CN110116806B - Device for butt joint of fixed-wing unmanned aerial vehicle and rotor wing launching platform - Google Patents
Device for butt joint of fixed-wing unmanned aerial vehicle and rotor wing launching platform Download PDFInfo
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- CN110116806B CN110116806B CN201910351554.9A CN201910351554A CN110116806B CN 110116806 B CN110116806 B CN 110116806B CN 201910351554 A CN201910351554 A CN 201910351554A CN 110116806 B CN110116806 B CN 110116806B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- 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; ARRANGEMENTS 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
Abstract
The embodiment of the invention discloses a device for butting a fixed-wing unmanned aerial vehicle and a rotor wing launching platform, relates to the technical field of unmanned aerial vehicles, and can realize the butting of the fixed-wing unmanned aerial vehicle and the rotor wing launching platform. The invention comprises the following steps: install three fixed establishment that can rotate on four rotor platforms, three locking device is rotatory around rotation axis separately, and fixed wing unmanned aerial vehicle's front wheel department designs for a two petal formula locking device from both sides locking wheel, and the rear wheel is two single petal formula locking device and locks the rear wheel from both sides respectively. The grooves formed by the two inclined flat plates can play a role of preventing the wheel from skidding like a skid stopper. The rocker sliding block mechanism consists of a double-petal rocker sliding block mechanism and a single-petal rocker sliding block mechanism, is connected with the inner base of the base, and is driven by a linear motor to move in the vertical direction to drive and turn over. The invention is suitable for butt joint of the fixed-wing unmanned aerial vehicle and the rotor wing launching platform.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a device for butting a fixed-wing unmanned aerial vehicle and a rotor wing launching platform.
Background
The current fixed wing unmanned aerial vehicle transmission and recovery mode is numerous, except traditional rolloff take-off and landing, its main transmission mode makes fixed wing unmanned aerial vehicle's speed and height transient increase through the mode that provides power, including hand throw transmission, zero-length transmission, launch formula transmission and aerial transmission etc. and the recovery mode is that the fixed wing unmanned aerial vehicle in the motion provides the buffering and makes its speed and height reduce in the twinkling of an eye with absorbing the energy, including colliding the line and retrieving, the parachute is retrieved, hits the net and retrieves, partial recovery and aerial recovery etc..
However, the fixed-wing unmanned aerial vehicle launched/recovered in the air is theoretically possible with the continuous progress of the unmanned aerial vehicle technology. The four-rotor aircraft is used as an aerial launching/recovering platform of the fixed-wing unmanned aerial vehicle, and the advantages of vertical take-off and landing of the four-rotor aircraft and long-range loading of the fixed-wing unmanned aerial vehicle are combined.
The air launching and recovery can be divided into two types, one is a short-range vertical take-off and landing aircraft, and although the aircraft has the advantages of four rotors and fixed wings, the aircraft has short range and limited combat radius. Therefore, in the research process of the technical team, a second mode is provided for assisting the take-off and landing of the fixed-wing unmanned aerial vehicle by using a four-rotor aircraft.
This requires that airborne take-off and landing in harsh environments be achieved without affecting the structure and performance of fixed wing drones. But in the fit and the separation process of four rotor crafts and fixed wing unmanned aerial vehicle, form the interference easily between the two, how to realize the butt joint of fixed wing unmanned aerial vehicle and rotor launching platform, just become the technical problem that needs to solve for now.
Disclosure of Invention
The embodiment of the invention provides a device for butting a fixed-wing unmanned aerial vehicle and a rotor wing launching platform, which can realize the butting of the fixed-wing unmanned aerial vehicle and the rotor wing launching platform.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
three fixing mechanisms which can rotate are arranged on the four-rotor platform, three locking devices rotate around respective rotating shafts, the motion trail of the three fixing mechanisms is like opening and closing of petals, a double-petal type locking device (1) for locking the airplane wheels from two sides is designed at the front wheel, and two single-petal type locking devices (2) for locking the rear airplane wheels from two sides respectively are designed at the rear wheel. The grooves (3) formed by the two inclined flat plates can play a role of preventing the wheel from skidding like a skid stopper. The rocker sliding block mechanism (4) consists of a double-petal rocker sliding block mechanism (i) and a single-petal rocker sliding block mechanism (ii), is connected with an inner base (iii) of the base (5), is driven by a linear motor to move in the vertical direction in a travel groove (8), and then drives petals (7) in the (1) and the (2) to turn around a rotating shaft (6). Wherein the linear motor is mounted in an inner base (iii) of the base (5), the inner base (iii) being fixed to the quad-rotor aircraft platform by an outer base (iv). The rotating angle of the petals (7) of the petal type locking mechanisms (1) and (2) in the overturning process is related to the distance between the straight line where the sliding block is located and the rotating shaft (6) and the rotating radius of the joint.
In the current research, the rotor of the conventional four-rotor aircraft is upwards placed, and interference is easily formed between the four-rotor aircraft and the fixed-wing unmanned aerial vehicle in the process of combination and separation of the four-rotor aircraft and the fixed-wing unmanned aerial vehicle. In response to this problem, the present invention provides an improved design for adjusting the rotor to be positioned downward. In order to prevent that locking device from influencing four rotor crafts's flight aerodynamic performance, to unmanned aerial vehicle's interference when reducing the butt joint, will fix butt joint device design for sinking into four rotor organisms, make its recess upper portion and butt joint platform level. And in order to realize the butt joint of the four-rotor aircraft assisting the take-off and landing of the fixed-wing unmanned aerial vehicle, a petal type rotating mechanism is designed to complete the locking and unlocking of the landing gear of the fixed-wing unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram illustrating the overall effect of the butt joint of the fixed wing and the four rotors provided by the embodiment of the invention;
FIG. 2 is a schematic view of a general assembly structure of a fixed wing and four-rotor docking assembly according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unlocked state of the fixing device according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram illustrating a locking state of a fixing device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a detail of a double petal type locking device provided by an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a detail of a single petal type locking device provided by an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a detail of a double petal rocker slider mechanism provided by an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a detail of a single petal rocker slider mechanism provided by an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a detail of a base provided in an embodiment of the present invention;
fig. 10 is a detail view of the fixing device connecting the fixed-wing drone according to the embodiment of the present invention;
FIG. 11 is a diagram of a three-pronged locking device provided by an embodiment of the present invention;
FIG. 12 is a detail view of the locking wheel of the three-pronged locking device provided by an embodiment of the present invention;
wherein the reference numerals in the drawings denote:
the device comprises a double-petal type locking device-1, a single-petal type locking device-2, a groove-3, a rocker sliding block mechanism-4, a base-5, a rotating shaft-6, petals-7, a stroke groove-8, a claw-9, an airplane wheel-10, a double-petal rocker sliding block mechanism-i, a single-petal rocker sliding block mechanism-ii, an inner base-iii and an outer base-iv.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the invention provides a device for butting a fixed-wing unmanned aerial vehicle and a rotor wing launching platform, which comprises:
the petals (7) of the locking means are mounted on the axis of rotation so that said locking means rotate about its own axis of rotation (6). Wherein, because of the similar track of opening and closing of the petals, the structure marked by (7) is generally called 'petals' in the industry, and the structure can also be called 'tongue' on some production lines and between technicians.
The locking device is characterized in that a groove (3) is arranged on the upper half portion of the locking device, the groove (3) is formed by two inclined flat plates, and the groove (3) is used for containing wheels of an undercarriage of the fixed-wing unmanned aerial vehicle. The locking device may act like a skid to prevent wheel slippage of the landing gear of the fixed wing drone.
The lower end of the rocker sliding block mechanism (4) is connected with the linear motor, the upper end of the rocker sliding block mechanism (4) is connected with the petals (7) of the locking device, and when the linear motor moves in the vertical direction, the rocker sliding block mechanism (4) is driven to vertically move in the stroke groove (8), so that the petals (7) of the locking device are driven to overturn.
The linear motor is arranged in the base (5).
Wherein the linear motor is mounted in an inner base (iii) of the base (5), the inner base (iii) is embedded in a groove of the outer base (iv), and the inner base (iii) is fixed to the quad-rotor aircraft platform by the outer base (iv).
Specifically, for each locking device: the petals (7) of each locking device rotate about a rotation axis (7) fixed to the groove (3). A moving travel slot (8) is formed in the supporting side surface of each locking device base (5), and each locking device is jointed with the rocker-slider mechanism (4) through the travel slots (8) (8).
In practical applications, the number of locking devices matches the number of wheels of the landing gear of the fixed wing drone.
The existing fixed-wing unmanned aerial vehicle has a plurality of launching and recovering modes, except for the traditional running and landing, the main launching mode of the fixed-wing unmanned aerial vehicle is to enable the speed and the height of the fixed-wing unmanned aerial vehicle to be instantly increased by providing a power mode, including hand-throwing launching, zero-length launching, ejection type launching, air launching and the like, and the recovering mode is to provide buffering for the moving fixed-wing unmanned aerial vehicle so as to absorb energy to enable the speed and the height of the moving fixed-wing unmanned aerial vehicle to be instantly reduced, and the recovering mode comprises line collision recovering, parachute recovering, net collision recovering, partial recovering, air recovering and the like. However, since the machine body is easily damaged by hand throwing, zero-length launching, ejection type launching, wire collision, net collision and parachute recovery, it is assumed that aerial launching and recovery can be adopted. The vertical take-off and landing of the four-rotor aircraft and the advantages of large load and long range of the fixed-wing unmanned aerial vehicle are combined, the air launching and recovery can be divided into two types, one type is that a short-distance vertical take-off and landing aircraft is adopted, although the four-rotor aircraft and the fixed wing aircraft have the advantages, the range is short, the operation radius is limited, and therefore the second mode is considered, and the four-rotor aircraft is used for assisting the fixed-wing unmanned aerial vehicle to take off and land.
Because the rotor of conventional four rotor crafts places upwards, therefore in the fit and the separation process of four rotor crafts and fixed wing unmanned aerial vehicle, form the interference easily between the two, consequently improve slightly, place the rotor adjustment downwards. The four-rotor aircraft is taken as a moving airport, the fixed-wing unmanned aerial vehicle is delivered to the air to finish take-off and landing, and the limitation of a field on take-off and landing of the fixed wing is avoided.
Technical field above, the interfacing apparatus of fixed wing unmanned aerial vehicle and four rotors is provided in this embodiment. The four-rotor-wing aircraft comprises three rotatable fixing mechanisms arranged on a four-rotor-wing platform, a general assembly drawing is shown in figure 1, three locking devices rotate around respective rotating shafts, the motion tracks of the three locking devices are like opening and closing of petals, a double-petal locking device (1) for locking the aircraft wheels from two sides is designed at the front wheel, and two single-petal locking devices (2) for locking the rear aircraft wheels from two sides respectively are designed at the rear wheel. The grooves (3) formed by the two inclined flat plates can play a role of preventing the wheel from skidding like a skid stopper. The rocker sliding block mechanism (4) consists of a double-petal rocker sliding block mechanism (i) and a single-petal rocker sliding block mechanism (ii), is connected with an inner base (iii) of the base (5), and is driven by a linear motor to move in a vertical direction in a stroke groove (8) to drive petals (7) in the stroke grooves (1) and (2) to turn around a rotating shaft (6). Wherein the linear motor is mounted in an inner base (iii) of the base (5), the inner base (iii) being fixed to the quad-rotor aircraft platform by an outer base (iv). The overturning rotation angle of the petals (7) in the petal type locking mechanisms (1) and (2) is related to the distance between the straight line where the sliding block is located and the rotating shaft (6) and the rotation radius of the joint.
The rotor wing launching platform is provided with 3 locking devices, and each locking device rotates around a respective rotating shaft (6). And a front three-point undercarriage is mounted on the fixed wing unmanned aerial vehicle. A double-petal type locking device (1) is installed at the nose landing gear of the landing gear. Two single petal type locking devices (2) are arranged at two main undercarriages of the undercarriages. The movement track of the petals (7) is the same as the opening and closing of the petals, and the rotating angle of the petals (7) in the overturning process is related to the distance between the straight line where the sliding block is located and the rotating shaft and the rotating radius of the joint point. For example:
for a four-rotor launch platform, three rotatable attachment mechanisms are mounted on the four-rotor launch platform, the general assembly view is shown in fig. 1, and the device structure of the present invention is shown in fig. 2, which includes three locking mechanisms: the device comprises a double-petal type locking device (1), two single-petal type locking devices (2), three grooves (3) and three rocker slider mechanisms (4), wherein the double-petal type rocker slider mechanisms (i) and two single-petal rocker slider mechanisms (ii) are included, and three bases (5) comprise three inner bases (iii), three outer bases (iv), a rotating shaft (6), four petals (7) and eight stroke grooves (8).
The rocker slider mechanism (4) can be divided into a double-petal rocker slider mechanism (i) and a single-petal rocker slider mechanism (ii), the rocker slider mechanism (4) is connected with an inner base (iii) of the base (5), the rocker slider mechanism (4) is driven by a linear motor to move in the stroke slot (8) in the vertical direction, and therefore petals (7) in the petal type locking mechanisms (1) and (2) are driven to overturn around the rotating shaft (6). Wherein the double petal rocker slider mechanism (i) is used for docking the nose landing gear of the fixed wing drone, and the 2 single petal rocker slider mechanisms (ii) are used for docking the two main landing gears of the fixed wing drone, in particular:
a single petal type locking device (2): and (3) a rocker-slider mechanism is arranged in the single petal rocker-slider mechanism (ii). The lower end of one rocker slider mechanism is connected with a linear motor installed below the single petal type locking device (2), the rocker slider mechanism is connected with petals (7) of the single petal type locking device (2), and when the linear motor installed below the single petal type locking device (2) moves in the vertical direction, the rocker slider mechanism is driven to drive the petals (7) of the single petal type locking device (2) to overturn.
The rear wheel locking mechanism is two single petal locking device (2) from two rear wheel outside locking wheels, and the assembly details are as shown in fig. 5, two single petal locking device (2) of the rear wheel department installation of undercarriage are followed respectively after respective petal (7) are overturned the rear wheel of the outside of two main undercarriages of fixed wing unmanned aerial vehicle, locking left and right sides.
In the double petal type locking device (1): the double-petal rocker sliding block mechanism (i) consists of two rocker sliding block mechanisms which are symmetrical along the central axis of the double-petal locking device (1). The central axis is the vertical line passing through the center of gravity of the double petal lock (1), and is the central axis when viewed in front or side elevation.
The lower end of each rocker slider mechanism is connected with a linear motor arranged below the double-petal locking device (1), each rocker slider mechanism is connected with one petal (7) respectively, and when the linear motor arranged below the double-petal locking device (1) moves in the vertical direction, the two rocker slider mechanisms are driven to drive the two petals (7) to turn over respectively.
The front wheel locking mechanism is a double petal type locking device (1) for locking the wheel from two sides, and the assembly details are shown in figure 4. The double-petal locking device (1) installed at the nose landing gear of the landing gear locks the front wheel from the left side and the right side of the front wheel of the fixed wing unmanned aerial vehicle after the two petals (7) are turned over.
This embodiment provides a reliable interfacing apparatus, utilizes simple structure, designs the locking and the unblock of portable stable petal rotary mechanism completion fixed wing unmanned aerial vehicle undercarriage.
The motion tracks of the three rotating mechanisms (1 and 2) are designed to be in a petal opening and closing mode, so that the interference of the three rotating mechanisms on the airplane wheel can be reduced. In the unlocking state, the petal-shaped unfolding mode is presented, and the rise and fall of the airplane wheel cannot be influenced. In the locking state, the fixed wing landing gear can be firmly held like closed petals.
And because the groove (3) formed by two inclined flat plates is designed below each locking device, the wheel skid prevention device can play a role in preventing the wheel from skidding similar to a skid stopper of an automobile.
The rocker-slider mechanism (4) is connected with the base (5) and the locking device, and controls the rotation of the sliding blocks (1) and (2) by driving the sliding blocks to move vertically, and the rotating angle of the rocker-slider mechanism is related to the distance between the straight line where the 'sliding blocks' are located and the rotating shaft (6) and the rotating radius of a combination point as shown in figures 6 and 7.
Inner base (iii) of base (5) is connected with rocker slider mechanism (4), and linear electric motor is equipped with to the below, thereby carries out linear motion through the drive of motor and drives rocker slider mechanism (4) vertical motion, thereby controls three locking device's rotary motion, outer base (iv) are fixed in on the four rotor craft, make recess (3) be in a plane with four rotor craft platforms just, for attitude adjustment when fixed wing unmanned aerial vehicle descends to have the deviation.
The specific working principle of the device provided by the embodiment is as follows:
traditional fixed wing unmanned aerial vehicle's transmission and recovery technique or cause the injury to the fixed wing structure easily, perhaps require to the place higher. The four-rotor aircraft is taken as a moving airport, the fixed-wing unmanned aerial vehicle is delivered to the air to finish take-off and landing, and the limitation of a field on take-off and landing of the fixed wing is avoided. The recovery mode of the traditional fixed-wing unmanned aerial vehicle is that the unmanned aerial vehicle is stopped at a high speed, so that the fixed-wing unmanned aerial vehicle body is subjected to a large impact force, and the loss to the fixed wing is high.
When the quad-rotor aircraft platform consigns the fixed-wing unmanned aerial vehicle to take off, the fixed-wing unmanned aerial vehicle mainly increases a part of task load to the influence of the quad-rotor aircraft, the aerodynamic force generated during flight has a part of influence to the flight attitude of the fit system, but the speed of taking off perpendicularly is small, the driving force generated by the aerodynamic force generated by the fixed-wing unmanned aerial vehicle is very small relative to the quad-rotor, and therefore the influence of the fixed-wing unmanned aerial vehicle on the quad-rotor aircraft can be ignored. The aerial launch stage, when speed reached the minimum level flight speed of stationary vane when four rotor platforms and stationary vane unmanned aerial vehicle fly in coordination, activation linear electric motor, interior base (iii) is vertical downstream along with linear electric motor drive rocker slider mechanism (4) in journey groove (8), thereby accomplish the petal) (7) of three petal formula locking mechanical system (1, 2) and outwards overturn through the linear motion of rocker slider (4) to the control of motor, accomplish the unblock to stationary vane unmanned aerial vehicle, as shown in fig. 2. The tracks of the petals (7) of the petal type locking devices (1 and 2) are designed into curves with the inner sides turned towards the outer sides, and therefore interference on the fixed wing landing gear can be reduced. Fixed wing unmanned aerial vehicle can safe and reliable's the independent flight state of entering behind the unblock, and petal formula locking device (1, 2) on the four rotor crafts are in the unblock state, and petal (7) are for expanding the form, are in four rotor fuselage inboards together with whole interfacing apparatus, and the aerodynamic performance to four rotor crafts influences negligibly.
In the aerial recovery stage, fixed wing unmanned aerial vehicle returns to land and adjusts the gesture and get into recess (3) behind the four rotor platforms, the dull and stereotyped effect of non-slip ware can be played in two slope designs of recess (3), prevents that fixed wing unmanned aerial vehicle from falling and producing after the four rotor platforms and slide. The linear motor of base (iii) department in activation when fixed wing unmanned aerial vehicle undercarriage is in recess (3), and base (iii) drives rocker slider mechanism (4) upward movement along with linear motor in the drive to make three petal locking mechanical system (1, 2) inwards overturn and lock the fixed wing undercarriage, as shown in fig. 3. The tracks of the petal type locking devices (1 and 2) are designed to be closed towards the outside and the inside like closed petals, the upper half part of the rocker sliding block mechanism (4) slides in the petal type locking devices (1 and 2), and the lower half part vertically moves in the stroke groove to drive the petals to hold the airplane wheel. The design can reduce the interference to the fixed wing undercarriage, and can firmly hold the airplane wheel to prevent the fixed wing unmanned aerial vehicle from generating vibration to influence the flight performance of the four-rotor aircraft. Front wheel locking device designs and to provide certain skew redundancy for two petal formulas (1), and when fixed wing unmanned aerial vehicle had a little horizontal migration, the upset locking of accessible two petal formulas locking device (1) carries out the gesture to it and corrects, makes the two remain stable behind the fit, avoids arousing the vibration interference of fit flight because of the butt joint is unstable.
Fixed wing unmanned aerial vehicle launches and retrieves two stage processes on four rotor platforms, and the jack only carries out two actions: unlocking and locking. The aerial launch stage is fairly simple, receive and release mechanism (1, 2) unblock after fixed wing unmanned aerial vehicle reaches minimum flat flying speed, retrieve the stage aloft, arouse sensing device formation trigger signal activation linear electric motor drive inner base (iii) up-and-down motion after fixed wing unmanned aerial vehicle stops to put on recess (3), make rocker slider (4) drive receive and release mechanism (1, 2) upset, and firmly fix fixed wing unmanned aerial vehicle undercarriage on four rotor crafts through (1, 2) upset.
The device that this embodiment provided can accomplish in practical application four rotor platforms under the abominable circumstances of take-off and landing environment supplementary fixed wing unmanned aerial vehicle transmission and retrieve the stage and accomplish the butt joint, needn't receive the restriction of place to the fixed wing take-off and landing.
Because with the airport of four rotor crafts as removing, accomplish take-off and landing to aerial with fixed wing unmanned aerial vehicle consignment, can make transmission and recovery in-process reduce fixed wing unmanned aerial vehicle's loss.
The design of petal formula locking device can reduce the interference to the fixed wing undercarriage, and is high at fixed wing unmanned aerial vehicle's locking reliability, and the device is simple light, can not influence four rotor unmanned aerial vehicle's aerodynamic performance.
Further, the interfacing apparatus that this embodiment provided can correct the gesture of fixed wing unmanned aerial vehicle, makes four rotor crafts and fixed wing unmanned aerial vehicle body back remain stable, consequently is applicable to the butt joint of accomplishing four rotors and fixed wing and fixes.
Further, as shown in fig. 10, the petal (7) structures of the double petal type locking mechanism (1) and the single petal type locking device (2) in the embodiment are designed to match with the size of the landing gear tire, the shape is designed to be semicircular, the edge of the structure is protruded, and the protruded part is designed to be the thickness of the landing gear tire in consideration of the small size of the landing gear of the unmanned aerial vehicle.
Optionally, the rubber material is adopted to the inboard material of whole petal (7), both can increase frictional force, firmly embrace fixed wing unmanned aerial vehicle's undercarriage, prevent that it from disturbing holistic aerodynamic characteristic because of locking shakiness produces the vibration, can play the guard action to fixed wing unmanned aerial vehicle's undercarriage again simultaneously, can not damage the undercarriage tire.
As shown in fig. 11, the upper half part of the petal (7) can adopt a three-fork type locking device, which is designed to be fixed by three claws, while the wheel is close to the outside, the wheel is firmly held by the locking device, the locking device is constructed to be stable and fixed by three claws, an angle of 120 degrees is formed between each fixed claw, the wheel can be freely and telescopically held, and the wheel structure can be as shown in fig. 12. Thereby adapt to the unmanned aerial vehicle of the different size wheels of undercarriage.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A device that is used for fixed wing unmanned aerial vehicle and rotor to launch platform butt joint, its characterized in that includes:
the locking device is mounted on the rotating shaft so as to rotate around the rotating shaft (6) of the locking device;
a groove (3) is arranged on the upper half part of the locking device, the groove (3) is formed by two inclined flat plates, and the groove (3) is used for containing a wheel of the landing gear of the fixed wing unmanned aerial vehicle;
the lower end of the rocker sliding block mechanism (4) is connected with a linear motor, the upper end of the rocker sliding block mechanism (4) is connected with petals (7) of the locking device, and when the linear motor moves in the vertical direction, the rocker sliding block mechanism (4) is driven to drive the petals (7) of the locking device to rotate around respective rotating shafts (6) to lock the airplane wheel of the fixed-wing unmanned aerial vehicle;
the linear motor is arranged in the base (5);
for each locking device:
each locking device rotates around a rotating shaft (6) fixed on the groove (3);
each locking device is provided with a stroke groove (8) for limiting the vertical movement of the rocker-slider mechanism (4), and each petal (7) structure drives the rocker-slider mechanism (4) to lock and unlock through the stroke groove (8), so that the movement track of the airplane wheel is not interfered; the rotor wing launching platform is provided with 3 locking devices, and each locking device rotates around a respective rotating shaft (6);
the fixed wing unmanned aerial vehicle is provided with a front three-point undercarriage;
a double petal type locking device (1) is arranged at the front wheel of the landing gear;
two single petal type locking devices (2) are arranged at the rear wheel of the landing gear; single petal type locking device (2):
a rocker-slider mechanism is arranged in the single petal rocker-slider mechanism (ii);
the lower end of the rocker slider mechanism is connected with a linear motor arranged below the single petal type locking device (2), the rocker slider mechanism is connected with petals (7) of the single petal type locking device (2), and when the linear motor arranged below the single petal type locking device (2) moves in the vertical direction, the rocker slider mechanism is driven to vertically move in a stroke groove (8), so that the petals (7) of the single petal type locking device (2) are driven to turn over;
in a double petal type locking device (1):
the double-petal rocker sliding block mechanism (i) consists of two rocker sliding block mechanisms which are symmetrical along the central axis of the double-petal locking device (1);
the lower end of each rocker slider mechanism is connected with a linear motor arranged below the double-petal type locking device (1), each rocker slider mechanism is connected with one petal (7) respectively, and when the linear motor arranged below the double-petal type locking device (1) moves in the vertical direction, the two rocker slider mechanisms are driven to drive the overturning of the 2 petals (7) in respective stroke grooves (8) respectively.
2. The apparatus of claim 1, wherein the number of locking devices matches the number of wheels of a landing gear of the fixed wing drone.
3. Device according to claim 1, characterized by the fact that two single petal locking devices (2) mounted at the rear wheels of the landing gear lock the rear wheels on the left and right, respectively, from the outside of the two rear wheels of the fixed wing drone, after the respective petals (7) have been overturned.
4. A device according to claim 1, characterized by a double petal locking device (1) mounted at the nose wheel of the landing gear, which locks the nose wheel of the fixed wing drone from the left and right sides thereof after the 2 petals (7) have been overturned.
5. Device according to claim 1, characterized in that the linear motor is mounted in an inner seat (iii) of the seat (5), the inner seat (iii) being embedded in a recess of the outer seat (iv), the inner seat (iii) being fixed to the quad-rotor aircraft platform by the outer seat (iv).
6. Device according to claim 1, characterized in that the petal (7) configuration of the double petal locking device (1) and of the single petal locking device (2) matches the size of the landing gear tyre, is shaped as a semi-circle and has a protruding edge, the protruding part being equal to the landing gear tyre thickness.
7. A device according to claim 6, characterized in that the material inside the petals (7) is a rubber material.
8. Device according to claim 6, characterized in that the upper half of the petals (7) is designed with a three-jaw locking device, designed to be three-jaw fixed, and when externally adjacent to the wheels, the wheels are held with a locking device configured to be three-jaw fixed, with an angle of 120 ° between each of the fixed jaws.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| CN110116806B true CN110116806B (en) | 2022-05-03 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110525672B (en) * | 2019-10-09 | 2021-08-31 | 北京中航智科技有限公司 | Unmanned vehicles protection section of thick bamboo and separator thereof |
| 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 |
| 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 |
| CN116022386B (en) * | 2023-03-31 | 2023-06-06 | 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 |
| CN108033013A (en) * | 2017-12-14 | 2018-05-15 | 邵文远 | A kind of VTOL fixed-wing unmanned plane |
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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 |
| CN108033013A (en) * | 2017-12-14 | 2018-05-15 | 邵文远 | A kind of VTOL fixed-wing unmanned plane |
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