CN110116806A - A kind of device docked for fixed-wing unmanned plane with rotor flat pad - Google Patents
A kind of device docked for fixed-wing unmanned plane with rotor flat pad Download PDFInfo
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- CN110116806A CN110116806A CN201910351554.9A CN201910351554A CN110116806A CN 110116806 A CN110116806 A CN 110116806A CN 201910351554 A CN201910351554 A CN 201910351554A CN 110116806 A CN110116806 A CN 110116806A
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- 230000007246 mechanism Effects 0.000 claims abstract description 76
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- 239000000463 material Substances 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 10
- 238000004064 recycling Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 8
- 238000011084 recovery Methods 0.000 description 6
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- 238000000926 separation method Methods 0.000 description 3
- 210000000481 breast Anatomy 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000004080 punching Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
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Abstract
The embodiment of the invention discloses a kind of devices docked for fixed-wing unmanned plane with rotor flat pad, are related to air vehicle technique field, can be realized docking for fixed-wing unmanned plane and rotor flat pad.The present invention includes: three rotatable fixed mechanisms being mounted on quadrotor platform, three locking devices are rotated around respective rotary shaft, the honeysuckle flap-type locking device from two side lock wheels is designed as at the front-wheel of fixed-wing unmanned plane, rear-wheel is two single flower flap-type locking devices respectively from wheel after two side locks.The groove that two inclined plates are formed, similar trigger can play the role of preventing wheel from skidding.Slider-rocker mechanism is made of honeysuckle valve slider-rocker mechanism and single flower valve slider-rocker mechanism, and is connected with the interior base of pedestal, and the overturning of sum is driven by the movement that vertical direction is done in linear motor driving.The present invention is suitable for fixed-wing unmanned plane and docks with rotor flat pad.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to one kind is for fixed-wing unmanned plane and rotor flat pad pair
The device connect.
Background technique
Current fixed-wing unmanned plane transmitting is numerous with way of recycling, in addition to traditional sliding race landing, main launch party
Formula is to increase the speed of fixed-wing unmanned plane instantaneously with height by way of providing power, including hand throws transmitting, distance of zero mark hair
It penetrates, ejection type transmitting and air-launched etc., and way of recycling is to provide the fixed-wing unmanned plane in movement buffering to draw
Energy reduces its speed and height moment, including recycling of breasting the tape, parachute recycling, net collision recovery, partially recycled and aerial time
Receive etc..
But hand throwing, distance of zero mark, ejection type transmitting and breast the tape, hit net and parachute recycling be easy body is caused to damage,
With being constantly progressive for unmanned air vehicle technique, air-launched/recycling fixed-wing unmanned plane theoretically has become possibility.By four rotations
Air-launched/recycling platform of the rotor aircraft as fixed-wing unmanned plane, also just combine quadrotor VTOL with
The remote advantage of the big voyage of fixed-wing unmanned plane load.
Air-launched and recycling can be divided into two types, one is short distance-VTOL aircraft is used, although it has both four
Rotor with the advantages of fixed-wing but it voyage is short, combat radius is restricted.Therefore in the research process of technical team,
The second way is proposed, wing unmanned plane landing is auxiliarily fixed with quadrotor.
This just needs to realize in the presence of a harsh environment aerial while the structure and performance for not influencing fixed-wing unmanned plane
Landing.But in the zoarium and separation process of quadrotor and fixed-wing unmanned plane, interference easy to form between the two,
How to realize docking for fixed-wing unmanned plane and rotor flat pad, just becomes the current technical issues that need to address.
Summary of the invention
The embodiment of the present invention provides a kind of device docked for fixed-wing unmanned plane with rotor flat pad, Neng Goushi
Existing fixed-wing unmanned plane is docked with rotor flat pad.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
Three rotatable fixed mechanisms being mounted on quadrotor platform, three locking devices are revolved around respective rotary shaft
Turn, the appearance that motion profile is opened and closed such as petal is wherein designed as a honeysuckle flap-type from two side lock wheels at front-wheel
Locking device (1), rear-wheel are two single flower flap-type locking devices (2) respectively from wheel after two side locks.Two inclined plates
The groove (3) of formation, similar trigger can play the role of preventing wheel from skidding.Slider-rocker mechanism (4) is shaken by honeysuckle valve
Bar slide block mechanism (i) and single flower valve slider-rocker mechanism (ii) form, and are connected with the interior base (iii) of pedestal (5), by straight
Line motor driven, does the movement of vertical direction in stroke groove (8), and then drives in (1) and (2) petal (7) around rotary shaft (6)
Overturning.Wherein linear motor is installed in the interior base (iii) of pedestal (5), and interior base (iii) is fixed on by outer base (iv)
Quadrotor platform.Petal type locking mechanism (1) and the rotation angle of the petal (7) of (2) the overturning straight line where sliding block
It is related with the distance of rotary shaft (6), the radius of turn of binding site.
It is found in current research, the rotor of conventional quadrotor is placed upward, in quadrotor and admittedly
Determine in the zoarium and separation process of wing unmanned plane, interference easy to form between the two.For this problem, carried out in the present invention
Rotor is adjusted to place downwards by Curve guide impeller.Locking device influences the flight aeroperformance of quadrotor in order to prevent,
Fixed docking facilities are designed as sinking to quadrotor body by interference to unmanned plane when reducing docking, make its groove top with it is right
Connect plateau levels.And to realize that quadrotor assists the docking of fixed-wing unmanned plane landing, devise a kind of petal type
The locking and unlock of rotating mechanism completion fixed-wing unmanned plane undercarriage.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is that fixed-wing provided in an embodiment of the present invention docks general effect figure with quadrotor；
Fig. 2 is the schematic diagram of fixed-wing provided in an embodiment of the present invention and quadrotor docking facilities general assembly distribution structure；
Fig. 3 is the structural schematic diagram of fixed device unlocked state provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of fixed device lock state provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of honeysuckle flap-type locking device details provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of single flower flap-type locking device details provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of honeysuckle valve slider-rocker mechanism details provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of single flower valve slider-rocker mechanism details provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of pedestal details provided in an embodiment of the present invention；
Figure 10 is that fixed device provided in an embodiment of the present invention is connected and fixed wing unmanned plane detail view；
Figure 11 is triadius type locking device figure provided in an embodiment of the present invention；
Figure 12 is that triadius type locking device provided in an embodiment of the present invention locks wheel detail view；
Wherein, each label in attached drawing indicates:
Honeysuckle flap-type locking device -1, groove -3, slider-rocker mechanism -4, pedestal -5, turns single flower flap-type locking device -2
Moving axis -6, petal -7, stroke groove -8, claw -9, wheel -10, honeysuckle valve slider-rocker mechanism-i, single flower valve rocker slider machine
Structure-ii, interior base-iii, outer base-iv.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
Present invention is further described in detail for formula.Embodiments of the present invention are described in more detail below, the embodiment is shown
Example is shown in the accompanying drawings, and in which the same or similar labels are throughly indicated same or similar element or has identical or class
Like the element of function.It is exemplary below with reference to the embodiment of attached drawing description, for explaining only the invention, and cannot
It is construed to limitation of the present invention.Those skilled in the art of the present technique are appreciated that unless expressly stated, odd number shape used herein
Formula " one ", "one", " described " and "the" may also comprise plural form.It is to be further understood that specification of the invention
Used in wording " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that
In the presence of or add other one or more features, integer, step, operation, element, component and/or their group.It should be understood that
When we say that an element is " connected " or " coupled " to another element, it can be directly connected or coupled to other elements, or
There may also be intermediary elements.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Here make
Wording "and/or" includes one or more associated any cells for listing item and all combinations.The art
Technical staff is appreciated that unless otherwise defined all terms (including technical terms and scientific terms) used herein have
Meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.It should also be understood that such as general
Those terms, which should be understood that, defined in dictionary has a meaning that is consistent with the meaning in the context of the prior art, and
Unless defined as here, it will not be explained in an idealized or overly formal meaning.
The embodiment of the present invention provides a kind of device docked for fixed-wing unmanned plane with rotor flat pad, comprising:
On the rotary shaft, the rotary shaft (6) in order to the locking device around itself is revolved for petal (7) installation of locking device
Turn.Wherein, due to being similar to the track of petal opening and closing, the structure that would generally be marked (7) in industry is referred to as " petal ", this
Structure between technical staff, is referred to as " tongue " on some production lines.
Fluted (3) are installed in the top half of the locking device, groove (3) is formed by two inclined plates,
Groove (3) is used to hold the wheel of the undercarriage of the fixed-wing unmanned plane.The locking device can be played similar to trigger
The effect for preventing the wheel of the undercarriage of the fixed-wing unmanned plane from skidding.
The lower end of slider-rocker mechanism (4) is connected with linear motor, and the upper end of slider-rocker mechanism (4) and the locking fill
The petal (7) set is connected, wherein when the linear motor does the movement of vertical direction, drive rocker slide block mechanism (4) is expert at
Vertical motion in journey slot (8), so that the petal (7) of the locking device be driven to overturn.
The linear motor is installed in pedestal (5).
Wherein, the linear motor is installed in the interior base (iii) of pedestal (5), and interior base (iii) is embedded in outer base
(iv) in groove, interior base (iii) is fixed on the quadrotor platform by outer base (iv).
Specifically, for each locking device: the petal (7) of each locking device is around being fixed on groove (3)
Rotary shaft (7) rotation.Side is supported on each locking device pedestal (5), offers the stroke groove (8) of a movement, often
One locking device passes through stroke groove (8) (8) engagement slider-rocker mechanism (4).
In practical applications, the number of the wheel of the undercarriage of fixed-wing unmanned plane described in the quantity Matching of the locking device
Amount.
It is numerous in the transmitting of current existing fixed-wing unmanned plane and way of recycling, in addition to traditional sliding race landing, master
Wanting radiation pattern is to increase the speed of fixed-wing unmanned plane instantaneously with height by way of providing power, including hand throws hair
Penetrate, the transmitting of zero length lauuch, ejection type and air-launched etc., and way of recycling be the fixed-wing unmanned plane in movement is provided it is slow
Punching reduces its speed and height moment to absorb energy, including recycling of breasting the tape, parachute recycling, net collision recovery, partially recycled
With recycling etc. in the air.But because hand throwing, distance of zero mark, ejection type transmitting and breast the tape, hit net and parachute recycling be easy body is made
At damage, it is contemplated that can be using air-launched and recycling.In conjunction with quadrotor VTOL and fixed-wing nobody
The advantage that airborne lotus is big, voyage is remote, air-launched and recycling can be divided into two types, and one is flown using short distance-VTOL
Machine, although it have both quadrotor with the advantages of fixed-wing it voyage is short, combat radius is restricted, therefore in view of the
Wing unmanned plane landing is auxiliarily fixed with quadrotor in two kinds of modes.
Since the rotor of conventional quadrotor is placed upward, thus in quadrotor and fixed-wing unmanned plane
In fit and separation process, interference easy to form between the two, therefore it is slightly modified, rotor is adjusted to place downwards.By four
Fixed-wing unmanned plane is consigned to aerial as mobile airport and completes landing, it is not necessary to by place to fixed-wing by rotor craft
The limitation of landing.
The technology above-mentioned state of the art provides the docking facilities of a kind of fixed-wing unmanned plane and quadrotor in the present embodiment.
Which includes three rotatable fixed mechanisms being mounted on quadrotor platform, general assembly drawing is as shown in Figure 1, three locks
Determine device to rotate around respective rotary shaft, the appearance that motion profile is opened and closed such as petal is wherein designed as one from two at front-wheel
The honeysuckle flap-type locking device (1) of side lock wheel, rear-wheel are two single flower flap-type locking devices (2) respectively after two side locks
Wheel.The groove (3) that two inclined plates are formed, similar trigger can play the role of preventing wheel from skidding.Rocking bar is sliding
Block mechanism (4) is made of honeysuckle valve slider-rocker mechanism (i) and single flower valve slider-rocker mechanism (ii), and interior with pedestal (5)
Pedestal (iii) is connected, and drives petal in (1) and (2) by the movement that vertical direction is done in linear motor driving in stroke groove (8)
(7) it is overturn around rotary shaft (6).Wherein linear motor is installed in the interior base (iii) of pedestal (5), and interior base (iii) is by outer bottom
Seat (iv) is fixed on quadrotor platform.In petal type locking mechanism (1) and (2) petal (7) overturning rotation angle by
Straight line where sliding block is related with distance, the radius of turn of binding site of rotary shaft (6).
3 locking devices are installed, each locking device is rotated around respective rotary shaft (6) on the rotor flat pad.
Tricycle landing gear is installed on the fixed-wing unmanned plane.One honeysuckle flap-type is installed at the nose-gear of the undercarriage
Locking device (1).Two single flower flap-type locking devices (2) are installed at two main landing gears of the undercarriage.Wherein petal (7)
The appearance that is opened and closed such as petal of motion profile, the rotation angle of petal (7) overturning by sliding block place straight line and rotary shaft away from
It is related from, the radius of turn of binding site.Such as:
It for quadrotor flat pad, is mounted on quadrotor platform, is three rotatable fixed mechanisms,
General assembly drawing as shown in Figure 1, the device of the invention structure as shown in Fig. 2, the structure include three locking mechanisms: a honeysuckle valve
Formula locking device (1) and two single flower flap-type locking devices (2), three grooves (3), three slider-rocker mechanisms (4), wherein wrapping
A honeysuckle valve slider-rocker mechanism (i) and two single flower valve slider-rocker mechanisms (ii), three pedestals (5) are included, including
Three interior bases (iii) and three outer bases (iv), rotary shaft (6), four petals (7) and eight stroke grooves (8).
Slider-rocker mechanism (4) can be divided into honeysuckle valve slider-rocker mechanism (i) and single flower valve slider-rocker mechanism (ii),
Slider-rocker mechanism (4) is connected with the interior base (iii) of pedestal (5), and slider-rocker mechanism (4) is driven by linear motor,
The movement of vertical direction is done in stroke groove (8), to drive in petal type locking mechanism (1) and (2) petal (7) around rotary shaft
(6) it overturns.Wherein, honeysuckle valve slider-rocker mechanism (i) is used to dock the nose-gear of fixed-wing unmanned plane, and 2 single flower valves
Slider-rocker mechanism (ii) is used to dock two main landing gears of fixed-wing unmanned plane, specifically:
One, in single flower flap-type locking device (2): a rocker slider machine is installed in single flower valve slider-rocker mechanism (ii)
Structure.The linear motor installed under the lower end of one slider-rocker mechanism and single flower flap-type locking device (2) is connected, and described one
The petal (7) of a slider-rocker mechanism connection single flower flap-type locking device (2), when what is installed under single flower flap-type locking device (2)
When linear motor does the movement of vertical direction, one slider-rocker mechanism is driven to drive single flower flap-type locking device (2)
Petal (7) overturning.
Rear-wheel locking mechanism is two single flower flap-type locking devices (2) side lock wheel, assembling detail outside two rear-wheels
As shown in figure 5, the two single flower flap-type locking devices (2) installed at the rear-wheel of the undercarriage, are turned in respective petal (7)
After turning, respectively from the outside of two main landing gears of the fixed-wing unmanned plane, the rear wheel of the left and right sides is locked.
Two, in honeysuckle flap-type locking device (1): honeysuckle valve slider-rocker mechanism (i) is made of two slider-rocker mechanisms,
Described two slider-rocker mechanisms are symmetrical along the central axes of honeysuckle flap-type locking device (1).What central axes referred to is exactly to pass through honeysuckle
The vertical line of the center of gravity of flap-type locking device (1) is whether seen on front view or side view, is all central axes.
The linear motor installed under the lower end of each slider-rocker mechanism and honeysuckle flap-type locking device (1) is connected, often
One slider-rocker mechanism is separately connected a petal (7), wherein when the straight-line electric installed under honeysuckle flap-type locking device (1)
When machine does the movement of vertical direction, two slider-rocker mechanisms is driven to drive the overturning of two petals (7) respectively.
Front-wheel locking mechanism is a honeysuckle flap-type locking device (1) from two side lock wheels, assembling detail such as Fig. 4 institute
Show.The honeysuckle flap-type locking device (1) installed at the nose-gear of the undercarriage, after two petals (7) are reversed, from institute
The left and right sides for stating the front-wheel of fixed-wing unmanned plane locks the front-wheel.
A kind of reliable docking facilities are present embodiments provided, using simple structure, design a kind of flower of portable and stable
The locking and unlock of flap-type rotating mechanism completion fixed-wing unmanned plane undercarriage.
The Its Track Design of three rotating mechanisms (1,2) is the form of petal opening and closing, it is possible to reduce it does wheel
It disturbs.In unlocked state, the form of petal expansion is presented, will not influence rising and falling for wheel.It is in the lock state, it can be such as the flower of closure
Fixed-wing undercarriage is firmly embraced as valve.
And due to designing the groove (3) being made of two inclined plates below each locking device, it is similar to vapour
The trigger of vehicle can play the role of preventing wheel from skidding.
Slider-rocker mechanism (4) connects pedestal (5) and locking device, passes through driving sliding block vertical movement control (1) and (2)
Rotation, as Fig. 6,7 its rotate at a distance from angles and " sliding block " place straight line and rotary shaft (6), the radius of turn of binding site has
It closes.
The interior base (iii) of pedestal (5) is connected with slider-rocker mechanism (4), and lower section is equipped with linear motor, passes through motor
Driving carry out linear motion to drive rocker slider slide block mechanism (4) to move vertically, thus control three locking devices
Rotary motion, outer base (iv) are fixed on quadrotor, and groove (3) is made to be in one with quadrotor platform just
A plane has pose adjustment when deviation to the landing of fixed-wing unmanned plane.
The concrete operating principle of device provided by the present embodiment:
The transmitting of traditional fixed-wing unmanned plane and recovery technology are perhaps easy to damage fixed wing structure or right
Site requirements is higher.Using quadrotor as mobile airport, fixed-wing unmanned plane is consigned to aerial and completes landing, no
Fixed-wing landing must be limited by place.Traditional fixed-wing unmanned plane way of recycling is mostly unmanned plane in high-speed flight situation
It is lower to be stopped, so that fixed-wing unmanned plane body is severely affected power, higher to the loss of fixed-wing, the present invention is in quadrotor
Aircraft and fixed-wing unmanned plane make its move contrail fitting at parallel lines when reaching identical level speed, then using locking
Folding and unfolding is realized in the locking and unlock of device, and cost is saved in the loss that can reduce fixed-wing unmanned plane.
When quadrotor platform delivery fixed-wing unmanned plane takes off, shadow of the fixed-wing unmanned plane to quadrotor
It rings and mainly increases a part of mission payload, the aerodynamic force that when flight generates produces portion for the flight attitude of hybrid system
Dividing influences, but because the speed to take off vertically is smaller, aerodynamic force caused by fixed-wing unmanned plane is generated relative to quadrotor
Driving force very little, therefore influence of the fixed-wing unmanned plane to quadrotor can be ignored.The air-launched stage, four
When rotor platform cooperates with speed per hour degree to reach the minimum level speed of fixed-wing with fixed-wing unmanned plane, linear motor is activated,
Interior base (iii) is done in stroke groove (8) with linear motor drive rocker slide block mechanism (4) and is moved straight down, by electricity
The control of machine completes the linear movement of rocker slider (4) to make the petal of three petal type locking mechanisms (1,2)) (7) outside
Overturning completes the unlock to fixed-wing unmanned plane, as shown in Figure 2.Wherein, the track of petal type locking device (1,2) petal (7)
It is designed as the curve of Inside To Outside overturning, the interference to fixed-wing undercarriage can be reduced.Fixed-wing unmanned plane can be with after unlock
It is safe and reliable into independent state of flight, the petal type locking device (1,2) on quadrotor is in the unlocked state, flower
Valve (7) is expanded form, quadrotor inboard is in together with entire docking facilities, to the aeroperformance of quadrotor
It influences negligible.
Aerial recovery stage, adjustment posture enters in groove (3) after fixed-wing unmanned plane return drops to quadrotor platform,
The design of two tilt flat plates of groove (3) can play the role of trigger, prevent fixed-wing unmanned plane from dropping to quadrotor flat
Sliding is generated after platform.The straight-line electric at interior base (iii) is activated while fixed-wing unmanned plane undercarriage is in groove (3)
Machine drives interior base (iii) to drive slider-rocker mechanism (4) to move upwards with linear motor, to make three petal types
Inwardly overturning locks fixed-wing undercarriage to locking mechanism (1,2), as shown in Figure 3.The rail of petal type locking device (1,2)
The design of mark is closed inwardly on the outside as the petal of closing, by slider-rocker mechanism (4) top half in petal type
Sliding in locking mechanism (1,2), lower half portion vertical motion in stroke groove drive " petal " to embrace wheel.This design is not only
The interference to fixed-wing undercarriage can be reduced, also wheel can firmly be embraced, preventing fixed-wing unmanned plane from generating vibration influences
The flying quality of quadrotor.Front-wheel locking device, which is designed as honeysuckle flap-type (1), can provide certain deviation remaining, work as fixation
When wing unmanned plane has a little horizontal-shift, posture correction can be carried out to it by the lockover of honeysuckle flap-type locking device (1),
Stablize the latter two fit holdings, avoids because docking the unstable vibration interference for causing zoarium to fly.
Fixed-wing unmanned plane emits on quadrotor platform and recycles two phase process, and jack only carries out two and moves
Make: unlock and locking.The air-launched stage is fairly simple, the jack after fixed-wing unmanned plane reaches minimum level speed
(1,2) are unlocked, aerial recovery stage, excite sensing device to form one after fixed-wing unmanned plane docks on groove (3)
A activation trigger signal linear motor driving interior base (iii) moves up and down, and rocker slider (4) is made to drive jack (1,2)
Overturning, and overturn by (1,2) and fixed-wing unmanned plane undercarriage is securely seated between on quadrotor.
Device provided in this embodiment in practical applications, can complete the quadrotor platform in landing bad environments
The transmitting of wing unmanned plane is auxiliarily fixed to dock with recovery stage completion, it is not necessary to limit fixed-wing landing by place.
It, can due to fixed-wing unmanned plane being consigned to aerial and completes landing using quadrotor as mobile airport
So that transmitting reduces the loss of fixed-wing unmanned plane with removal process.
The design of petal type locking device can reduce the interference to fixed-wing undercarriage, the locking of fixed-wing unmanned plane can
By property height, and device is simply light, will not influence the aeroperformance of quadrotor drone.
Further, docking facilities provided in this embodiment can correct the posture of fixed-wing unmanned plane, make four rotations
It keeps stablizing after rotor aircraft and fixed-wing unmanned plane are fit, therefore is suitable for completing quadrotor fixing with docking for fixed-wing.
Further, as shown in Figure 10, honeysuckle flap-type locking mechanism (1) and the locking of single flower flap-type in the present embodiment fill
Set petal (7) structure of (2), when design, need to match with gear tyre size, and it is prominent that shape is designed as semicircle and edge,
In view of unmanned plane undercarriage size is less than normal, therefore protrusion is designed as gear tyre thickness.
Optionally, entire petal (7) inside material use rubber material, both can increasing friction force, firmly embrace fixed-wing
The undercarriage of unmanned plane prevents it from generating vibration because locking is unstable, interferes whole aerodynamic characteristic, at the same again can to fixed-wing without
Man-machine undercarriage plays a protective role, and will not damage gear tyre.
As shown in figure 11, petal (7) top half can use triadius type locking device, and it is designed as three-jaw and fixes,
While outside is close to wheel, wheel is firmly embraced using locking device, stable three-jaw is configured at locking device and is fixed,
At hexagonal angle between each fixed jaw, retractable holds wheel tightly, wherein wheel structure is shown in Fig.12.To
Adapt to the unmanned plane of the different size wheels of undercarriage.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for equipment reality
For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method
Part explanation.The above description is merely a specific embodiment, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Subject to enclosing.
Claims (12)
1. a kind of device docked for fixed-wing unmanned plane with rotor flat pad characterized by comprising
Locking device is installed on the rotary shaft, and the rotary shaft (6) in order to the locking device around itself rotates；
Fluted (3) are installed in the top half of the locking device, groove (3) is formed by two inclined plates, groove (3)
For holding the wheel of the undercarriage of the fixed-wing unmanned plane；
The lower end of slider-rocker mechanism (4) is connected with linear motor, upper end and the locking device of slider-rocker mechanism (4)
Petal (7) is connected, wherein when the linear motor does the movement of vertical direction, drive rocker slide block mechanism (4) is to drive
The petal (7) for stating locking device makes it carry out the wheel of lockover fixed-wing unmanned plane around respective rotary shaft (6)；
The linear motor is installed in pedestal (5).
2. the apparatus according to claim 1, which is characterized in that for each locking device:
Each locking device is rotated around the rotary shaft (6) for being fixed on groove (3)；
On each locking device, the stroke groove (8) of limitation slider-rocker mechanism (4) vertical motion is offered, it is each
A petal (7) structure by stroke groove (8) drive slider-rocker mechanism (4) locked and unlocked, to wheel motion profile without
Interference.
3. the apparatus of claim 2, which is characterized in that fixed-wing described in the quantity Matching of the locking device nobody
The quantity of the wheel of the undercarriage of machine.
4. the apparatus of claim 2, which is characterized in that install 3 locking devices on the rotor flat pad, often
A locking device is rotated around respective rotary shaft (6)；
Tricycle landing gear is installed on the fixed-wing unmanned plane；
One honeysuckle flap-type locking device (1) is installed at the front-wheel of the undercarriage；
Two single flower flap-type locking devices (2) are installed at the rear-wheel of the undercarriage.
5. device according to claim 4, which is characterized in that in single flower flap-type locking device (2):
One slider-rocker mechanism is installed in single flower valve slider-rocker mechanism (ii)；
The linear motor installed under the lower end of one slider-rocker mechanism and single flower flap-type locking device (2) is connected, described
The petal (7) of one slider-rocker mechanism connection single flower flap-type locking device (2), is installed when under single flower flap-type locking device (2)
Linear motor when doing the movement of vertical direction, drive one slider-rocker mechanism vertical motion in stroke groove (8), from
And drive the overturning of the petal (7) of single flower flap-type locking device (2).
6. device according to claim 5, which is characterized in that the two single flower flap-type installed at the rear-wheel of the undercarriage
Locking device (2), after respective petal (7) is reversed, respectively from the outside of wheel after two of the fixed-wing unmanned plane,
Lock the rear wheel of the left and right sides.
7. device according to claim 4, which is characterized in that in honeysuckle flap-type locking device (1):
Honeysuckle valve slider-rocker mechanism (i) is made of two slider-rocker mechanisms, and described two slider-rocker mechanisms are along honeysuckle valve
The central axes of formula locking device (1) are symmetrical；
The linear motor installed under the lower end of each slider-rocker mechanism and honeysuckle flap-type locking device (1) is connected, each
Slider-rocker mechanism is separately connected a petal (7), wherein when the linear motor installed under honeysuckle flap-type locking device (1) is perpendicular
Histogram to movement when, drive two slider-rocker mechanisms to drive the overturning of 2 petals (7) in the respective stroke groove (8) respectively.
8. device according to claim 7, which is characterized in that the honeysuckle flap-type locking installed at the front-wheel of the undercarriage
Device (1), from the left and right sides of the front-wheel of the fixed-wing unmanned plane, locks the front-wheel after 2 petals (7) are reversed.
9. the apparatus according to claim 1, which is characterized in that the linear motor is installed on the interior base of pedestal (5)
(iii) in, interior base (iii) is embedded in the groove of outer base (iv), and interior base (iii) is fixed on described by outer base (iv)
Quadrotor platform.
10. the apparatus according to claim 1, which is characterized in that honeysuckle flap-type locking mechanism (1) and the locking of single flower flap-type fill
Petal (7) structure for setting (2), matches with gear tyre size, and shape is designed as semicircle and edge and protrudes, protrusion
Equal to gear tyre thickness.
11. device according to claim 10, which is characterized in that petal (7) inside material uses rubber material.
12. device according to claim 10, which is characterized in that the top half of petal (7) is using triadius type locking dress
Set, be designed as three-jaw and fix, on the outside close to wheel when, wheel is embraced using locking device, three are configured at locking device
Pawl is fixed, at hexagonal angle between each fixed jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910351554.9A CN110116806B (en) | 2019-04-28 | 2019-04-28 | Device for butt joint of fixed-wing unmanned aerial vehicle and rotor wing launching platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910351554.9A CN110116806B (en) | 2019-04-28 | 2019-04-28 | Device for butt joint of fixed-wing unmanned aerial vehicle and rotor wing launching platform |
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| CN110116806A true CN110116806A (en) | 2019-08-13 |
| CN110116806B CN110116806B (en) | 2022-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910351554.9A Active CN110116806B (en) | 2019-04-28 | 2019-04-28 | Device for butt joint of fixed-wing unmanned aerial vehicle and rotor wing launching platform |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110525672A (en) * | 2019-10-09 | 2019-12-03 | 北京中航智科技有限公司 | A kind of unmanned vehicle protection cylinder and its separator |
| CN112224417A (en) * | 2020-09-22 | 2021-01-15 | 南京航空航天大学 | Aircraft provided with modular embedded landing gear and application method thereof |
| CN112722284A (en) * | 2021-01-15 | 2021-04-30 | 南京航空航天大学 | Auxiliary vertical take-off and landing method and device for fixed-wing aircraft |
| WO2021093135A1 (en) * | 2019-11-12 | 2021-05-20 | 周鹏跃 | Multi-rotor aircraft and related method for air separation thereof from fixed-wing aircraft |
| CN116022386A (en) * | 2023-03-31 | 2023-04-28 | 中国空气动力研究与发展中心空天技术研究所 | Device for releasing and recycling unmanned aerial vehicle |
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| CN104691758A (en) * | 2015-03-01 | 2015-06-10 | 朱幕松 | Rotor wing vertical lift electric unmanned machine of linkage fixed wing |
| CN106043696A (en) * | 2016-06-30 | 2016-10-26 | 天津曙光天成科技有限公司 | Flying system for unmanned aerial vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110525672A (en) * | 2019-10-09 | 2019-12-03 | 北京中航智科技有限公司 | A kind of unmanned vehicle protection cylinder and its separator |
| WO2021093135A1 (en) * | 2019-11-12 | 2021-05-20 | 周鹏跃 | Multi-rotor aircraft and related method for air separation thereof from fixed-wing aircraft |
| CN112224417A (en) * | 2020-09-22 | 2021-01-15 | 南京航空航天大学 | Aircraft provided with modular embedded landing gear and application method thereof |
| CN112722284A (en) * | 2021-01-15 | 2021-04-30 | 南京航空航天大学 | Auxiliary vertical take-off and landing method and device for fixed-wing aircraft |
| CN112722284B (en) * | 2021-01-15 | 2021-12-14 | 南京航空航天大学 | Auxiliary vertical take-off and landing method and device for fixed-wing aircraft |
| CN116022386A (en) * | 2023-03-31 | 2023-04-28 | 中国空气动力研究与发展中心空天技术研究所 | Device for releasing and recycling unmanned aerial vehicle |
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| Publication number | Publication date |
|---|---|
| CN110116806B (en) | 2022-05-03 |
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