CN111547228B - System for non-forming transfer and distribution of stratospheric airship - Google Patents
System for non-forming transfer and distribution of stratospheric airship Download PDFInfo
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- CN111547228B CN111547228B CN202010297003.1A CN202010297003A CN111547228B CN 111547228 B CN111547228 B CN 111547228B CN 202010297003 A CN202010297003 A CN 202010297003A CN 111547228 B CN111547228 B CN 111547228B
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
Abstract
The invention relates to a system for non-forming transferring and distributing of an airship on a stratosphere, which comprises a transferring platform, a transferring platform and a control system, wherein the transferring platform is used for bearing and transferring the airship; one end of the active restraint device is connected to the transfer platform, and the other end of the active restraint device is connected to a position, on the airship, of a first height away from the tail of the airship, and is used for adjusting the height of the airship from the transfer platform; one end of the follow-up restraining device is connected to the transfer platform, the other end of the follow-up restraining device is connected to a position, on the airship, at a second height away from the tail of the airship, and the follow-up restraining device is used for being matched with the active restraining device to adjust the inclination angle of the airship relative to the vertical direction within a preset range; the tail restraint device is connected to the transfer platform at one end, and is connected to the tail of the airship at the other end; and the cutting device is used for cutting the tail restraint device, separating the tail restraint device from the tail of the airship and distributing the airship. The system has simple structure and low cost, and improves the safety and reliability of unshaped release of the stratospheric airship.
Description
Technical Field
The invention relates to the technical field of airships, in particular to a system for non-forming transfer and distribution of an airship on a stratosphere.
Background
As is known, the stratosphere is located at a height of 10km to 50km from the surface in medium-latitude regions, and starts at around 8 km from the surface in polar regions. The atmosphere of the stratosphere is stable in composition, the airflow flows horizontally, weather phenomena such as rain, snow, thunder, electricity and the like are basically avoided, the air density is only 1/14 which is equal to the air density of the ground, and the wind speed is generally 10-25 m/s. The stratosphere is the most calm section in the atmosphere, is hardly influenced by weather and is almost never wet due to the height interval and the unique climate condition, and meanwhile, the stratosphere has stable climate condition and good electromagnetic property. The optimal residence height of the stratospheric airship is 18-25km, and the sight distance coverage radius can reach about 500 km. Because the stratosphere is highly thin and the atmosphere is thin, in order to meet the requirement of large load capacity, the stratosphere airship needs to have enough buoyancy, so that the size of the airship is huge and is generally tens of thousands to tens of thousands of cubic meters. Such bulky airship is usually secured by a hangar of a corresponding size. When the flight task is executed, the airship needs to be moved to an external issuing field from the airship storehouse, issuing operation is carried out after the airship is confirmed to be normal, and the airship is lifted off. In order to reduce control in the rising process of the stratospheric airship and ensure that the airship can safely and stably reach the height of the stratosphere, some stratospheric airships are only filled with buoyancy lifting gas for lifting and staying empty in the ground airship body, and the airships are in an unformed state on the ground; after the airship is distributed, the buoyancy gas in the airship body gradually expands along with the increase of the height of the airship until the airship body is completely formed before the airship reaches the flat flying height.
However, the stratospheric airship which is not formed and distributed is large in ground wind resistance due to the fact that the airship body is not formed, and the unformed airship body cannot bear concentrated loads, so that certain difficulty is brought to transfer and distribution of the airship. Especially, after the airship is transported to the field from the cabin, the ground wind and the net buoyancy of the airship act together, so that the safety constraint of the airship becomes very difficult. When the airship arrives at the distribution area and distribution operation is carried out, airship restriction needs to be removed at the same time, the unshaped airship leaves the transfer platform to accelerate and rise, and the safety and reliability of the whole process are ensured. Therefore, it is a technical problem to be solved urgently to provide a safe and reliable non-forming distribution technology of stratospheric airship.
Disclosure of Invention
The invention aims to provide a system for non-forming transferring and distributing of stratospheric airship, which has simple structure and low cost and improves the safety and reliability of non-forming distribution of the stratospheric airship.
In order to solve the technical problem, the invention provides a system for non-forming transfer and distribution of stratospheric airship, which comprises:
the transfer platform is used for bearing and transferring the airship;
one end of the active restraint device is connected to the transfer platform, and the other end of the active restraint device is connected to a position, on the airship, of a first height away from the tail of the airship, and is used for adjusting the height of the airship from the transfer platform;
one end of the follow-up restraining device is connected to the transfer platform, the other end of the follow-up restraining device is connected to a position, on the airship, at a second height away from the tail of the airship, and the follow-up restraining device is used for being matched with the active restraining device to adjust the inclination angle of the airship relative to the vertical direction within a preset range;
the tail restraint device is connected to the transfer platform at one end, and is connected to the tail of the airship at the other end;
and the cutting device is used for cutting the tail restraint device, separating the tail restraint device from the tail of the airship and distributing the airship.
Further, the position of the first height from the tail of the airship is a preset head position of the airship.
Further, the active restraint device comprises a plurality of head restraint chains, and each head restraint chain comprises an active lifting mechanism and a head pull rope;
the active lifting mechanism is arranged on the transfer platform and used for releasing or furling the head pull rope and adjusting the height of the airship from the transfer platform;
one end of the head pull rope is connected to the active lifting mechanism, and the other end of the head pull rope is connected to the head position corresponding to the airship.
Furthermore, the head restraint chain further comprises a slow descending part, and the slow descending part is connected with the head pull rope and used for driving the head to be pulled up and away from the airship and slowly descend when the airship is released.
Further, the active restraint device comprises a first head restraint chain, a second head restraint chain, a third head restraint chain, a fourth head restraint chain and a fifth head restraint chain;
the first head restraint chain, the second head restraint chain, the third head restraint chain and the fourth head restraint chain are uniformly distributed around the head of the airship and have equal included angles with the vertical direction, one end of the fifth head restraint chain is connected to the tail position of the transfer platform, and the other end of the fifth head restraint chain is correspondingly connected to the back of the head position of the airship.
Further, the position at the second height from the tail of the airship is a preset airship waist position.
Further, the follow-up restraining device comprises a restraining belt ring and a plurality of waist restraining chains, wherein the restraining belt ring is installed at the waist position of the airship, and each waist restraining chain comprises a follow-up lifting mechanism and a waist pull rope;
the follow-up lifting mechanism is arranged on the transfer platform and is used for being matched with the active restraining device to release or furl the waist pull rope and adjusting the inclination angle of the airship relative to the vertical direction within a preset range;
one end of the waist pull rope is connected to the waist restraining device, and the other end of the waist pull rope is connected to the restraining belt ring.
Further, the follow-up constraint device comprises a first waist constraint chain, a second waist constraint chain, a third waist constraint chain and a fourth waist constraint chain;
wherein, first waist restraint chain, second waist restraint chain, third waist restraint chain, fourth waist restraint chain evenly distributed are in around the restraint belt ring, and equal with the contained angle homogeneous phase of vertical direction.
Further, the tail restraint device comprises a tail restraint mechanism and a tail pull rope,
the tail restraint structure is mounted on the transfer platform, one end of the tail pull rope is connected to the tail restraint mechanism, and the other end of the tail pull rope is connected to the tail of the airship.
Further, the driving lifting mechanism and the following lifting mechanism are winches.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the system for non-forming transferring and distributing of the stratospheric airship can achieve considerable technical progress and practicability, has wide industrial utilization value and at least has the following advantages:
the system has simple structure and low cost, and can ensure the safety and reliability of each stage of preparation before the airship leaves the warehouse, transportation before the airship leaves the warehouse, preparation before the airship is issued and the airship is issued, thereby improving the safety and reliability of the unshaped issuing of the airship on the stratosphere.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a non-shaped, but front elevation view of a stratospheric airship according to one embodiment of the present invention;
FIG. 2 is a top view of the stratospheric airship at various restraint positions and connections prior to unshaped release according to one embodiment of the present invention;
FIG. 3 is a side elevation view of an unshaped elevated prior to launch of an airship according to one embodiment of the invention;
FIG. 4 is a schematic view of an airship waist pull rope releasing restraint according to an embodiment of the invention;
FIG. 5 is a schematic view of a release airship head pull rope restraining pull rope during dispensing according to an embodiment of the invention;
FIG. 6 is a schematic view of an airship tail guy rope release according to an embodiment of the invention;
fig. 7 is a flowchart of a non-forming distribution method of an airship in a stratosphere according to an embodiment of the present invention.
[ notation ] to show
1: the airship 2: the transfer platform 100: head restraint chain
200: waist restraint chain 8: tail restraint device
8-1: tail stay cord 8-2: tail restraint mechanism
5: the active lifting mechanism 4: head pull cord 3: slowly descending part
101: first head restraint chain 102, second head restraint chain 103, third head restraint chain,
104: fourth head restraint chain 105: fifth head restraint chain 7: follow-up lifting mechanism
11: the restraint belt ring 6: waist stay 201: first waist restraint chain
202: second lumbar restraint chain 203: third lumbar restraint chain 204: fourth waist restraint chain
3-1: first slow-descending part 3-2: second descent control section 3-3: the third slowly descending part
3-4: a fourth slow descending part 3-5: back descending part 4-1: first head pull cord
4-2: second head cord 4-3: third head cord 4-4: fourth head pull rope
4-5: back stay 5-1: first active lifting mechanism 5-2: second active lifting mechanism
5-3: a third active lifting mechanism 5-4: fourth active lifting mechanism
5-5: back active lifting mechanism 6-1: first waist stay cord
6-2: second waist cord 6-3: a third waist pull rope,
6-4: fourth waist cord 7-1: first follow-up lifting mechanism
7-2: the second follow-up lifting mechanism 7-3: third follow-up lifting mechanism
7-4: fourth follow-up elevating mechanism 9: the nacelle 10: airship tail
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be given with reference to the accompanying drawings and preferred embodiments of a system for non-shaped transfer and distribution of an airship in a stratosphere according to the present invention.
The length of the stratospheric airship is generally one hundred meters or two hundred meters, although the whole size is large, the total weight of the system is generally only several tons or more than ten tons, and the system is generally in a net light state due to the action of helium floatation force in the airship body. In order to enable the airship to reach the height of the stratosphere, the hull is generally of a flexible inflatable structure, so that the surface of the hull cannot bear large concentrated acting force and is easy to damage. In an airship using non-shaped distribution, the airship hull is less capable of bearing concentrated loads, which makes the constraint requirement on the airship higher.
Based on this, the embodiment of the present invention provides a system for non-forming transfer and distribution of an airship in a stratosphere, as shown in fig. 1 and fig. 2, including a transfer platform 2, an active constraint device, a follow-up constraint device, a tail constraint device 8, and a cutting device (not shown in the figure), where the transfer platform 2 is used for carrying and transferring the airship 1; one end of the active restraint device is connected to the transfer platform 2, and the other end of the active restraint device is connected to a position, on the airship 1, of a first height from the tail portion 10 of the airship, and is used for adjusting the height of the airship 1 from the transfer platform 2. One end of the follow-up restraining device is connected to the transfer platform 2, and the other end of the follow-up restraining device is connected to a position on the airship 1, which is at a second height from the tail 10 of the airship, and is used for adjusting the inclination angle of the airship 1 relative to the vertical direction within a preset range by matching with the active restraining device. The tail restraint device 8 is connected to the transfer platform 2 at one end and connected to the airship tail 10 at the other end. The cutting device is used for cutting the tail restraint device 8, separating the tail restraint device from the airship tail 10 and distributing the airship 1. In the process of inflating the airship 1, an active restraint device is arranged at a position, away from the airship tail 10, of a first height, the airship 1 is operated to control the height of the airship 1 during inflation, the airship 1 is transferred onto the transfer platform 2 after inflation is finished, the airship 1 is further restrained at a position, away from the airship tail 10, of a second height by the aid of the follow-up restraint device, the airship tail 10 is restrained on the tail restraint device 8, reliability of connection of the airship 1 and the transfer platform 2 is improved, and the height and inclination of the airship 1 can be adjusted.
In the example shown in fig. 1, the position at the first height from the tail 10 of the airship is a preset head position, the active restraint device comprises a plurality of head restraint chains 100, and each head restraint chain 100 comprises an active lifting mechanism 5, a head pull rope 4 and a descent control part 3. Wherein, the active lifting mechanism 5 is installed on the transfer platform 2 and is used for releasing or furling the head pull rope 4 and adjusting the height of the airship from the transfer platform 2, as an example, the active lifting mechanism 5 may be a winch; one end of the head pull rope 4 is connected to the active lifting mechanism 5, and the other end of the head pull rope is connected to the corresponding head position of the airship 1; the descent control portion 3 is connected to the head pull rope 4, and configured to drive the head pull rope 4 to be away from the airship 1 when the airship 1 is issued, and perform descent control, as an embodiment, the descent control portion 3 may be a descent control balloon.
As an example, the active restraint device includes a first head restraint chain 101, a second head restraint chain 102, a third head restraint chain 103, a fourth head restraint chain 104, and a fifth head restraint chain 105. The first head restraint chain 101, the second head restraint chain 102, the third head restraint chain 103 and the fourth head restraint chain 104 are uniformly distributed around the head of the airship and have equal included angles with the vertical direction, one end of the fifth head restraint chain 105 is connected to the tail position of the transfer platform 2, and the other end of the fifth head restraint chain is correspondingly connected to the back of the head position of the airship.
As an example, the first head restraint chain 101 includes a first active lift mechanism 5-1, a first head cord 4-1, and a first descent control portion 3-1; the second head restraint chain 102 comprises a second driving lifting mechanism 5-2, a second head pull rope 4-2 and a second slow descending part 3-2; the third head restraint chain 103 comprises a third active lifting mechanism 5-3, a third head pull rope 4-3 and a third slow descending part 3-3; the fourth head restraint chain 104 comprises a fourth driving lifting mechanism 5-4, a fourth head pull rope 4-4 and a fourth slow descending part 3-4; the fifth head restraint chain 105 includes a back active lifting mechanism 5-5, a back pull cord 4-5, and a back descent control portion 3-5.
As shown in fig. 2, a first active lifting mechanism 5-1 is installed at a first position of the transfer platform 2, and a first head pull rope 4-1 is connected with the first active lifting mechanism 5-1; the second active lifting mechanism 5-2 is arranged at a second position of the transfer platform 2, and the second head pull rope 4-2 is connected with the second active lifting mechanism 5-2; the third active lifting mechanism 5-3 is arranged at a third position of the transfer platform 2, and the third head pull rope 4-3 is connected with the third active lifting mechanism 5-3; a fourth active lifting mechanism 5-4 is arranged at a fourth position of the transfer platform 2, and a fourth head pull rope 4-4 is connected with the fourth active lifting mechanism 5-4; the back active lifting mechanism 5-5 is installed at the tail position of the transfer platform 2, the back pull rope 4-5 is connected with the back active lifting mechanism 5-5, as an example, the projection of the center of the airship on the transfer platform 2 is taken as a reference, the first position is a left front position, the second position is a right front position, the third position is a left rear position, and the fourth position is a right rear position.
In the process of restraining the airship, the slowly descending part after being inflated can be connected with the head pull ropes corresponding to the respective positions from the beginning before the inflation, namely: the first slowly descending part 3-1 is connected with the first head pull rope 4-1, the second slowly descending part 3-2 is connected with the second head pull rope 4-2, the third slowly descending part 3-3 is connected with the third head pull rope 4-3, the fourth slowly descending part 3-4 is connected with the second head pull rope 4-2, and the back slowly descending part 3-5 is connected with the back pull rope 4-5. Connect the restraint stay cord at airship waist with restraint belt loop 11 on the ship, promptly: the restraint belt loop 11 is respectively connected with a first waist pull rope 6-1, a second waist pull rope 6-2, a third waist pull rope 6-3 and a fourth waist pull rope 6-4.
As shown in fig. 2, the tail restraint device 8 includes a tail restraint mechanism 8-2 and a tail stay 8-1, wherein the tail restraint mechanism 8-2 is mounted on the transfer platform 2, and one end of the tail stay 8-1 is connected to the tail restraint mechanism 8-2, and the other end is connected to the tail 10 of the airship. As an example, the tail restraint structure 8-2 may be a fixing device or a winch, and if the tail pull rope 8-1 needs to be adjusted, the tail restraint structure is adjusted to a desired length by the winch, and if the tail pull rope 8-1 does not need to be adjusted, the tail restraint structure 8-1 is adjusted to the desired length and then fixed.
As an example, a cutting device may be installed at the junction of the tail restraint device 8 and the airship tail 10, and the cutting device cuts off the tail guy rope at the junction of the tail guy rope 8-1 and the airship tail 10, so that the tail guy rope 8-1 left on the airship 1 is as short as possible, thereby increasing the launching speed of the airship 1.
In the example shown in fig. 1, the position at the second height from the airship tail 10 is a preset airship waist position, the following restraint device comprises a restraint belt ring 11 installed at the airship waist position and a plurality of waist restraint chains 200, and each waist restraint chain 200 comprises a following lifting mechanism 7 and a waist pull rope 6. The follow-up lifting mechanism 7 is mounted on the transfer platform 2 and is used for being matched with the active restraining device to release or furl the waist pull rope 6 and adjusting the inclination angle of the airship relative to the vertical direction within a preset range; one end of the waist pull rope 6 is connected to the waist restraining device, and the other end is connected to the restraining belt ring 11.
As an example, the following constraint device comprises a first waist constraint chain 201, a second waist constraint chain 202, a third waist constraint chain 203 and a fourth waist constraint chain 204. The first waist restraint chain 201, the second waist restraint chain 202, the third waist restraint chain 203 and the fourth waist restraint chain 204 are uniformly distributed around the restraint belt ring 11, and included angles with the vertical direction are equal.
The embodiment of the invention also provides a non-forming distribution method of the stratospheric airship, as shown in fig. 7, according to the time sequence, the distribution process can be divided into four stages, namely an airship preparation stage before delivery from the warehouse, an airship delivery stage, an airship adjustment stage before distribution and an airship distribution stage.
The method specifically comprises the following steps:
step S1, preparation stage before airship warehouse-out:
inflating an airship 1, restraining a position, which is on the airship 1 and is at a first height from the tail 10 of the airship, of the airship 1 by an active restraining device, restraining a position, which is on the airship 1 and is at a second height from the tail 10 of the airship, by a follow-up restraining device, restraining the tail 10 of the airship by a tail restraining device 8, so that the airship 1 is connected to a transfer platform 2, and adjusting the height, which is on the airship after being inflated and is at the transfer platform 2, to a preset first height by the active restraining device;
it can be understood that when the non-shaped distributed stratospheric airship is used on the ground, only buoyancy gas for lifting is available in the airship body, the whole airship is in a non-shaped state, and the inflated airship is the airship filled with the buoyancy gas for lifting.
The preparation stage before the airship leaves the warehouse is mainly to firmly connect the airship 1 and the transfer platform 2 so as to ensure the safety of the airship when the airship leaves the warehouse and is subjected to ground wind, and the operation is fast and effective when the airship is opened, restrained and released.
Step S2 airship warehouse-out and transferring stage:
moving the transfer platform 2 to transfer the airship 1 to a distribution area.
Step S3 adjusting stage before airship release:
the height of the airship 1 from the transfer platform 2 is adjusted to a preset second height through the active restraint device, and the inclination angle of the airship 1 relative to the vertical direction is adjusted to be within a preset range through the follow-up restraint device and the active restraint device;
step S4 airship issuing stage:
after the airship 1 enters the release window, the airship is released from the restraint of the active restraint device and the follow-up restraint device, and when the tail restraint device 8 is straightened, the tail restraint device 8 is cut off to be separated from the airship tail 10, so that the airship 1 is released.
As an example, in step S1, the adjusting the height of the inflated airship 1 from the transfer platform 2 to the preset first height by the active restraint device includes: the head pull rope of the active lifting mechanism 5 is released or furled by the active lifting mechanism 5 of the active restraining device, and the height of the airship from the transfer platform 2 is adjusted to a preset first height.
Based on the embodiment shown in fig. 2, a first active lifting mechanism 5-1, a second active lifting mechanism 5-2, a third active lifting mechanism 5-3, a fourth active lifting mechanism 5-4 and a back active lifting mechanism 5-5 are controlled simultaneously, a first head pull rope 4-1, a second head pull rope 4-2, a third head pull rope 4-3, a fourth head pull rope 4-4 and a back pull rope 4-5 are respectively drawn in or released, and the height of the airship 1 from the transfer platform 2 is adjusted to a preset first height.
It should be noted that, the restraining manner before the airship 1 leaves the garage is related to the size of the ground wind outside the hangar, that is, the corresponding first height under the ground wind speed outside different hangars is different, and the height of the airship from the transfer platform 2 is adjusted to the corresponding first height according to the different ground wind speeds, specifically including:
step S11, as shown in fig. 3, the airship 1 is set to be in the instability critical state when acted by the ground wind outside the hangar, the head pull ropes 4 in the downwind direction are in the critical loose state, the tension of the two head pull ropes 4 in the upwind direction are the same, the airship 1 does not rotate, and the formula (1) can be obtained
Wherein T is the pull force of the head pull rope, a is the included angle between the head pull rope 4 and the vertical line, CdThe aerodynamic drag coefficient of the airship head at the inflation section, V is the ground wind, V is the volume of the airship head at the inflation section of the airship 1, and FdThe pneumatic resistance of the airship 1 at the inflation section of the airship;
step S12, substituting corresponding parameters under different critical states into the formula (1) to respectively obtain a first speed, a second speed and a third speed;
step S13, if the ground wind speed is lower than the first speed, the head pull rope 4 is released, so that the pod 9 of the airship 1 can be transported in the air without falling on the transfer platform 2, thereby shortening the delivery time after reaching the delivery area.
If the ground wind speed is greater than or equal to the first speed and less than the second speed, the head pull rope 4 is furled, so that the pod 9 of the airship 1 falls on the transfer platform 2, and the waist pull rope 6 is tightened;
if the ground wind speed is greater than or equal to the second speed and less than a third speed, after the pod 9 of the airship 1 falls on the transfer platform 2, the head pull rope 4 is further drawn in to increase a, so that the horizontal component Tsina of the pulling force of the head pull rope 4 is greater than the received ground wind resistance Fd；
If the speed of the ground outside the airship warehouse is greater than or equal to the third speed, the airship 1 is transported and released at a greater risk, and the releasing operation is not implemented.
In the embodiment of the invention, the first speed is 2m/s, the second speed is 4m/s, and the third speed is 6 m/s.
As an example, in step S2, the transfer platform 2 may be started to carry the airship 1 and slowly move from the airship storehouse to the distribution area, and if the airship 1 is influenced by the ground wind during the transfer and the departure of the airship 1 from the airship storehouse, and the hull deflects downward wind direction beyond the preset deflection range, the upwind head pull rope 4 and the waist pull rope 6 are tightened to make the hull deflection within the preset deflection range to resist the ground wind resistance that may be encountered, so as to ensure that the airship 1 is normally transferred.
As an example, the step S3 includes: and the active lifting mechanism 5 of the active restraint device releases the head pull rope 4, the height of the airship 1 from the transfer platform 2 is adjusted to a preset second height, and in the process, the follow-up lifting mechanism 7 of the follow-up restraint device controls the waist pull rope 6 in a follow-up manner, so that the waist pull rope 6 is in a tightening state, and the inclination angle of the airship relative to the vertical direction is controlled within a preset range. The airship 1 is lifted up by performing adjustment before release in step S3, the release speed of the airship 1 can be increased, and the release process can be shortened.
Based on the example shown in fig. 2, step S3 may specifically include: controlling a first active lifting mechanism 5-1, a second active lifting mechanism 5-2, a third active lifting mechanism 5-3, a fourth active lifting mechanism 5-4 and a back active lifting mechanism 5-5, and releasing a first head pull rope 4-1, a second head pull rope 4-2, a third head pull rope 4-3, a fourth head pull rope 4-4 and a back pull rope 4-5 at the same time to enable the height of the airship 1 to rise to a second preset height; meanwhile, the first follow-up lifting mechanism 7-1, the second follow-up lifting mechanism 7-2, the third follow-up lifting mechanism 7-3 and the fourth follow-up lifting mechanism 7-4 are controlled in a follow-up mode, so that the first waist pull rope 6-1, the second waist pull rope 6-2, the third waist pull rope 6-3 and the fourth waist pull rope 6-4 are in a tightened state in the lifting process of the airship. This process continues until the airship tail 10 leaves the transfer platform 2, placing the tail guy rope 8-1 of the tail restraint 8 in tension.
As an example, the step S4 includes:
in step S41, after the airship 1 enters the release window, the restriction of the waist pull rope 6 is released, as shown in fig. 4, and then the restriction of the head pull rope 4 is released, as shown in fig. 5.
Still based on the example shown in fig. 2, wherein if the ground wind is greater than the first speed, the down-wind waist cord 6 restraint is released, then the up-wind waist cord 6 restraint is released, then the down-wind head cord 4 restraint is released, and then the up-wind head cord 4 restraint is released;
if the ground wind is opposite to the advancing direction of the transfer platform 2, after the restraint of the waist pull rope 6 is released, the head pull rope 4 at the front part of the airship with the advancing direction as the reference is released, and then the head pull rope 4 at the rear part of the airship is released, namely, the restraint of the third head pull rope 4-3, the fourth head pull rope 4-4 and the back pull rope 4-5 is released, and then the restraint of the first head pull rope 4-1 and the restraint of the second head pull rope 4-2 are released.
If the ground wind is consistent with the advancing direction of the transfer platform 2, after the restriction of the waist pull rope 6 is released, the head pull rope 4 at the rear part of the airship with the advancing direction as the reference is released, then the head pull rope 4 at the front part of the airship is released, namely, the restriction of the first head pull rope 4-1 and the second head pull rope 4-2 is released, and then the restriction of the third head pull rope 4-3, the fourth head pull rope 4-4 and the back pull rope 4-5 is released.
Step S42, after the head pull rope 4 is released, the slowly descending portion 3 connected to the head pull rope 4 moves in a direction away from the airship and slowly descends, the airship 1 ascends at an accelerated speed, the airship tail 10 leaves the transfer platform 2, the tail pull rope 8-1 of the tail restraint device 8 is straightened, the tail pull rope 8-1 is cut off by the cutting device, the tail pull rope 8-1 is separated from the airship tail 10, and the airship 1 leaves the transfer platform 2 to complete distribution, as shown in fig. 6.
As an example, the step S42 includes: the cutting device cuts off the tail pull rope at the joint of the tail pull rope and the tail of the airship, so that the tail pull rope 8-1 left on the airship 1 is as short as possible, and the distribution speed of the airship 1 is increased.
Specifically, the first head stay 4-1, the second head stay 4-2, the third head stay 4-3, the fourth head stay 4-4 and the back stay 4-5 are constrained to respectively carry the first slowly descending part 3-1, the second slowly descending part 3-2, the third slowly descending part 3-3, the fourth slowly descending part 3-4 and the back slowly descending part 3-5 to move in the direction away from the airship 1 and slowly descend. The airship 1 will rise with higher speed, the airship tail 10 will also leave the transfer platform 2, and the tail pull rope 8-1 is gradually straightened, so that the tail pull rope 8-1 is separated from the airship tail 10 by the cutting device after the airship tail 10 has enough safety height. At this point, all the constraints of the airship 1 are released, the airship 1 leaves the transfer platform 2, namely the distribution is completed, and the ascending stage is entered.
The system provided by the embodiment of the invention has the advantages of simple structure and low cost, and can ensure the safety and reliability of each stage of preparation before the airship leaves the warehouse, transportation before the airship leaves the warehouse, preparation before the airship is issued and the airship is issued, thereby improving the safety and reliability of the unshaped issuing of the airship on the stratosphere.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A system for unshaped transfer dispensing of stratospheric airship, comprising:
the transfer platform is used for bearing and transferring the airship;
one end of the active restraint device is connected to the transfer platform, and the other end of the active restraint device is connected to a position, on the airship, of a first height away from the tail of the airship, and is used for adjusting the height of the airship from the transfer platform;
one end of the follow-up restraining device is connected to the transfer platform, the other end of the follow-up restraining device is connected to a position, on the airship, at a second height away from the tail of the airship, and the follow-up restraining device is used for being matched with the active restraining device to adjust the inclination angle of the airship relative to the vertical direction within a preset range;
the position at the second height from the tail of the airship is a preset airship waist position;
the follow-up restraining device comprises a restraining belt ring and a plurality of waist restraining chains, wherein the restraining belt ring is arranged at the waist position of the airship, and each waist restraining chain comprises a follow-up lifting mechanism and a waist pull rope;
the follow-up lifting mechanism is arranged on the transfer platform and is used for being matched with the active restraining device to release or furl the waist pull rope and adjusting the inclination angle of the airship relative to the vertical direction within a preset range;
one end of the waist pull rope is connected to the follow-up lifting mechanism, and the other end of the waist pull rope is connected to the restraint belt ring;
the tail restraint device is connected to the transfer platform at one end, and is connected to the tail of the airship at the other end;
and the cutting device is used for cutting the tail restraint device, separating the tail restraint device from the tail of the airship and distributing the airship.
2. The system for unshaped transfer dispensing of an airship according to claim 1, wherein the means for transferring the airship to the stratosphere comprises,
the position of the first height from the tail of the airship is a preset head position of the airship.
3. The system for unshaped transfer dispensing of an airship according to claim 2, wherein the means for transferring the airship to the stratosphere comprises,
the active restraint device comprises a plurality of head restraint chains, and each head restraint chain comprises an active lifting mechanism and a head pull rope;
the active lifting mechanism is arranged on the transfer platform and used for releasing or furling the head pull rope and adjusting the height of the airship from the transfer platform;
one end of the head pull rope is connected to the active lifting mechanism, and the other end of the head pull rope is connected to the head position corresponding to the airship.
4. The system for unshaped transfer dispensing of an airship according to claim 3, wherein the means for transferring the airship to the stratosphere comprises,
the active restraint device comprises a first head restraint chain, a second head restraint chain, a third head restraint chain, a fourth head restraint chain and a fifth head restraint chain;
the first head restraint chain, the second head restraint chain, the third head restraint chain and the fourth head restraint chain are uniformly distributed around the head of the airship and have equal included angles with the vertical direction, one end of the fifth head restraint chain is connected to the tail position of the transfer platform, and the other end of the fifth head restraint chain is correspondingly connected to the back of the head position of the airship.
5. The system for unshaped transfer dispensing of an airship according to claim 3 or 4, wherein the means for transferring the airship to the stratosphere are configured to,
the head restraint chain further comprises a slow descending part, and the slow descending part is connected with the head pull rope and used for driving the head to be pulled up and far away from the airship and slowly descend when the airship is distributed.
6. The system for unshaped transfer dispensing of an airship according to claim 1, wherein the means for transferring the airship to the stratosphere comprises,
the follow-up constraint device comprises a first waist constraint chain, a second waist constraint chain, a third waist constraint chain and a fourth waist constraint chain;
wherein, first waist restraint chain, second waist restraint chain, third waist restraint chain, fourth waist restraint chain evenly distributed are in around the restraint belt ring, and equal with the contained angle homogeneous phase of vertical direction.
7. The system for unshaped transfer dispensing of an airship according to claim 1, wherein the means for transferring the airship to the stratosphere comprises,
the tail restraint device comprises a tail restraint mechanism and a tail pull rope,
the tail restraint mechanism is installed on the transfer platform, one end of the tail pull rope is connected to the tail restraint mechanism, and the other end of the tail pull rope is connected to the tail of the airship.
8. The system for unshaped transfer dispensing of an airship according to claim 3, wherein the means for transferring the airship to the stratosphere comprises,
the driving lifting mechanism and the follow-up lifting mechanism are winches.
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| CN202010297003.1A CN111547228B (en) | 2020-04-15 | 2020-04-15 | System for non-forming transfer and distribution of stratospheric airship |
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| CN202010297003.1A CN111547228B (en) | 2020-04-15 | 2020-04-15 | System for non-forming transfer and distribution of stratospheric airship |
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| CN108128437A (en) * | 2017-11-22 | 2018-06-08 | 北京天恒长鹰科技股份有限公司 | Dirigible lets system fly away and dirigible lets method fly away |
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| JP2003137189A (en) * | 2001-11-08 | 2003-05-14 | Nobuto Sugiyama | Mooring device for balloon |
| CN103600828A (en) * | 2013-10-25 | 2014-02-26 | 中国科学院光电研究院 | Release device for unshaped issuing of aerostat |
| JP2016088392A (en) * | 2014-11-07 | 2016-05-23 | ソフトバンク株式会社 | Balloon mooring device, balloon transport device and balloon mooring ship |
| CN106741807A (en) * | 2016-12-14 | 2017-05-31 | 北京临近空间飞艇技术开发有限公司 | A kind of non-conformal rises the constraint of dirigible ground and lets method fly away |
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