CN109747830B - Single-group wheel connecting rod type unmanned aerial vehicle throwing device and throwing method - Google Patents
Single-group wheel connecting rod type unmanned aerial vehicle throwing device and throwing method Download PDFInfo
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- CN109747830B CN109747830B CN201811617614.9A CN201811617614A CN109747830B CN 109747830 B CN109747830 B CN 109747830B CN 201811617614 A CN201811617614 A CN 201811617614A CN 109747830 B CN109747830 B CN 109747830B
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Abstract
The invention discloses a single-group wheel connecting rod type unmanned aerial vehicle throwing device which comprises a mother machine, a connecting rod mechanism throwing device and a rotary wheel type storage frame, wherein the connecting rod mechanism throwing device and the rotary wheel type storage frame are arranged at the tail part of a machine body of the mother machine, and the connecting rod mechanism throwing device is arranged behind the rotary wheel type storage frame. The aerial delivery work of the fixed-wing unmanned aerial vehicle with higher efficiency than that of the existing delivery mode can be realized by virtue of the advantages of large navigational speed, large range and large quantity loading of the aircraft platform.
Description
Technical Field
The invention relates to the technical field of aircraft air-based recovery, in particular to a single-group wheel connecting rod type unmanned aerial vehicle launching device and a launching method.
Background
At present, the main throwing modes of the fixed-wing unmanned aerial vehicle are as follows: hand throwing, sliding rail, ejection, runway and air throwing. The air base is based on medium and small-sized platforms such as fighters and the like, is carried and launched in an external hanging mode, but has great limitation on the number and the volume of the thrown unmanned aerial vehicles, can not realize the distribution of medium and large unmanned aerial vehicles with large density, and has low throwing cost-effectiveness ratio.
Disclosure of Invention
The purpose of the invention is as follows: the single-group wheel connecting rod type unmanned aerial vehicle throwing device and the throwing method can realize rapid throwing of a large number of medium-sized and large-sized unmanned aerial vehicles separated from a mother machine by means of self gravity. .
The technical scheme of the invention is as follows:
the utility model provides a singly organize wheel connecting rod formula unmanned aerial vehicle and put in device, puts in device 2, rotary wheel formula storage frame 3 including female machine 1, link mechanism put in device 2, rotary wheel formula storage frame 3 and all set up at 1 fuselage afterbody of female machine, link mechanism put in device 2 and arrange in 3 backs of rotary wheel formula storage frame.
The link mechanism throwing device 2 comprises a slide rail 11, two groups of swing rods 5, a fixed edge 4 and a belt type transmission device 6, wherein the fixed edge 4 is fixed at the tail part of the mother machine 1, one ends of the two groups of swing rods 5 are connected with the fixed edge 4, the other ends of the two groups of swing rods are connected with the slide rail 11, damping devices 7 are arranged at the left end and the right end of the slide rail 11, and the belt type transmission device 6 is further arranged on the slide rail 11.
The runner type storage frame 3 include runner 12, main pivot 13, storage frame fore-stock 14, storage frame after-poppet 15, runner 12 fix between storage frame fore-stock 14, storage frame after-poppet 15 through main pivot 13, runner 12 can be rotatory around main pivot 13, evenly distributed has a plurality of unmanned aerial vehicle stores pylon 16 on the outer circumference of runner 12.
The joint of one group of swing rods 5 and the fixed edge 4 is provided with a driving motor 8, an angle measuring sensor 9 and a stop device 10.
And a storage rack driving module is arranged on one side of the storage rack front support 14 and comprises a driving motor 8, a speed reducer 17, a stopping device 10 and an angle measuring sensor 9.
The storage rack rear support 15 is also internally provided with a driving motor 8, a stop device 10 and an angle measuring sensor 9, one side of the storage rack rear support 15 is provided with a supporting structure 18, and the tail end of the supporting structure 18 is provided with a speed reducer 17.
Unmanned aerial vehicle stores pylon 16 on be provided with before the stores pylon fixing device 21 and stores pylon after fixing device 22, fixing device 19 and after-fixing device 20 before unmanned aerial vehicle stores pylon 16 bottom still is provided with, preceding fixing device 19 and after-fixing device 20 be mechanical stop device or electromagnetism stop device.
Unmanned aerial vehicle stores pylon 16 and runner 12 adopt detachable to be connected, and 16 upper surfaces of unmanned aerial vehicle stores pylon are provided with driving rack.
A single group wheel connecting rod type unmanned aerial vehicle throwing device comprises the following steps:
step 1: fixing the unmanned aerial vehicle 4 on the unmanned aerial vehicle hanger 16 through the front fixing device 19 and the rear fixing device 20;
step 2: the driving motor 8 at the joint of the swing rod 5 and the fixed edge 4 drives and fixes the link mechanism throwing device 2 to a position close to one side of the rotary wheel type storage rack 3;
and step 3: according to the instruction, the rotary wheel type storage rack 3 is driven to rotate to a throwing position where a certain unmanned aerial vehicle is located at the lowest position in the vertical direction;
and 4, step 4: fixing device 21 and behind the stores pylon 22 before the stores pylon on unblock unmanned aerial vehicle stores pylon 16:
and 5: a driving motor 8 in a rear support 15 of the storage rack deflects to a working position to drive a rotating wheel 12, so that an unmanned aerial vehicle hanger 16 moves to a link mechanism throwing device 2 and is limited by a damping device 7 arranged at the left end of a sliding rail 11;
step 6: the designated throwing position of the link mechanism throwing device 2 is driven and fixed by a driving motor 8 at the joint of the swing rod 5 and the fixed edge 4;
and 7: the limiting of the damping device 7 at the left end of the slide rail 11 is released, the belt type transmission device 6 drives the unmanned aerial vehicle hanger 16 to the tail end of the slide rail 11, and the damping device 7 at the right end of the slide rail 11 realizes speed reduction and positioning;
and 8: the unmanned aerial vehicle 4 on the unmanned aerial vehicle pylon 16 deflects its own elevator 24 downwards according to the instruction;
and step 9: the front fixing device 19 and the rear fixing device 20 on the unmanned aerial vehicle hanger 16 are unlocked, the unmanned aerial vehicle 4 is separated from the mother aircraft 1 under the action of gravity, a lock hook driving module on the unmanned aerial vehicle 4 deflects and locks a lock hook module on the unmanned aerial vehicle to a retracted state, and the lock hook module consists of a front lock hook 25, a rear lock hook 26 and a connecting rod 23;
step 10: the unmanned aerial vehicle hanger 16 which is released is driven to the left end of the slide rail 11 through the belt type transmission device 6 and limited by the damping device 7 at the left end;
step 11: the link mechanism throwing device 2 with the unmanned aerial vehicle hanging rack 16 is driven and fixed to a position close to one side of the rotary wheel type storage rack 3 by a driving motor 8 at the joint of the swinging rod 5 and the fixed edge 4;
step 12: the damping device 7 at the left end of the sliding rail 11 is relieved from limiting, the driving motor 8 in the storage rack rear support 15 drives the unmanned aerial vehicle hanger 16 to return to the corresponding position of the rotary wheel type storage rack 3, and the unmanned aerial vehicle hanger is locked by the hanger front fixing device 21 and the hanger rear fixing device 22;
step 13: and (5) sequentially rotating the rotary wheel type storage rack 3 to a specified angle, and repeating the steps 4-12.
The invention has the beneficial effects that: the single-group wheel connecting rod type unmanned aerial vehicle throwing device and the throwing method can provide storage capacity of a medium-sized and large-sized unmanned aerial vehicle with at least 4 same structures, and realize quick throwing of the medium-sized and large-sized unmanned aerial vehicle separated from a mother aircraft by means of self gravity by means of the connecting rod mechanism throwing device and the rotating wheel type storage mode. The aerial delivery work of the fixed-wing unmanned aerial vehicle with higher efficiency than that of the existing delivery mode can be realized by virtue of the advantages of large navigational speed, large range and large quantity loading of the aircraft platform.
Drawings
FIG. 1 is a schematic view of an apparatus of the present invention;
FIG. 2 is a schematic view of a link mechanism dropping device;
figure 3 is a schematic view of a wheeled storage rack;
fig. 4 is a schematic view of a drone.
Detailed Description
The invention is further explained by combining the attached drawings, and the single-group wheel connecting rod type unmanned aerial vehicle throwing device comprises a mother machine 1, a connecting rod mechanism throwing device 2 and a rotary wheel type storage rack 3, wherein the connecting rod mechanism throwing device 2 and the rotary wheel type storage rack 3 are both arranged at the tail part of the body of the mother machine 1, and the connecting rod mechanism throwing device 2 is arranged behind the rotary wheel type storage rack 3.
The link mechanism throwing device 2 comprises a slide rail 11, two groups of swing rods 5, a fixed edge 4 and a belt type transmission device 6, wherein the fixed edge 4 is fixed at the tail part of the mother machine 1, one ends of the two groups of swing rods 5 are connected with the fixed edge 4, the other ends of the two groups of swing rods are connected with the slide rail 11, damping devices 7 are arranged at the left end and the right end of the slide rail 11, a spring damper is preferably selected, and the belt type transmission device 6 is further arranged on the slide rail 11.
The runner type storage frame 3 include runner 12, main pivot 13, storage frame fore-stock 14, storage frame after-poppet 15, runner 12 fix between storage frame fore-stock 14, storage frame after-poppet 15 through main pivot 13, runner 12 can be rotatory around main pivot 13, evenly distributed has a plurality of unmanned aerial vehicle stores pylon 16 on the outer circumference of runner 12.
The joint of one group of swing rods 5 and the fixed edge 4 is provided with a driving motor 8, an angle measuring sensor 9 and a stop device 10.
And a storage rack driving module is arranged on one side of the storage rack front support 14 and comprises a driving motor 8, a speed reducer 17, a stopping device 10 and an angle measuring sensor 9.
The storage rack rear support 15 is also internally provided with a driving motor 8, a stop device 10 and an angle measuring sensor 9, one side of the storage rack rear support 15 is provided with a supporting structure 18, and the tail end of the supporting structure 18 is provided with a speed reducer 17.
Unmanned aerial vehicle stores pylon 16 on be provided with before the stores pylon fixing device 21 and stores pylon after fixing device 22, fixing device 19 and after-fixing device 20 before unmanned aerial vehicle stores pylon 16 bottom still is provided with, preceding fixing device 19 and after-fixing device 20 be mechanical stop device or electromagnetism stop device.
Unmanned aerial vehicle stores pylon 16 and runner 12 adopt detachable to be connected, and 16 upper surfaces of unmanned aerial vehicle stores pylon are provided with driving rack.
A single group wheel connecting rod type unmanned aerial vehicle throwing device comprises the following steps:
step 1: fixing the unmanned aerial vehicle 4 on the unmanned aerial vehicle hanger 16 through the front fixing device 19 and the rear fixing device 20;
step 2: the driving motor 8 at the joint of the swing rod 5 and the fixed edge 4 drives and fixes the link mechanism throwing device 2 to a position close to one side of the rotary wheel type storage rack 3;
and step 3: according to the instruction, the rotary wheel type storage rack 3 is driven to rotate to a throwing position where a certain unmanned aerial vehicle is located at the lowest position in the vertical direction;
and 4, step 4: fixing device 21 and behind the stores pylon 22 before the stores pylon on unblock unmanned aerial vehicle stores pylon 16:
and 5: a driving motor 8 in a rear support 15 of the storage rack deflects to a working position to drive a rotating wheel 12, so that an unmanned aerial vehicle hanger 16 moves to a link mechanism throwing device 2 and is limited by a damping device 7 arranged at the left end of a sliding rail 11;
step 6: the designated throwing position of the link mechanism throwing device 2 is driven and fixed by a driving motor 8 at the joint of the swing rod 5 and the fixed edge 4;
and 7: the limiting of the damping device 7 at the left end of the slide rail 11 is released, the belt type transmission device 6 drives the unmanned aerial vehicle hanger 16 to the tail end of the slide rail 11, and the damping device 7 at the right end of the slide rail 11 realizes speed reduction and positioning;
and 8: the unmanned aerial vehicle 4 on the unmanned aerial vehicle pylon 16 deflects its own elevator 24 downwards according to the instruction;
and step 9: the front fixing device 19 and the rear fixing device 20 on the unmanned aerial vehicle hanger 16 are unlocked, the unmanned aerial vehicle 4 is separated from the mother aircraft 1 under the action of gravity, a lock hook driving module on the unmanned aerial vehicle deflects and locks a lock hook module on the unmanned aerial vehicle 4 to a retracted state, and the lock hook module consists of a front lock hook 25, a rear lock hook 26 and a connecting rod 23;
step 10: the unmanned aerial vehicle hanger 16 which is released is driven to the left end of the slide rail 11 through the belt type transmission device 6 and limited by the damping device 7 at the left end;
step 11: the link mechanism throwing device 2 with the unmanned aerial vehicle hanging rack 16 is driven and fixed to a position close to one side of the rotary wheel type storage rack 3 by a driving motor 8 at the joint of the swinging rod 5 and the fixed edge 4;
step 12: the damping device 7 at the left end of the sliding rail 11 is relieved from limiting, the driving motor 8 in the storage rack rear support 15 drives the unmanned aerial vehicle hanger 16 to return to the corresponding position of the rotary wheel type storage rack 3, and the unmanned aerial vehicle hanger is locked by the hanger front fixing device 21 and the hanger rear fixing device 22;
step 13: and (5) sequentially rotating the rotary wheel type storage rack 3 to a specified angle, and repeating the steps 4-12.
Claims (6)
1. The utility model provides a single group wheel connecting rod formula unmanned aerial vehicle puts in device which characterized in that: put in device (2), runner type storage frame (3) including female machine (1), link mechanism put in device (2), runner type storage frame (3) and all set up at female machine (1) fuselage afterbody, link mechanism put in device (2) and arrange at runner type storage frame (3) rear, link mechanism put in device (2) including slide rail (11), two sets of swinging arms (5), fixed limit (4), belt transmission (6), fixed limit (4) are fixed at female machine (1) afterbody, two sets of swinging arms (5) one end is connected with fixed limit (4), the other end is connected with slide rail (11), slide rail (11) about both ends be provided with damping device (7), still be provided with belt transmission (6) on slide rail (11), runner type storage frame (3) include runner (12), main rotating shaft (13), The storage rack comprises a storage rack front support (14) and a storage rack rear support (15), wherein a rotating wheel (12) is fixed between the storage rack front support (14) and the storage rack rear support (15) through a main rotating shaft (13), the rotating wheel (12) can rotate around the main rotating shaft (13), and a plurality of unmanned aerial vehicle hangers (16) are uniformly distributed on the outer circumference of the rotating wheel (12);
the working process of the single-group wheel connecting rod type unmanned aerial vehicle throwing device is as follows:
step 1: fixing the unmanned aerial vehicle on an unmanned aerial vehicle hanger (16) through a front fixing device (19) and a rear fixing device (20);
step 2: a driving motor (8) at the joint of the swing rod (5) and the fixed edge (4) drives and fixes the link mechanism throwing device (2) to a position close to one side of the rotary wheel type storage rack (3);
and step 3: according to the instruction, the rotary wheel type storage rack (3) is driven to rotate to a throwing position where a certain unmanned aerial vehicle is located at the lowest position in the vertical direction;
and 4, step 4: unlocking a front hanger fixing device (21) and a rear hanger fixing device (22) on an unmanned aerial vehicle hanger (16);
and 5: a driving motor (8) in a storage rack rear support (15) deflects to a working position, so that an unmanned aerial vehicle hanger (16) moves to a link mechanism throwing device (2) and is limited by a damping device (7) arranged at the left end of a sliding rail (11);
step 6: the designated throwing position of the link mechanism throwing device (2) is driven and fixed by a driving motor (8) at the joint of the swing rod (5) and the fixed edge (4);
and 7: the limiting of the damping device (7) at the left end of the sliding rail (11) is released, the belt type transmission device 6 drives the unmanned aerial vehicle hanger (16) to the tail end of the sliding rail (11), and the damping device (7) at the right end of the sliding rail (11) realizes speed reduction and positioning;
and 8: the unmanned aerial vehicle on the unmanned aerial vehicle pylon (16) deflects the elevator (24) of the unmanned aerial vehicle downwards according to the instruction;
and step 9: a front fixing device (19) and a rear fixing device (20) on an unmanned aerial vehicle hanger (16) are unlocked, the unmanned aerial vehicle is separated from a mother machine (1) under the action of gravity, a lock hook driving module on the unmanned aerial vehicle deflects and locks a lock hook module on the unmanned aerial vehicle to a withdrawing state, and the lock hook module consists of a front lock hook (25), a rear lock hook (26) and a connecting rod (23) which are connected in sequence;
step 10: the released unmanned aerial vehicle hanger (16) is driven to the left end of the sliding rail (11) through the belt type transmission device (6) and limited by the damping device (7) at the left end;
step 11: the link mechanism throwing device (2) with the unmanned aerial vehicle hanging rack (16) is driven by a driving motor (8) at the joint of the swinging rod (5) and the fixed edge (4) and is fixed to a position close to one side of the rotary wheel type storage rack (3);
step 12: the damping device (7) at the left end of the sliding rail (11) is relieved from limiting, the unmanned aerial vehicle hanger (16) is driven by the driving motor (8) in the storage rack rear support (15) to return to the corresponding position of the rotary wheel type storage rack (3), and the hanger front fixing device (21) and the hanger rear fixing device (22) are locked;
step 13: and (5) sequentially rotating the rotary wheel type storage rack (3) to a designated angle, and repeating the steps 4-12.
2. The single-group-wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: the joint of one group of swing rods (5) and the fixed edge (4) is provided with a driving motor (8), an angle measuring sensor (9) and a stop device (10).
3. The single-group-wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: a storage rack driving module is arranged on one side of the storage rack front support (14), and comprises a driving motor (8), a speed reducer (17), a stopping device (10) and an angle measuring sensor (9).
4. The single-group-wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: the storage rack rear support is characterized in that a driving motor (8), a stopping device (10) and an angle measuring sensor (9) are also arranged in the storage rack rear support (15), a supporting structure (18) is arranged on one side of the storage rack rear support (15), and a speed reducer (17) is arranged at the tail end of the supporting structure (18).
5. The single-group-wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: unmanned aerial vehicle stores pylon (16) on be provided with before stores pylon fixing device (21) and stores pylon after fixing device (22), fixing device (19) and after fixing device (20) before unmanned aerial vehicle stores pylon (16) bottom still is provided with, preceding fixing device (19) and after fixing device (20) be mechanical stop device or electromagnetism stop device.
6. The single-group-wheel link type unmanned aerial vehicle throwing device of claim 1, wherein: unmanned aerial vehicle stores pylon (16) and runner (12) adopt detachable to be connected, and unmanned aerial vehicle stores pylon (16) upper surface is provided with driving rack.
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| CN201811617614.9A CN109747830B (en) | 2018-12-27 | 2018-12-27 | Single-group wheel connecting rod type unmanned aerial vehicle throwing device and throwing method |
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| CN109747830B true CN109747830B (en) | 2022-04-19 |
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