CN108298093A - Parachute rope draw off gear - Google Patents
Parachute rope draw off gear Download PDFInfo
- Publication number
- CN108298093A CN108298093A CN201810078797.5A CN201810078797A CN108298093A CN 108298093 A CN108298093 A CN 108298093A CN 201810078797 A CN201810078797 A CN 201810078797A CN 108298093 A CN108298093 A CN 108298093A
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- China
- Prior art keywords
- parachute
- rope
- motor
- winding wheel
- gear
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/22—Load suspension
- B64D17/24—Rigging lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/22—Load suspension
- B64D17/34—Load suspension adapted to control direction or rate of descent
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/10—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers
- B65H54/20—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers forming multiple packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
- B65H54/44—Arrangements for rotating packages in which the package, core, or former is engaged with, or secured to, a driven member rotatable about the axis of the package
Abstract
The invention discloses a kind of parachute rope draw off gear, including babinet, the winding wheel and guide roller wound for parachute rope is provided in babinet；Winding wheel is at least provided with two, and there are two the guide grooves for being used for coiling, two guide grooves to be wound with a parachute rope respectively for tool on each winding wheel, and the opposite symmetrical two parachute rope reverse-windings of parachute are used for the guide groove of coiling at two；Each winding wheel is correspondingly arranged that there are one the motors for driving winding wheel to rotate, and there are one motors to drive for each motor installation, and motor drive connection has flight Control card and power supply.Parachute rope draw off gear of the present invention, babinet are connected by guide roller with parachute rope；During parachute descending flight, flight Control card forms control instruction, to drive corresponding motor receiving/releasing umbrella rope, parachute is made to fly always towards target drop point by receiving remote signal or the automatic error for detecting parachute position and target drop point.
Description
Technical field
The present invention relates to flight control system design fields, and being embodied in one kind can be according to parachute drop point
Status requirement, by changing umbrella rope length degree, the automatic independent navigation parachute assembly for realizing parachute flight TRAJECTORY CONTROL.
Background technology
With the development of modern airmanship, the more extensive purposes of parachute is imparted, is flown in traditional Aeronautics and Astronautics
The recycling of row device is gone home and national defence, lifesaving, dispensing valuable cargo etc. play an important role.
Such as in space flight, 1997, the U.S. using inflatable air bag landing system successfully carried out Mars landing it
Afterwards, three state of method Russia and the United States cooperates, and makees heat source using solar energy, designs fire balloon Mars landing system, and carry out on earth
Simulation test, it was demonstrated that this system has many advantages, such as that throw-weight is light, cheap, and effect is better than landing retro-rocket.
NASA has carried out detailed structure on the basis of former pirate's Mars landing system, to umbrella system and attachment and has set
Meter, experimental study and performance evaluation, and it is successfully applied to Mars landing in 2003.It can appreciate that this gas of similar parachute
Motor-reducing unit will explore in the outer space and landing system is applied and continues to play huge effect, while parachute future
It can land in the extraterrestrial ball detector such as high-rise building life saving, habitata, Mars, Venus, extraction of deposit etc. is all in Paleolimnological
It is multi-field all to play a greater and greater role.
Parachute experienced the initial development before the World War II, base growth before the seventies, fluffy before the nineties
The functionization of parachute, newcooperative medical system study four developing stage by now for the exhibition of breaking out.The development of parachute theory and technology is also got over
Paid attention to by the parties concerned to get over, especially in the latest 20 years, the basic research of parachute is further goed deep into, engineering method
It is gradually improved, substantially increases the science of parachute development and the reliability of experimental result.
Currently, China focuses on the theoretical research of parachute control and the aerodynamics to Parachute Opening Process more
Research, and be mostly numbered analog simulation to the process that parachute entirely declines, but lack the control for parachute dropping process
The research of technology processed.
Parachute is that one kind is simple to manufacture, is of low cost, and a kind of good speed brake of stablizing effect.With
The development of modern airmanship imparts the more extensive purposes of parachute.
Control of the parachute for drop point at present is also only limited in the control of release position, i.e., in place and winged
It is launched under the conditions of row, but automatically controlling for flight path and drop point is cannot achieve during parachute declines.Parachute is under
If encountering the interference of wind during drop, the drop point of parachute is even more to be unable to control.
Invention content
According to technical problem set forth above, and a kind of parachute rope draw off gear is provided, for solving existing drop
Fall control of the umbrella for drop point, be also only limited in the control of release position, i.e., in place with launched under flying condition, but
Flight path and the shortcomings that automatically controlling of drop point are cannot achieve during parachute declines.The technological means that the present invention uses
It is as follows：
A kind of parachute rope draw off gear, including babinet are provided in the babinet and to be wound for parachute rope
Winding wheel and guide roller；The winding wheel is at least provided with two, and tool is there are two the guide groove for being used for coiling on each winding wheel, and two
A guide groove is wound with a parachute rope respectively, symmetrical two parachute rope reverse-windings of opposite parachute
The guide groove of coiling is used at two；Each winding wheel there are one being correspondingly arranged is used to that the winding wheel to be driven to rotate
Motor, there are one motors to drive for each motor installation, and the motor drive connection has flight Control card and power supply.
Canopy, lower part setting are connected with by parachute rope as the preferably described parachute rope draw off gear top
There is parachute load.
As be equipped on the preferably described flight Control card for resolving parachute rope draw off gear posture, rail
GPS, accelerometer, gyroscope and the magnetometer of mark movement state information.
Remote command, or autonomous resolving parachute current location and mesh are received as the preferably described flight Control card
Error between the point of village, and according to the control instruction of error formation driving motor, make one of motor or two motors
It rotates simultaneously；When reception remote command, or autonomous two kinds of the error resolved between parachute current location and target drop point
When function is provided simultaneously with, the priority that setting receives remote command is advanced；Motor will refer in the control of flight Control card
Under order, tightening loosens the parachute rope far from target drop point direction, makes landing by the parachute rope in close-target drop point direction
Umbrella flies towards target drop point.
Compared with prior art, parachute rope draw off gear of the present invention, babinet pass through guide roller and landing
Umbrella umbrella rope is connected；During parachute descending flight, flight Control card is by receiving remote signal or automatic detection drop
The error of umbrella position and target drop point is fallen, control instruction is formed, (receipts are fallen by close-target to drive corresponding motor receiving/releasing umbrella rope
The umbrella rope of point puts the umbrella rope far from target drop point), so that parachute is flown always towards target drop point.
The folding and unfolding that parachute rope is controlled by the device, can change parachute during parachute descending flight
Aerodynamic force suffered by clothing solves the problems, such as that parachute flight track can not automatically control.Meanwhile for the parachute drop point caused by wind
Error, the device can also effectively eliminate.The impact accuracy of parachute can be effectively improved, while to wind-induced interference energy
It is enough effectively to inhibit.The successful development and application of the present apparatus, will have an important influence on the practical application of parachute, are that one kind can
It is required according to parachute drop point site, the automatic parachute rope draw off gear for realizing parachute flight TRAJECTORY CONTROL.
Parachute rope draw off gear of the present invention is a kind of independent navigation parachute, can be widely applied for down
State field：
1, cargo assault：
In the action such as military operation and disaster area rescue, aircraft (passes through drop by parachute of landing when launching equipment or goods and materials
Put), according to target drop point site, the influence of the current position height of comprehensive consideration of flight vehicle and extraneous wind direction, to determine to throw
The opportunity put；But equipment or the skyborne flight path of goods and materials are easy to be changed by many outside environmental elements such as wind speed changes
Become, air-drop precision substantially reduces.
The aerial flight path that parachute can be changed using independent navigation parachute does not need harsh fixed condition
It can reach higher impact accuracy.
2, aircraft recycles：
Such as UAV, experimental missile, carrier rocket boost motor, high speed detector and recoverable space travel
Device needs repeatedly to recycle by parachute.
Drop point site can be substantially determined by the control of accurate flight path, and drop point will be improved by placing independent navigation parachute
Precision, reduce drop zone range, reduce recovery difficult simultaneously reduce cost recovery.
3, manned parachute：
Manned parachute usually pulls parachute rope to achieve the purpose that fly to appointed place, but mesh manually by artificial
Requirement of the preceding manned parachute to operator is high.
Independent navigation parachute is reequiped to can realize the not user by professional training on unmanned parachute
The enjoyment of parachute movement can be experienced.
4, mars exploration vehicle lands：
Mars exploration car owner stream landing approach be by parachute land on Mars, and at present by the method for
The control of mars exploration vehicle level point also only controls release position, because parachute is highly prone to fire during whereabouts
Star atmosphere ectocine, being easy to cause mars exploration vehicle and falling causes to balk in inappropriate position.
By independent navigation parachute, effectively autonomous control parachute is fallen in ideal place, is avoided because landing position is asked
One's cake is dough caused by topic.
In conclusion the folding and unfolding of independent navigation parachute system control parachute rope, can decline in parachute and fly
Change aerodynamic force suffered by bell during row, solves the problems, such as that parachute flight track can not automatically control.
Meanwhile parachute landing error, the system caused by wind speed size direction can also be effectively eliminated.It can
The impact accuracy of parachute is effectively improved, while wind-induced interference can effectively be inhibited.The successful development of the present apparatus and
Using will be had an important influence on to the practical application of parachute.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is parachute rope draw off gear functional schematic of the present invention.
Fig. 2 be parachute rope canoe schematic diagram of the present invention (canoe of 1 pair of umbrella rope is only provided in figure, it is another
Similarly to umbrella rope).
Fig. 3 is parachute rope draw off gear internal structure vertical view of the present invention.
Fig. 4 is parachute rope draw off gear internal structure side view of the present invention.
Fig. 5 is the module flow diagram of parachute rope draw off gear of the present invention.
Fig. 6 is single motor control two strands of umbrella rope schematic diagrames of same direction of the present invention.
Wherein：1, canopy, 2, parachute rope, 3, parachute rope draw off gear, 4, parachute load, 5, winding wheel,
6, guide roller, 7, motor, 8, motor driving, 9, flight Control card, 10, power supply.
Specific implementation mode
Without loss of generality by taking the parachute of four umbrella ropes as an example, as shown in fig. 1 to fig. 4, (to the drop more than 4 umbrella ropes
Umbrella is fallen, multiple motors can be matched or summarizes umbrella rope for the folding and unfolding of 4 progress umbrella ropes), a kind of parachute rope draw off gear,
Including babinet, the winding wheel 5 wound for parachute rope 2 and guide roller 6 (or pipe) are provided in the babinet.
The winding wheel 5 is at least provided with two, and there are two the guide groove for being used for coiling, two institutes for tool on each winding wheel 5
It states guide groove and is wound with a parachute rope 2 respectively, opposite parachute 2 reverse-winding of symmetrical two parachute ropes exists
Two guide grooves for being used for coiling；When reel 5 rotates, two guide grooves are realized the receipts of umbrella rope and are put respectively.Each around
Line wheel 5 is connected by guide roller 6 (or pipe) with two parachute ropes 2 of parachute.
Each winding wheel 5 is correspondingly arranged that there are one the motor 7 for driving the winding wheel 5 to rotate, the motors 7
For the motor of Double-directional rotary, reel 5 thereon is driven respectively.
There are one motors to drive 8 for each installation of the motor 7, and the motor driving 8 is connected with flight Control card 9 and electricity
Source 10.Motor 7 receives the control instruction of flight Control card 9, and motor output shaft generates rotation under driving effect.Flight control
The power supply of power supply and the motor driving 8 of making sheet card 9 is provided by battery.Finally, above-mentioned all designs are fixed in babinet.Dress
The center of gravity set is located at the geometric center of device.
Posture for resolving parachute rope draw off gear is installed, track moves on the flight Control card 9
GPS, accelerometer, gyroscope and the magnetometer of status information.On flight Control card 9 equipped with GPS, accelerometer, gyroscope,
The sensors such as magnetometer can resolve the movement state informations such as posture, the track of parachute rope draw off gear.
3 top of parachute rope draw off gear is connected with canopy 1 by parachute rope 2, and lower part is provided with drop
Fall umbrella load 4.
The flight Control card 9 receives remote command, or autonomous resolving parachute current location and target drop point
Between error, and according to the error formed driving motor control instruction, make one of motor 7 or two motors 7 simultaneously
Rotation.
When reception remote command, or autonomous two kinds of work(of error resolved between parachute current location and target drop point
When can be provided simultaneously with, the priority that setting receives remote command is advanced.
For motor 7 by under the control instruction of flight Control card 9, the parachute rope 2 in close-target drop point direction is leaned in tightening,
Loosen the parachute rope 2 far from target drop point direction, parachute is made to fly towards target drop point.For more generally situation,
Typically four umbrella ropes coordinate control.
It is in contrast, for more generally situation, typically four umbrella ropes to umbrella rope as tightening and which loosening
Coordinate control.Finally, above-mentioned all designs are fixed in babinet, and device matter is reached by the adjustment of above-mentioned component locations
The heart is located at geometric center.Umbrella rope outside babinet is directed to by guide roller (or pipe) at corresponding reel.
Parachute rope draw off gear of the present invention, the motor 7 having mainly are considered using direct current generator and step
Stepper motor two schemes：
Direct current generator：
After winding upper umbrella rope, parachute rope can generate direct current generator prodigious pulling force, and direct current generator is logical
When electric can not self-locking, be powered but do not rotate, will produce a large amount of heat, be easy to damage motor, so need to be outside direct current generator
The self-locking of motor when adding a mechanical structure for no power, but mechanical structure needs the technology base of profession outside designed, designed
The input of plinth, a large amount of time and goods and materials could be completed.
Stepper motor：
Stepper motor is the opened loop control motor that electric impulse signal is changed into angular displacement or displacement of the lines, is modern digital journey
Main executive component in sequence control system, application are extremely wide.In the case of non-overload, the rotating speed of motor, the position of stopping
The frequency and umber of pulse for being solely dependent upon pulse signal are set, without being influenced by load variation, when step actuator receives one
Pulse signal, it rotates a fixed angle, referred to as " step angle ", its rotation with regard to Driving Stepping Motor by the direction of setting
It is run step by step with fixed angle.Angular displacement is controlled by controlling pulse number, is accurately positioned to reach
Purpose；The speed and acceleration of motor rotation are controlled by controlling pulse frequency simultaneously, to achieve the purpose that speed governing.But
Stepper motor also has weight weight simultaneously, and control is complicated, without self-locking when no current, the shortcomings of rotating speed is slow.
In summary finding, motor select stepper motor, and control is accurate, and torque is big, is added using 45 formula stepper motors
Upper 1：10 planetary reducer, the stepper motor that weight can be utilized small are exchanged for enough with sacrificing the cost of certain rotating speed
Torque, in the case where meeting a fixed load weight it is sufficiently small；Add on retarder-equipped stepper motor herein simultaneously
Solenoid is powered and unclamps, the effect for powering off locking maintains to have the function of self-locking when realizing that stepper motor does not work
The fixation of umbrella rope length degree.
The quantity of the motor 7 is selected：
Since parachute used has 4 strands of umbrella ropes, 4 groups of motors should be used to correspond to control.
In view of the weight of stepper motor is excessive, each stepper motor needs one motor driver of collocation to use, and
The control program that later stage writes 4 groups of motors of control is relative complex, we enable one group of motor while two parachutes of control diagonally
Umbrella rope.
Specific method is：During stepper motor rotates, wherein one umbrella rope is decontroled, in addition a umbrella rope tightening,
As shown in Figure 6.
This have the advantage that meeting front and back position in one direction realizes that umbrella rope is poor, system weight is alleviated,
The control of 4 motors is converted into the control of 2 motors, reduces the follow-up difficulty for writing control system.
Parachute rope draw off gear of the present invention, the power supply 10 of power module, using model plane 6S batteries to stepping
Motor driver is powered, and is powered for stepper motor by stepper motor driver；One piece of model plane 3S battery pair is used simultaneously
Flight Control card is powered.
Preferably, by transformer and partial pressure plate so that one piece of 6S battery is only needed to control stepper motor driver and flight
Board is powered.
Parachute rope draw off gear of the present invention, solid enough, the shock resistance of cabinet design, and internal each mould
Block is placed because when meeting holding center of gravity near central point, being reserved on babinet and having got well fixed motor position, while top is reserved
Opening facilitates to internal part carries out manipulation adjusting below.
Polished rod (conductor rod) is mounted on quadrangle so that umbrella rope can smoothly be drawn from quadrangle.It is bound around the babinet
Foam mitigates impact, and avoiding launching unsuccessfully leads to the tank breaks.
Parachute rope draw off gear of the present invention, tool is there are two the guide groove for being used for coiling on each winding wheel, and two
A guide groove is wound with a parachute rope respectively, symmetrical two parachute rope reverse-windings of opposite parachute
The guide groove of coiling is used at two, its object is to avoid two strand from interfering with each other.It is U-shaped that guide groove, which is arranged, is reduced
The friction of umbrella rope and winding wheel；And circular hole is devised on guide groove, umbrella rope is facilitated to pass through fixation.In view of weight and processing difficulty or ease
Degree selects 3D printing technique to make the guide roller.
As shown in figure 5, parachute rope draw off gear of the present invention, is a kind of independent navigation parachute mechanism, use
It (in place and flies in the control for solving existing parachute and being also only limited in for the control of drop point release position
Under the conditions of launch, but parachute decline during cannot achieve flight path and the shortcomings that automatically controlling of drop point).
The independent navigation parachute system should comprise the following modules：
Sensor assembly：For perceiving the relevant informations such as posture position of the parachute in launch process, and real-time Transmission
It is handled to flight control modules.
Flight control modules：The information that processing sensor assembly is sent is received, it is autonomous to resolve parachute current location and mesh
Error between the point of village, and the control instruction to mechanical structure module is formed according to the error.(sensor assembly and flight are controlled
Making sheet card is all integrated on one piece of pcb board.)
Mechanical structure module：Change the aerodynamic condition of parachute according to the instruction that flight control system is sent so that landing
Umbrella flies towards target direction, final so that baling out to target location.
Power module：Power supply is provided to above-mentioned all modules.
A babinet is finally needed to fix above-mentioned module.
Through consulting the flight control method of related data, the manned parachute of analysis and carrying out relevant flight experiment, hair
The movement locus of parachute can effectively be changed by now changing parachute rope length.
Wherein, in parachute used for eight-sided formation cotton umbrella (there are 12 umbrella ropes, there are 3 to close on umbrella rope on umbrella angle, incite somebody to action
This 3 are closed on umbrella rope ligature and are regarded as 1 strand together, and 4 strands of umbrella ropes are shared depending on full parachute), bearing capacity 5kg is loaded and is
3kg receives short wherein 1 gang of umbrella rope 10cm, remaining 3 gangs holding equal length about 2m, from 50 meters high air-drop under approximate calm condition
Under conditions of putting, many experiments find parachute to rope closing direction offset distance be 5m-15m；It confirms accordingly, changes parachute
The heading of rope effectively control umbrella.
It can to sum up obtain, reach control parachute towards the relatively short side of umbrella rope length by changing parachute rope length
To the purpose of flight.
Experimental result：
1, the parachute that maximum capacity is 5kg loads 3kg objects (weight includes the heavy burden of control cabinet and carry), from 50 meters
Height is cast in the air, it is desirable that is fallen on diameter 20M, center of circle horizontal direction with release position in 30 meters of circle region, in approximate nothing
Under conditions of wind, not enabled control directly dispensing parachute 30 times can be fallen in the circle for only 5 times, and five times mostly due to height
Air flow effects cause.When enabling control.Then having 15 times can fall in region.
2, it is proportional controller that control, which uses negative-feedback, form, and formula is that l=-k Δs x wherein l are the length for receiving (putting) rope
Degree, k are rate mu-factor, and Δ x is at a distance from target offset landings.
Parachute rope draw off gear of the present invention, a kind of independent navigation parachute assembly.The device passes through control
Umbrella rope length degree, and then parachute flight posture is controlled, to achieve the purpose that fall in appointed place.
During the independent navigation parachute is launched, control babinet is connected by guide roller with parachute rope；
During parachute descending flight, flight Control card is by receiving remote signal or automatic detection parachute position and analyzing
Go out the error with target drop point, to form control instruction, to drive corresponding motor receiving/releasing umbrella rope, changes the flight of parachute
Aerodynamic condition makes parachute fly always towards target drop point, is finally reached the effect fallen near target drop point.
The design parameter of parachute rope draw off gear of the present invention is as follows：
Gross weight：3.215kg.
Control cabinet size (does not include outer protection sponge thickness)：25cm×25cm×15cm.
Control cabinet material：4mm laminates.
Parachute：Load 5kg, octagon cotton umbrella.
Kinking size of wheel：U-type groove radius 4cm, outer edge radius 5cm, height 2.4cm.
Winding wheel material：ABS plastic.
Stepper motor model：45 formula stepper motors install 1 additional：10 planetary gear.
Control card model：Flyway V3.
Power supply model：Format 30C 6S battery format 25C 3S batteries.
Parachute rope draw off gear of the present invention, structure design aspect have the following advantages：
1, structure can effectively change umbrella rope length degree.
2, structure is with enough reliabilities, normal operation under the external condition that can be shaken.
3, construction weight is reduced as far as possible, to meet the needs launched in the air.
4, mechanical structure totally (is rotated by motor using the method that motor drives winding wheel receiving/releasing rope and drives kinking
Wheel rotation, winding wheel receiving/releasing umbrella rope achieve the desired results), and suitable babinet should be designed and fix motor and other modules.
5, make center of gravity in control cabinet centre as far as possible by symmetric design and with lever principle.
6, Control card should be placed on control cabinet center to obtain accurate data.
7, modules can be fixed well, and overall structure can be subjected to certain impact.
Parachute rope draw off gear of the present invention, flight Control card summarize sensor assembly and are controlled with flight
Two big module of module acts on mechanical module to complete the purpose of anticipation by the rapid collection for signal with processing.
Sensor assembly usually carries on the same hardware platform with flight control modules.Therefore, hardware platform have with
Lower advantage：
1, the sensor with information such as posture, the track movement state informations for knowing independent navigation parachute.
2, sensing data can be handled, there is higher resolving rate.
3, PWM wave control signal Driving Stepping Motor rotation can be generated.
4, remote controler PWM wave control signal can be received, remote command is received and system is artificially controlled.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (4)
1. a kind of parachute rope draw off gear, it is characterised in that including babinet, be provided with for parachute in the babinet
The winding wheel and guide roller of rope winding；
The winding wheel is at least provided with two, and there are two the guide groove for being used for coiling, two guide grooves for tool on each winding wheel
It is wound with a parachute rope respectively, opposite symmetrical two parachute rope reverse-windings of parachute are used at two
On the guide groove of coiling；
Each winding wheel is correspondingly arranged there are one the motor for driving the winding wheel rotation,
There are one motors to drive for each motor installation, and the motor drive connection has flight Control card and power supply.
2. parachute rope draw off gear according to claim 1, it is characterised in that：
The parachute rope draw off gear top is connected with canopy by parachute rope, and it is negative that lower part is provided with parachute
It carries.
3. parachute rope draw off gear according to claim 1 or 2, it is characterised in that：
Posture for resolving parachute rope draw off gear is installed, track motion state is believed on the flight Control card
GPS, accelerometer, gyroscope and the magnetometer of breath.
4. parachute rope draw off gear according to claim 3, it is characterised in that：
The flight Control card receives between remote command, or autonomous resolving parachute current location and target drop point
Error, and according to the control instruction of error formation driving motor, make one of motor or two motors while rotating；
When receiving, two kinds of functions of error between remote command, or autonomous resolving parachute current location and target drop point are same
When having, the priority that setting receives remote command is advanced；
Motor by under the control instruction of flight Control card, by the parachute rope in close-target drop point direction loosen remote by tightening
Parachute rope from target drop point direction makes parachute fly towards target drop point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810078797.5A CN108298093A (en) | 2018-01-26 | 2018-01-26 | Parachute rope draw off gear |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810078797.5A CN108298093A (en) | 2018-01-26 | 2018-01-26 | Parachute rope draw off gear |
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| CN108298093A true CN108298093A (en) | 2018-07-20 |
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| CN201810078797.5A Pending CN108298093A (en) | 2018-01-26 | 2018-01-26 | Parachute rope draw off gear |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204769A (en) * | 2018-10-29 | 2019-01-15 | 中北大学 | A kind of small-sized zero stratification of wind floating balloon launched in the air |
| CN110921593A (en) * | 2019-11-15 | 2020-03-27 | 兰州万里航空机电有限责任公司 | Electric equipment is retrieved to umbrella area |
| RU2775656C1 (en) * | 2021-03-16 | 2022-07-06 | Денис Владимирович Ястребов | Automated precision cargo delivery system by air |
| WO2023184945A1 (en) * | 2022-03-26 | 2023-10-05 | 苏州大学 | Parachute system for planetary exploration |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347675A (en) * | 2016-10-17 | 2017-01-25 | 大连理工大学 | Remote control parachute |
| KR20170065017A (en) * | 2017-01-19 | 2017-06-12 | 정동호 | GPS Guided Parafoil Aerial Delivery System |
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| KR20170065017A (en) * | 2017-01-19 | 2017-06-12 | 정동호 | GPS Guided Parafoil Aerial Delivery System |
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| CN110921593A (en) * | 2019-11-15 | 2020-03-27 | 兰州万里航空机电有限责任公司 | Electric equipment is retrieved to umbrella area |
| RU2775656C1 (en) * | 2021-03-16 | 2022-07-06 | Денис Владимирович Ястребов | Automated precision cargo delivery system by air |
| WO2023184945A1 (en) * | 2022-03-26 | 2023-10-05 | 苏州大学 | Parachute system for planetary exploration |
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