CN108820214A - A kind of aircraft, which is examined, beats control emission system - Google Patents
A kind of aircraft, which is examined, beats control emission system Download PDFInfo
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- CN108820214A CN108820214A CN201810597130.6A CN201810597130A CN108820214A CN 108820214 A CN108820214 A CN 108820214A CN 201810597130 A CN201810597130 A CN 201810597130A CN 108820214 A CN108820214 A CN 108820214A
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- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000001105 regulatory effect Effects 0.000 claims description 23
- 238000009434 installation Methods 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000013016 damping Methods 0.000 claims description 11
- 239000000725 suspension Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 abstract description 14
- 230000001133 acceleration Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000004580 weight loss Effects 0.000 description 4
- 240000002853 Nelumbo nucifera Species 0.000 description 3
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 3
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 238000009527 percussion Methods 0.000 description 2
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- 230000004927 fusion Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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- 238000004088 simulation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bomb doors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
It is examined the present invention provides a kind of aircraft and beats control emission system, including aircraft body, carry device is installed, the carry device is correspondingly provided with the servo control unit of fire control unit and the connection of fire control unit for installing launch load, the launch load on the ontology；The servo control unit is used to adjust the pitching and orientation angles of launch load；The fire control unit is connected by communication interface flies control unit, and the winged control unit connects earth station by wireless communication module.Aircraft of the present invention examines dozen control emission system and is provided with launch load device for adjusting posture, that is servo control unit, it is able to achieve the pose adjustment to launch load pitching, orientation, target can be hit without adjusting more rotor postures in a certain range, task dexterity height is executed, it can be achieved that comprehensive, multi-angle strike.
Description
Technical field
The invention belongs to vehicle technology fields, examine more particularly, to a kind of aircraft and beat control emission system.
Background technique
With the fast development of domestic and international unmanned air vehicle technique level, the type and purposes of unmanned plane are increasingly various, especially send out
Exhibition is rapidly more rotors, it have can VTOL, spot hover, mechanical structure it is simple, highly-safe, at low cost etc. excellent
Point can carry the multipurpose plants such as visible light, thermal infrared imager, be widely applied to power-line patrolling, mapping, fire-fighting, anti-terrorism, boat
The every field such as empty space flight.
In anti-terrorism field, more rotors can be applied to scout, in strike task, using being concentrated mainly in reconnaissance mission, pole
It is applied in strike task less, and strike is limited in scope.Therefore it designs small-sized examine of one kind and beats more rotor emission systems, by more rotors
It is organically combined with launch load, provides a kind of aerial fire support system easy to carry, transport for anti-terrorism, fire-fighting.
Currently, the scheme for rarely combining more rotors with launch load, in prior art, more rotors and transmitting
Load passes through rigid connection, howitzer, the fire extinguisher bomb etc. of launch load multiselect side crops industry, by image spot with respect to carrier aircraft
Position, realize the small range of target hit by adjusting the posture of more rotors.
Existing aircraft and launch load generally use rigid connection, need to realize by adjusting the posture of more rotors
The pose adjustment of launch load is realized to the small-scale strike of target, executes task using such mode, task execution is not clever enough
It is living；And the position that target is scouted according to image in tracing process and obtains target with respect to carrier aircraft, by adjusting manually
The posture and focal length of whole image realize the real-time tracking to target, target easy to be lost, especially for moving-target.
Summary of the invention
In view of this, the present invention is directed to propose a kind of aircraft, which is examined, beats control emission system, to solve existing aircraft
It is not flexible to launch load control during executing investigation strike, it needs manually to be tracked target, is easily lost mesh
Target situation.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of aircraft, which is examined, beats control emission system, including aircraft body, is equipped with carry device, institute on the ontology
Carry device is stated for installing launch load, the launch load is correspondingly provided with watching for fire control unit and the connection of fire control unit
Take control unit；
The servo control unit is used to adjust the pitching and orientation angles of launch load；
The fire control unit is connected by communication interface flies control unit, and the winged control unit is connected by wireless communication module
Earth station.
Further, the carry device includes stand frame and loading plate, and the stand frame is U-shaped, the loading plate peace
On stand frame；
The servo control unit includes pitch angle regulating device, and the pitch angle regulating device is mounted on stand frame
On, for adjusting the pitch angle of loading plate.
Further, the stand frame includes the first frame and the second frame being mounted below unmanned aerial vehicle body, described
Loading plate is equipped between first frame and the second frame, the loading plate is used for carry launch load；
It is rotatablely connected between the loading plate and the first frame and the second frame；
The pitch angle regulating device is arranged on the first frame, and the pitch angle regulating device is loaded for adjusting
The pitch angle of plate.
Further, first frame and the second frame are vertically arranged in parallel；
The upper half of first frame is rectangle, and lower half is up-side down triangle；The pitch angle regulating device packet
Elevation servo motor is included, the outside of the first frame is arranged in the elevation servo motor, and the elevation servo motor passes through driving
Circuit connection fire control unit；The lower half side of the first frame is arranged in the elevation servo motor；Under first frame
The middle position of the close bottom of half portion is equipped with pitching axis hole, is equipped with active tilting component in the pitching axis hole；
The elevation servo motor is for driving active tilting component；
The upper half of second frame is rectangle, and lower half is up-side down triangle；The lower half of second frame also is provided with
Corresponding pitching axis hole, and it is equipped with driven tilting component.
Further, the active tilting component includes the pitching shaft being arranged in pitching axis hole, the pitching shaft
Outside be equipped with a pair of meshing involute cylindrical gear, the elevation servo motor by driving involute cylindrical gear driving
Pitching shaft；The medial end of the pitching shaft is equipped with pitching support device；
The driven tilting component includes the pitching shaft being arranged in the pitching axis hole of the second frame, and setting is being bowed
Face upward the pitching support device on the inside of shaft.
Further, the two sides of the loading plate respectively open up a bar limit slot, are designed in each bar limit slot
The two sides of four screw holes, the loading plate are fixed in pitching support device by fixing bolt；
The side of the elevation servo motor installation position of first frame is additionally provided with banking pin mounting hole, the banking pin peace
Dress hole is for installing banking pin, and the banking pin is for the limit to loading plate pitch angle.
Further, the servo control unit further includes orientation angles regulating device, the orientation angles regulating device
It is arranged on loading plate, the orientation angles regulating device includes bearing servo motor and orientation assembly, the bearing servo electricity
Machine connects fire control unit by driving circuit；
The orientation assembly includes direction rotating shaft, and the loading plate is equipped with orientation axis hole, and the direction rotating shaft setting exists
In orientation axis hole, two angular contact ball bearings are installed on the outside of the upper end of the direction rotating shaft, realize the rotation of azimuth axis about the z axis certainly
By spending；
The loading plate is equipped with bearing servo motor installation position, and the bearing servo motor is vertically mounted on loading plate
On, the bearing servo motor drives direction rotating shaft rotation by the involute cylindrical gear of driving a pair of meshing.
Further, the direction rotating shaft lower end with connect axis connection；The connecting shaft is fixed on carry plate, the extension
Support plate passes through suspension arrangement carry launch load；
The suspension arrangement includes the first guide pad and the second guide pad, and first guide pad and the second guide pad all wrap
One piece of riser and a transverse slat perpendicular to riser are included, the riser setting of first guide pad and the second guide pad is adjacent
Side, and gap is equipped between riser；
The mounting height of the transverse slat of first guide pad and the second guide pad is all identical, is designed with and runs through on the transverse slat
The pilot hole of transverse slat, for the axis of the pilot hole of two transverse slats on same straight line, the pilot hole is correspondingly provided with steel pin, described
Lifting lug is hung on the steel pin between the first guide pad and the second guide pad riser；The steel pin is correspondingly provided with rotate steering wheel, institute
It states rotate steering wheel and drives steel pin mobile by transmission device, the rotate steering wheel connects fire control unit by driving circuit.
Further, the launch load is also correspondingly provided with limiting bracket, and each load is correspondingly provided with former and later two
Limiting bracket, the limiting bracket are in inverted Y-shaped, and the upper end of the limiting bracket is fixed on carry plate lower end surface, described
Two limit plates are extended in the lower end of limiting bracket outward, are used to that launch load be arranged between two limit plates；
Two limit plates of the limiting bracket, a limit plate, which is equipped with, adjusts bolt, and another is equipped with caging bolt,
Adjust limit plate of the installation direction of bolt and caging bolt all perpendicular to place；
The lateral surface for adjusting bolt is equipped with hand nutting, and the fitting depth for adjusting bolt is arranged by hand nutting；
The upper surface of the limiting bracket is additionally provided with state pin mounting hole, and the state pin mounting hole is used for installation condition
Pin, the state pin run through limiting bracket upper end, lower end stretch out state pin mounting hole, be vertically set on two limit plates it
Between；
The upper end of the state pin is also provided with spring, and the upper end of the spring is equipped with position sensor, the spring and
Position sensor is all disposed in state pin mounting hole, the fire control unit of the position sensor connection unmanned plane, the position
Sensor is used to detect the state in place of launch load.
Further, it is additionally provided with target following locking device below the ontology, the target following locking device includes
Hanging plate, damping device, orientation structure, linking arm, gondola；
The hanging plate is mounted below fuselage by connecting column, and the middle position of the hanging plate opens up circular hole, the hanging plate
The circumferential position of top circular hole is equipped with multiple damping devices, and the orientation structure is fixedly connected with the damping device, the side
The surface of circular hole is arranged in bit architecture, and the orientation structure is equipped with vertical servo motor；
The linking arm is arranged below hanging plate, and the linking arm is two, and the upper end of two linking arms passes through connection dress
It sets and is rotatablely connected with orientation structure, the gondola is arranged between two linking arms, and the gondola two sides and linking arm rotation connect
It connects, and lateral servo motor is set, the tracking locking apparatus is correspondingly provided with control unit, and described control unit passes through driving electricity
Road connects lateral servo motor and vertical servo motor, the pitch angle of gondola is adjusted by lateral servo motor, by vertical
The orientation angles of servo motor adjusting gondola；
Be equipped with visible light sensor, thermal infrared imager, laser range finder, image trace module in the gondola, it is described can
Light-exposed sensor, thermal infrared imager, laser range finder signal output end all connect the signal input part of image tracking module, institute
State image trace module and control unit two-way communication；The letter of the signal output end connection fire control unit of described image tracking module
Number input terminal.
Compared with the existing technology, aircraft of the present invention is examined dozen control emission system and is had the advantage that：
(1) aircraft of the present invention examines dozen control emission system and is provided with launch load device for adjusting posture, that is, watches
Control unit is taken, the pose adjustment to launch load pitching, orientation is able to achieve, in a certain range without adjusting more rotor postures
Target can be hit, execute task dexterity height, it can be achieved that comprehensive, multi-angle strike.
(2) aircraft of the present invention examines dozen carry device of control emission system and uses U-shaped branch frame structure, can
The pitch attitude of launch load and the angle of level orientation are significantly adjusted, the flight attitude requirement to aircraft is reduced,
Effectively raise tracking, blow efficiency.
(3) aircraft of the present invention examines dozen control emission system and is provided with suspension arrangement, and cleverly structure design can
It realizes quick load and the unloading of launch load, aerial throw of instruction can be put according to the throwing that ground is sent and is put, eliminates and carries what bullet maked a return voyage
Security risk.
(4) aircraft of the present invention, which is examined, beats control emission system and is provided with target following, locking device, in device
Visible light, it is infrared can carry out real time reconnaissance and recruitment evaluation to target, image trace module can automatically to target carry out in real time with
Track, locking, laser range finder can automatically determine distance of the target with respect to carrier aircraft, can be used as the input parameter of ballistic solution, pass through
Target following, locking device can effectively, reliably find best launch window, it is ensured that the attack precision of target.
(5) aircraft of the present invention, which examines dozen control emission system, can utilize the measurement data of external sensor, as
The input parameter of ballistic solution, real-time resolving trajectory, and point of impact is back to ground surface end in real time and is shown, if target is in strike model
In enclosing, adjust automatically servo control unit can be instructed according to fire control unit, complete autonomous strike, if target beyond strike range,
Strike task can be independently completed once target enters strike range according to fire control unit control instruction adjust automatically aircraft,
Delay is greatly reduced, the precision of target strike is improved.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is aircraft overall structure figure described in the embodiment of the present invention；
Fig. 2 is carry device overall structure figure described in the embodiment of the present invention；
Fig. 3 is carry device front view described in the embodiment of the present invention；
Fig. 4 is carry plate overall structure figure described in the embodiment of the present invention；
Fig. 5 is limiting bracket structure chart described in the embodiment of the present invention；
Fig. 6 is guide block structure figure described in the embodiment of the present invention；
Fig. 7 is tracking locking apparatus structure chart described in the embodiment of the present invention；
Fig. 8 is execution mission flow diagram described in the embodiment of the present invention.
Description of symbols：
1- ontology；2- branch frame；The first frame of 21-；211- elevation servo motor；212- active tilting component；2121- bows
Face upward support device；The second frame of 22-；The driven tilting component of 221-；23- loading plate；231- bearing servo motor；The orientation 232-
Component；24- connecting plate；31- carry plate；32- connecting shaft；33- limiting bracket；331- limit plate；332- adjusts bolt；333-
Caging bolt；334- state pin；335- bolt hole；336- gusset；The first guide pad of 34-；341- riser；342- transverse slat；343-
Pilot hole；344- damping block；The second guide pad of 35-；4- tracking locking apparatus；The orientation 41- structure；42- damping device；43- is hung
Plate；44- transverse direction servo motor；45- linking arm；46- visible light sensor；47- thermal infrared imager；48- laser range finder；5-
Launch load.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figure 1, a kind of aircraft, which is examined, beats control emission system, including aircraft body 1, ontology 1 include upper plate and
Lower plate is connected and fixed between upper plate and lower plate by reinforcing rib；U type groove is opened up on ontology 1, and carry is installed on the ontology 1
Device, the carry device can be adjusted with wide-angle and be sent out by U-type groove on ontology 1 and branch frame for installing launch load 5
The pitch angle of load 5 is penetrated, the launch load 5 is correspondingly provided with the SERVO CONTROL list of fire control unit and the connection of fire control unit
Member；
The servo control unit is used to adjust the pitching and orientation angles of launch load 5；
The fire control unit is connected by communication interface flies control unit, and the winged control unit is connected by wireless communication module
Earth station, fire control unit and winged control unit are all the existing microcontrollers used.Fire control unit, which can receive, flies control unit biography
The status information of defeated aircraft, the information such as position, posture, speed, acceleration, navigation including acquisition aircraft；It can also be with
Adapter tube flies control unit.
As shown in Figure 1 to Figure 3, the carry device includes stand frame 2 and loading plate 23, also is provided with U on aircraft body 1
Type groove, stand frame 2 are arranged in U-type groove, and U is used between the first frame 21 and loading plate 23 and the second frame 22 of stand frame 2
The design of type structure, can increase the pitch angle of loading plate 23, the loading plate 23 is mounted on stand frame 2 in this way；
The servo control unit includes pitch angle regulating device, and the pitch angle regulating device is mounted on stand frame
On 2, for adjusting the pitch angle of loading plate 23.
The stand frame 2 includes being mounted on the first frame 21 and the second frame 22 below unmanned aerial vehicle body, and described first
Loading plate 23 is equipped between frame 21 and the second frame 22, the loading plate 23 is used for carry launch load 5；
It is rotatablely connected between the loading plate 23 and the first frame 21 and the second frame 22；
The pitch angle regulating device is arranged on the first frame 21, and the pitch angle regulating device is for adjusting dress
The pitch angle of support plate 23.
First frame 21 and the second frame 22 are vertically arranged in parallel；
The upper half of first frame 21 is rectangle, and lower half is up-side down triangle；The pitch angle regulating device
Including elevation servo motor 211, the outside of the first frame 21, the elevation servo electricity is arranged in the elevation servo motor 211
Machine 211 connects fire control unit by driving circuit；The lower half one of the first frame 21 is arranged in the elevation servo motor 211
Side；The middle position of the close bottom of the lower half of first frame 21 is equipped with pitching axis hole, is equipped in the pitching axis hole
Active tilting component 212；
The elevation servo motor 211 is for driving active tilting component 212；
The upper half of second frame 22 is rectangle, and lower half is up-side down triangle；The lower half of second frame 22
Equipped with corresponding pitching axis hole, and it is equipped with driven tilting component 221.
The active tilting component 212 includes the pitching shaft being arranged in pitching axis hole, the outside of the pitching shaft
Involute cylindrical gear equipped with a pair of meshing, the elevation servo motor 211 are bowed by driving involute cylindrical gear driving
Face upward shaft；The medial end of the pitching shaft is equipped with pitching support device 2121；
The driven tilting component 221 includes the pitching shaft being arranged in the pitching axis hole of the second frame 22, Yi Jishe
Set the pitching support device 2121 on the inside of pitching shaft.
The two sides of the loading plate 23 respectively open up a bar limit slot, and four screws are designed in each bar limit slot
The two sides in hole, the loading plate 23 are fixed in pitching support device 2121 by fixing bolt；
The side of 211 installation position of elevation servo motor of first frame 21 is additionally provided with banking pin mounting hole, the limit
Position nail mounting hole is for installing banking pin, and the banking pin is for the limit to 23 pitch angle of loading plate.
The upper half of first frame 21 is set there are three rectangular weight loss groove, the side of the pitching motor installation position of lower half
If there are two special-shaped weight loss grooves；
The upper half of second frame 22 is equipped with three rectangular weight loss grooves identical with first frame 21；Described
The lower half of two frames 22 sets that there are three special-shaped weight loss grooves.Retain gusset moulding in crucial stress point position, passes through Mechanics Simulation
Meet requirement, meets requirement by surveying the structure overall stiffness and intensity.
The top of first frame 21 and the second frame 22 is vertically equipped with multiple fuselage upper plate mounting holes, first side
The top of frame 21 and the second frame 22 is fixed on fuselage upper plate by fixing bolt；
The middle position of first frame 21 and the second frame 22 laterally opens up a bar shaped sliding slot, the bar shaped sliding slot
For being embedded in the lower plate of installation fuselage；
The bar shaped sliding slot is equipped with multiple boss, and the bar shaped sliding slot runs through boss, and the boss is pacified equipped with lower plate
Hole is filled, the boss is bolted in fuselage lower plate.
The stand frame 2 further includes connecting plate 24, and the top and connecting plate 24 of the first frame 21 and the second frame 22 are all pacified
In the U-type groove on ontology 1, the connecting plate 24 is arranged between first frame 21 and the second frame 22, the company
The first frame 21 and the second frame 22 is arranged in close to the end of one end of fuselage in fishplate bar 24；
The two sides of the connecting plate 24 are equipped with concave station, and the concave station is equipped with connecting hole, first frame 21 and second
Frame 22 is bolted in the concave station of connecting plate 24, and first frame 21 and the second frame 22 are all perpendicular to connection
Plate 24；
The top of the connecting plate 24 is bolted on the upper plate of fuselage, and lower section is bolted on fuselage
In lower plate.
The connecting plate 24 is rectangular frame, and three vertical dowels are equipped in the rectangular frame bracket, long
Left and right space uniform is arranged in square frame；Three vertical dowels reinforce connection by two braces, and gusset intersection makes
With R3 fillet rounding off.
The servo control unit further includes orientation angles regulating device, and the orientation angles regulating device setting is loading
On plate 23, the orientation angles regulating device includes bearing servo motor 231 and orientation assembly 232, the bearing servo motor
231 connect fire control unit by driving circuit；
The orientation assembly 232 includes direction rotating shaft, and the loading plate 23 is equipped with orientation axis hole, and the direction rotating shaft is set
It sets in orientation axis hole, two angular contact ball bearings is installed on the outside of the upper end of the direction rotating shaft, realize turn of azimuth axis about the z axis
Dynamic freedom degree；
Such as Fig. 1, shown in Fig. 4, the upper surface of the carry plate 31 is shiny surface, and the lower end surface of the carry plate 31 is equipped with
Multichannel reinforcing rib, by the reinforcing rib for increasing by 31 intensity of carry plate.Each road reinforcing rib is roughly triangular or big six side
Shape is calculated through emulation and meets carry intensity requirement.
The loading plate 23 is equipped with 231 installation position of bearing servo motor, 231 right angle setting of bearing servo motor
On loading plate 23, the bearing servo motor 231 drives direction rotating shaft by the involute cylindrical gear of driving a pair of meshing
Rotation.
The direction rotating shaft lower end is connect with connecting shaft 32；The connecting shaft 32 is fixed on carry plate 31, the carry
Plate 31 passes through suspension arrangement carry launch load 5；
Such as Fig. 4, shown in Fig. 5, the suspension arrangement includes the first guide pad 34 and the second guide pad 35, first guiding
Block 34 and the second guide pad 35 all include one piece of riser 341 and a transverse slat 342 perpendicular to riser 341, first guiding
The riser 341 of block 34 and the second guide pad 35 is arranged in sides adjacent, and gap is equipped between riser 341；
The mounting height of the transverse slat 342 of first guide pad 34 and the second guide pad 35 is all identical, on the transverse slat 342
It is designed with the pilot hole 343 through transverse slat 342, the axis of the pilot hole 343 of two transverse slats 342 is described on same straight line
Pilot hole 343 is correspondingly provided with steel pin, and the lifting lug is hung on the steel between 35 riser 341 of the first guide pad 34 and the second guide pad
On pin；The steel pin is correspondingly provided with rotate steering wheel, and the rotate steering wheel drives steel pin mobile by transmission device, when steel pin is detached from
The pilot hole 343 of first guide pad 34, when entering the pilot hole 343 of the second guide pad 35, lifting lug will fall off, the rotation
Machine of coming about passes through driving circuit connection fire control unit.The steel pin is additionally provided with pull rod, the pull rod vertically and steel pin, steel pin in addition to
Outside by the electronic pulling of Servo-controller, the manually installed of launch load can also be realized manually by pulling pull rod to be pulled.
It states carry plate 31 and is equipped with guide pad mounting hole corresponding with first guide pad 34 and the second guide pad 35,
The front and rear sides of the guide pad mounting hole are equipped with 342 mounting hole of transverse slat, and the transverse slat 342 of first guide pad 34 and second is led
31 upper surface of carry plate is bolted on to the transverse slat 342 of block 35；
341 length of riser of first guide pad 34 is greater than 341 length of riser of the second guide pad 35, and described second leads
It is hollows to the side of close first guide pad 34 in the lower section of block 35；First guide pad 34 and the second guide pad 35 are adjacent
Side be also designed with buffer layer.Lifting lug is facilitated to be linked into onto the steel pin between the first guide pad 34 and the second guide pad 35.
Such as Fig. 4, shown in Fig. 6, the transmitting of launch load 5 and jettisoninging belongs to disposable, and hanger is fixed on airborne platform
It needs to reuse, launch load 5 needs to load next piece with model launch load 5 after having used, how to realize that transmitting carries
The rapid and convenient of lotus 5 is assembled, and guarantee connection positioning be reliably the invention solves a technical problem.The launch load
5 are also correspondingly provided with limiting bracket 33, and each load is correspondingly provided with former and later two limiting brackets 33, and the limiting bracket 33 is in
Inverted Y font, the upper end of the limiting bracket 33 are fixed on 31 lower end surface of carry plate, the lower end of the limiting bracket 33 to
Two limit plates 331 are extended in outside, are used to that launch load 5 be arranged between two limit plates 331；
Two limit plates 331 of the limiting bracket 33, a limit plate 331, which is equipped with, adjusts bolt 332, and another
Equipped with caging bolt 333, limit plate 331 of the installation direction of bolt 332 and caging bolt 333 all perpendicular to place is adjusted；
The lateral surface for adjusting bolt 332 is equipped with hand nutting, and the peace for adjusting bolt 332 is arranged by hand nutting
Fill depth；In order to reduce the shaking of launch load 5, needs to reduce the gap between launch load 5 and limit plate 331 as far as possible, lead to
Gap between side plate can effectively be adjusted by overregulating bolt 332, and easy to operate.
The upper surface of the limiting bracket 33 is additionally provided with 334 mounting hole of state pin, and 334 mounting hole of state pin is used for
Installation condition pin 334, the state pin 334 run through the upper end of limiting bracket 33, and 334 mounting hole of state pin is stretched out in lower end, vertically
It is arranged between two limit plates 331；
The upper end of the state pin 334 is additionally provided with spring, and the upper end of the spring is equipped with position sensor, the spring and
Position sensor is all disposed in 334 mounting hole of state pin, the fire control unit of the position sensor connection unmanned plane, institute's rheme
Sensor is set for detecting the state in place of launch load 5.When there is launch load 5, launch load 5 can withstand state pin 334,
And then compressed spring, apply pressure to position sensor；When not having launch load 5, state pin 334 is in bottommost, spring
The pressure applied to position sensor is smaller, and according to the difference of signal, earth station is clear that the shape of launch load 5
State information.The status signal of 334 different location of state pin can think that earth station sends load information whether in place by data-link, after
And telemetering load is located at limiting bracket or has carried out reliable separation.
The lower end surface of the carry plate 31 is equipped with mounting groove corresponding with 33 upper end of limiting bracket, the limit branch
The upper end correspondence of frame 33 is mounted in mounting groove；The upper end of limiting bracket 33 is additionally provided with bolt hole 335,33 He of limiting bracket
It is bolted between carry plate 31；
The lower section of the carry plate 31 is set there are four limiting bracket 33, is installed two transmittings by four limiting brackets 33 and is carried
Lotus 5.Angle between two limit plates 331 of the limiting bracket 33 is 90 °, and two 331 inside fronts of limit plate pass through circle
Arc connection；
It is connected and fixed between two adjacent limiting brackets 33 by gusset 336；The setting of gusset 336 is adjacent at two
Limit plate 331 between, it is fixed that the gusset 336 passes through caging bolt 333.
After limiting bracket 33 is fixed by mounting groove, 33 inner side limiting-position plate 331 of limiting bracket is also not connected, at this time limit branch
The limit plate 331 of frame 33 is mutually indepedent, and structure integral level directional stiffness is relatively low, after introducing gusset 336, realizes limit branch
The connection of the limit plate 331 of frame 33, while local triangle is constituted with carry plate 31, so enhance limiting bracket 33 in level
The rigidity in direction further weakens single piece of launch load 5 in the unfavorable vibration of the horizontal direction in unmanned plane during flying carry, this sets
Meter mode has obtained effective experimental verification in practical applications.
It is additionally provided with cable hole on carry plate 31, which belongs to multiplexing hole location, not only realizes route in launch load 5
Arrangement, and reusable brake installation space greatly optimizes carry function of the hanger in UAV system.
Such as Fig. 1, shown in Fig. 7, target following locking device 4, the target following locking dress are additionally provided with below the ontology 1
Setting 4 includes hanging plate 43, damping device 42, orientation structure 41, linking arm 45, gondola；The vibration absorber is for being isolated aircraft
Vibration, reducing FLIGHT VEHICLE VIBRATION influences the posture of target following, locking device；
The hanging plate 43 is mounted below fuselage by connecting column, and the middle position of the hanging plate 43 opens up circular hole, described
The circumferential position of 43 top circular hole of hanging plate is equipped with multiple damping devices 42, and the orientation structure 41 and the damping device 42 are fixed
The surface of circular hole is arranged in connection, the orientation structure 41, and the orientation structure 41 is equipped with vertical servo motor；
The linking arm 45 is arranged below hanging plate 43, and the linking arm 45 is two, and the upper end of two linking arms 45 is logical
Attachment device and orientation structure 41 is crossed to be rotatablely connected, the gondola is arranged between two linking arms 45, the gondola two sides with
Linking arm 45 is rotatablely connected, and lateral servo motor 44 is arranged, and the tracking locking apparatus 4 is correspondingly provided with control unit, described
Control unit connects lateral servo motor 44 and vertical servo motor by driving circuit, is hung by the adjusting of lateral servo motor 44
The pitch angle in cabin adjusts the orientation angles of gondola by vertical servo motor；
Visible light sensor 46, thermal infrared imager 47, laser range finder 48, image trace module are equipped in the gondola,
The visible light sensor 46, thermal infrared imager 47, laser range finder 48 signal output end all connect image tracking module
Signal input part, described image tracking module and control unit two-way communication；Control unit is microcontroller；Described image tracking
The signal input part of the signal output end connection fire control unit of module.
The visible light sensor 46, thermal infrared imager 47, laser range finder 48, the mode of paralleling to the axis in the shape of " pin " are arranged
It is listed in inside structure for pod, real time reconnaissance and range determination can be carried out to target；
Described image tracking module is used to measure the relative position of target and carrier aircraft, and by relative position information Real-time Feedback
To control unit, target is kept to be at picture centre, real-time tracking, locking can be carried out to target.
The fire control unit receives the information such as posture, relative position and the ranging of target following locking device 4, receives and flies control
The information such as system position, posture, speed, acceleration, navigation receive the letter such as servo control unit posture, angular speed, angular acceleration
Breath；
According to above-mentioned data and 5 ballistic characteristics of launch load is combined to carry out ballistic solution, and estimates point of impact, real-time display
In earth station；
Independently judge target whether in strike range；
If target, can be according to the control instruction adjust automatically servo control unit of fire control unit, servo in strike range
Current angular information is fed back to fire control unit by control unit, constitutes close loop control circuit, completes autonomous strike；
Target beyond strike range, can according to the control instruction adjust automatically attitude of flight vehicle of fire control unit, once target
Into strike range, strike task can be independently completed.
As shown in figure 8, the process that aircraft executes strike task is as follows：
(1) according to task, emission system is transported to task execution region, system is unfolded and is checked, it is ensured that system work
Normally；
(2) task execution staff arrives in emission system to target area overhead by plane；
(3) image information of acquisition is back on ground by data-link, task execution staff is distinguished according to image information
Know target, and confirms and strike target；
(4) floor frame choosing strikes target, and its characteristic is uploaded to target following, locking device by data-link
In image trace module, target is locked, is tracked；
(5) fire control unit is communicated by data-interface with target following, locking device, obtains target following, locking in real time
The information such as posture, relative position, the ranging of device；
(6) fire control unit is communicated by data-interface with servo control unit, obtains elevation servo motor and orientation in real time
The information such as posture, angular speed, the angular acceleration of servo motor；
(7) fire control unit flies control unit communication by data-interface and aircraft, obtains position, the appearance of more rotors in real time
The information such as state, speed, acceleration, navigation；
(8) fire control unit fusion target following, locking device, servomechanism installation, more rotors data information, in conjunction with transmitting carry
Lotus characteristic real-time resolving trajectory, and point of impact will be estimated and be back in earth station in real time；
(9) task execution staff, which is selected a good opportunity, starts percussion preparation, and fire control unit adapter tube flies to control unit, and combining target tracking is locked
Determine the data informations such as device, servomechanism installation, launch load characteristic, control emission system is aimed at, and emission system satisfaction is hit
State when hair；
(10) task execution staff, which is selected a good opportunity, starts firing button, and jet instruction is uploaded to airborne end fire control list by data-link
Member, fire control unit are selected a good opportunity autonomous percussion；
(11) the target effect situation that target following, locking device acquire is back in earth station by data-link, is used
In assessment strike effect；
(12) emission system is maked a return voyage, and executes next subtask.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of aircraft, which is examined, beats control emission system, it is characterised in that：Including aircraft body (1), pacify on the ontology (1)
Equipped with carry device, the carry device for installing launch load (5), the launch load (5) be correspondingly provided with fire control unit,
And the servo control unit of fire control unit connection；
The servo control unit is used to adjust the pitching and orientation angles of launch load (5)；
The fire control unit is connected by communication interface flies control unit, and the winged control unit connects ground by wireless communication module
It stands.
2. aircraft according to claim 1, which is examined, beats control emission system, it is characterised in that：The carry device includes branch
Frame frame (2) and loading plate (23), the stand frame (2) is U-shaped, and the loading plate (23) is mounted on stand frame (2)；
The servo control unit includes pitch angle regulating device, and the pitch angle regulating device is mounted on stand frame (2)
On, for adjusting the pitch angle of loading plate (23).
3. aircraft according to claim 2, which is examined, beats control emission system, it is characterised in that：The stand frame (2) includes
The first frame (21) and the second frame (22) being mounted below unmanned aerial vehicle body, first frame (21) and the second frame
(22) loading plate (23) are equipped between, the loading plate (23) is used for carry launch load (5)；
It is rotatablely connected between the loading plate (23) and the first frame (21) and the second frame (22)；
The pitch angle regulating device is arranged on the first frame (21), and the pitch angle regulating device is loaded for adjusting
The pitch angle of plate (23).
4. aircraft according to claim 3, which is examined, beats control emission system, it is characterised in that：First frame (21) and
Second frame (22) is vertically arranged in parallel；
The upper half of first frame (21) is rectangle, and lower half is up-side down triangle；The pitch angle regulating device packet
It includes elevation servo motor (211), the elevation servo motor (211) is arranged in the outside of the first frame (21), and the pitching is watched
It takes motor (211) and fire control unit is connected by driving circuit；The elevation servo motor (211) is arranged in the first frame (21)
Lower half side；The middle position of the close bottom of the lower half of first frame (21) is equipped with pitching axis hole, the pitching
Active tilting component (212) are equipped in axis hole；
The elevation servo motor (211) is for driving active tilting component (212)；
The upper half of second frame (22) is rectangle, and lower half is up-side down triangle；The lower half of second frame (22)
Equipped with corresponding pitching axis hole, and it is equipped with driven tilting component (221).
5. aircraft according to claim 4, which is examined, beats control emission system, it is characterised in that：The active tilting component
It (212) include the pitching shaft being arranged in pitching axis hole, the outside of the pitching shaft is equipped with the involute circle of a pair of meshing
Stud wheel, the elevation servo motor (211) drive pitching shaft by driving involute cylindrical gear；The pitching shaft
Medial end is equipped with pitching support device (2121)；
The driven tilting component (221) includes the pitching shaft being arranged in the pitching axis hole of the second frame (22), Yi Jishe
Set the pitching support device (2121) on the inside of pitching shaft.
6. aircraft according to claim 5, which is examined, beats control emission system, it is characterised in that：The two of the loading plate (23)
Side respectively opens up a bar limit slot, and four screw holes, the two sides of the loading plate (23) are designed in each bar limit slot
It is fixed on pitching support device (2121) by fixing bolt；
The side of elevation servo motor (211) installation position of first frame (21) is additionally provided with banking pin mounting hole, the limit
Position nail mounting hole is for installing banking pin, and the banking pin is for the limit to loading plate (23) pitch angle.
7. aircraft according to claim 2, which is examined, beats control emission system, it is characterised in that：The servo control unit is also
Including orientation angles regulating device, the orientation angles regulating device is arranged on loading plate (23), and the orientation angles are adjusted
Device includes bearing servo motor (231) and orientation assembly (232), and the bearing servo motor (231) is connected by driving circuit
It starts to exchange fire and controls unit；
The orientation assembly (232) includes direction rotating shaft, and the loading plate (23) is equipped with orientation axis hole, and the direction rotating shaft is set
It sets in orientation axis hole, two angular contact ball bearings is installed on the outside of the upper end of the direction rotating shaft, realize turn of azimuth axis about the z axis
Dynamic freedom degree；
The loading plate (23) is equipped with bearing servo motor (231) installation position, bearing servo motor (231) right angle setting
On loading plate (23), the bearing servo motor (231) drives orientation by the involute cylindrical gear of driving a pair of meshing
Shaft rotation.
8. aircraft according to claim 7, which is examined, beats control emission system, it is characterised in that：The direction rotating shaft lower end with
Connecting shaft (32) connection；The connecting shaft (32) is fixed on carry plate (31), and the carry plate (31) is hung by suspension arrangement
It carries launch load (5)；
The suspension arrangement includes the first guide pad (34) and the second guide pad (35), and first guide pad (34) and second is led
It all include one piece of riser (341) and a transverse slat (342) perpendicular to riser (341), first guide pad to block (35)
(34) it is arranged with the riser (341) of the second guide pad (35) in sides adjacent, and is equipped with gap between riser (341)；
The mounting height of the transverse slat (342) of first guide pad (34) and the second guide pad (35) is all identical, the transverse slat
(342) pilot hole (343) through transverse slat (342) is designed on, the axis of the pilot hole (343) of two transverse slats (342) is same
On straight line, the pilot hole (343) is correspondingly provided with steel pin, and the lifting lug is hung on the first guide pad (34) and the second guiding
On steel pin between block (35) riser (341)；The steel pin is correspondingly provided with rotate steering wheel, and the rotate steering wheel passes through transmission device
Drive steel pin mobile, the rotate steering wheel connects fire control unit by driving circuit.
9. aircraft according to claim 8, which is examined, beats control emission system, it is characterised in that：The launch load (5) is also
It is correspondingly provided with limiting bracket (33), each load is correspondingly provided with former and later two limiting brackets (33), the limiting bracket
It (33) is in inverted Y-shaped, the upper end of the limiting bracket (33) is fixed on carry plate (31) lower end surface, the limiting bracket
(33) two limit plates (331) are extended in lower end outward, are used to that launch load (5) be arranged between two limit plates (331)；
Two limit plates (331) of the limiting bracket (33), a limit plate (331), which is equipped with, adjusts bolt (332), another
Item is equipped with caging bolt (333), adjusts limit of the installation direction of bolt (332) and caging bolt (333) all perpendicular to place
Plate (331)；
The lateral surface for adjusting bolt (332) is equipped with hand nutting, and the installation for adjusting bolt (332) is arranged by hand nutting
Depth；
The upper surface of the limiting bracket (33) is additionally provided with state pin (334) mounting hole, and state pin (334) mounting hole is used for
Installation condition pin (334), the state pin (334) run through the upper end of limiting bracket (33), and state pin (334) installation is stretched out in lower end
Hole is vertically set between two limit plates (331)；
The upper end of the state pin (334) is additionally provided with spring, and the upper end of the spring is equipped with position sensor, the spring and position
It sets sensor to be all disposed in state pin (334) mounting hole, the fire control unit of the position sensor connection unmanned plane, institute's rheme
Sensor is set for detecting the state in place of launch load (5).
10. aircraft according to claim 1, which is examined, beats control emission system, it is characterised in that：Below the ontology (1) also
Equipped with target following locking device (4), the target following locking device (4) includes hanging plate (43), damping device (42), orientation
Structure (41), linking arm (45), gondola；
The hanging plate (43) is mounted below fuselage by connecting column, and the middle position of the hanging plate (43) opens up circular hole, described
The circumferential position of circular hole is equipped with multiple damping devices (42) above hanging plate (43), the orientation structure (41) and the damping device
(42) it is fixedly connected, the surface of circular hole is arranged in the orientation structure (41), and the orientation structure (41) is equipped with vertical servo
Motor；
Below hanging plate (43), the linking arm (45) is two for the linking arm (45) setting, two linking arms (45) it is upper
End is rotatablely connected by attachment device and orientation structure (41), and the gondola is arranged between two linking arms (45), described to hang
Cabin two sides and linking arm (45) are rotatablely connected, and lateral servo motor (44) are arranged, and the tracking locking apparatus (4) is correspondingly provided with
Control unit, described control unit connect lateral servo motor (44) and vertical servo motor by driving circuit, pass through transverse direction
Servo motor (44) adjusts the pitch angle of gondola, and the orientation angles of gondola are adjusted by vertical servo motor；
Visible light sensor (46), thermal infrared imager (47), laser range finder (48), image trace mould are equipped in the gondola
Block, the visible light sensor (46), thermal infrared imager (47), laser range finder (48) signal output end all connect image with
The signal input part of track module, described image tracking module and control unit two-way communication；The signal of described image tracking module
The signal input part of output end connection fire control unit.
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| CN201810597130.6A CN108820214B (en) | 2018-06-11 | 2018-06-11 | Aircraft scouting control transmitting system |
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|---|---|---|---|
| CN201810597130.6A CN108820214B (en) | 2018-06-11 | 2018-06-11 | Aircraft scouting control transmitting system |
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| CN108820214B CN108820214B (en) | 2023-12-22 |
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| CN109398716A (en) * | 2018-12-03 | 2019-03-01 | 中航技进出口有限责任公司 | External aircraft mounted control system |
| CN109760841A (en) * | 2019-01-23 | 2019-05-17 | 西安深瞳智控技术有限公司 | A kind of small drone weapon carrier |
| CN110466771A (en) * | 2019-08-12 | 2019-11-19 | 辽宁力德航空科技有限公司 | A kind of fire extinguisher bomb delivery device of unmanned plane carry |
| CN111141174A (en) * | 2020-01-07 | 2020-05-12 | 吉林省翼启飞科技有限公司 | Eight-hole smoke bomb launching device for unmanned aerial vehicle |
| CN112078796A (en) * | 2020-08-19 | 2020-12-15 | 北京机械设备研究所 | Pneumatic net gun device, unmanned aerial vehicle and pneumatic net gun launching system |
| CN112644713A (en) * | 2020-12-21 | 2021-04-13 | 中国人民解放军63677部队 | Middle and low altitude airship missile hanging posture stabilizing device |
| CN114455086A (en) * | 2021-12-30 | 2022-05-10 | 哈瓦国际航空技术（深圳）有限公司 | Checking and shooting integrated cradle head and unmanned aerial vehicle |
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