CN110920923A - Unmanned aerial vehicle launching device with double rocket boosters - Google Patents
Unmanned aerial vehicle launching device with double rocket boosters Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention relates to an unmanned aerial vehicle launching device with double rocket boosters, which is characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a launching undercarriage, a rocket booster and a rocket booster hanging rack, wherein a front force transmission shaft, a rear force transmission shaft and a rear fulcrum of the unmanned aerial vehicle body are arranged on the unmanned aerial vehicle body; under the same unmanned aerial vehicle mass center deviation, the launching stability of the launcher of the unmanned aerial vehicle with the symmetrically arranged rocket boosters is obviously superior to that of a single rocket booster. The device can simplify the preparation work before unmanned aerial vehicle's external field penetrates, improves unmanned aerial vehicle's battlefield quick response ability.
Description
Technical Field
The invention relates to an unmanned aerial vehicle launching device, belongs to the technical field of unmanned aerial vehicles, and particularly relates to the technical field of unmanned aerial vehicle launching.
Background
The small-sized fixed wing unmanned aerial vehicle has many take-off modes, such as catapult take-off, running take-off, vertical take-off, rocket-assisted zero-length take-off and the like. The rocket-assisted zero-length takeoff mode has the advantages of convenience, rapidness, no strict requirement on launching sites, suitability for field operation environments and the like.
The existing unmanned aerial vehicle adopts a rocket boosting takeoff mode which is mainly single rocket boosting takeoff, and the single rocket boosting takeoff mode has the advantages of low launching cost and mature and reliable technology. Most of domestic unmanned aerial vehicles adopt a single rocket boosting takeoff mode, such as an 'ASN 301' anti-radiation unmanned aerial vehicle and a 'sand cone' unmanned aerial vehicle. Internationally, the double rocket assisted take-off mode is widely applied to unmanned planes, such as the famous series BQM-74E, BQM-177, Italy 'Miragi' unmanned planes.
However, when the unmanned aerial vehicle adopts a single rocket assisted takeoff mode, the installation angle and the thrust line position of the rocket booster must be strictly adjusted, so that the thrust line passes through the gravity center of the unmanned aerial vehicle as much as possible, and the safe launch of the unmanned aerial vehicle can be ensured. In practical application, a single rocket boosting takeoff unmanned aerial vehicle usually adopts a mode of combining mass balancing and hanging adjustment, so that the deviation between a thrust line of a rocket booster and the gravity center of the unmanned aerial vehicle is kept within an allowable range.
In order to improve the competitiveness of unmanned aerial vehicle products, modern unmanned aerial vehicles basically have the characteristics of low manufacturing cost and diversified carrying task loads. This results in the overall centre of gravity of the drone tending to shift from the theoretical centre of gravity position. If a single-rocket boosting takeoff mode is adopted, the position of a thrust line of the rocket booster of the unmanned aerial vehicle needs to be strictly adjusted before each launching, namely, a launching site is required to be provided with hanging guarantee equipment and can only be on the land. Therefore, the single-rocket assisted take-off mode causes that the unmanned aerial vehicle cannot realize repeated flight under the condition of multi-task load alternate replacement in some field operation environments (such as land without hanging guarantee equipment and naval vessels for ocean training in open sea), and the fighting capacity of the unmanned aerial vehicle is greatly reduced.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle launching device with double rocket boosters, which is used for reducing the influence of actual deviation of the mass center position of an unmanned aerial vehicle on launching stability, further reducing preparation work before external field launching and realizing non-hanging re-flight under certain conditions of a field environment.
The technical scheme adopted by the invention is as follows: a launching device of a double-rocket booster unmanned aerial vehicle comprises an unmanned aerial vehicle, a launching undercarriage, a rocket booster and a rocket booster hanging rack, wherein a front force transmission shaft, a rear force transmission shaft and a rear body fulcrum are arranged on a body of the unmanned aerial vehicle;
the rocket booster hanging rack is in contact with the unmanned aerial vehicle, the rocket booster is accommodated by the rocket booster hanging rack, a front force transmission shaft interface and a rear force transmission shaft interface are arranged at the front end and the rear end of the rocket booster hanging rack, and the front force transmission shaft interface and the rear force transmission shaft interface are respectively in contact with a front force transmission shaft and a rear force transmission shaft;
the launching undercarriage is provided with a front support and a rear support, the front support is in contact with a front transmission shaft of the unmanned aerial vehicle, and the rear support is in contact with a rear supporting point of a machine body of the unmanned aerial vehicle.
The rocket booster hanging rack is provided with a main bearing surface and a side limiting surface, the top of the rocket booster is in contact with the main bearing surface, the side surface of the rocket booster is in contact with the side limiting surface, the side limiting surface is also provided with a rocket booster fixing belt, and the fixing belt is wound in the middle of the rocket booster.
The front support is arranged at the front end of the launching undercarriage, the rear support is arranged at the rear end of the launching undercarriage, the front support is connected with the launching undercarriage in a rotating mode, the top of the front support is provided with a front support groove for accommodating a front transmission shaft, and the top of the rear support is provided with a rear support groove for supporting a rear pivot of a body, which is arranged at the tail of the unmanned aerial vehicle.
A limiting pin groove is further formed in the front support, a limiting pin is arranged at the front force transmission shaft interface, and the limiting pin is interfered with the limiting pin groove;
the front force transmission shaft interface is semicircular, and the rear force transmission shaft interface is semicircular hook-shaped.
The front force transmission shafts and the rear force transmission shafts are arranged in two groups, are respectively positioned at the left side and the right side of the machine body and are symmetrically arranged; the roots of the front force transmission shaft and the rear force transmission shaft extend into the machine body and are fixedly connected with the inner reinforcing frame of the machine body.
By comparison with the single rocket booster commonly used at present, the following conclusions can be obtained: under the same unmanned aerial vehicle mass center deviation, the launching stability of the launcher of the rocket booster symmetrically arranged type unmanned aerial vehicle is obviously superior to that of a single rocket booster. The device can simplify the preparation work before unmanned aerial vehicle's external field penetrates, improves unmanned aerial vehicle's battlefield quick response ability.
Drawings
Fig. 1 is an external view of the present invention.
Fig. 2 is a structural diagram of the cooperation of the unmanned aerial vehicle and the rear support.
Fig. 3 is a rear support structure of the present invention.
Fig. 4 is a structural diagram of the cooperation between the unmanned aerial vehicle and the front support.
Fig. 5 is a schematic view of the combination of the unmanned rocket booster and the pylon.
Fig. 6 is a structural diagram of a pylon of the unmanned aerial vehicle rocket booster of the invention.
Fig. 7 is a schematic diagram of a rocket booster-rocket booster pylon-limit pin-rocket booster pylon fixed band assembly and an unmanned aerial vehicle in a completely separated state.
FIG. 8 is a time-course graph of the change of the takeoff-pitching angle of the symmetrically arranged booster of the rocket booster.
FIG. 9 is a time course graph of single rocket assisted take-off and pitch angle variation.
FIG. 10 is a time-course curve diagram of the change of the roll angle of the symmetrically arranged assisted take-off of the rocket booster.
FIG. 11 is a time course curve of single rocket assisted take-off-roll angle variation.
FIG. 12 is a time-course graph of the change of the takeoff-pitch angle of the rocket booster with the symmetrical arrangement.
Fig. 13 is a time-course curve diagram of the change of the height of the center of mass of the symmetrically arranged assisted take-off of the rocket boosters.
FIG. 14 is a time course graph of single rocket assisted take-off and pitch angle variation.
FIG. 15 is a time course graph of a single rocket assisted take-off and a mass center height change.
The unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a front support 2, a launching undercarriage 3, a rear support 4, a rocket booster 5, a rocket booster pylon 6, a front power transmission shaft 7, a rear power transmission shaft 8, a front power transmission shaft interface 9, a rear power transmission shaft interface 10, a limit pin 11, a limit pin groove 12, a fuselage rear supporting point 13, a rear supporting groove 14, a front supporting groove 15, a rocket booster pylon fixing band 16, a rocket booster pylon main bearing surface 17 and a rocket booster pylon side limiting surface 18.
Detailed Description
The technique of the present invention is described in further detail below:
the invention relates to a launching device of a double-rocket unmanned aerial vehicle, which comprises an unmanned aerial vehicle 1, a front support 2, a launching undercarriage 3, a rear support 4, a rocket booster 5, a rocket booster pylon 6, a front power transmission shaft 7, a rear power transmission shaft 8, a front power transmission shaft interface 9, a rear power transmission shaft interface 10, a limit pin 11, a limit pin groove 12, a rear point 13 of a vehicle body, a rear support groove 14, a front support groove 15, a rocket booster pylon fixing band 16, a rocket booster pylon main bearing surface 17 and a rocket booster pylon side limit surface 18, and is shown in figures 1-6.
The front support 2 and the launcher 3 are rotationally constrained. In the unmanned aerial vehicle launching process, along with the antedisplacement of fuselage, preceding transaxle 7 promotes preceding support 2 and rotates forward. After support 4 and launcher 3, all adopt fixed restraint between the back support recess 14, realize then that unmanned aerial vehicle waits to launch and the launching process in, to the support of fuselage rear branch point 13.
The launcher is in a three-point supporting mode. Unmanned aerial vehicle installs the launcher in-process, additional left (right) side preceding power shaft 7 on the fuselage contacts with left (right) side preceding supporting groove 15 on preceding support 2 respectively, and point 13 contacts with back supporting groove 14 behind the fuselage.
The rocket booster 5 and the rocket booster hanging rack 6 are symmetrically arranged on two sides of the fuselage. Before the unmanned aerial vehicle 1 is launched, the rocket booster 5, the rocket booster pylon 6, the limit pin 11 and the rocket booster pylon fixing band 16 are installed together, and then the combined body is installed at a corresponding position on the unmanned aerial vehicle 1. The front end surface of the rocket booster 5 is a plane and is tightly contacted with a main bearing surface 17 of a rocket booster pylon; under the action of the rocket booster pylon fastening band 16, the cylindrical section of the rocket booster 5 is tightly contacted with the rocket booster pylon side limiting surface 18.
After the combined body of the rocket booster 5, the rocket booster pylon 6, the limiting pin 11 and the rocket booster pylon fixing band 16 is installed on the unmanned aerial vehicle, the front force transmission shaft interface 9 of the rocket booster pylon 6 is matched with the front force transmission shaft 7 additionally arranged on the body, and the rear force transmission shaft interface 10 is matched with the rear force transmission shaft 8 additionally arranged on the body, so that the transmission of the thrust of the rocket booster to the unmanned aerial vehicle is realized. The front force transmission shaft interface 9 is designed to be semicircular, and the rear force transmission shaft interface 10 is designed to be semicircular hook-shaped.
The top end of the front support 2 is provided with a limit pin groove 12, and the front end of the rocket booster hanging rack 6 is provided with a limit pin 11. After the assembly of the rocket booster 5 and the rocket booster pylon 6 is installed on the unmanned aerial vehicle 1, the limit pin 11 at the front end of the rocket booster pylon 6 can fall into the limit pin groove 12 at the top end of the front support 2, and then the axial limit of the unmanned aerial vehicle body is realized. The matching of the limit pin 11 and the limit pin groove 12 can effectively prevent the rocket booster 5 and the rocket booster hanging rack 6 from sliding to the tail part of the machine body along the front force transmission shaft 7 and the rear force transmission shaft 8 under the action of a gravity field before the rocket booster 5 is not ignited. In addition, the export profile of spacer pin recess 12 is through matching optimal design, can realize that unmanned aerial vehicle 1 leaves a frame in-process, and spacer pin 11 can not produce the structure with spacer pin recess 12 and interfere.
Four front and rear force transmission shafts 7 and 8 are additionally arranged on the unmanned aerial vehicle body, are positioned on the left side and the right side of the unmanned aerial vehicle body and are symmetrically arranged; the root of the force transmission shaft extends into the machine body and is fixedly connected with the strengthening frame in the machine body.
After the rocket booster 5 and the rocket booster pylon 6 are installed, the axis of the rocket booster 5 and the symmetry plane of the fuselage form a certain included angle α, generally the included angle is 15-20 degrees.
After the rocket booster 5 finishes working, the thrust is reduced to zero, the combined body of the rocket booster 5 and the rocket booster pylon 6 gradually slides in the opposite direction of the movement of the unmanned aerial vehicle 1 under the combined constraint action of aerodynamic force, gravity and the front force transmission shaft 7 and the rear force transmission shaft 8, when the sliding distance exceeds the radius of the front force transmission shaft 7, the constraint action of the front force transmission shaft 7 on the front force transmission shaft interface 9 and the constraint action of the rear force transmission shaft 8 on the rear force transmission shaft interface 10 disappear simultaneously, the combined body of the rocket booster 5 and the rocket booster pylon 6 is completely separated from the unmanned aerial vehicle 1, the combined body gradually moves towards the rear lower part of the vehicle body, and the separated state of the rocket booster is entered at this moment.
The deviation of unmanned aerial vehicle barycenter actual position along the three directions of organism coordinate system has been contrasted and analyzed respectively, to the influence of unmanned aerial vehicle transmission stability under two kinds of transmission methods.
Analysis of influence of unmanned aerial vehicle centroid X-axis position deviation on takeoff safety
The deviation of the position of the mass center X axis of the unmanned aerial vehicle mainly influences the pitching attitude and the height of the unmanned aerial vehicle in the takeoff stage.
Two working conditions that the mass center is at the theoretical position and moves forward by 30mm along the X axis of the coordinate system of the unmanned aerial vehicle are taken, the pitch angle and the height change of the unmanned aerial vehicle under two boosting modes are calculated, as shown in figures 8-9, and the comparison result is shown in table 1. As can be seen in fig. 8-9 and table 1:
(1) the minimum pitch angles of the unmanned aerial vehicle adopting the rocket booster symmetrically arranged boosting take-off mode are respectively 13.5 degrees and 9.5 degrees, and the pitch angle deviation under the two working conditions is about 22 percent; the minimum pitch angles of the unmanned aerial vehicle adopting the single rocket boosting takeoff mode are respectively 5 degrees and-21 degrees, and the pitch elevation deviation under two working conditions is about 502 percent;
(2) at the time of 10s, the mass center heights of the unmanned aerial vehicle adopting the rocket booster symmetric arrangement type boosting take-off mode are respectively 114m and 90m, and the depression elevation deviation under the two working conditions is about 21%; the mass center height of the unmanned aerial vehicle adopting the single rocket boosting takeoff mode is respectively 100m and-39 m, and the depression elevation deviation under the two working conditions is about 139%;
(3) at the moment of 2.8s, the pitch angle of the unmanned aerial vehicle is close to-22 degrees; at time 3.95s, the drone centroid height is already close to zero. Under this operating mode, unmanned aerial vehicle will fall to the ground very fast after taking off.
TABLE 1 evaluation parameter comparison results
(II) analysis of influence of unmanned aerial vehicle mass center Y-axis position deviation on takeoff safety
The deviation of the position of the Y axis of the mass center of the unmanned aerial vehicle mainly influences the rolling attitude and the yawing attitude of the unmanned aerial vehicle in the takeoff stage. The method only analyzes the influence of the position deviation of the mass center Y axis of the unmanned aerial vehicle on the rolling attitude.
Two working conditions that the mass center moves leftwards by 3mm in the theoretical position and along the Y axis of the body coordinate system are taken, the change of the roll angle of the unmanned aerial vehicle under two boosting modes is calculated, as shown in figures 10-11, and the comparison result is shown in table 2. As can be seen in fig. 10-11 and table 2;
(1) the mass center is in the theoretical position working condition, and the roll attitude angle of the unmanned aerial vehicle in the two boosting modes is almost 0 degree;
(2) the maximum value of the roll angle of the unmanned aerial vehicle adopting the rocket booster symmetrically arranged boosting takeoff mode is 9.6 degrees, and the maximum value of the roll angle of the unmanned aerial vehicle adopting the single rocket boosting takeoff mode is 18 degrees;
(3) from the maximum value of the roll angle, the single rocket boosting take-off mode is 88% higher than that of a rocket booster with a symmetrical arrangement.
TABLE 2 evaluation of parametric comparison results
| Evaluation parameters | Symmetrically-arranged boosting take-off | Single rocket boosting takeoff | Deviation (based on symmetrically arranged assisted take-off)/% |
| Maximum roll angle | 9.6° | 18° | 88% |
(III) analysis of influence of unmanned aerial vehicle centroid Z-axis position deviation on takeoff safety
The position deviation of the mass center Z axis of the unmanned aerial vehicle mainly influences the pitching attitude and the height of the unmanned aerial vehicle in the takeoff stage.
Two working conditions that the mass center is at the theoretical position and moves down by 3mm along the Z axis of the rocket coordinate system are taken, the pitching angle and the height change of the unmanned aerial vehicle under two rocket boosting modes are calculated, as shown in figures 12-15, and the comparison result is shown in table 3. As can be seen in fig. 12-15 and table 3:
(1) the minimum pitch angles of the unmanned aerial vehicle adopting the rocket booster symmetrically arranged boosting take-off mode are respectively 13.5 degrees and 11 degrees, and the pitch angle deviation under the two working conditions is about 19 percent; the minimum pitch angles of the unmanned aerial vehicle adopting the single rocket boosting takeoff mode are respectively 4.9 degrees and-11 degrees, and the pitch angle deviation under the two working conditions is about 324 percent;
(2) at the time of 10s, the mass center heights of the unmanned aerial vehicle adopting the rocket booster symmetric arrangement type boosting take-off mode are respectively 114m and 95m, and the depression elevation deviation under the two working conditions is about 17%; the mass center heights of the unmanned aerial vehicle adopting the single rocket boosting takeoff mode are respectively 100m and 25m, and the mass center height deviation under the two working conditions is about 75%;
(3) and a single rocket boosting takeoff mode is adopted, the pitch angle of the unmanned aerial vehicle is close to-11 degrees at the moment of 3.0s, and the height of the mass center of the unmanned aerial vehicle is reduced to about 12.3m at the moment of 6.5 s.
TABLE 3 evaluation parameter comparison results
The method is only a specific step of the invention, and can be expanded to be applied to the field of launching of unmanned aircrafts, including unmanned planes, missiles, cruise missiles and the like.
Claims (6)
1. The utility model provides a two rocket boosters unmanned aerial vehicle emitter which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a launching undercarriage, a rocket booster and a rocket booster hanging rack, wherein a front force transmission shaft, a rear force transmission shaft and a rear fulcrum of the unmanned aerial vehicle body are arranged on the unmanned aerial vehicle body;
the rocket booster hanging rack is in contact with the unmanned aerial vehicle, the rocket booster is accommodated by the rocket booster hanging rack, a front force transmission shaft interface and a rear force transmission shaft interface are arranged at the front end and the rear end of the rocket booster hanging rack, and the front force transmission shaft interface and the rear force transmission shaft interface are respectively in contact with a front force transmission shaft and a rear force transmission shaft;
the launching undercarriage is provided with a front support and a rear support, the front support is in contact with a front transmission shaft of the unmanned aerial vehicle, and the rear support is in contact with a rear supporting point of a machine body of the unmanned aerial vehicle.
2. The dual rocket booster unmanned aerial vehicle launching device of claim 1, wherein: the rocket booster hanging rack is provided with a main bearing surface and a side limiting surface, the top of the rocket booster is in contact with the main bearing surface, the side surface of the rocket booster is in contact with the side limiting surface, the side limiting surface is also provided with a rocket booster fixing belt, and the fixing belt is wound in the middle of the rocket booster.
3. The dual rocket booster unmanned aerial vehicle launching device of claim 1, wherein: the front support is arranged at the front end of the launching undercarriage, the rear support is arranged at the rear end of the launching undercarriage, the front support is connected with the launching undercarriage in a rotating mode, the top of the front support is provided with a front support groove for accommodating a front transmission shaft, and the top of the rear support is provided with a rear support groove for supporting a rear pivot of a body, which is arranged at the tail of the unmanned aerial vehicle.
4. The dual rocket booster unmanned aerial vehicle launching device of claim 3, wherein: and a limiting pin groove is further formed in the front support, a limiting pin is arranged at the front force transmission shaft interface, and the limiting pin is interfered with the limiting pin groove.
5. The dual rocket booster unmanned aerial vehicle launching device of claim 1, wherein: the front force transmission shaft interface is semicircular, and the rear force transmission shaft interface is semicircular hook-shaped.
6. The dual rocket booster unmanned aerial vehicle launching device of claim 1, wherein: the front force transmission shafts and the rear force transmission shafts are arranged in two groups, are respectively positioned at the left side and the right side of the machine body and are symmetrically arranged; the roots of the front force transmission shaft and the rear force transmission shaft extend into the machine body and are fixedly connected with the inner reinforcing frame of the machine body.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409847A (en) * | 2020-04-14 | 2020-07-14 | 奥瑞思智能科技(阜新)有限公司 | Medium-high speed fixed wing unmanned aerial vehicle launcher |
| CN112520060A (en) * | 2020-08-16 | 2021-03-19 | 西安航天化学动力有限公司 | Unmanned aerial vehicle rocket booster |
| CN112793801A (en) * | 2021-04-02 | 2021-05-14 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle boosting structure and unmanned aerial vehicle launcher |
| CN112987767A (en) * | 2021-01-19 | 2021-06-18 | 中国人民解放军63921部队 | Integrated boosting and core-level carrier rocket attitude control method |
| CN113548191A (en) * | 2021-06-11 | 2021-10-26 | 南京航空航天大学 | Unmanned aerial vehicle locking device applied to large-scale unmanned aerial vehicle rocket boosting launching |
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2019
- 2019-12-23 CN CN201911334948.XA patent/CN110920923A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409847A (en) * | 2020-04-14 | 2020-07-14 | 奥瑞思智能科技(阜新)有限公司 | Medium-high speed fixed wing unmanned aerial vehicle launcher |
| CN111409847B (en) * | 2020-04-14 | 2023-06-09 | 奥瑞思智能科技(阜新)有限公司 | Middle-high speed fixed wing unmanned aerial vehicle launching cradle |
| CN112520060A (en) * | 2020-08-16 | 2021-03-19 | 西安航天化学动力有限公司 | Unmanned aerial vehicle rocket booster |
| CN112987767A (en) * | 2021-01-19 | 2021-06-18 | 中国人民解放军63921部队 | Integrated boosting and core-level carrier rocket attitude control method |
| CN112793801A (en) * | 2021-04-02 | 2021-05-14 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle boosting structure and unmanned aerial vehicle launcher |
| CN112793801B (en) * | 2021-04-02 | 2021-08-10 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle boosting structure and unmanned aerial vehicle launcher |
| CN113548191A (en) * | 2021-06-11 | 2021-10-26 | 南京航空航天大学 | Unmanned aerial vehicle locking device applied to large-scale unmanned aerial vehicle rocket boosting launching |
| CN113548191B (en) * | 2021-06-11 | 2022-06-17 | 南京航空航天大学 | Be applied to unmanned aerial vehicle locking device of large-scale unmanned aerial vehicle rocket boosting transmission |
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