CN110949652A - Near space boat carries unmanned aerial vehicle's recovery unit - Google Patents
Near space boat carries unmanned aerial vehicle's recovery unit Download PDFInfo
- Publication number
- CN110949652A CN110949652A CN201911352056.2A CN201911352056A CN110949652A CN 110949652 A CN110949652 A CN 110949652A CN 201911352056 A CN201911352056 A CN 201911352056A CN 110949652 A CN110949652 A CN 110949652A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- unmanned aerial
- aerial vehicle
- hydraulic cylinder
- support frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
Abstract
The invention relates to the technical field of unmanned aerial vehicle recovery, in particular to a recovery device of an unmanned aerial vehicle carried by a near space boat.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle recovery, in particular to a recovery device for an unmanned aerial vehicle carried by a boat in a near space.
Background
With the implementation and promotion of the military and civil fusion strategy in the world, the application of unmanned aerial vehicle technology in the civil field is greatly developed in recent years. The unmanned aerial vehicle recovery technology is one of the important performances of an unmanned aerial vehicle system, and has great significance for improving the reliability and the operational flexibility of the unmanned aerial vehicle.
The recovery mode of the unmanned aerial vehicle can be divided into air-based recovery, land-based recovery and water-based recovery according to the region. At present, the aerial recovery mode of small and medium-sized unmanned aerial vehicles in the world has: the arm snatchs to retrieve, the aerial net is retrieved and aerial tray is retrieved etc, nevertheless retrieves that the structure is complicated, the recovery process control degree of difficulty is big, hardly realizes unmanned aerial vehicle's quick recovery in batches.
The invention patent with the publication number of CN110422331A discloses a technology for recovering a small unmanned aerial vehicle by a large unmanned aerial vehicle, which takes the large unmanned aerial vehicle as a recovery platform of the small unmanned aerial vehicle, and utilizes a strong inner suction airflow generated by a recovery net and a suction fan inside the large unmanned aerial vehicle to smoothly guide and suck the small unmanned aerial vehicle into a cylinder core space of a rotary drum for storage.
Consequently design a section and close on space boat and carry unmanned aerial vehicle's recovery unit for boat carries unmanned aerial vehicle to retrieve fast, accurately, becomes the problem that needs the solution at present urgently.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a recovery device for an unmanned plane carried by a near space boat.
The invention is realized by the following technical scheme:
the utility model provides a close on space on-board unmanned aerial vehicle recovery unit, its characterized in that includes: an airship, a support frame, a sliding track, a power mechanism and an unmanned aerial vehicle,
two support frames are symmetrically and fixedly connected to two sides of the bottom of the airship, the sliding tracks are fixedly connected to the support frames,
the support frame is fixedly connected with a power platform, the two power mechanisms are symmetrically arranged and comprise a motor support frame, a motor, a coupler, a reel support, a reel, a fixed pulley block, a first linear guide rail, a movable pulley block, a first hydraulic cylinder, a first sliding block, a second hydraulic cylinder, an L-shaped plate, a second linear guide rail, a second sliding block and a rope striking plate, the power platform is fixedly connected onto the support frame, the motor is fixedly connected onto the power platform through the motor support frame, the reel is fixedly connected onto the power platform through the reel support frame, two ends of the coupler are respectively fixedly connected with a motor main shaft and a reel rotating shaft, the fixed pulley block is fixedly connected onto the power platform through a fixed pulley block support plate, the first linear guide rail and the first hydraulic cylinder are fixedly connected onto the power platform, the movable pulley block is fixedly connected onto a movable pulley block support plate, and the free end of the first hydraulic cylinder, the bottom of the movable pulley block supporting plate is fixedly connected with a first slide block corresponding to a first linear guide rail, the L-shaped plate and a second hydraulic cylinder are respectively and fixedly connected to the supporting frames, the second linear guide rail is fixedly connected to the L-shaped plate, a second slide block sliding along the second linear guide rail is fixedly connected to the rope striking plate, the free end of the second hydraulic cylinder is fixedly connected with the rope striking plate, the two ends of the steel wire rope are respectively and fixedly connected to the two winding drums, pulleys and steering wheels are fixedly connected to the power platform and the rope striking plate, and the steel wire rope bypasses the steering wheels, the pulleys, the fixed pulley blocks and the movable pulley blocks which are symmetrically arranged to form a transverse intercepting rope between the two supporting frames,
the last rigid coupling of unmanned aerial vehicle has direction percussion device, direction percussion device includes striker, gyro wheel and the peg of rigid coupling in unmanned aerial vehicle back, the gyro wheel rotates to be connected and is used for sliding along the track of slideing on the striker, the peg rigid coupling is in the striker upper end.
Preferably, the end of the sliding track, which is close to the flying-in end of the unmanned aerial vehicle, is provided with a V-shaped guide opening.
Preferably, the collision rod is sleeved with a roller.
Preferably, a rail support frame is fixedly connected between the sliding rail and the airship.
The invention has the beneficial effects that:
(1) the device adopts the airship as a bearing platform for unmanned aerial vehicle recovery, so that the site limitation of the traditional unmanned aerial vehicle recovery is eliminated;
(2) the device adopts a flexible recovery mode of intercepting and blocking the unmanned aerial vehicle by the steel wire rope, has a simple structure, and can realize batch recovery of the unmanned aerial vehicle;
(3) the device adopts a buffer mode of combining the movable pulley and the hydraulic cylinder, can rapidly absorb and recover the energy of the unmanned aerial vehicle, can increase or reduce the number of the movable pulley groups according to the actual requirement, and has simple structure;
(4) unmanned aerial vehicle moves to the track that slides under the effect of the barrier force in this device, and recovery process motion is steady, and the reliability is high.
Drawings
FIG. 1 is an axial view of the overall structure of an embodiment of the present invention;
FIG. 2 is a schematic view of a sliding rail axis according to an embodiment of the present invention;
FIG. 3 is a front view of a glide track according to one embodiment of the present invention;
FIG. 4 is a schematic axial view of a partial structure according to an embodiment of the present invention;
FIG. 5 is a schematic axial view of a partial structure according to an embodiment of the present invention;
FIG. 6 is a schematic axial view of a partial structure according to an embodiment of the present invention;
FIG. 7 is a schematic axial view of a partial structure according to an embodiment of the present invention;
fig. 8 is an axis measuring view of the unmanned aerial vehicle structure according to an embodiment of the invention.
In the figure: 1. an airship; 2. a support frame; 3. a sliding track; 301. a V-shaped guide port; 302. a rail support frame; 4. a power platform; 5. a motor support frame; 6. an electric motor; 7. a coupling; 8. a reel; 9. a spool support; 10. a steering wheel; 11. a pulley; 12. a fixed pulley block; 1201. a fixed pulley block supporting plate; 13. a first linear guide rail; 14. a movable pulley block; 1401. a movable pulley block support plate; 15. a first hydraulic cylinder; 1501. a first hydraulic cylinder piston rod; 16. a first slider; 17. a second hydraulic cylinder; 1701. a second hydraulic cylinder piston rod; 18. an L-shaped plate; 19. a second linear guide; 20. a second slider; 21. a rope striking plate; 22. an unmanned aerial vehicle; 2201. a ram; 2202. a drum; 2203. a roller; 2204. a hanging rod; 23. a steel cord.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1, the present invention includes: an airship 1, a support frame 2, a sliding track 3, a power mechanism and an unmanned aerial vehicle 22,
two support frames are symmetrically and fixedly connected to two sides of the bottom of the airship, the sliding tracks are fixedly connected to the support frames,
as shown in fig. 4, the support frame is fixedly connected with a power platform 4, the two power mechanisms are symmetrically arranged, and include a motor support frame 5, a motor 6, a coupler 7, a reel support frame 9, a reel 8, a fixed pulley block 12, a first linear guide rail 13, a movable pulley block 14, a first hydraulic cylinder 15, a first slider 16, a second hydraulic cylinder 17, an L-shaped plate 18, a second linear guide rail 19, a second slider 20 and a rope striking plate 21, the power platform is fixedly connected to the support frame, the motor is fixedly connected to the power platform through the motor support frame, the reel is fixedly connected to the power platform through the reel support frame, as shown in fig. 5, two ends of the coupler are respectively fixedly connected to a motor spindle and a reel rotating shaft, as shown in fig. 6, the fixed pulley block is fixedly connected to the power platform through a fixed pulley block support plate 1201, and the first linear guide rail and the first hydraulic cylinder, the movable pulley block is fixedly connected to a movable pulley block support plate 1401, the free end of the first hydraulic cylinder is fixedly connected to the movable pulley block support plate, the bottom of the movable pulley block support plate is fixedly connected to a first slide block corresponding to a first linear guide rail, as shown in fig. 7, the L-shaped plate and the second hydraulic cylinder are respectively fixedly connected to support frames, the second linear guide rail is fixedly connected to the L-shaped plate, the rope striking plate is fixedly connected to a second slide block sliding along the second linear guide rail, the free end of the second hydraulic cylinder is fixedly connected to the rope striking plate, two ends of a steel wire rope 23 are respectively fixedly connected to two winding drums, pulleys 11 and steering wheels 10 are fixedly connected to the power platform and the rope striking plate, as shown in fig. 4, the steel wire rope forms a transverse intercepting rope between the two support frames by passing through the steering wheels, the pulleys, the fixed pulley block and the movable pulley,
the last rigid coupling of unmanned aerial vehicle has direction percussion device, as shown in fig. 8, direction percussion device includes the link 2201, gyro wheel 2203 and peg 2204 of rigid coupling in unmanned aerial vehicle back, the gyro wheel rotates to be connected and is used for sliding along the track on the link, the peg rigid coupling is in the link upper end.
Preferably, as shown in fig. 3, a V-shaped guide opening 301 is formed at one end of the sliding track, which is close to the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle is aligned in the flying direction and can just slide along the sliding track.
Preferably, as shown in fig. 8, a roller 2202 is sleeved on the plunger, and when the plunger touches the edge of the V-shaped guide opening, the roller rotates around the plunger to play a role in buffering and guiding, thereby reducing friction.
Preferably, as shown in fig. 2, a rail support 302 is fixedly connected between the sliding rail and the airship, so as to enhance the connection strength between the sliding rail and the airship and improve the recovery stability.
The unmanned aerial vehicle recovery unit in this embodiment is applicable to and retrieves fixed wing unmanned aerial vehicle on approaching space (20km high altitude) airship, and its theory of operation and workflow are:
firstly, unmanned aerial vehicle 22 gets into the recovery field through the navigation, on flying to the allowable height in preparation under the effect of monitoring mechanism, second hydraulic cylinder 17 effect this moment, promote second hydraulic cylinder piston rod 1701 motion, hit rope board 21 and second hydraulic cylinder piston rod 1701 fixed connection, hit and install second slider 20 on the rope board 21 simultaneously, under the pulling force effect of second hydraulic cylinder piston rod 1701, second slider 20 reciprocates at second linear guide 19 to the height of adjusting hitting rope board 21 makes unmanned aerial vehicle 22 accurately hit the rope in the vertical direction. Because the unmanned aerial vehicle 22 hits the steel wire rope 23 between the two support frames in the recovery process, the steel wire rope 23 moves forward along with the unmanned aerial vehicle 22, the motor 6 moves at the moment, the winding drum 8 is driven to rotate by the coupler 7, the steel wire rope 23 wound on the winding drum 8 is pulled out, the motor 6 moves and plays a role in restricting the steel wire rope 23 from moving forward too fast, the motor 6 keeps a moving state in the whole recovery process, meanwhile, the movable pulley block 14 is driven to move by the tensile force of the steel wire rope 23 of the movable pulley block 14, the first sliding block 16 is installed below the movable pulley block support plate, the first sliding block 16 moves towards two sides along the direction of the first linear guide rail 13 under the traction of the tensile force of the steel wire rope 23, at the moment, in order to buffer and absorb energy, the energy transmitted by the unmanned aerial vehicle 22, the first hydraulic cylinder 15 connected with the movable pulley block support plate, the movement of the block pulley block 14 to both sides is stopped, and the hydraulic cylinder 15 absorbs the kinetic energy of the unmanned aerial vehicle transferred steel wire rope 23 in the process, and the whole process is always kept in a moving state.
Because the unmanned aerial vehicle 22 is in the recovery process, after hitting the wire rope 23, the wire rope 23 moves forward along with the unmanned aerial vehicle 22, during the movement, the hanging rod 2204 on the unmanned aerial vehicle 22 can prevent the unmanned aerial vehicle 22 from falling off from the wire rope 23, in order to enable the unmanned aerial vehicle 22 to smoothly enter the sliding track 3, the V-shaped guide port 301 is arranged on the front side of the hanging rod, when the unmanned aerial vehicle 22 moves to the area, if the horizontal position has no deviation, the hanging rod directly enters the sliding track 3, if the horizontal position has deviation, the roller 2202 on the unmanned aerial vehicle colliding rod 2201 collides with the edge of the V-shaped guide port 301, the roller 2202 on the colliding rod 2201 can rotate along the colliding rod 2201, after colliding with the V-shaped guide port 301, the roller 2202 continuously rotates to reduce friction force, and slides into the sliding track 3 along the edge of the V-shaped guide port 301, and can. After the unmanned aerial vehicle 22 enters the sliding track 3, the rollers 2203 roll in the sliding track 3 to generate friction force, so that kinetic energy on the unmanned aerial vehicle 22 is consumed until the speed of the unmanned aerial vehicle 22 is 0, and the whole recovery process is completed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a close on space on-board unmanned aerial vehicle recovery unit, its characterized in that includes: an airship, a support frame, a sliding track, a power mechanism and an unmanned aerial vehicle,
two support frames are symmetrically and fixedly connected to two sides of the bottom of the airship, the sliding tracks are fixedly connected to the support frames,
the support frame is fixedly connected with a power platform, the two power mechanisms are symmetrically arranged and comprise a motor support frame, a motor, a coupler, a reel support, a reel, a fixed pulley block, a first linear guide rail, a movable pulley block, a first hydraulic cylinder, a first sliding block, a second hydraulic cylinder, an L-shaped plate, a second linear guide rail, a second sliding block and a rope striking plate, the power platform is fixedly connected onto the support frame, the motor is fixedly connected onto the power platform through the motor support frame, the reel is fixedly connected onto the power platform through the reel support frame, two ends of the coupler are respectively fixedly connected with a motor main shaft and a reel rotating shaft, the fixed pulley block is fixedly connected onto the power platform through a fixed pulley block support plate, the first linear guide rail and the first hydraulic cylinder are fixedly connected onto the power platform, the movable pulley block is fixedly connected onto a movable pulley block support plate, and the free end of the first hydraulic cylinder, the bottom of the movable pulley block supporting plate is fixedly connected with a first slide block corresponding to a first linear guide rail, the L-shaped plate and a second hydraulic cylinder are respectively and fixedly connected to the supporting frames, the second linear guide rail is fixedly connected to the L-shaped plate, a second slide block sliding along the second linear guide rail is fixedly connected to the rope striking plate, the free end of the second hydraulic cylinder is fixedly connected with the rope striking plate, the two ends of the steel wire rope are respectively and fixedly connected to the two winding drums, pulleys and steering wheels are fixedly connected to the power platform and the rope striking plate, and the steel wire rope bypasses the steering wheels, the pulleys, the fixed pulley blocks and the movable pulley blocks which are symmetrically arranged to form a transverse intercepting rope between the two supporting frames,
the last rigid coupling of unmanned aerial vehicle has direction percussion device, direction percussion device includes striker, gyro wheel and the peg of rigid coupling in unmanned aerial vehicle back, the gyro wheel rotates to be connected and is used for sliding along the track of slideing on the striker, the peg rigid coupling is in the striker upper end.
2. The near space unmanned aerial vehicle recovery device as claimed in claim 1, wherein the sliding rail is provided with a V-shaped guide opening near an unmanned aerial vehicle flying end.
3. The recovery device for unmanned aerial vehicle on board near space as claimed in claim 2, wherein said ram is sleeved with a roller.
4. The near space unmanned aerial vehicle recovery device as claimed in any one of claims 1 to 3, wherein a rail support frame is fixedly connected between the sliding rail and the airship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911352056.2A CN110949652B (en) | 2019-12-25 | 2019-12-25 | Near space boat carries unmanned aerial vehicle's recovery unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911352056.2A CN110949652B (en) | 2019-12-25 | 2019-12-25 | Near space boat carries unmanned aerial vehicle's recovery unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110949652A true CN110949652A (en) | 2020-04-03 |
| CN110949652B CN110949652B (en) | 2022-10-28 |
Family
ID=69983871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911352056.2A Active CN110949652B (en) | 2019-12-25 | 2019-12-25 | Near space boat carries unmanned aerial vehicle's recovery unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110949652B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104943864A (en) * | 2015-07-23 | 2015-09-30 | 北京天航华创科技股份有限公司 | Long-airborne-period combined stratosphere aircraft system scheme based on solar unmanned aerial vehicles |
| CN107310743A (en) * | 2017-07-19 | 2017-11-03 | 张博放 | A kind of guide tracked aircraft arrestment device of electromagnetism |
| CN206719516U (en) * | 2017-04-19 | 2017-12-08 | 中国科学院光电研究院 | System based near space stratospheric airship electromagnetic launch unmanned plane |
| CN207208446U (en) * | 2017-09-22 | 2018-04-10 | 哈尔滨工程大学 | A kind of aerial landing platform of unmanned plane |
| US20180237141A1 (en) * | 2011-06-13 | 2018-08-23 | Stephen B. Heppe | Airship launch from a cargo airship with a payload return vehicle |
| CN108891574A (en) * | 2018-06-18 | 2018-11-27 | 陈彤云 | A kind of cruise of forest, which is looked into, makes integrated dirigible |
| CN109229403A (en) * | 2018-10-23 | 2019-01-18 | 西北工业大学 | A kind of quick recovery system of overhead suspension floating unmanned plane |
-
2019
- 2019-12-25 CN CN201911352056.2A patent/CN110949652B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180237141A1 (en) * | 2011-06-13 | 2018-08-23 | Stephen B. Heppe | Airship launch from a cargo airship with a payload return vehicle |
| CN104943864A (en) * | 2015-07-23 | 2015-09-30 | 北京天航华创科技股份有限公司 | Long-airborne-period combined stratosphere aircraft system scheme based on solar unmanned aerial vehicles |
| CN206719516U (en) * | 2017-04-19 | 2017-12-08 | 中国科学院光电研究院 | System based near space stratospheric airship electromagnetic launch unmanned plane |
| CN107310743A (en) * | 2017-07-19 | 2017-11-03 | 张博放 | A kind of guide tracked aircraft arrestment device of electromagnetism |
| CN207208446U (en) * | 2017-09-22 | 2018-04-10 | 哈尔滨工程大学 | A kind of aerial landing platform of unmanned plane |
| CN108891574A (en) * | 2018-06-18 | 2018-11-27 | 陈彤云 | A kind of cruise of forest, which is looked into, makes integrated dirigible |
| CN109229403A (en) * | 2018-10-23 | 2019-01-18 | 西北工业大学 | A kind of quick recovery system of overhead suspension floating unmanned plane |
Non-Patent Citations (1)
| Title |
|---|
| 曹莉等: "无人机集群发射与回收技术发展研究", 《空天防御》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110949652B (en) | 2022-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103009391B (en) | Variable-structure rope-traction parallel robot for wind tunnel test | |
| US20200333212A1 (en) | System and method for testing aerodynamic characteristic of high-speed moving vehicle-bridge system and subsidiary facilities thereof under crosswind | |
| CN102358430B (en) | Ship-borne aircraft capturing and arresting device | |
| CN109625305B (en) | Unmanned aerial vehicle recovery unit | |
| CN103693206A (en) | Autonomous circular launching and landing device for unmanned aerial vehicle | |
| CN102490643A (en) | Large-scale wind turbine blade transporter and transportation method | |
| CN109676580A (en) | Rail mounted crusing robot | |
| CN202765291U (en) | Insect aircraft imitating flapping wing mechanism | |
| CN104058338B (en) | Having hoists walks the track type container field bridge of two-in-one traveling gear | |
| CN109896038A (en) | Unmanned aerial vehicle ejecting system | |
| CN108058825A (en) | It is a kind of can front and rear swipe flapping wing aircraft device | |
| CN108706095B (en) | Be suitable for miniature many rotor unmanned aerial vehicle that has buffer stop that channel patrolled and examined | |
| CN110239706A (en) | A kind of movable type takes off landing method and mobile undercarriage | |
| CN107585322A (en) | A kind of gauze compounding machine back of the body skyhook is breasted the tape formula ground and carrier-borne Retrieval System for Mini UAV and recovery method | |
| CN207737497U (en) | It is a kind of can front and back swipe flapping wing aircraft device | |
| CN116625712A (en) | Wheel performance test device | |
| CN107089345B (en) | A kind of unmanned aerial vehicle ejecting frame trolley tripping mechanism | |
| CN110949652B (en) | Near space boat carries unmanned aerial vehicle's recovery unit | |
| CN109018418B (en) | Ejector rail device of emitter | |
| CN103272376B (en) | Robot capable of playing table tennis with human | |
| CN105835055A (en) | Extending-and-contracting mechanical arm for tunnel detection | |
| CN102120457A (en) | Maglev galloping train device | |
| CN209080185U (en) | A kind of ejection orbit device of transmitter | |
| CN112373711B (en) | Self-adaptive active blocking type recovery adjusting device for fixed-wing unmanned aerial vehicle | |
| CN212408212U (en) | Photoelectric pod lifting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |