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8783607B2 (en) * | 2010-08-06 | 2014-07-22 | Arcturus UAV LLC | UAV recovery system |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8118255B1 (en) * | 2008-10-03 | 2012-02-21 | Lockheed Martin Corporation | Vehicle energy absorption |
| KR20100133809A (en) * | 2009-06-12 | 2010-12-22 | (주)엔에스에이치 | Apparatus and method for guiding landing of uninhabited aerial vehicle |
| CN203127149U (en) * | 2013-01-18 | 2013-08-14 | 东北大学 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
| CN103466097A (en) * | 2013-09-24 | 2013-12-25 | 中国航天空气动力技术研究院 | Recovery mechanism for small-scale unmanned aerial vehicle |
| 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 |
| CN105438494A (en) * | 2016-01-15 | 2016-03-30 | 中国人民解放军国防科学技术大学 | Net colliding recycling device capable of regressing and buffering of unmanned aerial vehicle |
| CN205707386U (en) * | 2016-05-18 | 2016-11-23 | 牛特 | A kind of UAV Intelligent safe recovery device |
| CN206231634U (en) * | 2016-12-06 | 2017-06-09 | 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 |
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| CN106494631A (en) | 2017-03-15 |
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