CN111959812A - Self-adaptive gravity center matching device and method for thrust line of rocket launching unmanned aerial vehicle - Google Patents
Self-adaptive gravity center matching device and method for thrust line of rocket launching unmanned aerial vehicle Download PDFInfo
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- CN111959812A CN111959812A CN202010681893.6A CN202010681893A CN111959812A CN 111959812 A CN111959812 A CN 111959812A CN 202010681893 A CN202010681893 A CN 202010681893A CN 111959812 A CN111959812 A CN 111959812A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention provides a method and a device for self-adaptive matching of gravity center of a thrust line of a rocket launching unmanned aerial vehicle. According to the invention, the traditional mode that the gravity center position of the unmanned aerial vehicle is measured firstly is changed through the arrangement, the operation steps are simplified, and the thrust line adjusting efficiency is improved; the thrust cone and the connecting angle piece are connected through a shaft, the shaft structure has good bearing capacity, uniform stress, simple and compact structure and small occupied space; the positioning holes on the two sides are used for adjusting the positions of the thrust lines in a grading manner, so that the operation is convenient, and the practicability is good.
Description
Technical Field
The invention belongs to the field of aviation rocket launching unmanned aerial vehicles, and particularly relates to a self-adaptive gravity center matching device and method for a thrust line of a rocket launching unmanned aerial vehicle.
Background
At present, unmanned aerial vehicles are widely applied in various fields, such as military reconnaissance, environmental monitoring, environmental law enforcement, meteorological monitoring, homeland survey law enforcement, forest fire prevention monitoring and other fields. The rocket launching mode of the unmanned aerial vehicle is the most common launching mode of the unmanned aerial vehicle, and means that the unmanned aerial vehicle utilizes a launching cradle to launch by rocket boosting, the boosting rocket automatically breaks away after being burnt, and a main engine of the boosting rocket finishes a flight task. The axis that interface is connected in boosting rocket and unmanned aerial vehicle transmission is the thrust line, makes unmanned aerial vehicle in order to satisfy the straight line at the thrust place of certain angle transmission, must satisfy the actual focus that the thrust line extension line crossed unmanned aerial vehicle and just can guarantee the transmission safety, consequently need measure the actual focus of unmanned aerial vehicle before the transmission and distance and adjustment between the thrust line.
Traditional unmanned aerial vehicle distance line is measured and is adjusted, adopts modes such as belly many times of hanging measurement, shimming regulation usually to make the distance line coincide with the actual focus of aircraft as far as possible. The invention patent CN201711309677.3 discloses an unmanned aerial vehicle two-point rocket boosting launching device and a method thereof, wherein two thrust rods are adopted to rotate along two ball sockets, and after a thrust line is adjusted in place, the mounting position of a rocket is adjusted in a mode of limiting and fastening by a hook. The invention patent with application number of CN201410705710.4, namely a self-adjusting unmanned aerial vehicle thrust line measurement and adjustment method, adopts a ball joint to flexibly rotate in a certain range to adjust a thrust line.
In the traditional method, a thrust cone (a structure for bearing rocket thrust on an airplane) is adjusted to adapt to the gravity center of the unmanned aerial vehicle, multiple times of hanging and measurement are needed, the angle or position adjustment is relatively difficult, and the operation is time-consuming and labor-consuming; the invention relates to an unmanned aerial vehicle two-point type rocket boosting launching device and a method thereof, wherein the device has large occupied space, is difficult to bear the huge thrust of a rocket due to the contact of spherical joint points, has high requirements on the manufacturing and assembling precision of a ball socket and is difficult to realize; according to the self-adjusting unmanned aerial vehicle thrust line measurement and adjustment method, the ball joint is also in point contact, the pressure bearing performance is poor, the manufacturing and assembling precision requirements of the ball joint are high, the ball joint is difficult to realize, and the fastening mode cannot be realized.
Disclosure of Invention
The invention provides a thrust line self-adaptive matching gravity center device and a method for a rocket launching unmanned aerial vehicle, aiming at the problems in the prior art, the thrust line is self-adaptively matched with the actual gravity center of the unmanned aerial vehicle by changing the position of the thrust line, specifically, the thrust cone is connected with a connecting angle sheet on the unmanned aerial vehicle through a thrust shaft by changing the connecting mode between the thrust cone and the unmanned aerial vehicle, the thrust cone rotates relative to the unmanned aerial vehicle along the thrust shaft in the hoisting process, the position of the thrust line is changed along with the change of the position of the thrust line, when the thrust cone is adjusted to the proper position, pins are inserted for positioning through hole positions which are distributed on different parts of the thrust cone and the connecting angle sheet of the unmanned aerial vehicle and finally the self-adaptive matching gravity center task of the thrust line. The method can realize more convenient, rapid and accurate self-adaptive adjustment of the thrust line to match the gravity center of the unmanned aerial vehicle.
The specific implementation content of the invention is as follows:
the invention provides a self-adaptive matching gravity center device for a thrust line of a rocket launching unmanned aerial vehicle, which is connected with an abdomen installation groove on the unmanned aerial vehicle and comprises a steel wire rope, a hanger, a thrust cone and a connecting angle piece;
the steel wire rope is sequentially connected with the hanger, the thrust cone, the connecting angle sheet and the abdomen mounting groove;
the thrust cone comprises a thrust cone body and a thrust cone mounting seat; the thrust cone is of a cone frustum-shaped structure, the top of the cone frustum is connected with the hanger, and the bottom of the cone frustum is fixedly connected with the thrust cone mounting seat integrally;
the thrust cone mounting seat is a rectangular shell without a lower bottom plate and a front side plate, and the thrust cone and the front side surface of the thrust cone mounting seat are fixedly and integrally mounted;
the self-adaptive matching gravity center device further comprises a thrust cone and a screw; the connecting angle piece comprises a bottom plate connected with the abdomen mounting groove and connecting plates arranged on the left side and the right side of the bottom plate; the thrust cone mounting seat is movably mounted on the bottom plate; the width of the front end of the connecting plate is smaller than that of the rear end;
the front ends of the left side and the right side of the thrust cone mounting seat are provided with thrust cone mounting holes corresponding to the positions, and the front ends of the connecting plates on the left side and the right side of the connecting angle pieces are also provided with thrust cone mounting holes corresponding to the thrust cone mounting holes; the thrust cone penetrates through the thrust cone mounting seat and the thrust cone mounting hole in the connecting angle piece;
the rear ends of the left side and the right side of the thrust cone mounting seat are respectively provided with a screw, and the end parts of the screws are fixedly screwed into the thrust cone mounting seat; screw avoidance holes are formed in the rear ends of the connecting plates on the left side and the right side of the connecting angle piece; the diameter of the screw avoiding hole is larger than the nominal diameter of the screw; one end of the screw, which is not connected with the thrust cone mounting seat, penetrates through the screw avoiding hole;
the connecting plates on the left side and the right side of the connecting angle piece are also provided with a plurality of positioning holes I, and the connecting plates on the left side and the right side of the connecting angle piece are provided with a plurality of positioning holes II; and the positioning hole II and the positioning hole I on the same side are arranged in a staggered manner.
In order to better realize the invention, a hanging joint rotating taper hole is arranged at the top end of the thrust cone; the bottom end of the hanger is provided with a hanger joint, and the hanger joint comprises a hanger rod and a hanger ball; the hanging rod penetrates through the hanging joint rotating taper hole to enter the inner space of the thrust cone, the diameter of the hanging ball is larger than that of the hanging joint rotating taper hole, and the hanging rod is arranged at the bottom end of the hanging rod in the thrust cone.
In order to better realize the invention, further, hanging adapter avoidance grooves are arranged on the front side surface and the rear side surface of the upper section of the thrust cone, and hanging rotating shaft mounting grooves are arranged on the left side and the right side; hang including hanging the joint, hanging the pivot, hang the joint and keep away the groove setting in thrust awl cone inner space through hanging the adapter, and hang joint bottom both sides and set up and hang the joint hole, hang the joint and keep away the groove, hang the pivot of hanging of joint hole and be connected with thrust awl cone through passing hanging the adapter.
In order to better realize the invention, a certain connecting gap is arranged between the connecting plates on the left side and the right side of the connecting angle sheet and the left side and the right side of the thrust cone mounting seat.
The invention also provides a self-adaptive gravity center matching method for the thrust line of the rocket launching unmanned aerial vehicle, which comprises the following steps:
step 1: the connecting angle sheet is fixedly connected with the unmanned aerial vehicle, then the thrust cone is connected with the connecting angle sheet by using a thrust shaft, one end of the thrust shaft is limited by a step, and the other end of the thrust shaft is inserted into a cotter pin to limit axial displacement, so that only rotational freedom is left between the thrust cone and the thrust shaft;
step 2: the thrust cone is rotated to a proper position, the screw is screwed in through the screw avoidance hole, the screw is not screwed up temporarily, and the thrust cone can rotate up and down in a certain range along the thrust shaft because a clearance is formed between the head part of the screw and the joint angle piece and a clearance is also formed between the screw and the screw avoidance hole on the joint angle piece;
and step 3: the hanging is connected with the thrust cone;
and 4, step 4: the unmanned aerial vehicle is hung to be in a vertical state through a steel wire rope on the hanger by a crane or a truss hanger, the unmanned aerial vehicle rotates relative to the thrust cone along the thrust shaft under the action of gravity, and when the unmanned aerial vehicle is in a static state, the axis of the thrust cone passes through the actual gravity center of the unmanned aerial vehicle 1;
and 5: and 4, the thrust cone rotates to a certain position relative to the connecting angle piece, the positioning hole I on the connecting angle piece and the positioning hole II on the thrust cone are observed, the corresponding hole with the nearest hole position in the two rows of holes is found out, the thrust line and the gravity center of the unmanned aerial vehicle slightly deviate at the moment, the corresponding hole is marked and is inserted with a pin for positioning within an allowable error range, then the screw is screwed down, the hanger is detached, and the work of self-adaption matching of the thrust line to the gravity center is completed.
In order to better implement the present invention, further, when a hanging joint rotating taper hole is provided for the top end of the thrust cone, the step 3 specifically comprises: a hanging joint is arranged in the thrust cone through the connecting angle sheet area, and a tool is used for clamping the hanging joint to connect the thrust cone with a hanging; or loosening the screw to rotate the thrust cone outwards for a certain angle, loading the hanging joint from the opening area at the bottom of the thrust cone, clamping the hanging joint and connecting with the hanging, and recovering the screw.
In order to better implement the present invention, further, when hanging adapter avoidance grooves are provided on the front and rear side surfaces of the upper section of the thrust cone, step 3 specifically includes: through connecting the fillet region, pack into in thrust awl inside and hang the adapter, the pivot is hung in the installation, and it is spacing with the pin for the thrust awl, at the vertical in-process that lifts up of unmanned aerial vehicle, hang the pivot and rotate with thrust awl and hanging the adapter respectively.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) according to the invention, the gravity center is adaptively matched through the thrust line, the traditional mode that the gravity center position of the unmanned aerial vehicle is measured firstly and then the position is padded or moved through the thrust cone is changed, the operation steps are simplified, and the adjustment efficiency of the thrust line is improved;
(2) the thrust cone and the connecting angle piece are connected through the shaft, and the shaft structure has the advantages of good bearing capacity, uniform stress, simple and compact structure and small occupied space;
(3) the invention adjusts the position of the thrust line in a grading way by arranging the positioning holes at two sides, has convenient operation and better implementability.
Drawings
FIG. 1 is a schematic view of the installation of the present invention on an unmanned aerial vehicle;
FIG. 2 is a side cross-sectional view of the inventive apparatus mounted on an unmanned aerial vehicle;
FIG. 3 is a perspective view of the hanger of the present invention mounted on a thrust cone via a hanger adapter rotating cone aperture;
FIG. 4 is a left side cross-sectional view of the hanger of the present invention mounted on a thrust cone through a hanger joint rotating cone bore;
FIG. 5 is a schematic side perspective view of a thrust cone structure with a hanging adapter rotating cone hole according to the present invention;
FIG. 6 is a schematic bottom perspective view of a thrust cone structure with a rotating cone hole of a hanger joint according to the present invention;
FIG. 7 is a schematic back perspective view of a thrust cone structure with a hanging adapter avoidance slot according to the present invention;
fig. 8 is a schematic view of a corresponding hanging structure when the hanging adapter avoidance groove is provided.
Wherein: 1, unmanned aerial vehicle, 2, belly mounting groove, 3, wire rope, 4, hang, 5, thrust awl, 6, connect the angle piece, 7, the thrust axle, 8, locating hole I, 9, the screw, 10, hang the joint, 11, the thrust axle mounting hole, 12, the screw dodges the hole, 13, hang the joint and rotate the taper hole, 14, locating hole II, 15, hang the adapter and dodge the groove, 16, hang the pivot, 17, hang the adapter, 18, the thrust awl cone, 19, the thrust awl mount pad.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the embodiment provides a thrust line self-adaptive matching gravity center device of a rocket launching unmanned aerial vehicle, which comprises a steel wire rope 3, a hanger 4, a thrust cone 5, a connecting angle sheet 6, a thrust shaft 7, a positioning hole I8, a screw 9, a hanger joint 10, a thrust shaft mounting hole 11, a screw avoiding hole 12, a hanger joint rotating cone hole 13 and a positioning hole II 14, as shown in figures 1, 2, 3, 4, 5 and 6;
the steel wire rope 3 is connected with a hanger 4, and the unmanned aerial vehicle 1 can be lifted through the hanger 4; the hanging device 4 is connected with the steel wire rope 3 and the thrust cone 5, a hanging ball at the bottom end of the hanging connector 10 is in contact with a hanging connector rotating cone hole 13 at the upper end of the thrust cone 5, and the hanging connector and the thrust cone 5 can rotate in a self-adaptive mode to adjust the thrust cone 5 to be vertical under the action of gravity; the thrust cone 5 transmits thrust to the unmanned aerial vehicle 1 by being attached to a rocket conical surface, the axis of the thrust cone 5 is a thrust line, the thrust cone 5 is connected with a connecting angle piece 6 at the belly of the unmanned aerial vehicle through a thrust shaft 7, the thrust cone 5 can freely rotate along the thrust shaft 7, and a thrust shaft mounting hole 11 and a positioning hole II 14 are designed on the bottom surface; the connecting angle piece 6 is a connecting carrier for the thrust cone 5 and the unmanned aerial vehicle 1 to uniformly transmit thrust, the thrust cone 5 is connected with the connecting angle piece 6 through a thrust shaft 7 and a screw 9, a gap is designed between the connecting angle piece 6 and the side surface of the thrust cone 5 to prevent the thrust cone 5 from being clamped when rotating, and a positioning hole I8 and a screw avoiding hole 12 matched with the thrust cone 5 are designed on the side surface; the thrust shaft 7 is a main force transmission structural member of the thrust cone 5 and the unmanned aerial vehicle 1, is in a stepped shaft shape, the tail end of the stepped shaft is provided with a limiting pin hole, and a solid lubricating layer or lubricating grease is coated on the thrust shaft 7 and the thrust shaft mounting hole 11 to reduce the rotating friction force of the thrust shaft; the positioning hole is divided into a positioning hole I8 on the connecting angle piece 6 and a positioning hole II 14 on the thrust cone, the positioning hole I8 on the same side and the positioning hole II 14 are staggered, when the thrust cone 5 rotates for a certain angle along the thrust shaft 7 in a certain direction, a pin is inserted into the corresponding positioning hole, different holes correspond to different rotation angles, so that the stepped adjustment is realized, the positioning hole on the other side is designed to correspond to different rotation directions of the thrust cone 5, and the pin is inserted into the hole after the thrust cone 5 is positioned; the end part of the screw 9 is screwed into the thrust cone 5, a screw avoiding hole 12 is designed on the connecting angle piece 6, the screw avoiding hole 6 is a hole with a diameter larger than the nominal diameter of the screw, so that the thrust cone 5 does not interfere when rotating along the thrust shaft 7, after the pin is inserted into the positioning hole I8 on the connecting angle piece 6 and the positioning hole II 14 on the thrust cone, the screw is screwed down, and the thrust cone 5 and the connecting angle piece 6 are reliably connected.
The axis of the thrust shaft mounting hole 11 is vertically intersected with the axis of the conical surface of the thrust cone 5, the axis of the conical surface of the thrust cone 5 is superposed with the axis of the rotary conical hole 13 of the hanging joint, the axis of the thrust cone 5 is a thrust line, the axis extension line of the thrust cone 5 passes through the spherical center of the hanging joint 10, and the thrust line is in the symmetry plane of the unmanned aerial vehicle.
Example 2:
the embodiment provides a thrust line self-adaptive matching gravity center method of a rocket launching unmanned aerial vehicle based on the device of the embodiment 1, and the implementation steps are as follows:
step 1: the connecting angle sheet 6 is fixedly connected with the unmanned aerial vehicle 1, then the thrust cone 5 is connected with the connecting angle sheet 6 through the thrust shaft 7, one end of the thrust shaft 7 is limited by a step, and the other end of the thrust shaft 7 is inserted into a cotter pin to limit axial displacement, so that only rotational freedom is left between the thrust cone 5 and the thrust shaft 7;
step 2: the thrust cone 5 is rotated to a proper position, the screw 9 is screwed in through the screw avoidance hole 12, the screw 9 is not screwed, and the thrust cone 5 can rotate up and down along the thrust shaft 7 within a certain range due to the clearance between the head part of the screw and the joint surface of the connecting angle piece 6 and the clearance between the screw and the screw avoidance hole 12 on the connecting angle piece 6;
and step 3: through the area of the connecting angle piece 6, a hanging joint 10 is arranged in the thrust cone 5, a tool is used for clamping the hanging joint 10 and connecting the hanging joint with the hanger 4, or the screw 9 is loosened to rotate the thrust cone 5 outwards for a certain angle, the hanging joint 10 is arranged from the area of the opening at the bottom of the thrust cone 5, then the hanging joint 10 is clamped and connected with the hanger 4, and the screw 9 is restored;
and 4, step 4: the unmanned aerial vehicle 1 is hoisted to a vertical state through a steel wire rope 3 on a hanger 4 by a crane or a truss crane, the unmanned aerial vehicle 1 rotates relative to a thrust cone 5 along a thrust shaft 7 under the action of gravity, and when the unmanned aerial vehicle 1 is in a static state, the axis (thrust line) of the thrust cone 5 passes through the actual gravity center of the unmanned aerial vehicle 1;
and 5: in the step 4, the thrust cone 5 rotates to a certain position relative to the connecting angle sheet 6, a positioning hole I8 in the connecting angle sheet 6 and a positioning hole II 14 in the thrust cone 5 are observed, a corresponding hole with the nearest hole position in the two rows of holes is found out, the thrust line and the gravity center of the unmanned aerial vehicle slightly deviate at the moment, but in an allowable error range, a pin is marked and inserted for positioning, then the screw 9 is screwed, the hanger 4 is detached, and the work of self-adaption matching of the thrust line to the gravity center is completed.
Example 3:
in the present embodiment, in addition to the embodiment 1, the connection manner between the hanger 4 and the thrust cone 5 in the embodiment 1 is further modified: as shown in fig. 7 and 8, the hanging adapter 17 is connected with the thrust cone 5 through the hanging rotary shaft 16, the hanging adapter 17 is installed in the thrust cone 5 through the hanging adapter avoiding groove 15, the hanging rotary shaft 16 is inserted, the two ends of the hanging rotary shaft 16 are limited by pins, and the hanging adapter 17 or the thrust cone 5 can freely rotate with the hanging rotary shaft 16. The axis of the hanging rotating shaft 16 is parallel to the axis of the thrust shaft mounting hole 11, and the two axes are respectively and vertically intersected with the thrust line.
Other parts of this embodiment are the same as those of embodiment 1, and thus are not described again.
Example 4:
this embodiment is based on the apparatus of the above embodiment 3, and in addition to the method of the above embodiment 2, the step 3 is adjusted adaptively, and when the step 3 uses the thrust cone 5 and the pod hanger 4 modified in the embodiment 3: through connecting the 6 regions of fillet, hang adapter 17 at the inside packing into of thrust awl 5, pivot 16 is hung in the installation, and is spacing with it with the pin, and the vertical in-process of hoisting of unmanned aerial vehicle 1 hangs pivot 16 and rotates with thrust awl 5 and hanging adapter 17 respectively.
The other parts of this embodiment are the same as those of embodiment 2, and thus are not described again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (7)
1. A self-adaptive matching gravity center device for a thrust line of a rocket launching unmanned aerial vehicle is connected with an abdomen installation groove (2) on the unmanned aerial vehicle (1), and is characterized by comprising a steel wire rope (3), a hanger (4), a thrust cone (5) and a connecting angle piece (6);
the steel wire rope (3) is sequentially connected with the hanger (4), the thrust cone (5), the connecting angle sheet (6) and the abdomen installation groove (2);
the thrust cone (5) comprises a thrust cone body (18) and a thrust cone mounting seat (19); the thrust cone (18) is of a cone frustum-shaped structure, the top of the cone frustum is connected with the hanger (4), and the bottom of the cone frustum is fixedly connected with the thrust cone mounting seat (19) integrally;
the thrust cone mounting seat (19) is a rectangular shell without a lower bottom plate and a front side plate, and the thrust cone (18) and the front side surface of the thrust cone mounting seat (19) are fixedly and integrally mounted;
the self-adaptive matching gravity center device further comprises a thrust cone (7) and a screw (9); the connecting angle piece (6) comprises a bottom plate connected with the abdomen mounting groove (2) and connecting plates arranged on the left side and the right side of the bottom plate; the thrust cone mounting seat (19) is movably mounted on the bottom plate; the width of the front end of the connecting plate is smaller than that of the rear end;
the front ends of the left side and the right side of the thrust cone mounting seat (19) are provided with thrust cone mounting holes (11) corresponding to the positions, and the front ends of the connecting plates on the left side and the right side of the connecting angle sheet (6) are also provided with the thrust cone mounting holes (11) corresponding to the thrust cone mounting holes (11); the thrust cone (7) penetrates through the thrust cone mounting seat (19) and a thrust cone mounting hole (11) in the connecting angle piece (6);
the rear ends of the left side and the right side of the thrust cone mounting seat (19) are respectively provided with a screw (9), and the end parts of the screws (9) are fixedly screwed into the thrust cone mounting seat (19); screw avoidance holes (12) are arranged at the rear ends of the connecting plates at the left side and the right side of the connecting angle sheet (6); the diameter of the screw avoiding hole (12) is larger than the nominal diameter of the screw (9); one end of the screw (9), which is not connected with the thrust cone mounting seat (19), penetrates through the screw avoiding hole (12);
a plurality of positioning holes I (8) are also formed in the connecting plates on the left side and the right side of the connecting angle sheet (6), and a plurality of positioning holes II (14) are formed in the connecting plates on the left side and the right side of the connecting angle sheet (6); and the positioning hole II (14) and the positioning hole I (8) on the same side are arranged in a staggered mode.
2. A rocket launch unmanned aerial vehicle thrust line adaptive matching center of gravity device as recited in claim 1, wherein said thrust cone (18) top end is provided with hanging joint rotating taper hole (13); the bottom end of the hanger (4) is provided with a hanger joint (10), and the hanger joint (10) comprises a hanger rod and a hanger ball; the hanging rod penetrates through the hanging joint rotating taper hole (13) to enter the inner space of the thrust cone (18), the diameter of the hanging ball is larger than that of the hanging joint rotating taper hole (13), and the hanging rod is arranged at the bottom end of the hanging rod in the thrust cone (18).
3. The self-adaptive matching gravity center device for the thrust line of the rocket launching unmanned aerial vehicle as recited in claim 1, wherein hanging adapter avoidance grooves (15) are arranged on the front and rear side surfaces of the upper section of the thrust cone (18), and hanging rotating shaft installation grooves are arranged on the left and right sides; hang (4) including hanging joint (10), hanging pivot (16), hang joint (10) and avoid groove (15) to set up in thrust awl cone (18) inner space through hanging the adapter, and hang joint (10) bottom both sides and set up and hang the joint hole, hang joint (10) and avoid groove (15), hang pivot (16) of hanging of joint hole and be connected with thrust awl cone (18) through passing hanging the adapter.
4. The self-adaptive matching center of gravity device for the thrust line of a rocket launching unmanned aerial vehicle as recited in claim 1, 2 or 3, wherein a certain connection gap is provided between the connection plates at the left and right sides of the connection gusset (6) and the left and right sides of the thrust cone mounting seat (19).
5. A rocket launching drone thrust line adaptive matching center of gravity method as recited in claim 4, comprising the steps of:
step 1: the connecting angle sheet (6) is fixedly connected with the unmanned aerial vehicle (1), then the thrust cone (5) is connected with the connecting angle sheet (6) through a thrust shaft (7), one end of the thrust shaft (7) is limited by a step, and the other end of the thrust shaft is inserted into a cotter pin to limit axial displacement, so that only rotational freedom degree is left between the thrust cone (5) and the thrust shaft (7);
step 2: the thrust cone (5) is rotated to a proper position, the screw (9) is screwed in through the screw avoiding hole (12), the screw (9) is not screwed temporarily, and the thrust cone (5) can rotate up and down along the thrust shaft (7) within a certain range due to the clearance between the head part of the screw and the joint angle piece (6) and the clearance between the screw and the screw avoiding hole (12) on the joint angle piece (6);
and step 3: the hanging (4) is installed and connected with the thrust cone (5);
and 4, step 4: the unmanned aerial vehicle (1) is hung to be in a vertical state through a steel wire rope (3) on a hanger (4) by a crane or a truss crane, the unmanned aerial vehicle (1) rotates relative to a thrust cone (5) along a thrust shaft (7) under the action of gravity, and when the unmanned aerial vehicle (1) is in a static state, the axis of the thrust cone (5) is the actual gravity center of the unmanned aerial vehicle (1) through which a thrust line passes;
and 5: in the step 4, the thrust cone (5) rotates to a certain position relative to the connecting angle sheet (6), a positioning hole I (8) on the connecting angle sheet (6) and a positioning hole II (14) on the thrust cone (5) are observed, the corresponding holes with the nearest hole positions in the two rows of holes are found out, the distance between the thrust line and the gravity center of the unmanned aerial vehicle is slightly different, but in an allowable error range, the corresponding holes are marked and are inserted with pins for positioning, then the screws (9) are screwed, the hanger (4) is removed, and the work of self-adaption matching of the thrust line to the gravity center is completed.
6. The self-adaptive matching center of gravity method for rocket launching unmanned aerial vehicle thrust line according to claim 5, wherein when a hanging joint rotating taper hole (13) is provided for the top end of the thrust cone (18), the step 3 is specifically: a hanging joint (10) is arranged in the thrust cone (5) through a connecting angle sheet (6), the hanging joint (10) is clamped by a tool, and the thrust cone (5) is connected with a hanging part (4); or loosening the screw (9) to rotate the thrust cone (5) outwards for a certain angle, installing the hanging connector (10) from the opening area at the bottom of the thrust cone (5), then clamping the hanging connector (10) and connecting the hanging connector (4), and recovering the screw (9).
7. The self-adaptive matching gravity center method for the thrust line of the rocket launching unmanned aerial vehicle according to claim 5, wherein when hanging adapter avoidance grooves (15) are provided for the front and rear side surfaces of the upper section of the thrust cone (18), the step 3 specifically comprises: through connecting angle piece (6) region, hang adapter (17) in thrust awl (5) inside packing into, pivot (16) are hung in the installation, with thrust awl (5) spacing with the pin, at the vertical in-process that lifts by crane of unmanned aerial vehicle (1), hang pivot (16) and rotate with thrust awl (5) and hang adapter (17) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010681893.6A CN111959812B (en) | 2020-07-15 | 2020-07-15 | Self-adaptive gravity center matching device and method for thrust line of rocket launching unmanned aerial vehicle |
Applications Claiming Priority (1)
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| CN112224447A (en) * | 2020-12-14 | 2021-01-15 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring gravity center of unmanned aerial vehicle and matching thrust line |
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| CN113184211A (en) * | 2021-04-30 | 2021-07-30 | 北京卫星制造厂有限公司 | Rocket-assisted unmanned aerial vehicle thrust line adjusting method based on centroid test and balancing |
| CN113501137A (en) * | 2021-07-13 | 2021-10-15 | 沃飞长空科技(成都)有限公司 | Thrust line adjusting tool for unmanned aerial vehicle, mounting structure and using method |
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