CN108583877B - Grabbing type wingtip butt joint/separation mechanism - Google Patents
Grabbing type wingtip butt joint/separation mechanism Download PDFInfo
- Publication number
- CN108583877B CN108583877B CN201810409267.4A CN201810409267A CN108583877B CN 108583877 B CN108583877 B CN 108583877B CN 201810409267 A CN201810409267 A CN 201810409267A CN 108583877 B CN108583877 B CN 108583877B
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- CN
- China
- Prior art keywords
- rod
- butt joint
- grab
- gripper
- telescopic sleeve
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
Abstract
The invention provides a grabbing type wingtip butt-joint separation mechanism which is used for solving the butt-joint separation problem that a plurality of airplanes are in butt joint in the air to improve the cruising efficiency or are separated in the air to respectively complete subtasks. The mechanism is arranged on a wing tip end rib of the airplane, and the telescopic device is utilized to place a butt joint point on the outer side of a wing tip so as to reduce the interference of a wing tip vortex; the extension side is provided with a butt joint rod, the grabbing side is provided with a gripper with a locking mechanism, the two airplanes approach, the butt joint rod is inserted into the gripper to complete locking, and then the two airplanes are drawn close by using a telescopic device to complete butt joint. In the separation process, the two airplanes are pushed away by the aid of the telescopic device, the electromagnet unlocks the gripper device, the butt joint rod is ejected out by the gripper, and the mechanism retracts to complete separation. The invention can solve the problem of the butt joint and separation of the wingtips of the airplane in the air to a greater extent. The mechanism is arranged at the wing tip, changes the wing structure less when additionally installed, has better adaptability and has certain application and popularization in aviation and related fields.
Description
Technical Field
The invention relates to the technical field of butt joint/separation between manned or unmanned planes in the air, in particular to a wingtip butt joint/separation mechanism which is arranged at a wingtip and enables two or more planes to realize butt joint in the air.
Background
1. Because of the limitations of structure, aeroelasticity, processing, manufacturing cost, airport width, etc., a single aircraft usually has a span controlled within a certain range. The larger the aspect ratio of the airplane is, the higher the lift-drag ratio of the airplane is, the better the cruising performance is, the larger the voyage is, and the longer the cruising time is.
At present, in order to increase the aspect ratio, many methods are adopted. One of the wings is a wing with a large aspect ratio or an ultra-large aspect ratio. The high-aspect-ratio or super-high-aspect-ratio airplane has great advantages in the aspect of high-altitude long-endurance. The excellent cruising efficiency and high altitude long endurance make it highly desirable. However, there are some drawbacks to this type of aircraft. Typically, the manufacturing process is complicated and costly due to the large span. Moreover, the aircraft has high requirements on the field and the weather during taking off and landing, and the smaller roll angle is easy to cause damage and even destroy when the wing tip touches the ground. Meanwhile, due to the lower structural strength and the larger size, the machine body is easy to disintegrate when encountering gusts. The American unmanned aerial vehicle with the sun god number is just disintegrated and crashed when encountering occasional turbulence.
2. Several other solutions exist for increasing the aspect ratio to achieve good cruise performance. For example, a plurality of airplanes with medium aspect ratio take off from the ground independently, and carry out integral flight after butt joint is completed in the air, thereby effectively increasing the aspect ratio of the airplanes. When landing, a plurality of airplanes flying integrally are separated in the air, so that successive independent landing is realized. This approach avoids the structural, tooling, manufacturing costs and airport limitations at the same time. In addition, only individual damaged airplanes need to be repaired and maintained during maintenance, so that the maintenance cost and the risk can be reduced, and the overall operation cannot be influenced during maintenance.
3. One of the key technologies for aerial docking/undocking to increase aspect ratio solutions is a robust docking/undocking device. Patent CN102658866A has designed a device of connecting on ground, aerial separation to the problem such as single unmanned aerial vehicle load short-range and can't accomplish the task after the monomer aircraft is impaired. Unmanned planes equipped with such devices cannot complete aerial docking, and therefore the detached aircraft cannot return to the form of docked flight after completing the mission.
4. Patent CN103963972B proposes a method of aerial wingtip docking for wingtip connection/towing technology. The method has high requirement on the airplane attitude control precision in the butt joint process and is difficult to realize. Aiming at the problems that the cruise efficiency is improved through the butt joint of wing tips, the range is increased, and the respective subtasks are flexibly and independently completed through separation, a method which is simple in structure, reliable and economical and takes the effect of the three is not provided at present.
Disclosure of Invention
The invention provides a mechanism system with a grabbing type wingtip butting/separating function, which aims at the problems that two or more airplanes are butted in the air to improve the cruising efficiency or are separated in the air to respectively complete subtasks and the like. And the invention designs the control logic part of the wingtip docking/detaching mechanism system. Thereby providing a solution for aerial tip docking/undocking.
A gripping wingtip docking/undocking mechanism system comprises the following contents:
a set of butt joint/separation mechanical device with simple structure and reliability;
a set of control logic, namely the principle of related sensor arrangement, for realizing safe and effective air docking/undocking.
The innovation of the invention is as follows:
firstly, the butt joint position is controlled at the position of about 0.6 chord length outside the wing tip by utilizing a connecting rod sliding block telescopic device arranged in the chord direction of a telescopic side end rib, so that unstable influences such as shaking and the like caused by a wing tip vortex in the butt joint process are avoided to a great extent. Meanwhile, the butt joint point is controlled at a distance outside the wingtip, so that the danger that the wingtip is collided when two airplanes are in butt joint is reduced, and the safety of the butt joint process is improved. In addition, the whole set of docking mechanism only needs to be arranged on the wing tip reinforcing wing rib, damage to the internal structure of the wing is reduced, and the docking mechanism can be efficiently mounted on the existing airplane. Therefore, the invention has better universality and wider adaptability.
Drawings
The drawings herein are provided to provide an intuitive understanding of the invention and constitute a part of this application, and the illustrative embodiments and descriptions thereof are provided to explain the invention and not to limit the invention.
FIG. 1 is an overall schematic view of the docking mechanism before docking
FIG. 2 is a schematic view of the telescoping side motion of the docking mechanism
FIG. 3 is a drawing showing the hand grip of the docking mechanism and its exploded view
FIG. 4 is a schematic diagram of the locking of the opposite connecting rods of the gripper and an enlarged view of the gripper
FIG. 5 is a schematic view of the docking mechanism completing the docking
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Screw motor as power source of telescopic side
② electromagnet as power source for unlocking gripper side
③ for the flexible side to strengthen the wing rib
Fourthly, reinforcing wing ribs at the side of the tongs
Fifthly, a screw bearing support
Support for screw motor
Is a connecting rod support
Guide rail of slide block
Ninthly is a front positioning pin piece of the butt joint rod
Rear positioning sleeve with butt-joint rod on the R
FIG. 1 shows the posture of the docking mechanism before docking, and the electromagnet.A spring in a compressed state is arranged at the joint to provide driving force during locking; seventh of the formula
A rotating shaft is arranged between the two parts and is connected by a plug screw which is used as the rotating shaft;
are fixedly connected through threads;
are fixedly connected through threads;
can slide between the two parts to form a sleeve structure with linear motion;
a rotating shaft is arranged between the two grippers and is connected by a plug screw which is used as the rotating shaft, and a torsion spring is sleeved on the rotating shaft to provide the opening force of the grippers; other parts are fixedly connected through screws.
Butt-joint process of wing tip
When the docking is carried out, the two airplanes fly approximately side by side, the height and the front and back positions are within a certain range, and the plane flight is kept at a certain distance. After a butt joint command is sent, the telescopic side stretches out the butt joint rod, and the process is shown in a figure 1-2, a screw rod motor rotates to drive a sliding block on a guide rail-
Moving backwards, sliding blocks
Drive the X-shaped connecting rod
Extending outwards, the whole butt-joint rod is always parallel to the rib and the rod is known from the geometrical relation
The formed telescopic sleeve is arranged on an X-shaped connecting rod
Is retracted, becomes as shown in fig. 2. The grip side is as shown in figure 3, the grip tab
Turning outwards under the action of the torsion spring and simultaneously gripping the support
With catch plate, grip tab to be turned outwards
The top rod of the gripper lock is controlled at a certain angle
The side wing rib of the gripper is provided with a mandril for ensuring the gripper to lock the gripper lock
A moving card slot. After the telescopic side stretches out, the butt joint rod is shortened, butt joint judgment is carried out later, the butt joint rod is in the corresponding range of the grab hand, butt joint is carried out, two airplanes fly close to each other, the butt joint rod stretches into the grab hand, and the grab piece is pushed to push
Turn inwardsWhen the butt joint rod reaches the correct position, the top rod of the gripper lock
Alignment grip tab
Top lock hole, handle lock top rod
The electromagnet II is inserted into the lock hole under the action of the upper spring, the gripper mechanism is automatically locked, the butt joint rod completes the fixed shaft locking, and the process is shown in figure 4. After the locking is finished, the screw rod motor rotates reversely to drive the slide block on the guide rail
Moving forward, slide block
Drive the X-shaped connecting rod
Withdrawing, drawing the two planes together, and making the rod
The formed telescopic sleeve is arranged on an X-shaped connecting rod
Is driven to extend and butt joint with the rear conical head
Inserting butt rod into sleeve to complete positioning, and butt jointing front conic head
And (4) jacking the front positioning pin piece of the butt joint rod to complete front end positioning, completing front and rear position positioning of the butt joint rod at the moment, and completing the butt joint process, as shown in figure 5. The whole butt joint process is shown in figure 1-figure 2-figure 3-figure 4-figure 5Shown in the figure.
Wingtip separation process
When the wingtip is separated, the process is generally the reverse process of the butt joint process: after a separating instruction is sent out, the butt-joint rod is extended out by the telescopic side, the screw rod motor rotates to drive the slide block on the guide rail (B)
Moving backwards, sliding blocks
Drive the X-shaped connecting rod
Extending outwards to push the two planes away and simultaneously butt-joint the rear conical heads
The part at the rear part of the positioning sleeve barrel of the butt joint rod is separated, and after the telescopic mechanism is stretched out, the electromagnet is electrified to lock the mandril of the grab handle lock
Pulling out from the lock hole, unlocking the mechanism and grabbing the piece
The front positioning pin piece cannot play a role in restraining the docking rod along the unfolding direction of the airplane when the front positioning pin piece is bounced off under the action of the torsion spring, so that the docking rod and the hand grab can be separated under the action of the torsion spring. And then the contraction side is retracted, and the whole separation process is completed. Namely, the drawing is shown in figure 5-figure 4-figure 3-figure 2-figure 1.
Control logic for the docking process.
Since the separation process is almost a fully automatic process after receiving the separation command, there is no other requirement on the control logic. In the docking process, the control logic mainly relates to the process that the gripper grips the docking rod: after a docking instruction is sent, detecting the distance between the ribs of the docking ends of the two airplanes, controlling the distance to be larger than the extension distance of the docking rod, judging the position after the docking rod extends, wherein multiple modes can be selected, such as image recognition judgment, infrared positioning judgment and the like, a closing device is arranged at the corresponding position of the gripper and the docking rod, the decision block is a rectangle, a judgment point or a judgment rectangle corresponding to the docking rod is arranged, when the judgment mark of the docking rod is in the range of the rectangle, the judgment is successful, and the two airplanes approach to be docked; and if the judgment fails, performing corresponding attitude adjustment on the airplane according to the feedback information until the judgment is successful.
Claims (2)
1. The utility model provides a snatch formula aircraft aerial wingtip butt joint separating mechanism which characterized in that includes:
a telescoping side section comprising:
a screw motor (1) as a power source at the telescopic side,
a guide rail (8) and a slide block (11) thereon,
comprises an outer rod (15) and a telescopic sleeve of an inner rod (16), wherein the inner rod (16) is provided with a butt joint rear conical head (18), the outer rod (15) is provided with a butt joint front conical head (13),
a butt joint rod back lug (17) arranged on the inner rod (16),
a front lug (14) of the butt joint rod arranged on the outer rod (15),
one branch of the X-shaped connecting rod (12) is connected with the sliding block (11) and the butt joint rod rear lug (17), the other branch is connected with the butt joint rod front lug (14) and the machine body,
a grip side portion comprising:
an electromagnet (2) as an unlocking power source,
a grasping piece (20) is arranged on the upper surface of the bracket,
a gripper support (19) with a catch for holding the gripping flap (20) turned outwards at a certain angle,
a grab lock ejector rod (21) which is ejected on the grab piece under the action of a spring on the electromagnet (2),
the gripper side wing rib (4) is provided with a clamping groove for ensuring the movement of the gripper lock mandril (21),
wherein:
when the docking operation is carried out, the two airplanes fly approximately side by side,
after a butt joint instruction is sent, a slide block (11) on a guide rail (8) is driven to move through the rotation of a screw rod motor (1), so that an X-shaped connecting rod (12) extends outwards and a telescopic sleeve is contracted under the drive of the X-shaped connecting rod (12),
the grab piece (20) is turned outwards under the action of a torsion spring, meanwhile, the card on the grab support (19) controls the outward-turned grab piece (20) at a certain angle, the grab lock ejector rod (21) is pressed against the grab piece under the action of the spring on the electromagnet (2), the clamping groove on the grab side wing rib (4) ensures the movement of the grab lock ejector rod (21),
the butt joint judgment is carried out, if the telescopic sleeve is in the range corresponding to the gripper, the butt joint is carried out, the gripping piece (20) is pushed to turn inwards, when the telescopic sleeve reaches the correct position, the gripper lock ejector rod (21) is aligned to the lock hole on the gripping piece (20), the gripper lock ejector rod (21) is inserted into the lock hole under the action of the spring on the electromagnet (2) to complete the locking, and thus the fixed shaft locking of the telescopic sleeve is completed,
after the fixed shaft of the telescopic sleeve is locked, a slide block (11) on a guide rail (8) is driven to move by the reverse rotation of a screw motor (1), an X-shaped connecting rod (12) is retracted, two airplanes are drawn close, and the telescopic sleeve is extended under the drive of the X-shaped connecting rod (12), firstly, a butted conical head (18) is inserted into a rear positioning sleeve (10) to complete the positioning of the butted conical head (18), then, a butted front conical head (13) is jacked onto a front positioning pin sheet (9) to complete the front end positioning, at the moment, the telescopic sleeve completes the front and rear position positioning, the butting process is completed,
the separation process of the wingtips is the reverse of the above docking operation.
2. A grabbing type airplane aerial wingtip docking method based on a grabbing type airplane aerial wingtip docking and separating mechanism comprises the following steps:
a telescoping side section comprising:
a screw motor (1) as a power source at the telescopic side,
a guide rail (8) and a slide block (11) thereon,
comprises an outer rod (15) and a telescopic sleeve of an inner rod (16), wherein the inner rod (16) is provided with a butt joint rear conical head (18), the outer rod (15) is provided with a butt joint front conical head (13),
a butt joint rod back lug (17) arranged on the inner rod (16),
a front lug (14) of the butt joint rod arranged on the outer rod (15),
one branch of the X-shaped connecting rod (12) is connected with the sliding block (11) and the butt joint rod rear lug (17), the other branch is connected with the butt joint rod front lug (14) and the machine body,
a grip side portion comprising:
an electromagnet (2) as an unlocking power source,
a grasping piece (20) is arranged on the upper surface of the bracket,
a gripper support (19) with a catch for holding the gripping flap (20) turned outwards at a certain angle,
a grab lock ejector rod (21) which is ejected on the grab piece under the action of a spring on the electromagnet (2),
the gripper side wing rib (4) is provided with a clamping groove for ensuring the movement of the gripper lock mandril (21),
it is characterized by comprising:
two airplanes are enabled to fly approximately side by side,
the slide block (11) on the guide rail (8) is driven to move by the rotation of the screw motor (1), so that the X-shaped connecting rod (12) extends outwards and the telescopic sleeve is contracted under the drive of the X-shaped connecting rod (12),
the grab blade (20) is turned outwards under the action of a torsion spring, the outward-turned grab blade (20) is controlled at a certain angle through a clamping piece on the grab support (19), the grab lock ejector rod (21) is pressed against the grab blade under the action of the spring on the electromagnet (2), the movement of the grab lock ejector rod (21) is ensured through a clamping groove on the grab side wing rib (4),
the butt joint judgment is carried out, if the telescopic sleeve is in the range corresponding to the gripper, the butt joint is carried out, the gripping piece (20) is pushed to turn inwards, when the telescopic sleeve reaches the correct position, the gripper lock ejector rod (21) is aligned to the lock hole on the gripping piece (20), the gripper lock ejector rod (21) is inserted into the lock hole under the action of the spring on the electromagnet (2) to complete the locking, and the fixed shaft locking of the telescopic sleeve is completed,
after the fixed shaft of the telescopic sleeve is locked, a sliding block (11) on a guide rail (8) is driven to move through the reverse rotation of a screw motor (1), an X-shaped connecting rod (12) is retracted, two airplanes are drawn close, and meanwhile the telescopic sleeve is extended under the driving of the X-shaped connecting rod (12), so that a butted conical head (18) is inserted into a rear positioning sleeve (10) to complete the positioning of the butted conical head (18), and then the butted front conical head (13) is pushed onto a front positioning pin sheet (9) to complete the front end positioning, and the front and rear position positioning of the telescopic sleeve is completed at the moment, so that the butting process is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810409267.4A CN108583877B (en) | 2018-05-02 | 2018-05-02 | Grabbing type wingtip butt joint/separation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810409267.4A CN108583877B (en) | 2018-05-02 | 2018-05-02 | Grabbing type wingtip butt joint/separation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108583877A CN108583877A (en) | 2018-09-28 |
| CN108583877B true CN108583877B (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810409267.4A Expired - Fee Related CN108583877B (en) | 2018-05-02 | 2018-05-02 | Grabbing type wingtip butt joint/separation mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN108583877B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104214A (en) * | 2021-05-20 | 2021-07-13 | 北京航空航天大学 | Aerial wingtip butt joint/separation mechanism |
| CN113525727B (en) * | 2021-07-16 | 2023-03-31 | 北京精密机电控制设备研究所 | Wing front and rear edge large load butt-joint separation mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3161373A (en) * | 1949-01-24 | 1964-12-15 | Vogt Richard | Automatic alignment mechanism for composite aircraft |
| CN102658866A (en) * | 2012-05-25 | 2012-09-12 | 辽宁通用航空研究院 | Conjoined aircraft with straight layout |
| CN103963972A (en) * | 2013-01-29 | 2014-08-06 | 中国航空工业集团公司西安飞机设计研究所 | System composed of all-wing unmanned planes capable of making wings oblique and connected in parallel through coupling of wingtips |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8061646B2 (en) * | 2007-09-14 | 2011-11-22 | Aurora Flight Sciences Corporation | Wing tip docking system for aircraft |
| SG191433A1 (en) * | 2011-12-12 | 2013-07-31 | Singapore Tech Aerospace Ltd | Collapsible wing assembly |
-
2018
- 2018-05-02 CN CN201810409267.4A patent/CN108583877B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3161373A (en) * | 1949-01-24 | 1964-12-15 | Vogt Richard | Automatic alignment mechanism for composite aircraft |
| CN102658866A (en) * | 2012-05-25 | 2012-09-12 | 辽宁通用航空研究院 | Conjoined aircraft with straight layout |
| CN103963972A (en) * | 2013-01-29 | 2014-08-06 | 中国航空工业集团公司西安飞机设计研究所 | System composed of all-wing unmanned planes capable of making wings oblique and connected in parallel through coupling of wingtips |
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| Publication number | Publication date |
|---|---|
| CN108583877A (en) | 2018-09-28 |
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