CN107697315B - Buoyancy transfer method applied to large airship load transfer - Google Patents
Buoyancy transfer method applied to large airship load transfer Download PDFInfo
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- CN107697315B CN107697315B CN201710726790.5A CN201710726790A CN107697315B CN 107697315 B CN107697315 B CN 107697315B CN 201710726790 A CN201710726790 A CN 201710726790A CN 107697315 B CN107697315 B CN 107697315B
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000013307 optical fiber Substances 0.000 claims description 15
- 230000035939 shock Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 238000006243 chemical reaction 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
- 238000004873 anchoring Methods 0.000 abstract description 18
- 230000000694 effects Effects 0.000 abstract description 3
- 230000002411 adverse Effects 0.000 abstract description 2
- 239000002775 capsule Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
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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
- B64F1/228—Vehicles specially adapted therefor, e.g. aircraft tow tractors remotely controlled; operating autonomously
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Abstract
The invention discloses a buoyancy transfer method applied to large airship load transfer, which is characterized by comprising the following steps: 1) inhaul cables are arranged at inhaul cable connection points on two sides of a large airship body, and an inhaul cable A and an inhaul cable B are arranged at each inhaul cable connection point simultaneously; 2) connecting a guy cable A connected with a guy cable connecting point of a large airship with a corresponding ground anchor on the ground of a test field to anchor the large airship on the ground of the test field; … …, respectively; 6) the guy cable B is used as a mooring rope for fixing the large airship, the guy cable A is removed, and the process that the airship is inflated and transferred to the integrated truss type device is completed. The method solves the problems of numerous personnel and equipment, long time, complicated steps, high operation risk and the like involved in anchoring switching in the process of transferring the large airship to the external field test, and reduces the anchoring switching time so as to reduce the adverse effect of the ground wind direction and the wind speed change on the airship in the anchoring switching process.
Description
Technical Field
The invention relates to the technical field of large-scale flexible airships, in particular to a buoyancy transfer method applied to load transfer of a large-scale airship.
Background
The length of a common boat body of the large airship is more than 50m, buoyancy gas is filled in a boat bag, and the shape of the boat bag is maintained by adjusting the internal and external pressure difference. The gondola is suspended under the boat bag by ropes or wires, with built-in power plant, operating system, payload and ballast etc. In recent years, with the progress of aviation technology, the performance of an airship is greatly improved, the volume of the airship is continuously increased, and in the actual use process of the airship, the anchoring switching mode after inflation is also developed at the same time, and the currently common anchoring switching modes of the airship mainly comprise the following modes:
1) manual/vehicle towing mode
The mode mainly aims at small airship (with the length of the hull less than 20m), and realizes anchoring switching of the airship by adopting a manual or vehicle dragging mode.
2) Double-crane/double-truss hoisting transfer mode
The mode mainly comprises the steps that a counterweight is hung on an airship bag body to offset the net buoyancy of the airship, and the lifting hooks of the double-crane/double-truss crane are connected with the front lifting point and the rear lifting point of the airship, so that the lifting and the position change of the airship are realized, and the anchoring switching of the airship is finally completed.
Aiming at a large airship, the existing anchoring switching mode mainly has the following problems in the practical application process:
1) the traditional anchoring switching mode is carried out outside the field, the airship is required to finish the processes of early-stage bag body laying, inflation and the like in the open-air environment, the period is long, the large airship is greatly influenced by the change of the meteorological conditions in the test field, the sudden change of the wind speed and the wind direction is extremely easy to damage the structural strength of the airship, and the longer the time of the airship in the anchoring switching process, the higher the possibility of damage to the airship caused by the possible change of the meteorological conditions;
2) if the existing traction platform is adopted to carry out anchoring switching in a field, but the existing traction devices are all separated and do not have integrated flying platforms, the requirement on the synchronism of each separated part is strict, and once the traction devices do not advance synchronously, the airship capsule bears the additional tensile force provided by the traction devices, so that the airship capsule is possibly damaged, and the airship fails to transport;
3) the large airship has a large volume/mass ratio and an additional inertia effect, the safety of the airship in the transfer process cannot be guaranteed by the traditional manual/vehicle dragging mode, the inherent inertia of the airship is easy to cause the capsule gripper to be stressed too much and the capsule to be broken because additional tension is given to the capsule stay rope by manpower when the airship needs to be stopped urgently.
4) The double-crane/double-truss hoisting transfer mode involves more personnel and operation equipment in the process of anchoring and switching the airship, the operation risk is high, the size of the large airship is huge, the height of a lifting hook of a conventional crane/truss crane is difficult to achieve, and the anchoring and switching cost and difficulty are further increased.
Disclosure of Invention
The invention aims to provide a buoyancy transfer method applied to large airship load transfer, which aims to solve the problems of numerous personnel and equipment, long time, complicated steps, high operation risk and the like in anchoring switching in the test outfield transition process of a large airship, and compress anchoring switching time so as to reduce adverse effects on the airship caused by changes of ground wind direction and wind speed in the anchoring switching process.
The invention adopts a specific technical scheme that a buoyancy transfer method applied to large airship load transfer is characterized by comprising the following steps:
1) inhaul cables are arranged at inhaul cable connection points on two sides of a large airship body, and an inhaul cable A and an inhaul cable B are arranged at each inhaul cable connection point simultaneously;
2) connecting a guy cable A connected with a guy cable connecting point of a large airship with a corresponding ground anchor on the ground of a test field to anchor the large airship on the ground of the test field;
3) filling helium into a large airship bag to enable the airship to float upwards due to self buoyancy, slowly lengthening a guy cable A connected with the airship and a ground anchor, and enabling the airship to float upwards integrally to a height higher than that of the integrated truss type device platform;
4) driving the integrated truss type device to slowly drive from the head or tail of the large airship along the central axis of the airship into the position right below the belly of the airship;
5) connecting the guy cable B with the winches at the corresponding positions of the integrated truss type device, starting the winches simultaneously after the connection is finished, slowly contracting the guy cable B, and taking the guy cable A as a protection rope at the moment to enable the airship to descend onto the integrated truss type device;
6) the guy cable B is used as a mooring rope for fixing the large airship, the guy cable A is removed, and the process that the airship is inflated and transferred to the integrated truss type device is completed.
Furthermore, the integrated truss type device comprises a main industrial personal computer, a main driving vehicle, a CAN-optical fiber converter, a driven module, a first path of CAN line, a second path of CAN bus, a third path of CAN bus, a fourth path of CAN bus and a truss,
the truss comprises truss beams, six-face connecting bodies, a main driving vehicle mounting cross beam, winches, mooring ropes and a control room, wherein the six-face connecting bodies are of cuboid structures, four side faces of the six-face connecting bodies are respectively used for mounting ends of the truss beams, the six-face connecting bodies and the truss beams form a square grid structure, the main driving vehicle mounting cross beam is provided with four parts which are respectively mounted in one square grid in the square grid structure, four cross centers of the four main driving vehicle mounting cross beams are respectively positioned on the circumference which takes the symmetric center of the square grid structure as the center of a circle, the periphery of the square grid structure is provided with the winches, the winches fix the airship through the mooring ropes fastened on a mooring rope lug ring of the airship, the control room is mounted on the truss beams,
the main industrial personal computer is respectively connected with the first path of CAN line, the second path of CAN bus, the third path of CAN bus and the fourth path of CAN bus and is positioned in the control room,
the main drive vehicle comprises four main drive vehicles, each main drive vehicle comprises a main drive vehicle industrial control machine, a main drive vehicle rotary motor encoder, a main drive vehicle rotary motor controller, a main drive vehicle drive motor controller, a main drive vehicle storage battery pack, a main drive vehicle CAN bus, a main drive vehicle rotary motor, a main drive vehicle drive motor, a main drive vehicle frame, a main drive vehicle axle, a main drive vehicle rotary support and main drive vehicle wheels, wherein the main drive vehicle rotary motor controller is used for controlling the rotation of the main drive vehicle rotary motor, the main drive vehicle drive motor controller is used for controlling the rotation of the main drive vehicle drive motor, the main drive vehicle rotary motor encoder and the main drive vehicle rotary motor controller are respectively connected with a first path of CAN lines through optical fibers, and the main drive vehicle drive motor controller is connected with a second path of CAN lines through optical fibers, the main driving vehicle storage battery pack is respectively connected with a main driving vehicle rotary motor controller and a main driving vehicle driving motor controller, the main driving vehicle industrial control machine is connected with a main driving vehicle CAN bus, a main driving vehicle rotary motor encoder, a main driving vehicle rotary motor controller and a main driving vehicle driving motor controller are also respectively connected on the main driving vehicle CAN bus, when the main industrial control machine cannot work, the main driving vehicle industrial control machine electrically controls the main driving vehicle to run, the main driving vehicle rotary support comprises an inner ring, an outer ring and a driving worm, the main driving vehicle rotary motor encoder is arranged at the driving worm of the main driving vehicle rotary support and is used for acquiring the rotation position of the driving worm of the main driving vehicle rotary support, the inner ring of the main driving vehicle rotary support is arranged on the main driving vehicle frame, and the main driving vehicle frame is arranged on a main shock absorber driving vehicle axle, the main driving vehicle driving motor is arranged on the frame of the main driving vehicle and used for driving the wheels of the main driving vehicle arranged on the axle of the main driving vehicle to rotate, the outer rings of four main driving vehicle slewing bearings of four main driving vehicles are respectively arranged on the lower surfaces of four main driving vehicle mounting cross beams, the circle center of the outer ring of the main driving vehicle slewing bearing is positioned under the cross center of the main driving vehicle mounting cross beams, the main driving vehicle slewing motor is arranged on the main driving vehicle mounting cross beams and used for driving the inner ring of the main driving vehicle slewing bearing to rotate relative to the outer ring,
the driven module comprises a plurality of driven modules, each driven module comprises a driven module rotary motor encoder, a driven module rotary motor controller, a driven module storage battery set, a driven module rotary motor, a driven module rotary support, an upper support, a limit screw, a cushioning spring, a spring seat, a lower support, a driven module axle and a driven module wheel, the driven module rotary motor encoder is connected with a fourth CAN bus through an optical fiber, the driven module rotary motor controller is connected with the fourth CAN bus through a port on the driven module rotary motor encoder, the driven module rotary motor controller is used for controlling the rotation of the driven module rotary motor, the driven module storage battery set is connected with the driven module rotary motor controller, the driven module rotary support comprises an inner ring, an outer ring and a driving worm, and the driven module rotary motor encoder is arranged at the driving worm of the driven module rotary support, the device is used for collecting the rotating position of a driving worm of a slewing bearing of a driven module, the upper support is of a cylindrical structure with a closed upper end and an open lower end, the lower support is of a cylindrical structure with an open upper end and a closed lower end, the cylindrical structure of the upper support is sleeved in the cylindrical structure of the lower support, the upper end of a cushioning spring is propped against the lower surface of an upper end sealing plate of the upper support, the lower end of the cushioning spring is installed on the upper surface of a lower end sealing plate of the lower support through a spring seat, a limit screw is installed on the cylindrical wall of the lower support through a thread and extends into the cylindrical structure of the lower support, a square through hole is formed in the cylindrical wall of the upper support, one end of the limit screw extending into the cylindrical structure of the lower support is located in the square through hole, the lower support is installed on a driven module axle, and the driven module axle is used for installing, the inner ring of the driven module slewing bearing is arranged on the upper surface of the upper end closing plate of the upper support, the outer rings of a plurality of driven modules are respectively arranged on the lower surfaces of a plurality of six-face connectors which are symmetrical by the symmetrical center line of the truss, the driven module slewing motor is arranged on the six-face connectors and is used for driving the inner ring of the driven module slewing bearing to rotate,
the CAN-optical fiber converter is used for signal conversion among the first path of CAN line, the second path of CAN bus, the third path of CAN bus, the fourth path of CAN bus, the driving vehicle and the driven module.
Compared with the prior art, the invention has the following beneficial effects:
1) the anchoring switching of the large airship is completely completed by utilizing the buoyancy of the large airship, the time required is shorter, the operation steps are fewer, and large operation equipment such as a crane is not needed by reasonably arranging and using the hull guy cable;
2) the large airship adopting the method can realize inflation in the airship warehouse and outdoor flying, and the safety of the airship is greatly improved in the early inflation stage;
3) the large airship is carried on the integrated truss type device, the balloon stay cable only bears buoyancy and wind resistance of the airship in the transferring and flying process, the outdoor staying time is short, and the damage to the balloon caused by the sudden change of the ground wind speed is greatly reduced.
In addition, the method has greater universality on anchoring switching in the outfield test process of the large airship.
Drawings
FIG. 1 is a schematic perspective view of an airship anchored to the ground after inflation is completed in a buoyancy transfer method applied to load transfer of a large airship according to the present invention;
fig. 2 is a schematic perspective view of an integrated truss-type device for realizing integral lifting of an airship by means of buoyancy of the airship and adopting the buoyancy transfer method applied to load transfer of a large airship according to the present invention;
FIG. 3 is a top view of an integrated truss-type device used for the buoyancy transfer method applied to the load transfer of a large airship, wherein the airship is lifted integrally by means of buoyancy of the airship;
FIG. 4 is a schematic perspective view of an integrated truss-type apparatus used in the buoyancy transfer method of the present invention applied to large airship load transfer;
FIG. 5 is a top view of a truss of the integrated truss apparatus used in the method of the present invention;
FIG. 6 is a schematic perspective view of the truss beam and six-sided connector connection of the truss of the integrated truss apparatus used in the method of the present invention;
FIG. 7 is a top plan view of a main drive vehicle mounting cross beam of a truss of the integrated truss apparatus employed in the method of the present invention;
FIG. 8 is a schematic diagram of the control system connections of the integrated truss-like apparatus used in the method of the present invention;
FIG. 9 is a top plan view of a primary drive vehicle of an integrated truss-like arrangement for use in the method of the present invention;
fig. 10 is a side view of a slave module of an integrated truss apparatus for use in the method of the present invention.
Detailed Description
The technical scheme of the invention is further described in the following with the accompanying drawings of the specification.
As shown in fig. 1-4, the large soft airship is delivered in this embodiment with a length of 78m, a maximum cross-sectional diameter of 26.6m, and a length of 68m and a width of 50m of the integrated truss-like device. The invention discloses a buoyancy transfer method applied to large airship load transfer, which is characterized by comprising the following steps:
1) inhaul cables are arranged at 8 inhaul cable connection points on two sides of a large airship body, and two inhaul cables A and B are arranged at each inhaul cable connection point simultaneously;
2) and connecting the guy cable A connected with the guy cable connecting point of the large airship with a corresponding ground anchor on the ground of the test field to anchor the large airship on the ground of the test field. The tail guy cable and the head guy cable can be arranged, the tail guy cable is mainly used for fixing and protecting the airship, and the head guy cable is gradually released along with the inflation process;
3) filling helium into a large airship capsule, wherein the static buoyancy is about 100 kilograms, so that the airship floats upwards due to the self buoyancy, and meanwhile, slowly lengthening a guy cable A connected with the airship and a ground anchor, and the whole airship floats upwards to a height which is about 4 meters higher than the integrated truss type device platform;
4) driving the integrated truss type device to slowly drive from the head or tail of the large airship along the central axis of the airship into the position right below the belly of the airship;
5) connecting a guy cable B with a winch at a position corresponding to the integrated truss type device, and connecting a guy cable at the head of the airship to the corresponding winch on the integrated truss type device after penetrating through a nose cone; after connection is finished, all the winches are started simultaneously, the guy cable B is slowly contracted, the guy cable A is used as a protective rope at the moment, the airship descends to the integrated truss type device, and at the moment, the airship nacelle is 0.3 m away from the integrated truss type device;
6) the guy cable B is used as a mooring rope for fixing a large airship, the guy cable A is released, the height of a head cone is adjusted, the head guy cable is tensioned, and the integrated truss type device is matched with the airship nacelle bracket to be in contact with the airship and is fastened by the rope. The rear part of the integrated truss type device is provided with an inflatable air bag, and the inflatable air bag is in close contact with the airship bag body at the moment. And finishing the process of inflating the airship and transferring the airship to the integrated truss type device.
As shown in fig. 4-5, the integrated truss-type device adopted by the method of the invention comprises a main industrial personal computer 1, a main driving vehicle 2, a CAN-optical fiber converter 4, a driven module 5, a first path of CAN line 6, a second path of CAN bus 7, a third path of CAN bus 8, a fourth path of CAN bus 9, a truss 10 and a mooring tower 11. The mooring tower 11 can be raised and lowered for towing the nose cone of the airship 12.
As shown in fig. 6-7, the truss 10 includes a truss girder 101, a six-sided connecting body 102, a main driving vehicle mounting cross girder 103, a winch 104, a mooring rope 105 and a control room 106, the six-sided connecting body 102 is a rectangular parallelepiped structure, four sides of the six-sided connecting body 102 are respectively used for mounting the ends of the truss girder 101, the six-sided connecting bodies 102 and the truss girders 101 form a square grid structure, the main driving vehicle mounting cross girder 103 has four pieces, each of the four pieces is mounted in one square grid in the square grid structure, four cross centers of the four pieces of main driving vehicle mounting cross girders 103 are respectively located on a circumference with the symmetry center of the square grid structure as a center, the periphery of the square grid structure is provided with the plurality of winches 104, the winch 104 is used for fixing the airship by tightening the mooring rope 105 on a mooring rope ear ring of the mooring rope of the airship 12, the control room 106 is mounted on the truss girder 101.
As shown in fig. 8, the main industrial personal computer 1 is connected to the first CAN line 6, the second CAN bus 7, the third CAN bus 8 and the fourth CAN bus 9 respectively and is located in the control room 106.
As shown in fig. 9, each of the main drive vehicles 2 includes four main drive vehicle operators 201, a main drive vehicle rotary motor encoder 202, a main drive vehicle rotary motor controller 203, a main drive vehicle drive motor controller 204, a main drive vehicle battery pack 205, a main drive vehicle CAN bus 206, a main drive vehicle rotary motor 207, a main drive vehicle drive motor 208, a main drive vehicle frame 209, a main drive vehicle axle 210, a main drive vehicle rotary support 211, and main drive vehicle wheels 212, the main drive vehicle rotary motor controller 203 is configured to control rotation of the main drive vehicle rotary motor 207, the main drive vehicle drive motor controller 204 is configured to control rotation of the main drive vehicle drive motor 208, the main drive vehicle rotary motor encoder 202 and the main drive vehicle rotary motor controller 203 are respectively connected to the first CAN line 6 through optical fibers, the main driving vehicle driving motor controller 204 is connected with the second path of CAN bus 7 through an optical fiber, the main driving vehicle storage battery pack 205 is respectively connected with the main driving vehicle rotary motor controller 203 and the main driving vehicle driving motor controller 204, the main driving vehicle industrial control machine 201 is connected with the main driving vehicle CAN bus 205, the main driving vehicle rotary motor encoder 202, the main driving vehicle rotary motor controller 203 and the main driving vehicle driving motor controller 204 are also respectively connected on the main driving vehicle CAN bus 205, when the main industrial control machine 1 cannot work, the main driving vehicle industrial control machine 201 is electrified to control the main driving vehicle 2 to run, the main driving vehicle rotary support 211 comprises an inner ring, an outer ring and a driving worm, the main driving vehicle rotary motor encoder 202 is arranged at the driving worm of the main driving vehicle rotary support 211 and is used for collecting the rotation position of the driving worm of the main driving vehicle rotary support 211, the inner ring of the main drive vehicle slewing bearing 211 is arranged on the main drive vehicle frame 209, the main drive vehicle frame 209 is arranged on a main drive vehicle axle 210 through a shock absorber, the main drive vehicle drive motor 208 is arranged on the main drive vehicle frame 209 and is used for driving the main drive vehicle wheels 212 arranged on the main drive vehicle axle 210 to rotate, the outer rings of the four main drive vehicle slewing bearings 211 of the four main drive vehicles 1 are respectively arranged on the lower surfaces of the four main drive vehicle mounting cross beams 103, the circle center of the outer ring of the main drive vehicle slewing bearing 211 is positioned right below the cross center of the main drive vehicle mounting cross beams 103, and the main drive vehicle slewing motor 207 is arranged on the main drive vehicle mounting cross beams 103 and is used for driving the inner ring and the outer ring of the main drive vehicle slewing bearing 211 to rotate relative to each other.
As shown in fig. 10, there are 16 slave modules 5, each slave module 5 includes a slave module rotary motor encoder 501, a slave module rotary motor controller 502, a slave module battery pack 503, a slave module rotary motor 504, a slave module rotary support 505, an upper support 506, a limit screw 507, a shock absorbing spring 508, a spring seat 509, a lower support 510, a slave module axle 511, and a slave module wheel 512, the slave module rotary motor encoder 501 is connected with a fourth CAN bus 9 through an optical fiber, the slave module rotary motor controller 502 is connected with the fourth CAN bus 9 through a port on the slave module rotary motor encoder 501, the slave module rotary motor controller 502 is used for controlling the rotation of the slave module rotary motor 504, the slave module battery pack is connected with the slave module rotary motor controller 502, the slave module rotary support 505 includes an inner ring 503, and a slave module rotary motor controller 505 includes an inner ring 503, The driven module slewing motor encoder 501 is arranged at the driving worm of the driven module slewing bearing 505 and is used for acquiring the rotating position of the driving worm of the driven module slewing bearing 505, the upper support 506 is of a cylindrical structure with a closed upper end and an open lower end, the lower support 510 is of a cylindrical structure with an open upper end and a closed lower end, the cylindrical structure of the upper support 506 is sleeved in the cylindrical structure of the lower support 510, the upper end of the shock absorption spring 508 is propped against the lower surface of the upper end sealing plate of the upper support 506, the lower end of the shock absorption spring 508 is arranged on the upper surface of the lower end sealing plate of the lower support 510 through the spring seat 509, the limit screw 507 is arranged on the cylindrical wall of the cylindrical structure of the lower support 510 through threads and extends into the cylindrical structure of the lower support 510, and a square through hole is formed in the cylindrical wall of the upper support 506, one end of a limit screw 507 extending into the cylindrical structure of the lower support 510 is positioned in the square through hole, the lower support 510 is installed on a driven module axle 511, the driven module axle 511 is used for installing a driven module wheel 512, the inner ring of the driven module slewing bearing 505 is installed on the upper surface of the upper end closing plate of the upper support 506, the outer rings of a plurality of driven modules 5 are respectively installed on the lower surfaces of a plurality of six-face connecting bodies 102 which are symmetrical by the symmetry center line of the truss 10, and the driven module slewing motor 504 is installed on the six-face connecting bodies 102 and is used for driving the inner ring of the driven module slewing bearing 505 to rotate.
The CAN-optical fiber converter 4 is used for signal conversion among the first path of CAN line 6, the second path of CAN bus 7, the third path of CAN bus 8 and the fourth path of CAN bus 9, the main driving vehicle 2 and the driven module 5.
The integrated truss type device adopted by the method of the invention also comprises a remote controller 3 and a driving assistance system.
The remote controller 3 is connected to the third CAN bus 8, is used for realizing remote operation of the integrated truss type device, has two communication modes of wired communication and wireless communication, and CAN display various parameters of the working mode, the speed, the battery residual capacity and the like of the integrated truss type device in real time.
The driving assistance system comprises 2 embedded video acquisition modules and 2 imaging units, wherein the 2 imaging units are respectively installed on the symmetrical center line of the front end and the rear end of the truss 10 and used for shooting the central lane line of the transfer road, the embedded video acquisition modules are used for displaying the image signals of the 2 acquired imaging units back and identifying the images and calculating the offset of the vehicle body relative to the central lane line of the transfer road in real time.
Claims (2)
1. A buoyancy transfer method applied to large airship load transfer is characterized by specifically comprising the following steps:
1) inhaul cables are arranged at inhaul cable connection points on two sides of a large airship body, and an inhaul cable A and an inhaul cable B are arranged at each inhaul cable connection point simultaneously;
2) connecting a guy cable A connected with a guy cable connecting point of a large airship with a corresponding ground anchor on the ground of a test field to anchor the large airship on the ground of the test field;
3) filling helium into a large airship bag to enable the airship to float upwards due to self buoyancy, slowly lengthening a guy cable A connected with the airship and a ground anchor, and enabling the airship to float upwards integrally to a height higher than that of the integrated truss type device platform;
4) driving the integrated truss type device to slowly drive from the head or tail of the large airship along the central axis of the airship into the position right below the belly of the airship;
5) connecting the guy cable B with the winches at the corresponding positions of the integrated truss type device, starting the winches simultaneously after the connection is finished, slowly contracting the guy cable B, and taking the guy cable A as a protection rope at the moment to enable the airship to descend onto the integrated truss type device;
6) the guy cable B is used as a mooring rope for fixing the large airship, the guy cable A is removed, and the process that the airship is inflated and transferred to the integrated truss type device is completed.
2. The buoyancy transfer method applied to large airship load transfer according to claim 1, wherein the integrated truss type device comprises a main industrial personal computer (1), a main driving vehicle (2), a CAN-optical fiber converter (4), a driven module (5), a first CAN line (6), a second CAN bus (7), a third CAN bus (8), a fourth CAN bus (9) and a truss (10),
the truss (10) comprises a truss beam (101), six-side connecting bodies (102), a main driving vehicle mounting cross beam (103), a winch (104), a mooring rope (105) and a control chamber (106), wherein the six-side connecting bodies (102) are of a cuboid structure, four side surfaces of the six-side connecting bodies (102) are respectively used for mounting ends of the truss beam (101), the six-side connecting bodies (102) and the truss beams (101) form a square grid-shaped structure, four main driving vehicle mounting cross beams (103) are respectively mounted in one square grid in the square grid-shaped structure, four cross centers of the four main driving vehicle mounting cross beams (103) are respectively positioned on a circumference with the symmetrical center of the square grid-shaped structure as the center of a circle, the periphery of the square grid-shaped structure is provided with the plurality of winches (104), and the winch (104) is used for fixing the airship through the mooring rope (105) tied on a mooring rope lug ring of the mooring rope of the airship (12), the control room (106) is arranged on the truss girder (101),
the main industrial personal computer (1) is respectively connected with a first path of CAN line (6), a second path of CAN bus (7), a third path of CAN bus (8) and a fourth path of CAN bus (9) and is positioned in a control room (106),
the four main drive vehicles (2) are provided, each main drive vehicle (2) comprises a main drive vehicle industrial control machine (201), a main drive vehicle rotary motor encoder (202), a main drive vehicle rotary motor controller (203), a main drive vehicle drive motor controller (204), a main drive vehicle storage battery (205), a main drive vehicle CAN bus (206), a main drive vehicle rotary motor (207), a main drive vehicle drive motor (208), a main drive vehicle frame (209), a main drive vehicle axle (210), a main drive vehicle rotary support (211) and main drive vehicle wheels (212), the main drive vehicle rotary motor controller (203) is used for controlling the rotation of the main drive vehicle rotary motor (207), the main drive vehicle drive motor controller (204) is used for controlling the rotation of the main drive vehicle drive motor (208), and the main drive vehicle rotary motor encoder (202) and the main drive vehicle rotary motor controller (203) are respectively connected with a first route (6) through optical fibers The main driving vehicle driving motor controller (204) is connected with a second path of CAN bus (7) through optical fibers, a main driving vehicle storage battery pack (205) is respectively connected with a main driving vehicle rotary motor controller (203) and a main driving vehicle driving motor controller (204), a main driving vehicle industrial control machine (201) is connected with a main driving vehicle CAN bus (206), a main driving vehicle rotary motor encoder (202), the main driving vehicle rotary motor controller (203) and the main driving vehicle driving motor controller (204) are also respectively connected on the main driving vehicle CAN bus (206), when the main industrial control machine (1) cannot work, the main driving vehicle industrial control machine (201) is electrified to control the main driving vehicle (2) to run, the main driving vehicle rotary support (211) comprises an inner ring, an outer ring and a driving worm, the main driving vehicle rotary motor encoder (202) is arranged at the driving position of the main driving vehicle rotary support (211), the device is used for acquiring the rotating position of a driving worm of a main driving vehicle slewing bearing (211), the inner ring of the main driving vehicle slewing bearing (211) is arranged on a main driving vehicle frame (209), the main driving vehicle frame (209) is arranged on a main driving vehicle axle (210) through a shock absorber, a main driving vehicle driving motor (208) is arranged on the main driving vehicle frame (209) and is used for driving main driving vehicle wheels (212) arranged on the main driving vehicle axle (210) to rotate, the outer rings of four main driving vehicle slewing bearings (211) of four main driving vehicles (2) are respectively arranged on the lower surfaces of four main driving vehicle mounting crossbeams (103), the circle center of the outer ring of the main driving vehicle slewing bearing (211) is positioned right below the cross center of the main driving vehicle mounting crossbeams (103), and the main driving vehicle slewing motor (207) is arranged on the main driving vehicle mounting crossbeams (103), the inner ring of the main driving vehicle slewing bearing (211) is driven to rotate relative to the outer ring,
the system comprises a plurality of driven modules (5), wherein each driven module (5) comprises a driven module rotary motor encoder (501), a driven module rotary motor controller (502), a driven module storage battery pack (503), a driven module rotary motor (504), a driven module rotary support (505), an upper support (506), a limit screw (507), a cushioning spring (508), a spring seat (509), a lower support (510), a driven module axle (511) and driven module wheels (512), the driven module rotary motor encoder (501) is connected with a fourth CAN bus (9) through optical fibers, the driven module rotary motor controller (502) is connected with the fourth CAN bus (9) through a port on the driven module rotary motor encoder (501), and the driven module rotary motor controller (502) is used for controlling the rotation of the driven module rotary motor (504), the driven module storage battery pack (503) is connected with a driven module rotary motor controller (502), the driven module rotary support (505) comprises an inner ring, an outer ring and a driving worm, a driven module rotary motor encoder (501) is installed at the driving worm of the driven module rotary support (505) and is used for acquiring the rotating position of the driving worm of the driven module rotary support (505), the upper support (506) is of a cylindrical structure with a closed upper end and an open lower end, the lower support (510) is of a cylindrical structure with an open upper end and a closed lower end, the cylindrical structure of the upper support (506) is sleeved in the cylindrical structure of the lower support (510), the upper end of the shock absorption spring (508) is propped against the lower surface of the upper end sealing plate of the upper support (506), and the lower end of the shock absorption spring (508) is installed on the upper surface of the lower end sealing plate of the lower support (510) through the spring seat (509), the limiting screw (507) is installed on the cylinder wall of the cylindrical structure of the lower support (510) through threads and extends into the cylindrical structure of the lower support (510), the cylinder wall of the cylindrical structure of the upper support (506) is provided with a square through hole, one end of the limiting screw (507) extending into the cylindrical structure of the lower support (510) is positioned in the square through hole, the lower support (510) is installed on a driven module axle (511), the driven module axle (511) is used for installing a driven module wheel (512), the inner ring of a driven module slewing bearing (505) is installed on the upper surface of an upper end sealing plate of the upper support (506), the outer rings of a plurality of driven modules (5) are respectively installed on the lower surfaces of a plurality of six-face connecting bodies (102) which are symmetrical by the symmetrical center line of a truss (10), and a driven module slewing motor (504) is installed on the six-face connecting bodies (102), for driving the rotation of the inner ring of the driven module slewing bearing (505),
the CAN-optical fiber converter (4) is used for signal conversion among the first path of CAN line (6), the second path of CAN bus (7), the third path of CAN bus (8) and the fourth path of CAN bus (9), the driving vehicle (2) and the driven module (5).
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| FR3096961B1 (en) * | 2019-06-06 | 2021-11-12 | Flying Whales | Device and method for managing ballasts |
| 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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