CN107697315A - A kind of buoyancy transfer method applied to Large Airship load transfer - Google Patents
A kind of buoyancy transfer method applied to Large Airship load transfer Download PDFInfo
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- CN107697315A CN107697315A CN201710726790.5A CN201710726790A CN107697315A CN 107697315 A CN107697315 A CN 107697315A CN 201710726790 A CN201710726790 A CN 201710726790A CN 107697315 A CN107697315 A CN 107697315A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012546 transfer Methods 0.000 title claims abstract description 27
- 238000012360 testing method Methods 0.000 claims abstract description 8
- 238000010276 construction Methods 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 19
- 239000004744 fabric Substances 0.000 claims description 10
- 239000013307 optical fiber Substances 0.000 claims description 9
- 239000000835 fiber Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 238000007667 floating Methods 0.000 claims description 3
- 239000001307 helium Substances 0.000 claims description 3
- 229910052734 helium Inorganic materials 0.000 claims description 3
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 241000237858 Gastropoda Species 0.000 claims 1
- 230000003111 delayed effect Effects 0.000 claims 1
- 238000004873 anchoring Methods 0.000 abstract description 13
- 230000000694 effects Effects 0.000 abstract description 3
- 238000002474 experimental method Methods 0.000 abstract description 3
- 230000002411 adverse Effects 0.000 abstract description 2
- 230000007704 transition Effects 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/227—Vehicles specially adapted therefor, e.g. aircraft tow tractors for direct connection to aircraft, e.g. tow tractors without towing bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/005—Arrangements for landing or taking-off, e.g. alighting gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/228—Vehicles specially adapted therefor, e.g. aircraft tow tractors remotely controlled; operating autonomously
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses a kind of buoyancy transfer method applied to Large Airship load transfer, it is characterised in that specifically includes following steps：1) the drag-line tie point in Large Airship hull both sides lays drag-line, and each drag-line tie point lays two drag-lines of drag-line A and drag-line B simultaneously；2) the drag-line A earth anchors corresponding with the ground of test site with the connection of the drag-line tie point of Large Airship are connected, Large Airship is anchored in test site ground；……；6) drag-line B is used to fix Large Airship as mooring line, releases drag-line A, completes dirigible and inflates and be transferred to the process of integral truss-like device.The anchoring switching that the method for the present invention solves during Large Airship experiment outfield transition is related to the problems such as personnel and equipment are numerous, the time is long, complex steps, big operational risk, anchoring switching time is have compressed, to reduce surface wind direction in the handoff procedure that anchors, wind speed change to adverse effect caused by dirigible.
Description
Technical field
The present invention relates to large-scale blimp technical field, more particularly to a kind of applied to Large Airship load transfer
Buoyancy transfer method.
Background technology
The general hull length of Large Airship is more than 50m, and the intracapsular portion of ship is full of buoyance lift gas, and its profile passes through external pressure in regulation
Difference is kept.Ship capsule is below by rope or steel cable suspended gondola, built-in power set, operating system, payload and ballasting
Thing etc..In recent years, with the progress of aeronautical technology, dirigible performance has very big improvement, and dirigible volume is also constantly increasing, and is flying
The mode of switching of ship anchoring in actual use, after inflation also while is developing, several dirigibles common at present anchoring switching
Mode mainly has following several：
1) artificial/vehicle pulling mode
Such a mode is dragged primarily directed to small-sized dirigible (hull length is less than 20m) by using artificial or vehicle
Mode is dragged, realizes the anchoring switching of dirigible.
2) branch mode is sling in double cranes/bis- purlin
Such a mode mainly by suspended counterweight thing on dirigible utricule, offsets the net buoyancy of dirigible, double cranes/bis- purlin is hung
Suspension hook be connected with the front and rear suspension centre of dirigible, realize lifting, the evolution of dirigible, be finally completed dirigible anchoring switching.
For Large Airship, existing anchoring switching mode is primarily present following problem in actual application：
1) tradition anchoring switching mode outside the venue carry out, it is necessary to dirigible is completed under open-air atmosphere early stage utricule lay,
The processes such as inflation, cycle length, Large Airship are influenceed very greatly in experiment outfield by meteorological condition change, the unexpected change of wind speed, wind direction
Change and destruction easily is produced to the structural strength of dirigible itself, time of the dirigible in the handoff procedure that anchors is longer, meteorological condition
It is bigger the possibility damaged to dirigible may to be changed；
2) if anchoring switching is carried out using existing traction platform inside, but existing draw-gear is all separate type
, no integral type lets platform fly away, and thus the synchronism requirement to each separate section is strict, once the traveling of draw-gear
Asynchronous, dirigible utricule will bear the additional pulling force of draw-gear offer, it is most likely that dirigible utricule is damaged, made
Transport and fail into dirigible；
3) than greatly, there is additional inertance effect, traditional artificial/vehicle pulling mode can not in Large Airship volume/mass
Security of the guarantee dirigible in transfer process, the built-in inertia of dirigible, easily when dirigible needs emergent stopping, manpower
Give utricule drag-line and add pulling force, it is excessive in turn result in utricule handgrip stress, utricule rupture.
4) branch mode more, the behaviour that is related to personnel, implement in dirigible anchors handoff procedure is sling in double cranes/bis- purlin
It is big to make risk, and Large Airship bulky, the height under hook that conventional crane/purlin is hung are extremely difficult to, further increased
Anchor the cost and difficulty switched.
The content of the invention
It is big to solve it is an object of the invention to provide a kind of buoyancy transfer method applied to Large Airship load transfer
Anchoring switching during the experiment outfield transition of type dirigible is related to that personnel and equipment are numerous, the time is long, complex steps, operational risk
The problems such as big, anchoring switching time is have compressed, to reduce surface wind direction in the handoff procedure that anchors, wind speed change to caused by dirigible
Adverse effect.
Concrete technical scheme of the present invention is a kind of buoyancy transfer method applied to Large Airship load transfer,
Characterized in that, specifically include following steps：
1) the drag-line tie point in Large Airship hull both sides lays drag-line, and each drag-line tie point lays drag-line simultaneously
Two drag-lines of A and drag-line B；
2) the drag-line A earth anchors corresponding with the ground of test site with the connection of the drag-line tie point of Large Airship are connected, made
Large Airship anchors in test site ground；
3) helium is filled to Large Airship utricule, makes dirigible because natural buoyancy floats, while slowly lengthen dirigible and earth anchor phase
Drag-line A even, dirigible is on the whole floating to the height higher than integral truss-like apparatus platform；
4) integral truss-like device is driven slowly to drive into dirigible abdomen along dirigible axis from Large Airship deflection arch or ship tail
Immediately below portion；
5) drag-line B is connected with integral truss-like device correspondence position hoist engine, starts each elevator simultaneously after connection
Machine, slowly shrinks drag-line B, and drag-line A now as protection rope, makes dirigible drop on integral truss-like device；
6) drag-line B is used to fix Large Airship as mooring line, releases drag-line A, completes dirigible and inflates and be transferred to one
The process of truss-like device.
Step when more, described integral truss-like device include main industrial computer, main driving car, CAN- optic fiber converters,
Slave module, first via CAN lines, the second tunnel CAN, the 3rd tunnel CAN, the 4th tunnel CAN and truss,
Described truss includes girder truss, six face connectors, main driving car installation rood beam, hoist engine, mooring line and control
Room processed, six described face connectors are rectangular parallelepiped structure, and four sides of six face connectors are respectively used to install the end of girder truss
Head, multiple six faces connector and Duo Gen girder trusses form square fenestral fabric, and described main driving car installation rood beam has
Four, it is separately mounted in a square net in square fenestral fabric, the four of four main driving car installation rood beams
Individual cross searching is located at using square fenestral fabric symmetrical centre as on the circumference in the center of circle respectively, described square latticed
The surrounding of structure has multiple hoist engines, and described hoist engine is by fastening the mooring line on the mooring line earrings of dirigible to consolidate
Determine dirigible, described control room is arranged on girder truss,
Described main industrial computer respectively with first via CAN lines, the second tunnel CAN, the 3rd tunnel CAN and the 4th tunnel
CAN is connected and is located in control room,
Described main driving car has four, and every main driving car includes main driving car industrial computer, main driving car turning motor
Encoder, main driving car turning motor controller, main driving car drive motor controller, main driving car batteries, main driving
Car CAN, main driving car turning motor, main driving car motor, main driving vehicle carriage, main driving car vehicle bridge, main driving
Car pivoting support and main drive motor vehicle wheels, described main driving car turning motor controller are used to control main driving car turning motor
Rotation, described main driving car drive motor controller be used for control it is main driving car motor rotation, described main drive
Motor-car turning motor encoder and main driving car turning motor controller are connected by optical fiber with first via CAN lines respectively, described
Main driving car drive motor controller be connected by optical fiber with the second tunnel CAN, described main driving car battery component
Not with it is main driving car turning motor controller and it is main driving car drive motor controller be connected, described main driving car industrial computer and
Main driving car CAN connection, main driving car turning motor encoder, main driving car turning motor controller and main driving car drive
Dynamic electric machine controller is also connected in main driving car CAN, when main industrial computer can not work, main driving car industrial computer
The upper main driving car operation of electric control, described main driving car pivoting support include inner ring, outer ring and driving worm screw, and main driving car returns
Rotating motor encoder is arranged at the driving worm screw of described main driving car pivoting support, for gathering main driving car pivoting support
Driving worm screw turned position, the inner ring of described main driving car pivoting support is arranged on described main driving vehicle carriage,
Main driving vehicle carriage is arranged in main driving car vehicle bridge by shock absorber, and described main driving car motor is arranged on main driving
On vehicle carriage, for main driving car vehicle wheel rotation of the drive installation in main driving car vehicle bridge, four masters of four main driving cars
The outer ring of driving car pivoting support is separately mounted on the lower surface of four main driving car installation rood beams, main driving car revolution branch
The center of circle for the outer ring held is positioned at the underface of the cross searching of main driving car installation rood beam, described main driving car turning motor
On main driving car installation rood beam, for driving the relative outer ring rotating of inner ring of main driving car pivoting support,
Described slave module has more, and every slave module includes slave module turning motor encoder, slave module
Turning motor controller, from dynamic model batteries, slave module turning motor, slave module pivoting support, upper bracket, spacing spiral shell
Nail, bradyseism spring, spring base, undersetting, slave module vehicle bridge and slave module wheel, described slave module turning motor are compiled
Code device is connected by optical fiber with the 4th tunnel CAN, and described slave module turning motor controller is turned round by slave module
Port on motor encoder is connected with the 4th tunnel CAN, and slave module turning motor controller is used to control slave module
The rotation of turning motor, it is described to be connected from dynamic model batteries with slave module turning motor controller, it is described from dynamic model
Block pivoting support includes inner ring, outer ring and driving worm screw, slave module turning motor encoder and is arranged on described slave module
At the driving worm screw of pivoting support, the turned position of the driving worm screw for gathering slave module pivoting support, described upper branch
Seat is upper end closed, the tubular construction of lower ending opening, and described undersetting is upper end open, the tubular construction of lower end closed, on
The tubular construction of bearing is enclosed in the tubular construction of undersetting, and the upper end of described bradyseism spring withstands on the upper end closed of upper bracket
On the lower surface of plate, the lower end of bradyseism spring is arranged on by described spring base on the upper surface of undersetting lower end closure plate,
Described stop screw is by being threadably mounted on the barrel of undersetting tubular construction and stretching into undersetting tubular construction, upper branch
Square through hole is provided with the barrel of the tubular construction of seat, it is square that one end that stop screw is stretched into undersetting tubular construction is located at this
In through hole, undersetting is arranged in described slave module vehicle bridge, and slave module vehicle bridge is used to install slave module wheel, described
Slave module pivoting support inner ring be arranged on upper bracket upper end closed plate upper surface on, the outer ring of more slave modules
It is separately mounted to multiple so that on the lower surface of the symmetrical six faces connector of truss symmetrical center line, the revolution of described slave module is electric
Machine is arranged on six face connectors, the rotation of the inner ring for driving slave module pivoting support,
Described CAN- optic fiber converters are used for first via CAN lines, the second tunnel CAN, the 3rd tunnel CAN, the 4th
Signal between road CAN and main driving car and slave module is changed.
Compared with prior art, beneficial effects of the present invention have it is following some：
1) the Large Airship anchoring switching full utilization natural buoyancy of method of the invention is completed, and is used by Reasonable Arrangement
Hull drag-line, required time is shorter, and operating procedure is less, without the heavy duty work equipment such as crane；
2) it can be realized in boathouse field and inflated using the Large Airship of the inventive method, outdoor is let fly away, in the inflation rank of early stage
Section, the security of dirigible greatly improve；
3) Large Airship is equipped on integral truss-like device, and utricule drag-line is only subject to itself during transhipment is let fly away
Buoyancy and windage, and outdoor residence time is short, greatly reduces the destruction that ground wind speed mutation may be brought to utricule.
Also, the method for the present invention has larger versatility to the anchoring switching during Large Airship field trial.
Brief description of the drawings
Fig. 1 is to be anchored in the buoyancy transfer method applied to Large Airship load transfer of the invention after the completion of dirigible inflation
Schematic perspective view in ground；
Fig. 2 is that dirigible is real by natural buoyancy in the buoyancy transfer method applied to Large Airship load transfer of the invention
The schematic perspective view of the integral truss-like device of now overall lifting and use；
Fig. 3 is that dirigible is real by natural buoyancy in the buoyancy transfer method applied to Large Airship load transfer of the invention
The top view of the integral truss-like device of now overall lifting and use；
Fig. 4 is the integral truss-like dress used in the buoyancy transfer method applied to Large Airship load transfer of the present invention
The schematic perspective view put；
Fig. 5 is the top view of the truss for the integral truss-like device that the method for the present invention uses；
Fig. 6 is that the girder truss of the truss for the integral truss-like device that the method for the present invention uses and six face connector connections are stood
Body schematic diagram；
Fig. 7 is that the main driving car of the truss for the integral truss-like device that the method for the present invention uses installs rood beam vertical view
Figure；
Fig. 8 is the control system connection diagram for the integral truss-like device that the method for the present invention uses；
Fig. 9 is the top view of the main driving car for the integral truss-like device that the method for the present invention uses；
Figure 10 is the side view of the slave module for the integral truss-like device that the method for the present invention uses.
Embodiment
Technical scheme is further described with reference to Figure of description.
As shown in accompanying drawing 1-4, the long 78m of large-scale blimp, maximum cross-section diameter 26.6m, one that are provided in the present embodiment
Body truss-like device long 68m, wide 50m.The buoyancy transfer method applied to Large Airship load transfer of the present invention, its feature exist
In specifically including following steps：
1) 8 drag-line tie points in Large Airship hull both sides lay drag-line, and each drag-line tie point is laid simultaneously
Two drag-lines of drag-line A and drag-line B；
2) the drag-line A earth anchors corresponding with the ground of test site with the connection of the drag-line tie point of Large Airship are connected, made
Large Airship anchors in test site ground.Afterbody drag-line and head drag-line can be also arranged, afterbody drag-line is mainly used in consolidating for dirigible
Fixed protection, head drag-line are gradually released with gas replenishment process；
3) helium is filled to Large Airship utricule, about 100 kilograms of quiet buoyancy, makes dirigible because natural buoyancy floats, while slowly
The drag-line A that the dirigible that lengthens is connected with earth anchor, dirigible is on the whole floating to the height higher than integral truss-like apparatus platform, about 4 meters；
4) integral truss-like device is driven slowly to drive into dirigible abdomen along dirigible axis from Large Airship deflection arch or ship tail
Immediately below portion；
5) drag-line B is connected with integral truss-like device correspondence position hoist engine, dirigible head drag-line passes through nose cone, connection
Corresponding hoist engine on to integral truss-like device；Start each hoist engine simultaneously after connection, slowly shrink drag-line B, drag-line A
Now as protection rope, dirigible is set to drop on integral truss-like device, now, airship gondola is away from integral truss-like device 0.3
Rice；
6) drag-line B is used to fix Large Airship as mooring line, releases drag-line A, adjustment nose cone height, draws head drag-line
Tightly, what integral truss-like device carried coordinate gondola bracket and dirigible to hang ship with airship gondola contacts and is fastened with rope.One
Truss-like device rear portion carries air bag, and now air bag is in close contact with dirigible utricule.Dirigible is completed to inflate and shift
To the process of integral truss-like device.
As shown in accompanying drawing 4-5, the integral truss-like device of the inventive method use, including main industrial computer 1, main driving car
2nd, CAN- optic fiber converters 4, slave module 5, first via CAN lines 6, the second tunnel CAN 7, the 3rd tunnel CAN the 8, the 4th
Road CAN 9, truss 10 and mooring mast 11.Described mooring mast 11 can lift, for drawing the nose cone of dirigible 12.
As shown in accompanying drawing 6-7, described truss 10 includes girder truss 101, six face connectors 102, main driving car installation ten
Word beam 103, hoist engine 104, mooring line 105 and control room 106, six described face connectors 102 are rectangular parallelepiped structure, and six faces connect
Four sides of junctor 102 are respectively used to install the termination of girder truss 101, multiple six faces connector 102 and Duo Gen girder trusses 101
Form square fenestral fabric, described main driving car installation rood beam 103 there are four, is separately mounted to square latticed
In a square net in structure, four cross searchings of four main driving car installation rood beams 103 are located at square respectively
Fenestral fabric symmetrical centre for the center of circle circumference on, the surrounding of described square fenestral fabric has multiple hoist engines
104, described hoist engine 104 is described by fastening the mooring line 105 on the mooring line earrings of dirigible 12 to fix dirigible
Control room 106 is arranged on girder truss 101.
As shown in Figure 8, described main industrial computer 1 respectively with first via CAN lines 6, the second tunnel CAN 7, the 3rd tunnel
The tunnel CAN 9 of CAN 8 and the 4th connects and in control room 106.
As shown in Figure 9, described main driving car 2 has four, every main driving car 2 include main driving car industrial computer 201,
Main driving car turning motor encoder 202, main driving car turning motor controller 203, main driving car drive motor controller
204th, main driving car batteries 205, main driving car CAN 206, main driving car turning motor 207, main driving car driving electricity
Machine 208, main driving vehicle carriage 209, main driving car vehicle bridge 210, main driving car pivoting support 211 and main drive motor vehicle wheels 212, institute
The main driving car turning motor controller 203 stated is used for the rotation for controlling main driving car turning motor 207, described main driving car
Drive motor controller 204 is used for the rotation for controlling main driving car motor 208, described main driving car turning motor coding
Device 202 and main driving car turning motor controller 203 are connected by optical fiber with first via CAN lines 6 respectively, described main driving car
Drive motor controller 204 is connected by optical fiber with the second tunnel CAN 7, described main driving car batteries 205 respectively with
Main driving car turning motor controller 203 and main driving car drive motor controller 204 connect, described main driving car industrial computer
201 are connected with main driving car CAN 205, main driving car turning motor encoder 202, main driving car turning motor controller
203 and main driving car drive motor controller 204 be also connected in main driving car CAN 205, in main industrial computer 1 not
When can work, the main driving car 2 of electric control is run on main driving car industrial computer 201, and described main driving car pivoting support 211 includes
Inner ring, outer ring and driving worm screw, main driving car turning motor encoder 202 are arranged on described main driving car pivoting support 211
Driving worm screw at, the turned position of the driving worm screw for gathering main driving car pivoting support 211, described main driving car returns
The inner ring for turning supporting 211 is arranged on described main driving vehicle carriage 209, and main driving vehicle carriage 209 is arranged on by shock absorber
In main driving car vehicle bridge 210, described main driving car motor 208 is arranged on main driving vehicle carriage 209, is pacified for driving
Main drive motor vehicle wheels 212 in main driving car vehicle bridge 210 rotate, four main driving car revolution branch of four main driving cars 1
Hold 211 outer ring to be separately mounted on the lower surfaces of four main driving cars installation rood beams 103, main driving car pivoting support 211
Outer ring the center of circle positioned at it is main driving car installation rood beam 103 cross searching underface, described main driving car revolution electricity
Machine 207 is arranged on main driving car installation rood beam 103, for driving the inner ring of main driving car pivoting support 211 with respect to outer ring
Rotate.
As shown in Figure 10, described slave module 5 has 16, and every slave module 5 includes slave module turning motor
Encoder 501, slave module turning motor controller 502, from dynamic model batteries 503, slave module turning motor 504, from
It is dynamic model block pivoting support 505, upper bracket 506, stop screw 507, bradyseism spring 508, spring base 509, undersetting 510, driven
Module vehicle bridge 511 and slave module wheel 512, described slave module turning motor encoder 501 pass through optical fiber and the 4th tunnel
CAN 9 connects, and described slave module turning motor controller 502 passes through on slave module turning motor encoder 501
Port is connected with the 4th tunnel CAN 9, and slave module turning motor controller 502 is used to control slave module turning motor 504
Rotation, described to be connected from dynamic model batteries 503 with slave module turning motor controller 502, described slave module
Pivoting support 505 includes inner ring, outer ring and driving worm screw, slave module turning motor encoder 501 and is arranged on described driven
At the driving worm screw of module pivoting support 505, the turned position of the driving worm screw for gathering slave module pivoting support 505,
Described upper bracket 506 is upper end closed, the tubular construction of lower ending opening, and described undersetting 510 is upper end open, lower end seal
The tubular construction closed, the tubular construction of upper bracket 506 are enclosed in the tubular construction of undersetting 510, described bradyseism spring 508
Upper end is withstood on the lower surface of upper end closed plate of upper bracket 506, and the lower end of bradyseism spring 508 passes through described spring base 509
On the upper surface of the lower end closure plate of undersetting 510, described stop screw 507 is by being threadably mounted at undersetting 510
On the barrel of tubular construction and stretch into the tubular construction of undersetting 510, be provided with the barrel of the tubular construction of upper bracket 506 square
Through hole, one end that stop screw 507 is stretched into the tubular construction of undersetting 510 are located in the square through hole, and undersetting 510 is arranged on
In described slave module vehicle bridge 511, slave module vehicle bridge 511 is used to install slave module wheel 512, described slave module
The inner ring of pivoting support 505 is arranged on the upper surface of the upper end closed plate of upper bracket 506, the outer ring point of more slave modules 5
An Zhuan not be multiple so that on the lower surface of the symmetrical six faces connector 102 of the symmetrical center line of truss 10, described slave module returns
Rotating motor 504 is arranged on six face connectors 102, the rotation of the inner ring for driving slave module pivoting support 505.
Described CAN- optic fiber converters 4 be used for first via CAN lines 6, the second tunnel CAN 7, the 3rd tunnel CAN 8,
Signal between 4th tunnel CAN 9 and main driving car 2 and slave module 5 is changed.
The integral truss-like device that the method for the present invention uses also includes remote control 3 and drive assist system.
Described remote control 3 is connected in the 3rd tunnel CAN 8, for realizing the remote operation of integral truss-like device,
Possess two kinds of communication modes of wire communication and wireless telecommunications, and can the mode of operation of real-time display one truss-like device, speed,
The parameters such as battery dump energy.
Described drive assist system includes embedded video acquisition module and imaging unit 2, and described 2 imagings are single
Member is separately mounted in the symmetrical center line of the described front and back end of truss 10, and road-center lane line is transported for shooting, described
Embedded video acquisition module the picture signal of 2 imaging units of collection is echoed, and carry out image recognition, in real time
Resolve offset of the car body relative to transhipment road-center lane line.
Claims (2)
1. a kind of buoyancy transfer method applied to Large Airship load transfer, it is characterised in that specifically include following steps：
1) Large Airship hull both sides drag-line tie point lay drag-line, each drag-line tie point simultaneously lay drag-line A and
Two drag-lines of drag-line B；
2) the drag-line A earth anchors corresponding with the ground of test site with the connection of the drag-line tie point of Large Airship are connected, made large-scale
Dirigible anchors in test site ground；
3) helium is filled to Large Airship utricule, makes dirigible because natural buoyancy floats, while slowly lengthen what dirigible was connected with earth anchor
Drag-line A, dirigible is on the whole floating to the height higher than integral truss-like apparatus platform；
4) integral truss-like device is driven slowly to drive into underside of airship just along dirigible axis from Large Airship deflection arch or ship tail
Lower section；
5) drag-line B is connected with integral truss-like device correspondence position hoist engine, starts each hoist engine simultaneously after connection, delayed
Slow to shrink drag-line B, drag-line A now as protection rope, makes dirigible drop on integral truss-like device；
6) drag-line B is used to fix Large Airship as mooring line, releases drag-line A, completes dirigible and inflates and be transferred to integral truss
The process of formula device.
A kind of 2. buoyancy transfer method applied to Large Airship load transfer according to claim 1, it is characterised in that
Described integral truss-like device includes main industrial computer (1), main driving car (2), CAN- optic fiber converters (4), slave module
(5), first via CAN lines (6), the second tunnel CAN (7), the 3rd tunnel CAN (8), the 4th tunnel CAN (9) and truss
(10),
Described truss (10) includes girder truss (101), six face connectors (102), main driving car installation rood beam (103), volume
Machine (104), mooring line (105) and control room (106) are raised, six described face connectors (102) are rectangular parallelepiped structure, and six faces connect
Four sides of body (102) are respectively used to install the termination of girder truss (101), multiple six faces connector (102) and more truss
Beam (101) forms square fenestral fabric, and described main driving car installation rood beam (103) has four, the side of being separately mounted to
In a square net in the fenestral fabric of shape, four cross searchings point of four main driving car installation rood beams (103)
Wei Yu not be using square fenestral fabric symmetrical centre as on the circumference in the center of circle, the surrounding of described square fenestral fabric has
There are multiple hoist engines (104), described hoist engine (104) is by fastening the mooring line on the mooring line earrings of dirigible (12)
(105) to fix dirigible, described control room (106) is arranged on girder truss (101),
Described main industrial computer (1) respectively with first via CAN lines (6), the second tunnel CAN (7), the 3rd tunnel CAN (8) and
4th tunnel CAN (9) connects and in control room (106),
Described main driving car (2) has four, and every main driving car (2) includes main driving car industrial computer (201), main driving car returns
Rotating motor encoder (202), main driving car turning motor controller (203), main driving car drive motor controller (204), master
Drive car batteries (205), main driving car CAN (206), main driving car turning motor (207), main driving car driving electricity
Machine (208), main driving vehicle carriage (209), main driving car vehicle bridge (210), main driving car pivoting support (211) and main driving car car
To take turns (212), described main driving car turning motor controller (203) is used for the rotation for controlling main driving car turning motor (207),
Described main driving car drive motor controller (204) is used for the rotation for controlling main driving car motor (208), described master
Driving car turning motor encoder (202) and main driving car turning motor controller (203) pass through optical fiber and first via CAN respectively
Line (6) is connected, and described main driving car drive motor controller (204) is connected by optical fiber with the second tunnel CAN (7), institute
The main driving car batteries (205) stated drive car turning motor controller (203) and main driving car motor with main respectively
Controller (204) connects, and described main driving car industrial computer (201) is connected with main driving car CAN (205), main driving car
Turning motor encoder (202), main driving car turning motor controller (203) and main driving car drive motor controller (204)
Also it is connected on main driving car CAN (205), when main industrial computer (1) can not work, main driving car industrial computer
(201) main driving car (2) operation of electric control on, described main driving car pivoting support (211) include inner ring, outer ring and driving snail
Bar, main driving car turning motor encoder (202) are arranged at the driving worm screw of described main driving car pivoting support (211),
For the turned position for the driving worm screw for gathering main driving car pivoting support (211), described main driving car pivoting support (211)
Inner ring be arranged on described main driving vehicle carriage (209), main driving vehicle carriage (209) by shock absorber is arranged on main driving
In car vehicle bridge (210), described main driving car motor (208) is arranged on main driving vehicle carriage (209), is pacified for driving
Main drive motor vehicle wheels (212) on main driving car vehicle bridge (210) rotate, four main driving cars of four main driving cars (1)
The outer ring of pivoting support (211) is separately mounted on the lower surface of four main driving car installation rood beams (103), and main driving car returns
Turn the center of circle of the outer ring of supporting (211) positioned at the underface of the cross searching of main driving car installation rood beam (103), described master
Car turning motor (207) is driven to be arranged on main driving car installation rood beam (103), for driving main driving car pivoting support
(211) inner ring with respect to outer ring rotating,
Described slave module (5) has more, every slave module (5) include slave module turning motor encoder (501), from
Dynamic model block turning motor controller (502), from dynamic model batteries (503), slave module turning motor (504), slave module
Pivoting support (505), upper bracket (506), stop screw (507), bradyseism spring (508), spring base (509), undersetting
(510), slave module vehicle bridge (511) and slave module wheel (512), described slave module turning motor encoder (501)
It is connected by optical fiber with the 4th tunnel CAN (9), described slave module turning motor controller (502) passes through slave module
Port on turning motor encoder (501) is connected with the 4th tunnel CAN (9), slave module turning motor controller (502)
It is described from dynamic model batteries (503) and slave module revolution electricity for controlling the rotation of slave module turning motor (504)
Machine controller (502) connects, and described slave module pivoting support (505) includes inner ring, outer ring and driving worm screw, slave module
Turning motor encoder (501) is arranged at the driving worm screw of described slave module pivoting support (505), driven for gathering
The turned position of the driving worm screw of module pivoting support (505), described upper bracket (506) are upper end closed, lower ending opening
Tubular construction, described undersetting (510) is upper end open, the tubular construction of lower end closed, the tubular construction of upper bracket (506)
It is enclosed in the tubular construction of undersetting (510), the upper end of described bradyseism spring (508) withstands on the upper end seal of upper bracket (506)
On the lower surface of closing plate, the lower end of bradyseism spring (508) is arranged on undersetting (510) lower end by described spring base (509)
On the upper surface of closed plate, described stop screw (507) is by being threadably mounted on the barrel of undersetting (510) tubular construction
And stretch into undersetting (510) tubular construction, square through hole, spacing spiral shell are provided with the barrel of the tubular construction of upper bracket (506)
One end that nail (507) is stretched into undersetting (510) tubular construction is located in the square through hole, and undersetting (510) is arranged on described
Slave module vehicle bridge (511) on, slave module vehicle bridge (511) be used for slave module wheel (512) is installed, it is described from dynamic model
The inner ring of block pivoting support (505) is arranged on the upper surface of the upper end closed plate of upper bracket (506), more slave modules (5)
Outer ring be separately mounted to it is multiple with the lower surface of the symmetrical six faces connector (102) of truss (10) symmetrical center line, it is described
Slave module turning motor (504) be arranged on six face connectors (102) on, for driving slave module pivoting support (505)
Inner ring rotation,
Described CAN- optic fiber converters (4) are used for first via CAN lines (6), the second tunnel CAN (7), the 3rd tunnel CAN
(8), the signal between the 4th tunnel CAN (9) and main driving car (2) and slave module (5) is changed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710726790.5A CN107697315B (en) | 2017-08-23 | 2017-08-23 | Buoyancy transfer method applied to large airship load transfer |
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| CN201710726790.5A CN107697315B (en) | 2017-08-23 | 2017-08-23 | Buoyancy transfer method applied to large airship load transfer |
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| CN107697315B CN107697315B (en) | 2020-04-24 |
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| CN111516892A (en) * | 2020-05-08 | 2020-08-11 | 中国人民解放军63660部队 | Method for transferring and flying large airship by multi-task rail type combined platform |
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| Publication number | Publication date |
|---|---|
| CN107697315B (en) | 2020-04-24 |
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