CN106892079A - One kind is tethered at unmanned plane - Google Patents
One kind is tethered at unmanned plane Download PDFInfo
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- CN106892079A CN106892079A CN201710145157.7A CN201710145157A CN106892079A CN 106892079 A CN106892079 A CN 106892079A CN 201710145157 A CN201710145157 A CN 201710145157A CN 106892079 A CN106892079 A CN 106892079A
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- horn
- cage
- propeller
- tethered
- balloon
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- 230000000712 assembly Effects 0.000 claims abstract description 23
- 238000000429 assembly Methods 0.000 claims abstract description 23
- 239000001307 helium Substances 0.000 claims abstract description 7
- 229910052734 helium Inorganic materials 0.000 claims abstract description 7
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000001257 hydrogen Substances 0.000 claims abstract description 7
- 229910052739 hydrogen Inorganic materials 0.000 claims abstract description 7
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 30
- 239000007789 gas Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 238000007789 sealing Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 150000002431 hydrogen Chemical class 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/20—Rigid airships; Semi-rigid airships provided with wings or stabilising surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/24—Arrangement of propulsion plant
- B64B1/30—Arrangement of propellers
- B64B1/32—Arrangement of propellers surrounding hull
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
- B64B1/50—Captive balloons
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
Unmanned plane is tethered at the invention discloses one kind, belong to unmanned air vehicle technique field, including the balloon being arranged in cage, balloon is hydrogen balloon or helium balloon, around the outer ring of cage, four horns are set uniformly at intervals, horn one end is inner for connection cage, the other end is to point to the outer end outside cage, outer end outside the sensing cage of each horn is equipped with a rotor assemblies, the rotor assemblies include propeller motor and the propeller driven by propeller motor, the propeller center axis is horizontal-extending, four propellers on four horns around the vertical central axis of balloon, circumferentially arrange successively by line, propeller center axis is tangent with circumference.The present invention is a kind of to be easy to reclaim cable, be capable of achieving hovering in unlimited time and be tethered at unmanned plane.
Description
Technical field
Unmanned plane is tethered at the invention belongs to unmanned air vehicle technique field, more particularly to one kind.
Background technology
The unmanned plane of early stage is more tested training, reconnaissance and surveillance and is used as target drone and reconnaissance plane, and with micro- electricity
Sub- technology, micromechanics sensing technology, global navigation satellite technology, autonomous control technology, digital communication technology continue to develop with
Using unmanned plane gradually develops into a kind of novel air strength, can be in tedious tasks field, adverse circumstances tasks in areas and danger
Dangerous tasks in areas plays a significant role.Multi-rotor unmanned aerial vehicle is all being greatly developed in countries in the world in recent years, either in military affairs side
Face is still obtained at civilian aspect and is widely applied.Multi-rotor unmanned aerial vehicle small volume, cost is relatively low, adjustable point hovering,
Can the advantage such as VTOL, thus can be used to perform the tasks such as goods and materials, battlefield surveillance, border inspection of transporting in military aspect,
Civilian aspect can be used for the purposes such as power-line patrolling, disaster relief detection, exploration mapping, personnel's search and rescue.
With the fast development of unmanned air vehicle technique, the instrument and equipment such as radar, laser, sonar is all equipped with unmanned plane,
For completing specific task.The length in cruising time has had a strong impact on the efficiency of the task of execution, and with various miniaturizations, mould
The development of the UAS of block, tradition is tethered at unmanned plane and there is power consumption greatly, and tradition is tethered at unmanned plane and first lands, and cable dissipates
Fall to the ground, then recycling cable, there is a problem of that cable reclaims inconvenience, design a kind of general energy-conservation, efficiently, continuation of the journey when
Between it is long, can be easy to manipulation the UAS that is tethered at be highly desirable to.
The content of the invention
It is easy to reclaim cable, is capable of achieving hovering in unlimited time and is tethered at unmanned plane it is an object of the invention to provide a kind of.
To achieve the above object, the present invention is adopted the following technical scheme that：One kind is tethered at unmanned plane, including is arranged in cage
Balloon, balloon be hydrogen balloon or helium balloon, around the outer ring of cage, four horns are set uniformly at intervals, horn one end is
It is to point to the outer end outside cage to connect the inner of cage, the other end, and the outer end outside the sensing cage of each horn is equipped with one
Rotor assemblies, the rotor assemblies include propeller motor and the propeller driven by propeller motor, the propeller center
Axis is horizontal-extending, and four propellers on four horns around the vertical central axis of balloon, circumferentially arrange successively by line
Cloth, propeller center axis is tangent with circumference.
Four horns are respectively positioned at front side, rear side, left side, the right side of cage, the propeller of rotor assemblies on the horn of front side
And the propeller of rotor assemblies both faces towards right side, the propeller of rotor assemblies and right side machine on the horn of left side on rear side horn
The propeller of rotor assemblies both faces towards front side on arm.
Angle between two circumferentially-adjacent horns is 90 °, the propeller center axis in horn and thereon rotor assemblies
It is perpendicular.
The middle part of the inner connection cage of horn.
The cross section of the balloon is circle, and the longitudinal section of balloon is more than the flat of height for transverse width.
The longitudinal section of the balloon is ellipse, and the oval major axis is horizontal line.
The inner of horn connects cage by horn drive device, and horn drive device includes being arranged on the step on the outside of cage
The power transmission shaft that stepper motor and stepper motor drive, power transmission shaft is docked with the inner of corresponding horn, and drive axis are connected to cage
Outside.
The stepper motor is connected power transmission shaft by belt driver.
Described horn the inner is fixedly connected with cage.
One kind of the present invention is tethered at unmanned plane, has the advantages that：1. cable of the present invention has been at stress
State, can make to be tethered at unmanned plane landing while take-up cable, and cable will not also be scattered on the ground.2. hydrogen (or helium) ball
Device and tradition are tethered at unmanned plane structure and are combined, and reduce electric energy loss, efficient, energy saving.3. relatively conventional hydrogen (or helium
Gas) ball device, the present invention will not double swerve, being capable of steadily hovering.4. power consumption is few, the small selection of power cable is lighter.
5. flat hydrogen (or helium) ball can reduce horizontal windage, and power consumption is less.
Brief description of the drawings
Fig. 1 is the front view of embodiment 1；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the stereogram of embodiment 1；
Fig. 4 is the structural representation of embodiment 2；
Fig. 5 is the structural representation of horn drive device, horn and rotor assemblies in embodiment 2；
Fig. 6 is the structural representation of sleeve pipe and power transmission shaft；
In figure：In cage 1, balloon 2, horn 3, rotor assemblies 4, propeller motor 5, containment vessel 6, propeller 7, propeller
Heart axis 8, circumference 9, vertical central axis 10, cable 11, horn drive device 12, stepper motor 13, driving pulley 14,
Driving belt 15, driven pulley 16, power transmission shaft mounting seat 17, power transmission shaft 18, outer support 19, sleeve pipe 20, the second sealing ring 21,
One sealing ring 22, ball 23, outer block plate 24, interior block plate 25, baffle plate 26.
Specific embodiment
Embodiment 1：
One kind as shown in Fig. 1-Fig. 3 is tethered at unmanned plane, including is arranged on the balloon 2 in cage 1, and balloon 2 is hydrogen balloon
Or helium balloon, the cross section of the balloon 2 is circle, and the longitudinal section of balloon 2 is more than the flat of height for transverse width, excellent
Selection of land, the longitudinal section of the balloon 2 is ellipse, and the oval major axis is that horizontal line, short axle are vertical curve, and short
Axle is the vertical central axis 10 of balloon 2, and balloon 2 is a revolving body around its vertical border of central axis 10.Ball
The shape of cage 1 is adapted with the shape of balloon 2.
Four horns 3 are set uniformly at intervals around the outer ring of cage 1, horn 3 is installed in outside cage 1, the one end of horn 3 is
It is to point to the outer end outside cage 1 to connect the inner of cage 1, the other end, and horn 3 is linearly extended cylinder, circumferential (circumference side
The angle between two adjacent horns 3 is 90 ° upwards), and the inner of horn 3 is fixedly connected with cage 1 by welding or bolt,
And the inner of horn 3 is connected to middle part (referring to the middle part of the short transverse) outside of cage 1.
Outer end outside the sensing cage 1 of each horn 3 is equipped with a rotor assemblies 4, and the rotor assemblies 4 include fixed
The propeller motor 5 set in containment vessel 6, containment vessel 6 in the outer end of horn 3 and the propeller 7 driven by propeller motor 5,
The output shaft of the corresponding propeller motor 5 of containment vessel 6 sets through hole, and the output shaft of propeller motor 5 is stretched out outside containment vessel 6 from through hole
And propeller shaft is docked, the propeller center axis 8 is horizontal-extending.
Around the vertical central axis 10 of balloon 2, circumferentially line 9 is spaced four propellers 7 on four horns 3 successively
Arrangement, propeller center axis 8 is tangent with the circumference 9.Propeller center axis 8 in horn 3 and thereon rotor assemblies 4
It is perpendicular.Arrow is oriented to front in Fig. 2.
Respectively positioned at front side, rear side, left side, the right side of cage 1, front side horn 3 is located at four horns 3 with rear side horn 3
On the straight line of same anterior-posterior horizontal, left side horn 3 is located on the straight line of same left and right horizontal with right side horn 3, on front side horn 3
The propeller 7 of rotor assemblies 4 both faces towards right side, rotor on left side horn 3 on the propeller 7 and rear side horn 3 of rotor assemblies 4
The propeller 7 of rotor assemblies 4 both faces towards front side, propeller 7 on front side horn 3 on the propeller 7 and right side horn 3 of component 4
Propeller 7 is located at the right side of the outer end of rear side horn 3 on the right side of the outer end of front side horn 3, rear side horn 3, on left side horn 3
Located at the front side of the outer end of left side horn 3, propeller 7 is located at the front side of the outer end of right side horn 3 to propeller 7 on right side horn 3.
Certainly, the present invention is not limited to above-mentioned form, and four propellers 7 can also be around the vertical central axis of balloon 2
10 are set along Central Symmetry clockwise or counter-clockwise.
Embodiment 2：
One kind as shown in Fig. 4-Fig. 6 is tethered at unmanned plane, and the difference with embodiment 1 is：The inner of horn 3 passes through
Horn drive device 12 connects cage 1, and four horns 3 connect four horn drive devices 12 respectively, and horn drive device 12 sets
Put the medium position in the short transverse of cage 1.
Horn drive device 12 includes being installed in the stepper motor 13 in the outside of cage 1, is fixedly connected on the outer of the outside of cage 1
The power transmission shaft 18, belt driver that bearing 19, the power transmission shaft mounting seat 17 for being installed in the outside of outer support 19, stepper motor 13 drive
With the sleeve pipe 20 for being fixedly connected on the outside of cage 1；Power transmission shaft 18 is rotationally connected with the outside of cage 1, to point to cage 1 or gas
The vertical central axis 10 of ball 2 is interior, otherwise for outer, sleeve pipe 20 is pipe, and sleeve pipe 20, power transmission shaft and horn are for from the inside to the outside
It is sequentially connected and three is located along the same line and is coaxially disposed, the inner of sleeve pipe 20 is by welding or mode connects for screw or method
Orchid is fastened on cage outside, the outer block plate 24 of fixed annular in the external port of sleeve pipe 20, power transmission shaft it is inner from outer gear
The annular distance of disk 24 is stretched into the tube chamber of sleeve pipe 20, and power transmission shaft the inner outer ring is arranged an interior block plate 25 for annular, interior block plate 25
Inner peripheral surface and power transmission shaft the inner outer peripheral surface fit and both are welded to connect, interior block plate 25 is located in the tube chamber of sleeve pipe 20 simultaneously
Positioned at the inner side of outer block plate 24, the outer face for facing out block plate 24 of interior block plate 25 is provided with first annular groove, outer block plate 24
The inner face of inward-facing block plate 25 is provided with the second annular groove, and first annular groove is relative with the second annular groove and forms one
The first annular cavity of power transmission shaft the inner outer ring is centered around, the of two annulars is provided between interior block plate 25 and outer block plate 24
One sealing ring 22 a, interval of the first sealing ring 22 is set in the first annular cavity radial outside, another first sealing ring
22 intervals are set in the radially inner side of the first annular cavity, and lubricating oil and several balls 23 are set in the first annular cavity, the
Several balls 23 in one annular cavity set gradually around power transmission shaft outer ring；The baffle plate 26 of circle is set in the tube chamber of sleeve pipe 20,
Baffle plate 26 and the mode connects for screw of sleeve pipe 20, baffle plate 26 are kept off in the inner side of interior block plate 25, the inner face towards baffle plate 26 of interior block plate 25
Be provided with the 3rd annular groove, the outer face of the inward-facing block plate 25 of baffle plate 26 is provided with fourth annular groove, the 3rd annular groove with
Fourth annular groove is relative and forms the second annular cavity, and one the second of annular is provided between interior block plate 25 and baffle plate 26
Sealing ring 21, the interval of the second sealing ring 21 is set in the second annular cavity radial outside, is also provided with the second annular cavity
Lubricating oil and several balls 23, the several balls 23 in the second annular cavity set successively around the central axis outer ring of sleeve pipe 20
Put；The outer end of power transmission shaft connects the inner of the corresponding horn 3 of docking by shaft coupling or welding or flange；Stepper motor 13
Between cage and outer support 19, the output shaft of stepper motor 13 is protruding and is inserted through outer support 19, in power transmission shaft 18
Portion is inserted through outer support 19 and power transmission shaft mounting seat 17 successively, and axle is set between the middle part of power transmission shaft 18 and power transmission shaft mounting seat 17
Hold, stepper motor 13 is by belt driver drive connection power transmission shaft 18；The belt driver is included and is arranged on stepper motor
The driving pulley 14 being inserted through on the outer end of outer support 19 of 13 output shafts, the driven pulley 16 being arranged on power transmission shaft 18 and dress
The driving belt 15 on driving pulley 14, driven pulley 16 is fitted over, driven pulley 16 is located at outer support and power transmission shaft mounting seat 17
Between.
One kind of the present invention is tethered at unmanned plane, four propeller motors 5 can main story can invert again.Propeller motor
5 are connected by cable 11 and are tethered at unmanned aerial vehicle control system, when being tethered at unmanned plane and hovering in the air, connection propeller motor 5
The cable 11 of cable 11 and connection stepper motor 13 hangs downwards, in the case of calm, is tethered at unmanned plane in cable 11
Under effect, can hover in the air, now propeller motor 5 does not work.In the case where there is wind, unmanned aerial vehicle control system meeting is tethered at
Propeller motor 5 is controlled according to wind direction, wind-force is offset, to reach floating state, certainly, propeller electricity also can be manually controlled
The running of machine 5.
One kind described in embodiment 2 is tethered at unmanned plane, and stepper motor 13 can drive power transmission shaft 18 to rotate, the band again of power transmission shaft 18
Motivation arm 3 is rotated, and can according to circumstances make whole propeller 7 around the central axis of power transmission shaft 18 or the central axis of horn 3
Rotate, when propeller 7 is towards top, propeller 7 can provide climbing power, and the cable 11 of stepper motor 13 is also connected and is tethered at
Unmanned aerial vehicle control system, the running of stepper motor 13 is controlled by being tethered at unmanned aerial vehicle control system, is tethered at unmanned aerial vehicle control system
Model DJI realizes the axle flight controller of sky wkm-M multiaxises six or eight, certainly, can also control using other models or manually
The running of stepper motor 13.
One kind of the present invention is tethered at unmanned plane, and when hovering in the air, the cable 11 of propeller motor 5 and stepping are electric
The cable 11 of machine 13 has been at stress, both by downward self gravitation, and by the upward pulling force of balloon 2,
Make to be tethered at unmanned plane landing while take-up cable 11, cable 11 will not also be scattered on the ground, is easy to the recovery of cable 11, meanwhile,
The setting of balloon 2 can make unmanned plane hovering in unlimited time.
Claims (9)
1. one kind is tethered at unmanned plane, it is characterised in that：Including the balloon (2) being arranged in cage (1), balloon (2) is hydrogen balloon
Or helium balloon, around the outer ring of cage (1), four horns (3) are set uniformly at intervals, horn (3) one end is connection cage
(1), to point to cage (1) outer end outward, the sensing cage (1) of each horn (3) outer end outward is equipped with for the inner, the other end
One rotor assemblies (4), the propeller that the rotor assemblies (4) drive including propeller motor (5) and by propeller motor (5)
(7), the propeller center axis (8) is horizontal-extending, and four propellers (7) on four horns (3) are around balloon (2)
Circumferentially line (9) is intervally arranged vertical central axis (10) successively, and propeller center axis (8) is tangent with circumference (9).
2. one kind as claimed in claim 1 is tethered at unmanned plane, it is characterised in that：Four horns (3) are respectively positioned at cage (1)
Front side, rear side, left side, right side, rotor on the propeller (7) and rear side horn (3) of rotor assemblies (4) on front side horn (3)
The propeller (7) of component (4) both faces towards right side, the propeller (7) and right side horn of rotor assemblies (4) on left side horn (3)
(3) propeller (7) of rotor assemblies (4) both faces towards front side on.
3. one kind as claimed in claim 1 is tethered at unmanned plane, it is characterised in that：Folder between circumferentially-adjacent two horns (3)
Angle is 90 °, and horn (3) is perpendicular with propeller center axis (8) in rotor assemblies thereon (4).
4. one kind as claimed in claim 1 is tethered at unmanned plane, it is characterised in that：In inner connection cage (1) of horn (3)
Portion.
5. one kind as claimed in claim 1 is tethered at unmanned plane, it is characterised in that：The cross section of the balloon (2) is circle, gas
The longitudinal section of ball (2) is flat of the transverse width more than height.
6. one kind as claimed in claim 1 is tethered at unmanned plane, it is characterised in that：The longitudinal section of the balloon (2) is ellipse,
The oval major axis is horizontal line.
7. the one kind as described in claim any one of 1-6 is tethered at unmanned plane, it is characterised in that：The inner of horn (3) passes through machine
Arm drive device (12) connects cage (1), and horn drive device (12) includes the stepper motor (13) that is arranged on the outside of cage (1)
The power transmission shaft (18) driven with stepper motor (13), power transmission shaft (18) is docked with the inner of corresponding horn (3), and power transmission shaft (18) turns
The dynamic outside for being connected to cage (1).
8. one kind as claimed in claim 7 is tethered at unmanned plane, it is characterised in that：The stepper motor (13) is filled by V belt translation
Put drive connection power transmission shaft (18).
9. one kind as claimed in claim 1 is tethered at unmanned plane, it is characterised in that：The horn (3) is inner fixed with cage (1)
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710145157.7A CN106892079A (en) | 2017-03-13 | 2017-03-13 | One kind is tethered at unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710145157.7A CN106892079A (en) | 2017-03-13 | 2017-03-13 | One kind is tethered at unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106892079A true CN106892079A (en) | 2017-06-27 |
Family
ID=59192367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710145157.7A Pending CN106892079A (en) | 2017-03-13 | 2017-03-13 | One kind is tethered at unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106892079A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229312A (en) * | 2018-10-12 | 2019-01-18 | 上海彩虹鱼深海装备科技有限公司 | A kind of submersible frame structure and submersible |
| CN111736627A (en) * | 2020-06-23 | 2020-10-02 | 古韵兴 | Method for calculating queue flight strategy of tethered aircraft connected by flexible hose |
| CN111959768A (en) * | 2020-07-09 | 2020-11-20 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle hovering in air through telescopic frame and control method |
| CN112461051A (en) * | 2020-11-19 | 2021-03-09 | 中国人民解放军国防科技大学 | Long-endurance low-energy-consumption interception and capture system for non-cooperative cluster flying target |
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| CN112461051A (en) * | 2020-11-19 | 2021-03-09 | 中国人民解放军国防科技大学 | Long-endurance low-energy-consumption interception and capture system for non-cooperative cluster flying target |
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