CN110979624B - Automatic fly-away device - Google Patents
Automatic fly-away device Download PDFInfo
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- CN110979624B CN110979624B CN201911323321.4A CN201911323321A CN110979624B CN 110979624 B CN110979624 B CN 110979624B CN 201911323321 A CN201911323321 A CN 201911323321A CN 110979624 B CN110979624 B CN 110979624B
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- aerostat
- support rod
- container
- cable
- load
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- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000000926 separation method Methods 0.000 claims abstract description 8
- 238000004804 winding Methods 0.000 claims abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/005—Arrangements for landing or taking-off, e.g. alighting gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
- B64B1/50—Captive balloons
- B64B1/52—Captive balloons attaching trailing entanglements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
- Emergency Lowering Means (AREA)
Abstract
The invention provides an automatic flying device, comprising: the method comprises the following steps: the device comprises a base, a lifting mechanism, a control mechanism and an automatic cable winding and unwinding mechanism; the lifting mechanism comprises: the device comprises an aerostat container, a primary support rod, a secondary support rod, a vertical support rod and a separation mechanism; the control mechanism includes: a load container and a program control module; automatic receive and release cable mechanism includes: a cable storage cylinder and a guide mechanism; the cable storage cylinder, the first-level support rod, the vertical support rod, the load container, the guide mechanism and the program control module are arranged on the base, the separation mechanism is arranged at one end, far away from the first-level support rod, of the second-level support rod and is connected with the aerostat arranged in the aerostat container 1, and the separation mechanism is used for pulling the aerostat out of the aerostat container 1 when the second-level support rod extends out of the first-level support rod, so that air enters the windward air cavity. The small-sized mooring unmanned aerial vehicle adopting the automatic flying device has the characteristics of long air-leaving time, large load capacity, simplicity in use and maintenance, low use and maintenance cost, short system deployment time and the like.
Description
Technical Field
The invention relates to the field of general design of captive balloons, in particular to an automatic flying device.
Background
The mooring balloon is a floating aircraft which can float in the air by means of buoyancy generated by gas which is filled in an air bag and lighter than air, overcomes the self weight of the gas and realizes floating in the air, is tied to the ground or a traction mooring vehicle by using a multifunctional mooring cable, realizes long-time fixed-point staying in the air by means of the multifunctional mooring cable, and can control the floating height of the gas in the air.
However, the captive balloon needs relatively complete inflation equipment in the inflation process, occupies a large area, and has the defects of long system deployment time, more personnel requirements and the like.
Disclosure of Invention
The embodiment of the invention provides an automatic flying device which has the characteristics of long idle time, high load capacity, simplicity in use and maintenance, low use and maintenance cost, short system deployment time and the like.
The embodiment of the invention provides an automatic flying device, which comprises: the device comprises a base, a lifting mechanism, a control mechanism and an automatic cable retracting and releasing mechanism; the lifting mechanism comprises: the aerostat container 1, a primary support rod 4, a secondary support rod 3, a vertical support rod 5 and a separation mechanism 7; the control mechanism includes: a load container 6 and a program control module 9; the automatic cable retracting mechanism comprises: a cable storage cylinder 2 and a guide mechanism 8; the cable storage cylinder 2, the primary support rod 4, the vertical support rod 5, the load container 6, the guide mechanism 8 and the program control module 9 are arranged on the base; wherein,
one end of the primary support rod 4 connected with the base can rotate around the base;
the vertical stay bar 5 is respectively connected with the program control module 9 and the primary stay bar 4 and is used for supporting the primary stay bar 4 to form a preset angle with the base under the control of the program control module 9;
the secondary support rod 3 is arranged in the primary support rod 4 and extends out of the primary support rod 4 when the primary support rod 4 is supported by the vertical support rod 5;
the aerostat container 1 is arranged on the primary support rod 4, the aerostat container 1 is used for placing an aerostat 10, and the aerostat 10 comprises a windward air cavity;
the disengaging mechanism 7 is arranged at one end of the secondary support rod 3 far away from the primary support rod 4, is connected with an aerostat 10 placed in the aerostat container 1, and is used for pulling the aerostat 10 out of the aerostat container 1 when the secondary support rod 3 extends out of the primary support rod 4 so as to enable air to enter a windward air cavity;
the mooring cable 11 on the cable storage barrel 2 is connected with the aerostat 10 through the guide mechanism 8;
the load container 6 is used for placing a load, which is connected to the aerostat 10.
Optionally, the guiding mechanism 8 comprises a cable breaking device;
the cable breaking device is arranged on the mooring cable 11 and is used for cutting off the mooring cable 11 in an emergency state.
Optionally, the size of the aerostat container 1 is determined according to the size of the aerostat 10 after folding is completed, the aerostat container 1 is shaped as a flat ellipsoid, and the periphery of the aerostat container 1 is fixedly connected with the primary support rod 4.
Optionally, the aerostat 10 is shaped as a kite with an air cavity facing the wind.
Alternatively, the load container 6 may have a cylindrical shape.
Optionally, the load is fixedly connected with the aerostat 10 through a plurality of connecting ropes arranged at the lower end of the aerostat 10;
when the aerostat 10 is emptied, the load is pulled out of the load container 6.
Optionally, the disengaging mechanism 7 comprises: a circular ring or pin type solenoid valve assembly;
the disengaging mechanism 7 is connected with the program control module 9 and is used for controlling the circular ring type or bolt type electromagnetic valve assembly to be opened when a disengaging instruction sent by the program control module 9 is received, so that the aerostat 10 is separated from the disengaging mechanism 7.
Optionally, the cable storage drum 2 is used for adaptively winding and unwinding the cable during the ascent and the parking of the aerostat 10, and adjusting the tension of the lower end of the mooring cable 11 of the aerostat 10.
The small-sized mooring unmanned aerial vehicle adopting the automatic flying device has the characteristics of long air-leaving time, high load-carrying capacity, simplicity in use and maintenance, low use and maintenance cost, short system deployment time and the like. Novel mooring unmanned aerial vehicle can carry on corresponding task load equipment according to the work needs, and the lift-off is to the take the altitude, utilizes system self advantage for military and civilian fields such as early warning reconnaissance, survey, sightseeing tourism to the ground.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a front view of an automatic flying apparatus according to an embodiment of the present invention;
fig. 2 is a side view of an automatic flying device according to an embodiment of the present invention;
fig. 3 is a schematic flying diagram of an automatic flying apparatus according to an embodiment of the present invention;
description of reference numerals:
1-aerostat container; 2-cable storage cylinder; 3-a secondary brace rod;
4-a first-level support rod; 5-vertical stay bar; 6-load container;
7-a disengagement mechanism; 8, a guide mechanism; 9-program control module;
10-aerostat; 11-mooring a cable; 12-moving the platform.
Detailed Description
Fig. 1 is a front view of an automatic flying apparatus according to an embodiment of the present invention, and fig. 2 is a side view of the automatic flying apparatus according to an embodiment of the present invention, and as shown in fig. 1 and 2, the automatic flying apparatus includes: lifting mechanism, control mechanism and automatic cable retracting and releasing mechanism.
The lifting mechanism mainly comprises an aerostat container 1, a primary support rod 4, a secondary support rod 3, a vertical support rod 5, a disengaging mechanism 7 and the like. The automatic flying device is mainly used for lifting the primary support rod 4 to a certain inclination state from a horizontal state, and simultaneously extending the secondary support rod 3 out of the primary support rod 4 to enable the aerostat 10 in the aerostat container 1 to be in an automatic flying state.
The control mechanism mainly comprises a load container 6, a program control module 9 and the like, and is mainly used for controlling the relevant control of the automatic flying mechanism and the issuing of functional commands, and effectively controlling the execution mechanism to complete relevant specified actions.
The automatic cable winding and unwinding mechanism comprises a cable storage cylinder 2, a guide mechanism 8 (including a cable breaking device) and the like. The method is mainly used for self-adaptively retracting the mooring rope during the rising and standing-in periods of the aerostat 10, and the tension of the lower end of the mooring rope of the aerostat 10 is adjusted to ensure the flight lift force of the aerostat 10. The device can also be used for cutting off the mooring rope 11 in an emergency state, so that the use safety of the automatic flying device is ensured.
Fig. 3 is a schematic flying diagram of an automatic flying apparatus according to an embodiment of the present invention, and as shown in fig. 3, the automatic flying apparatus implements: the aerostat 10 is in an original state that the aerostat 10 is stacked and horizontally arranged in the aerostat container 1, the upper end of the aerostat 10 is connected with a separation mechanism 7 on the second-level support rod 3, when the second-level support rod 3 extends out of the first-level support rod 4, the separation mechanism 7 simultaneously pulls the aerostat 10 out of the aerostat container 1, after the aerostat 10 is formed, the separation mechanism 7 works to separate the aerostat 10 from the second-level support rod 3, and the aerostat 10 is automatically released.
Illustratively, the disengagement mechanism 7 includes: the annular or bolt type electromagnetic valve component, the disengaging mechanism 7 is connected with the program control module 9. The annular or bolt type electromagnetic valve is an assembly of an annular or bolt type connecting piece and an electromagnetic valve, the annular or bolt type connecting piece mainly achieves the function of fixedly connecting the aerostat 10 and the electromagnetic valve, the electromagnetic valve mainly achieves locking and loosening of the annular or bolt type connecting piece, and the annular or bolt type electromagnetic valve assembly mainly achieves the function of flying the aerostat 10.
the structural shape of the disengaging mechanism is as follows: the release mechanism is generally of a circular ring type or a bolt type, and has the main functions of realizing the connection and the release of the aerostat 10 and the secondary stay bar 3, and the connection and the release actions can be realized by electronic components such as an electromagnetic valve and the like so as to ensure the synchronization of the actions;
shape of aerostat 10: the aerostat 10 is similar to a kite with an upwind air cavity in shape, and can generate lift force to lift off by utilizing the relative air motion energy of the aerostat;
the load container 6 is cylindrical, and the size of the cylinder meets the load requirement;
interrelationship between aerostat 10 and load device:
the lower end of the aerostat 10 is provided with a plurality of strands of connecting ropes, the connecting ropes are fixedly connected with the load equipment, and the load equipment is pulled out from the load container 6 after being lifted.
The automatic flying apparatus is typically mounted on a ground or surface mobile platform, with the aerostat 10 correctly mounted in the aerostat container 1 and the load equipment correctly mounted on the load container 6. Before the automatic flying device works, the secondary support rod 3 is contracted inside the primary support rod 4 and is horizontally placed along with the primary support rod 4; disengaging mechanism 7 has been attached to aerostat 10 at the appropriate position along its upper opening.
The automatic flying device mainly comprises a lifting mechanism, a control mechanism and an automatic cable winding and unwinding mechanism, and needs to be matched with the aerostat 10 and the mobile platform 10 shown in fig. 3 for use in practical use.
The automatic flying device provided by the invention can reach the flying height of about 150m, the loading capacity of 5kg and the flying time of about 3min, and only 2 operators are needed.
After the automatic flying device is mechanically driven to a proper place at a certain speed along with the motorized platform, after a flying instruction is issued by the program control module 9, the first-level support rod 4 is lifted by a certain angle, the second-level support rod 3 extends out of the first-level support rod 4, meanwhile, the aerostat 10 is pulled out of the aerostat container 1 by the aid of the disengaging mechanism 7, the motorized platform moves forwards against the wind at a corresponding speed, after the aerostat 10 is completely opened and generates a certain lifting force, the program control module 9 issues the disengaging instruction, the disengaging mechanism 7 is separated from the aerostat 10, the cable storage barrel 2 automatically releases and ties the mooring cable 11 at a set speed, the aerostat 10 is lifted by the lifting force, and load equipment is pulled out of the load container 6 and lifted to a proper height. One end of a mooring cable 11 is connected with the cable storage cylinder and is connected with the aerostat 10 through the guide mechanism 8.
During the aerostat 10 is parked in the sky, influenced by the use environment, the cable storage cylinder 2 automatically retracts and releases the mooring cable 11 so as to ensure that the lower end of the mooring cable 11 has enough lift force, and the aerostat 10 can fly normally. The mobile platform is always traveling at the proper speed throughout the flight of the aerostat 10. In the use process, if an emergency occurs, the program control module 9 is used for issuing an emergency instruction, and the guide mechanism (comprising a cable breaking device) 8 automatically cuts off the mooring cable so as to ensure the use safety of the whole system.
The automatic flying device comprehensively considers the defects of the tethered balloon products in the using process, and the adopted device can reduce the defect degree caused by the defects as soon as possible. The small-sized mooring unmanned aerial vehicle adopting the automatic flying device has the characteristics of long air-leaving time, large load capacity, simplicity in use and maintenance, low use and maintenance cost, short system deployment time and the like. Novel mooring unmanned aerial vehicle can carry on corresponding task load equipment according to the work needs, and the lift-off is to the take the altitude, utilizes system self advantage for military and civilian fields such as early warning reconnaissance, survey, sightseeing tourism to the ground.
The above examples are only one of the embodiments of the present invention, and the outline structure of the same modification principle directly derived from the structure by those skilled in the art should be considered as the protection scope of the present invention.
Claims (8)
1. An automatic flying device, comprising: the device comprises a base, a lifting mechanism, a control mechanism and an automatic cable winding and unwinding mechanism; the lifting mechanism comprises: the device comprises an aerostat container (1), a primary support rod (4), a secondary support rod (3), a vertical support rod (5) and a separation mechanism (7); the control mechanism includes: a load container (6) and a program control module (9); the automatic cable retracting mechanism comprises: a cable storage cylinder (2) and a guide mechanism (8); the cable storage cylinder (2), the primary support rod (4), the vertical support rod (5), the load container (6), the guide mechanism (8) and the program control module (9) are arranged on the base; wherein,
one end of the primary support rod (4) connected with the base can rotate around the base;
the vertical stay bar (5) is respectively connected with the program control module (9) and the primary stay bar (4) and is used for supporting the primary stay bar (4) to form a preset angle with the base under the control of the program control module (9);
the secondary supporting rod (3) is arranged in the primary supporting rod (4) and extends out of the primary supporting rod (4) when the primary supporting rod (4) is supported by the vertical supporting rod (5);
the aerostat container (1) is arranged on the primary support rod (4), the aerostat container (1) is used for placing an aerostat (10), and the aerostat (10) comprises a windward air cavity;
the disengaging mechanism (7) is arranged at one end of the secondary support rod (3) far away from the primary support rod (4), is connected with an aerostat (10) placed in the aerostat container (1), and is used for pulling the aerostat (10) out of the aerostat container (1) when the secondary support rod (3) extends out of the primary support rod (4) so as to enable air to enter a windward air cavity;
the mooring cable (11) on the cable storage cylinder (2) is connected with the aerostat (10) through the guide mechanism (8);
the load container (6) is used for placing a load, and the load is connected with the aerostat (10).
2. The device according to claim 1, characterized in that the guiding means (8) comprise a cable breaking device;
the cable breaking device is arranged on the mooring cable (11) and used for cutting off the mooring cable (11) in an emergency state.
3. The device according to claim 1, characterized in that the size of the aerostat container (1) is determined according to the size of the aerostat (10) after folding is completed, the aerostat container (1) is shaped as a flat ellipsoid, and the periphery of the aerostat container (1) is fixedly connected with the primary support rods (4).
4. Device according to claim 1, characterized in that the aerostat (10) is shaped as a kite with an air cavity facing the wind.
5. The device according to claim 1, characterized in that the load container (6) has a cylindrical outer shape.
6. The device according to claim 1, characterized in that the load is connected to the aerostat (10) by a plurality of connecting lines arranged at the lower end of the aerostat (10);
when the aerostat (10) is emptied, the load is pulled out of the load container (6).
7. The device according to claim 1, characterized in that said disengagement mechanism (7) comprises: a circular ring or pin type solenoid valve assembly;
the disengaging mechanism (7) is connected with the program control module (9) and is used for controlling the circular ring type or bolt type electromagnetic valve component to be opened when a disengaging instruction issued by the program control module (9) is received, so that the aerostat (10) is separated from the disengaging mechanism (7).
8. The device according to claim 1, characterized in that the storage drum (2) is used for adaptively winding and unwinding the cable during the ascent and the standing of the aerostat (10) and adjusting the tension of the lower end of the mooring cable (11) of the aerostat (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911323321.4A CN110979624B (en) | 2019-12-19 | 2019-12-19 | Automatic fly-away device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911323321.4A CN110979624B (en) | 2019-12-19 | 2019-12-19 | Automatic fly-away device |
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| Publication Number | Publication Date |
|---|---|
| CN110979624A CN110979624A (en) | 2020-04-10 |
| CN110979624B true CN110979624B (en) | 2022-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911323321.4A Active CN110979624B (en) | 2019-12-19 | 2019-12-19 | Automatic fly-away device |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379760B (en) * | 2021-12-16 | 2024-01-30 | 湖南航天远望科技有限公司 | Nacelle support frame, high-altitude balloon dispensing device and dispensing method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816537A (en) * | 1993-04-06 | 1998-10-06 | Skystreme Uk Limited | Inflatable kite arrangement and launcher |
| CN103482053A (en) * | 2012-11-27 | 2014-01-01 | 中国科学院光电研究院 | Anchoring device for captive balloon |
| CN104411965A (en) * | 2012-03-27 | 2015-03-11 | 电子风筝控股公司 | Kite power system |
| CN104597525A (en) * | 2015-03-13 | 2015-05-06 | 南京大桥机器有限公司 | Automatic balloon releasing system for ground 8-level wind |
| CN106741815A (en) * | 2016-12-08 | 2017-05-31 | 中国特种飞行器研究所 | A kind of captive balloon |
| CN108516074A (en) * | 2018-03-30 | 2018-09-11 | 中国电子科技集团公司第三十八研究所 | Clamping means are let and shunk to a kind of automatic flying device of captive balloon fly away automatically |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180134414A1 (en) * | 2017-01-13 | 2018-05-17 | Abbas Alikouhi | High altitude space launcher |
-
2019
- 2019-12-19 CN CN201911323321.4A patent/CN110979624B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816537A (en) * | 1993-04-06 | 1998-10-06 | Skystreme Uk Limited | Inflatable kite arrangement and launcher |
| CN104411965A (en) * | 2012-03-27 | 2015-03-11 | 电子风筝控股公司 | Kite power system |
| CN103482053A (en) * | 2012-11-27 | 2014-01-01 | 中国科学院光电研究院 | Anchoring device for captive balloon |
| CN104597525A (en) * | 2015-03-13 | 2015-05-06 | 南京大桥机器有限公司 | Automatic balloon releasing system for ground 8-level wind |
| CN106741815A (en) * | 2016-12-08 | 2017-05-31 | 中国特种飞行器研究所 | A kind of captive balloon |
| CN108516074A (en) * | 2018-03-30 | 2018-09-11 | 中国电子科技集团公司第三十八研究所 | Clamping means are let and shunk to a kind of automatic flying device of captive balloon fly away automatically |
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| CN110979624A (en) | 2020-04-10 |
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