CN112572817B - Continuous automatic ejection device for fixed-wing unmanned aerial vehicle and control method thereof - Google Patents
Continuous automatic ejection device for fixed-wing unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN112572817B CN112572817B CN202110094423.4A CN202110094423A CN112572817B CN 112572817 B CN112572817 B CN 112572817B CN 202110094423 A CN202110094423 A CN 202110094423A CN 112572817 B CN112572817 B CN 112572817B
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
- B64F1/06—Launching or towing gear using catapults
Abstract
The invention discloses a continuous automatic ejection device of a fixed wing unmanned aerial vehicle and a control method thereof, wherein the device comprises a continuous conveying device, a rack assembly, an ejection resetting device, a racking device and a control module; the continuous conveying device comprises a chain type conveying belt, N telescopic rods and N hanging frames; the rack assembly comprises a base, a rack body, a fixed rod and a hydraulic telescopic rod; the ejection resetting device comprises a pulley, first to fourth reversing pulleys, a rail car, a pull rope, a winch rope, a first motor, a clutch, a first driving gear, first to fourth transmission gears and a rubber band rope; the upper frame device comprises a shell, a first ejector rod, a second motor, a second driving gear, a transmission shaft and a fifth driven gear, a second ejector rod, a second motor, a second driving gear, a second transmission gear, a fifth driven gear, a second driven gear, a seventh driven gear and a third driven gear. The invention realizes the automatic landing ejection and re-ejection after reset of the unmanned aerial vehicle, and solves the problems that the preparation time is long before the lower fixed wing unmanned aerial vehicle is ejected, personnel is required to complete landing and manual reset after ejection, and the interval between two ejections is long.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle ejection control, in particular to a fixed-wing unmanned aerial vehicle continuous automatic ejection device and a control method thereof.
Background
With the continuous progress of the technology in the field of unmanned aerial vehicle cluster control, the application field of unmanned aerial vehicles is continuously expanded, the use prospect becomes wider, the unmanned aerial vehicle launching technology is used as a part of an unmanned aerial vehicle system, whether unmanned aerial vehicles successfully ascend or not is determined, and the unmanned aerial vehicle launching technology is a key part of the unmanned aerial vehicle system, but no product for continuously launching unmanned aerial vehicle units in a short time exists at present.
To realize that the unmanned aerial vehicle is deployed and lifted off from a specified position in a short time, the unmanned aerial vehicle needs to be compact from a preparation state to a process of obtaining the speed required by the takeoff, namely, the unmanned aerial vehicle is continuous, namely, the preparation and takeoff work of a second unmanned aerial vehicle is well done in a short time after the ejection work of a previous unmanned aerial vehicle is completed. One of the effective methods for achieving the above effects is catapult take-off, so that the take-off mode is emphasized by more countries at home and abroad, but the period of time from the time when the unmanned aerial vehicle leaves the catapult mechanism for lift-off after the unmanned aerial vehicle is inspected to leave the catapult mechanism for lift-off and then leaves the catapult device for lift-off after the unmanned aerial vehicle leaves the prepared unmanned aerial vehicle access device is very long, the continuous purpose cannot be achieved, and the deployment of the unmanned aerial vehicle in a short time cannot be completed. The existing device can not carry out continuous automatic ejection.
Disclosure of Invention
The invention aims to solve the technical problem of the defects in the background art and provides a continuous automatic ejection device of a fixed-wing unmanned aerial vehicle and a control method thereof.
The invention adopts the following technical scheme for solving the technical problems:
a fixed wing unmanned aerial vehicle continuous automatic ejection device comprises a continuous conveying device, a rack assembly, an ejection resetting device, an upper rack device and a control module;
the rack assembly is used for adjusting an ejection angle and loading the upper rack device and the ejection resetting device;
the continuous conveying device conveys the unmanned aerial vehicle to a position between the upper frame device and the ejection resetting device;
the racking device is used for pushing the unmanned aerial vehicle transmission from the continuous transmission device to the ejection resetting device;
the ejection resetting device is used for ejecting the unmanned aerial vehicle on the ejection resetting device;
the control module is used for controlling the continuous conveying device, the rack assembly, the ejection resetting device and the racking device to work coordinately.
As a further optimization scheme of the continuous automatic ejection device of the fixed-wing unmanned aerial vehicle, the continuous conveying device comprises a chain type conveying belt, N telescopic rods and N hanging brackets, wherein N is a natural number greater than or equal to 1, a chain of the chain type conveying belt is horizontally arranged, and N hinged seats are uniformly arranged below the chain; one end of the N telescopic rod is hinged with the N hinge seats in a one-to-one corresponding mode, and the other end of the N telescopic rod is hinged with the top ends of the N hanging brackets in a one-to-one corresponding mode; sliding rods are arranged below wings on two sides of the fixed-wing unmanned aerial vehicle; a first sliding support tube and a second sliding support tube are arranged on the hanging bracket; the first sliding support tube and the second sliding support tube are arranged in parallel, are hollow semi-cylinders with openings at two ends and are used for being matched to enable the unmanned aerial vehicle to freely slide along the first sliding support tube and the second sliding support tube through sliding rods below wings at two sides of the unmanned aerial vehicle; the first sliding support pipe and the second sliding support pipe are internally provided with locking mechanisms for locking sliding rods below wings on two sides of the unmanned aerial vehicle in the first sliding support pipe and the second sliding support pipe so as to lock the unmanned aerial vehicle on the hanging bracket; and the continuous conveying device is used for conveying the unmanned aerial vehicle to a position between the upper frame device and the ejection resetting device.
As a further optimization scheme of the continuous automatic ejection device of the fixed-wing unmanned aerial vehicle, the rack assembly comprises a base, a rack body, a fixed rod and a hydraulic telescopic rod;
the rack body comprises a preparation rack and an ejection rack;
the ejection rack comprises a first ejection side plate, a second ejection side plate, an ejection bearing plate and a bottom plate, wherein the first ejection side plate and the second ejection side plate are arranged in parallel; two sides of the bottom plate are respectively and vertically fixedly connected with the lower ends of the first ejection side plate and the second ejection side plate to form a U-shaped structure; the ejection bearing plate and the bottom plate are arranged in parallel, and two sides of the ejection bearing plate are respectively and vertically and fixedly connected with the inner walls of the first ejection side plate and the second ejection side plate;
the fixed rod is arranged among the first ejection side plate, the second ejection side plate, the ejection bearing plate and the bottom plate, the fixed rod is parallel to the bottom plate, and two ends of the fixed rod are respectively and vertically fixedly connected with the side wall of one end of the first ejection side plate and the side wall of one end of the second ejection side plate;
the preparation frame comprises a first preparation side plate, a second preparation side plate and a preparation bearing plate, wherein the first preparation side plate and the second preparation side plate are arranged in parallel, and the lower end of the first preparation side plate is fixedly connected with the other end of the first ejection side plate to form an L-shaped structure; the lower end of the second preparation side plate is fixedly connected with the other end of the second ejection side plate to form an L-shaped structure; two ends of the preparation bearing plate are respectively and vertically and fixedly connected with the upper ends of the first preparation side plate and the second preparation side plate;
the base is rectangular, horizontally arranged and fixed with the outside;
one end of the bottom plate, which is far away from the fixed rod, is hinged with one end of the base; one end of the hydraulic telescopic rod is hinged to the other end of the base, the other end of the hydraulic telescopic rod is hinged to the lower end face of the bottom plate, and the hydraulic telescopic rod is used for adjusting the angle between the ejection rack and the base.
As a further optimization scheme of the continuous automatic ejection device of the fixed-wing unmanned aerial vehicle, the ejection reset device comprises a pulley, first to fourth reversing pulleys, a rail car, a pull rope, a winch rope, a first motor, a clutch, a first driving gear, first to third transmission gears and a rubber rope;
the tackle comprises a frame, first to fourth wheels, first to second side wheels, a third sliding support pipe and a fourth sliding support pipe; the first to fourth wheels are arranged at the lower end of the frame, and the first side wheel and the second side wheel are respectively arranged at two sides of the frame; the first ejection side plate is provided with a groove slide rail matched with the first side wheel on the inner wall of the ejection bearing plate, and the second ejection side plate is provided with a groove slide rail matched with the second side wheel on the inner wall of the ejection bearing plate; the first to fourth wheels can freely roll along the ejection bearing plate, and the first side wheel and the second side wheel can freely roll in the groove slide rails of the first ejection side plate and the second ejection side plate respectively, so that the pulley can freely slide along the ejection bearing plate; the third sliding support tube and the fourth sliding support tube are hollow semi-cylinders with openings at two ends, are arranged at the upper end of the frame in parallel and are used for being matched to enable the unmanned aerial vehicle to freely slide along the third sliding support tube and the fourth sliding support tube through sliding rods below wings at two sides of the unmanned aerial vehicle; locking mechanisms are arranged in the third sliding support pipe and the fourth sliding support pipe and are used for locking sliding rods below wings on two sides of the unmanned aerial vehicle in the third sliding support pipe and the fourth sliding support pipe so as to lock the unmanned aerial vehicle on the hanging bracket;
the first ejection side plate and the second ejection side plate are provided with through grooves which are parallel to the ejection bearing plate and used for sliding under the ejection bearing plate; sliding parts matched with the through grooves in the first ejection side plate and the second ejection side plate are respectively arranged on two sides of the rail car, so that the rail car can freely slide along the through grooves in the first ejection side plate and the second ejection side plate;
an ejection bearing plate between the through groove of the first ejection side plate and the fixed rod is provided with a mounting groove for mounting a first reversing pulley and a second reversing pulley, rotating shafts of the first reversing pulley and the second reversing pulley are parallel to the fixed rod and are positioned on the same plane with the ejection bearing plate, the second reversing pulley is positioned between the first reversing pulley and the fixed rod, the first reversing pulley and the second reversing pulley are positioned on the same plane, and a gap between the first reversing pulley and the second reversing pulley is smaller than a preset distance threshold value;
the fourth reversing pulley is arranged at one end, far away from the fixed rod, of the rail car, and a rotating shaft of the fourth reversing pulley is parallel to the fixed rod;
the third reversing pulley is arranged between the side walls of the first ejection side plate and the second ejection side plate far away from one end of the fixed rod, and a rotating shaft of the third reversing pulley is parallel to the fixed rod;
one end of the pull rope is fixedly connected with the upper end face of the bottom plate, and the other end of the pull rope is fixedly connected with the frame of the pulley after passing through the fourth reversing pulley, the third reversing pulley and the first reversing pulley in sequence;
one end of the elastic rope is fixedly connected with the rail car, and the other end of the elastic rope is fixedly connected with the fixed rod and used for providing tension;
the first motor and the winch are both arranged on the upper end face of one end, far away from the fixed rod, of the bottom plate, wherein an output shaft of the first motor is coaxially and fixedly connected with the first driving gear, and a rotating shaft of the winch is coaxially and fixedly connected with the third transmission gear; the first transmission gear and the second transmission gear are respectively and coaxially fixedly connected with an input shaft and an output shaft of the clutch; the first driving gear is meshed with the first transmission gear, and the second transmission gear is meshed with the third transmission gear; one end of the winch rope is fixedly connected with the winch and wound on the winch, and the other end of the winch rope is fixedly connected with the rail car.
As a further optimization scheme of the continuous automatic ejection device of the fixed-wing unmanned aerial vehicle, the racking device comprises a shell, first to second ejector rods, a second motor, a second driving gear, a transmission shaft and fourth to sixth driven gears;
the shell is fixed on the preparation bearing plate;
the second motor is fixed in the shell, and an output shaft of the second motor is meshed with the second driving gear;
the transmission shaft is arranged in the shell, and two ends of the transmission shaft are respectively connected with the shell through bearings and can freely rotate;
the fourth driven gear, the fifth driven gear, the sixth driven gear and the transmission shaft are all arranged on the transmission shaft and coaxially and fixedly connected with the transmission shaft, wherein the fourth driven gear is arranged at the midpoint of the transmission shaft, and the fifth driven gear and the sixth driven gear are symmetrically arranged on two sides of the fourth driven gear;
a first sliding groove and a second sliding groove which are matched with the first ejector rod and the second ejector rod are arranged in the shell, the first sliding groove is coaxial with a third sliding support pipe of the pulley, and the second sliding groove is coaxial with a fourth sliding support pipe of the pulley;
the first ejector rod and the second ejector rod are respectively arranged in the first sliding groove and the second sliding groove and can freely slide along the first sliding groove and the second sliding groove; the first ejector rod and the second ejector rod are respectively provided with a rack along the length direction;
the second driving gear is meshed with the fourth driven gear, the fifth driven gear is meshed with a rack on the first ejector rod, and the sixth driven gear is meshed with a rack on the second ejector rod, so that the second motor can drive the first ejector rod and the second ejector rod to push the sliding rod of the unmanned aerial vehicle in the first sliding support tube and the second sliding support tube of the hanger to the third sliding support tube and the fourth sliding support tube of the pulley.
The invention also discloses a continuous automatic ejection device of the fixed-wing unmanned aerial vehicle, which comprises the following steps:
step 1), loading an unmanned aerial vehicle onto each hanger on a chain conveyor belt, fixing slide rods below wings on two sides of the unmanned aerial vehicle into a first sliding support tube and a second sliding support tube of the hanger respectively, and recording locking of locking parts in the first sliding support tube and the second sliding support tube of the hanger at the moment;
step 2), the control module controls the hydraulic telescopic rod to work, so that the angle between the ejection rack and the base is a preset angle threshold value;
step 3), the control module controls the clutch to be closed and controls the first motor to work at the same time, the winch is driven to retract the winch rope, the rail car is pulled backwards, the pulley slowly slides to one end far away from the fixed rod under the action of the pull rope, and meanwhile, the elastic rope is pulled and elastic potential energy is accumulated;
step 4), the control module controls the chain type conveyor belt to work, and the unmanned aerial vehicle loaded in the first sliding support tube and the second sliding support tube of the hanger is conveyed to a position between the upper frame device and the ejection resetting device;
step 5), the telescopic rod positioned between the racking device and the ejection resetting device on the module chain conveyor belt is controlled to extend, and the hanging bracket is put down, so that a first sliding support pipe of the hanging bracket is positioned between the first ejector rod and a third sliding support pipe of the pulley, and a second sliding support pipe of the hanging bracket is positioned between the second ejector rod and a fourth sliding support pipe of the pulley;
step 6), the control module controls locking mechanisms in the first sliding support tube and the second sliding support tube of the hanger to loosen, and controls a second motor to work at the same time, and the first ejector rod and the second ejector rod are driven to push sliding rods of the unmanned aerial vehicle in the first sliding support tube and the second sliding support tube of the hanger to a third sliding support tube and a fourth sliding support tube of the pulley;
step 7), the control module controls locking mechanisms in a third sliding support pipe and a fourth sliding support pipe of the tackle to lock, and the unmanned aerial vehicle is fixed on the tackle;
step 8), the control module controls the clutch to be loosened and informs the first motor to stop working at the same time, at the moment, the winch freely rotates, the rail car slides forwards along the first ejection side plate and the through groove of the first ejection side plate under the pulling of the rubber rope, and the sliding groove rapidly slides forwards under the action of the pull rope;
step 9), when the pulley passes through the first reversing pulley, the control module controls locking mechanisms in a third sliding support pipe and a fourth sliding support pipe of the pulley to be loosened, and the unmanned aerial vehicle is ejected;
step 10), jumping to execute step 3).
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the unmanned aerial vehicle can be automatically put on the shelf after completing the preparation work;
2. the automatic locking of the unmanned aerial vehicle and the pulley is realized, and the labor cost is reduced;
3. the tackle is reset and locked after single ejection;
4. can once convey batch unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of an assembly slide bar of the unmanned aerial vehicle according to the invention;
FIG. 3 is a schematic view of the construction of the frame assembly of the present invention;
fig. 4 is a structural schematic diagram of the assembly of the ejection resetting device in the invention;
FIG. 5 is a schematic view of the construction of the tackle of the present invention;
FIG. 6 is a schematic view of the railcar according to the present invention loading a fourth diverting pulley;
FIG. 7 is a schematic view of the structure of the racking device of the present invention;
fig. 8 is a schematic diagram of the ejection state of the unmanned aerial vehicle in the invention.
In the figure, 1-hanging bracket, 2-telescopic rod, 3-chain conveyor belt, 4-unmanned aerial vehicle, 5-frame body, 6-fixed rod, 7-hydraulic telescopic rod, 8-base, 9-pulley, 10-racking device, 11-first reversing pulley, 12-second reversing pulley, 13-third reversing pulley, 14-fourth reversing pulley, 15-pull rope, 16-capstan rope, 17-capstan, 18-elastic rope, 19-first motor, 20-clutch, 21-first ejection side plate, 22-second ejection side plate, 23-ejection bearing plate, 24-bottom plate, 25-first preparation side plate, 26-second preparation side plate, 27-preparation bearing plate, 28-first ejector rod, 29-second ejector rod, 30-a second driving gear, 31-a fourth driven gear, 32-a fifth driven gear, 33-a sixth driven gear, 34-a first motor, 34-a frame, 35-a second wheel, 36-a first side wheel, 37-a first sliding support tube, 38-a sliding rod, 39-a railway vehicle.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the invention discloses a continuous automatic ejection device of a fixed wing unmanned aerial vehicle, which comprises a continuous conveying device, a rack assembly, an ejection resetting device, an upper rack device and a control module;
the rack assembly is used for adjusting an ejection angle and loading the upper rack device and the ejection resetting device;
the continuous conveying device conveys the unmanned aerial vehicle to a position between the upper frame device and the ejection resetting device;
the racking device is used for pushing the unmanned aerial vehicle transmission from the continuous transmission device to the ejection resetting device;
the ejection resetting device is used for ejecting the unmanned aerial vehicle on the ejection resetting device;
the control module is used for controlling the continuous conveying device, the rack assembly, the ejection resetting device and the racking device to work coordinately.
As shown in fig. 1, the continuous conveying device comprises a chain conveyor belt, N telescopic rods and N hangers, wherein N is a natural number greater than or equal to 1, a chain of the chain conveyor belt is horizontally arranged, and N hinge seats are uniformly arranged below the chain; one end of the N telescopic rod is hinged with the N hinge seats in a one-to-one corresponding mode, and the other end of the N telescopic rod is hinged with the top ends of the N hanging brackets in a one-to-one corresponding mode; sliding rods are arranged below wings on two sides of the fixed-wing unmanned aerial vehicle, as shown in fig. 2; a first sliding support tube and a second sliding support tube are arranged on the hanging bracket; the first sliding support tube and the second sliding support tube are arranged in parallel, are hollow semi-cylinders with openings at two ends and are used for being matched to enable the unmanned aerial vehicle to freely slide along the first sliding support tube and the second sliding support tube through sliding rods below wings at two sides of the unmanned aerial vehicle; the first sliding support pipe and the second sliding support pipe are internally provided with locking mechanisms for locking sliding rods below wings on two sides of the unmanned aerial vehicle in the first sliding support pipe and the second sliding support pipe so as to lock the unmanned aerial vehicle on the hanging bracket; and the continuous conveying device is used for conveying the unmanned aerial vehicle to a position between the upper frame device and the ejection resetting device.
As shown in fig. 3, the rack assembly includes a base, a rack body, a fixing rod and a hydraulic telescopic rod;
the rack body comprises a preparation rack and an ejection rack;
the ejection rack comprises a first ejection side plate, a second ejection side plate, an ejection bearing plate and a bottom plate, wherein the first ejection side plate and the second ejection side plate are arranged in parallel; two sides of the bottom plate are respectively and vertically fixedly connected with the lower ends of the first ejection side plate and the second ejection side plate to form a U-shaped structure; the ejection bearing plate and the bottom plate are arranged in parallel, and two sides of the ejection bearing plate are respectively and vertically and fixedly connected with the inner walls of the first ejection side plate and the second ejection side plate;
the fixed rod is arranged among the first ejection side plate, the second ejection side plate, the ejection bearing plate and the bottom plate, the fixed rod is parallel to the bottom plate, and two ends of the fixed rod are respectively and vertically fixedly connected with the side wall of one end of the first ejection side plate and the side wall of one end of the second ejection side plate;
the preparation frame comprises a first preparation side plate, a second preparation side plate and a preparation bearing plate, wherein the first preparation side plate and the second preparation side plate are arranged in parallel, and the lower end of the first preparation side plate is fixedly connected with the other end of the first ejection side plate to form an L-shaped structure; the lower end of the second preparation side plate is fixedly connected with the other end of the second ejection side plate to form an L-shaped structure; two ends of the preparation bearing plate are respectively and vertically and fixedly connected with the upper ends of the first preparation side plate and the second preparation side plate;
the base is rectangular, horizontally arranged and fixed with the outside;
one end of the bottom plate, which is far away from the fixed rod, is hinged with one end of the base; one end of the hydraulic telescopic rod is hinged to the other end of the base, the other end of the hydraulic telescopic rod is hinged to the lower end face of the bottom plate, and the hydraulic telescopic rod is used for adjusting the angle between the ejection rack and the base.
As shown in fig. 3 and 4, the ejection resetting device comprises a pulley, first to fourth reversing pulleys, a rail car, a pull rope, a winch rope, a first motor, a clutch, a first driving gear, first to third transmission gears and a rubber rope;
as shown in fig. 5, the tackle includes a frame, first to fourth wheels, first to second side wheels, a third sliding support tube and a fourth sliding support tube; the first to fourth wheels are arranged at the lower end of the frame, and the first side wheel and the second side wheel are respectively arranged at two sides of the frame; the first ejection side plate is provided with a groove slide rail matched with the first side wheel on the inner wall of the ejection bearing plate, and the second ejection side plate is provided with a groove slide rail matched with the second side wheel on the inner wall of the ejection bearing plate; the first to fourth wheels can freely roll along the ejection bearing plate, and the first side wheel and the second side wheel can freely roll in the groove slide rails of the first ejection side plate and the second ejection side plate respectively, so that the pulley can freely slide along the ejection bearing plate; the third sliding support tube and the fourth sliding support tube are hollow semi-cylinders with openings at two ends, are arranged at the upper end of the frame in parallel and are used for being matched to enable the unmanned aerial vehicle to freely slide along the third sliding support tube and the fourth sliding support tube through sliding rods below wings at two sides of the unmanned aerial vehicle; locking mechanisms are arranged in the third sliding support pipe and the fourth sliding support pipe and are used for locking sliding rods below wings on two sides of the unmanned aerial vehicle in the third sliding support pipe and the fourth sliding support pipe so as to lock the unmanned aerial vehicle on the hanging bracket;
as shown in fig. 3, the first ejection side plate and the second ejection side plate are provided with through grooves parallel to the ejection bearing plate and used for sliding under the ejection bearing plate; as shown in fig. 6, two sides of the railcar are respectively provided with a sliding portion which is matched with the through grooves on the first ejection side plate and the second ejection side plate, so that the railcar can freely slide along the through grooves of the first ejection side plate and the second ejection side plate;
as shown in fig. 4, mounting grooves for mounting a first reversing pulley and a second reversing pulley are formed in the ejection bearing plate between the through groove of the first ejection side plate and the fixing rod, rotating shafts of the first reversing pulley and the second reversing pulley are parallel to the fixing rod and are located on the same plane as the ejection bearing plate, the second reversing pulley is located between the first reversing pulley and the fixing rod, the first reversing pulley and the second reversing pulley are located on the same plane, and a gap between the first reversing pulley and the second reversing pulley is smaller than a preset distance threshold value;
the fourth reversing pulley is arranged at one end, far away from the fixed rod, of the rail car, and a rotating shaft of the fourth reversing pulley is parallel to the fixed rod;
the third reversing pulley is arranged between the side walls of the first ejection side plate and the second ejection side plate far away from one end of the fixed rod, and a rotating shaft of the third reversing pulley is parallel to the fixed rod;
one end of the pull rope is fixedly connected with the upper end face of the bottom plate, and the other end of the pull rope is fixedly connected with the frame of the pulley after passing through the fourth reversing pulley, the third reversing pulley and the first reversing pulley in sequence;
one end of the elastic rope is fixedly connected with the rail car, and the other end of the elastic rope is fixedly connected with the fixed rod and used for providing tension;
the first motor and the winch are both arranged on the upper end face of one end, far away from the fixed rod, of the bottom plate, wherein an output shaft of the first motor is coaxially and fixedly connected with the first driving gear, and a rotating shaft of the winch is coaxially and fixedly connected with the third transmission gear; the first transmission gear and the second transmission gear are respectively and coaxially fixedly connected with an input shaft and an output shaft of the clutch; the first driving gear is meshed with the first transmission gear, and the second transmission gear is meshed with the third transmission gear; one end of the winch rope is fixedly connected with the winch and wound on the winch, and the other end of the winch rope is fixedly connected with the rail car;
as shown in fig. 7, the racking device includes a housing, first to second lift pins, a second motor, a second driving gear, a transmission shaft, and fourth to sixth driven gears;
the shell is fixed on the preparation bearing plate;
the second motor is fixed in the shell, and an output shaft of the second motor is meshed with the second driving gear;
the transmission shaft is arranged in the shell, and two ends of the transmission shaft are respectively connected with the shell through bearings and can rotate freely;
the fourth driven gear, the fifth driven gear, the sixth driven gear and the transmission shaft are arranged on the transmission shaft and coaxially and fixedly connected with the transmission shaft, the fourth driven gear is arranged at the midpoint of the transmission shaft, and the fifth driven gear and the sixth driven gear are symmetrically arranged on two sides of the fourth driven gear;
a first sliding groove and a second sliding groove which are matched with the first ejector rod and the second ejector rod are arranged in the shell, the first sliding groove is coaxial with a third sliding support tube of the pulley, and the second sliding groove is coaxial with a fourth sliding support tube of the pulley;
the first ejector rod and the second ejector rod are respectively arranged in the first sliding groove and the second sliding groove and can freely slide along the first sliding groove and the second sliding groove; the first ejector rod and the second ejector rod are respectively provided with a rack along the length direction;
the second driving gear is meshed with the fourth driven gear, the fifth driven gear is meshed with a rack on the first ejector rod, and the sixth driven gear is meshed with a rack on the second ejector rod, so that the second motor can drive the first ejector rod and the second ejector rod to push the sliding rod of the unmanned aerial vehicle in the first sliding support tube and the second sliding support tube of the hanger to the third sliding support tube and the fourth sliding support tube of the pulley.
The invention also discloses a control method of the fixed wing unmanned aerial vehicle continuous automatic ejection device, which comprises the following steps:
step 1), loading an unmanned aerial vehicle onto each hanger on a chain conveyor belt, fixing slide rods below wings on two sides of the unmanned aerial vehicle into a first sliding support tube and a second sliding support tube of the hanger respectively, and recording locking of locking parts in the first sliding support tube and the second sliding support tube of the hanger at the moment;
step 2), the control module controls the hydraulic telescopic rod to work, so that the angle between the ejection rack and the base is a preset angle threshold value;
step 3), the control module controls the clutch to be closed and controls the first motor to work at the same time, the winch is driven to retract the winch rope, the rail car is pulled backwards, the pulley slowly slides to one end far away from the fixed rod under the action of the pull rope, and meanwhile, the elastic rope is pulled and elastic potential energy is accumulated;
step 4), the control module controls the chain type conveyor belt to work, and the unmanned aerial vehicle loaded in the first sliding support tube and the second sliding support tube of the hanger is conveyed to a position between the upper frame device and the ejection resetting device;
step 5), the telescopic rod positioned between the racking device and the ejection resetting device on the module chain conveyor belt is controlled to extend, and the hanging bracket is put down, so that a first sliding support pipe of the hanging bracket is positioned between the first ejector rod and a third sliding support pipe of the pulley, and a second sliding support pipe of the hanging bracket is positioned between the second ejector rod and a fourth sliding support pipe of the pulley;
step 6), the control module controls locking mechanisms in the first sliding support tube and the second sliding support tube of the hanger to loosen, and controls a second motor to work at the same time, and the first ejector rod and the second ejector rod are driven to push sliding rods of the unmanned aerial vehicle in the first sliding support tube and the second sliding support tube of the hanger to a third sliding support tube and a fourth sliding support tube of the pulley;
step 7), the control module controls locking mechanisms in a third sliding support pipe and a fourth sliding support pipe of the pulley to lock, and the unmanned aerial vehicle is fixed on the pulley;
step 8), the control module controls the clutch to be loosened and informs the first motor to stop working at the same time, at the moment, the winch freely rotates, the rail car slides forwards along the first ejection side plate and the through groove of the first ejection side plate under the pulling of the rubber rope, and the sliding groove rapidly slides forwards under the action of the pull rope;
step 9), when the pulley passes through the first reversing pulley, the control module controls locking mechanisms in a third sliding support pipe and a fourth sliding support pipe of the pulley to be loosened, and the unmanned aerial vehicle is ejected;
step 10), skipping to execute step 3).
The invention realizes the automatic landing ejection and re-ejection after reset of the unmanned aerial vehicle, and solves the problems that the preparation time is long before the lower fixed wing unmanned aerial vehicle is ejected, personnel are required to complete landing, manual reset is required after ejection, and the interval between two ejections is long; the invention only needs one supervisor and logistics personnel, realizes continuous automatic ejection, has portability, and is characterized in that: unmanned aerial vehicle prepares the back that finishes before taking off, accomplishes the conveying between unmanned aerial vehicle to the ejection rack by conveyer, later cooperates automatic putting on the shelf device to accomplish unmanned aerial vehicle's the work of putting on the shelf, and the single operation of launching is ended, and resetting means actuates and accomplishes the restoration so that carry out the secondary operation of launching to this completion is continuous automatic to launch.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A continuous automatic ejection device of a fixed-wing unmanned aerial vehicle is characterized by comprising a continuous conveying device, a rack assembly, an ejection resetting device, an upper rack device and a control module;
the rack assembly is used for adjusting an ejection angle and loading the upper rack device and the ejection resetting device;
the continuous conveying device conveys the unmanned aerial vehicle to a position between the upper frame device and the ejection resetting device;
the racking device is used for pushing the unmanned aerial vehicle transmission from the continuous transmission device to the ejection resetting device;
the ejection resetting device is used for ejecting the unmanned aerial vehicle on the ejection resetting device;
the control module is used for controlling the continuous conveying device, the rack assembly, the ejection resetting device and the racking device to work coordinately;
the continuous conveying device comprises a chain type conveying belt, N telescopic rods and N hanging frames, wherein N is a natural number greater than or equal to 1, a chain of the chain type conveying belt is horizontally arranged, and N hinge seats are uniformly arranged below the chain; one end of each of the N telescopic rods is hinged with the N hinge seats in a one-to-one corresponding mode, and the other end of each of the N telescopic rods is hinged with the top ends of the N hanging brackets in a one-to-one corresponding mode; sliding rods are arranged below wings on two sides of the fixed-wing unmanned aerial vehicle; a first sliding support tube and a second sliding support tube are arranged on the hanging bracket; the first sliding support tube and the second sliding support tube are arranged in parallel, are hollow semi-cylinders with openings at two ends and are used for being matched to enable the unmanned aerial vehicle to freely slide along the first sliding support tube and the second sliding support tube through sliding rods below wings at two sides of the unmanned aerial vehicle; the first sliding support pipe and the second sliding support pipe are internally provided with locking mechanisms for locking sliding rods below wings on two sides of the unmanned aerial vehicle in the first sliding support pipe and the second sliding support pipe so as to lock the unmanned aerial vehicle on the hanging bracket; and the continuous conveying device is used for conveying the unmanned aerial vehicle to a position between the upper frame device and the ejection resetting device.
2. The fixed-wing drone continuous automatic ejection device of claim 1, wherein the rack assembly comprises a base, a rack, a fixed rod and a hydraulic telescoping rod;
the rack body comprises a preparation rack and an ejection rack;
the ejection rack comprises a first ejection side plate, a second ejection side plate, an ejection bearing plate and a bottom plate, wherein the first ejection side plate and the second ejection side plate are arranged in parallel; two sides of the bottom plate are respectively and vertically fixedly connected with the lower ends of the first ejection side plate and the second ejection side plate to form a U-shaped structure; the ejection bearing plate and the bottom plate are arranged in parallel, and two sides of the ejection bearing plate are respectively and vertically and fixedly connected with the inner walls of the first ejection side plate and the second ejection side plate;
the fixed rod is arranged among the first ejection side plate, the second ejection side plate, the ejection bearing plate and the bottom plate, the fixed rod is parallel to the bottom plate, and two ends of the fixed rod are respectively and vertically fixedly connected with the side wall at one end of the first ejection side plate and the side wall at one end of the second ejection side plate;
the preparation frame comprises a first preparation side plate, a second preparation side plate and a preparation bearing plate, wherein the first preparation side plate and the second preparation side plate are arranged in parallel, and the lower end of the first preparation side plate is fixedly connected with the other end of the first ejection side plate to form an L-shaped structure; the lower end of the second preparation side plate is fixedly connected with the other end of the second ejection side plate to form an L-shaped structure; two ends of the preparation bearing plate are respectively and vertically and fixedly connected with the upper ends of the first preparation side plate and the second preparation side plate;
the base is rectangular, horizontally arranged and fixed with the outside;
one end of the bottom plate, which is far away from the fixed rod, is hinged with one end of the base; one end of the hydraulic telescopic rod is hinged to the other end of the base, the other end of the hydraulic telescopic rod is hinged to the lower end face of the bottom plate, and the hydraulic telescopic rod is used for adjusting the angle between the ejection rack and the base.
3. The continuous automatic ejection device of a fixed-wing drone according to claim 2, wherein the ejection resetting device comprises a tackle, first to fourth reversing pulleys, a railcar, a pull rope, a winch rope, a first motor, a clutch, a first driving gear, first to third transmission gears and a rubber rope;
the tackle comprises a frame, first to fourth wheels, first to second side wheels, a third sliding support pipe and a fourth sliding support pipe; the first to fourth wheels are arranged at the lower end of the frame, and the first side wheel and the second side wheel are respectively arranged at two sides of the frame; the first ejection side plate is provided with a groove slide rail matched with the first side wheel on the inner wall of the ejection bearing plate, and the second ejection side plate is provided with a groove slide rail matched with the second side wheel on the inner wall of the ejection bearing plate; the first to fourth wheels can freely roll along the ejection bearing plate, and the first side wheel and the second side wheel can freely roll in the groove slide rails of the first ejection side plate and the second ejection side plate respectively, so that the pulley can freely slide along the ejection bearing plate; the third sliding support tube and the fourth sliding support tube are hollow semi-cylinders with openings at two ends, are arranged at the upper end of the frame in parallel and are used for being matched to enable the unmanned aerial vehicle to freely slide along the third sliding support tube and the fourth sliding support tube through sliding rods below wings at two sides of the unmanned aerial vehicle; the third sliding support pipe and the fourth sliding support pipe are internally provided with locking mechanisms for locking sliding rods below wings on two sides of the unmanned aerial vehicle in the third sliding support pipe and the fourth sliding support pipe so as to lock the unmanned aerial vehicle on the hanging bracket;
the first ejection side plate and the second ejection side plate are provided with through grooves which are parallel to the ejection bearing plate and used for sliding under the ejection bearing plate; sliding parts matched with the through grooves in the first ejection side plate and the second ejection side plate are respectively arranged on two sides of the rail car, so that the rail car can freely slide along the through grooves in the first ejection side plate and the second ejection side plate;
the ejection bearing plate between the through groove of the first ejection side plate and the fixed rod is provided with mounting grooves for mounting a first reversing pulley and a second reversing pulley, rotating shafts of the first reversing pulley and the second reversing pulley are parallel to the fixed rod and are positioned on the same plane with the ejection bearing plate, the second reversing pulley is positioned between the first reversing pulley and the fixed rod, the first reversing pulley and the second reversing pulley are positioned on the same plane, and the gap between the first reversing pulley and the second reversing pulley is smaller than a preset distance threshold value;
the fourth reversing pulley is arranged at one end, far away from the fixed rod, of the rail car, and a rotating shaft of the fourth reversing pulley is parallel to the fixed rod;
the third reversing pulley is arranged between the side walls of the first ejection side plate and the second ejection side plate far away from one end of the fixed rod, and a rotating shaft of the third reversing pulley is parallel to the fixed rod;
one end of the pull rope is fixedly connected with the upper end face of the bottom plate, and the other end of the pull rope is fixedly connected with the frame of the pulley after passing through the fourth reversing pulley, the third reversing pulley and the first reversing pulley in sequence;
one end of the elastic rope is fixedly connected with the rail car, and the other end of the elastic rope is fixedly connected with the fixed rod and used for providing tension;
the first motor and the winch are both arranged on the upper end face of one end, far away from the fixed rod, of the bottom plate, wherein an output shaft of the first motor is coaxially and fixedly connected with the first driving gear, and a rotating shaft of the winch is coaxially and fixedly connected with the third transmission gear; the first transmission gear and the second transmission gear are respectively and coaxially fixedly connected with an input shaft and an output shaft of the clutch; the first driving gear is meshed with the first transmission gear, and the second transmission gear is meshed with the third transmission gear; one end of the winch rope is fixedly connected with the winch and wound on the winch, and the other end of the winch rope is fixedly connected with the rail car.
4. The continuous automatic ejection device of fixed-wing drone of claim 3, wherein said racking device comprises a housing, first to second rams, a second motor, a second driving gear, a transmission shaft, fourth to sixth driven gears;
the shell is fixed on the preparation bearing plate;
the second motor is fixed in the shell, and an output shaft of the second motor is meshed with the second driving gear;
the transmission shaft is arranged in the shell, and two ends of the transmission shaft are respectively connected with the shell through bearings and can freely rotate;
the fourth driven gear, the fifth driven gear, the sixth driven gear and the transmission shaft are all arranged on the transmission shaft and coaxially and fixedly connected with the transmission shaft, wherein the fourth driven gear is arranged at the midpoint of the transmission shaft, and the fifth driven gear and the sixth driven gear are symmetrically arranged on two sides of the fourth driven gear;
a first sliding groove and a second sliding groove which are matched with the first ejector rod and the second ejector rod are arranged in the shell, the first sliding groove is coaxial with a third sliding support tube of the pulley, and the second sliding groove is coaxial with a fourth sliding support tube of the pulley;
the first ejector rod and the second ejector rod are respectively arranged in the first sliding groove and the second sliding groove and can freely slide along the first sliding groove and the second sliding groove; the first ejector rod and the second ejector rod are respectively provided with a rack along the length direction;
the second driving gear is meshed with the fourth driven gear, the fifth driven gear is meshed with a rack on the first ejector rod, and the sixth driven gear is meshed with a rack on the second ejector rod, so that the second motor can drive the first ejector rod and the second ejector rod to push the sliding rod of the unmanned aerial vehicle in the first sliding support tube and the second sliding support tube of the hanger to the third sliding support tube and the fourth sliding support tube of the pulley.
5. The continuous automatic fixed wing drone launcher according to claim 4, characterized by comprising the following steps:
step 1), loading an unmanned aerial vehicle onto each hanger on a chain conveyor belt, fixing slide rods below wings on two sides of the unmanned aerial vehicle into a first sliding support tube and a second sliding support tube of the hanger respectively, and recording locking of locking parts in the first sliding support tube and the second sliding support tube of the hanger at the moment;
step 2), the control module controls the hydraulic telescopic rod to work, so that the angle between the ejection rack and the base is a preset angle threshold value;
step 3), the control module controls the clutch to be closed and controls the first motor to work at the same time, the winch is driven to retract the winch rope, the rail car is pulled backwards, the pulley slowly slides to one end far away from the fixed rod under the action of the pull rope, and meanwhile, the elastic rope is pulled and elastic potential energy is accumulated;
step 4), the control module controls the chain type conveyor belt to work, and the unmanned aerial vehicle loaded in the first sliding support tube and the second sliding support tube of the hanger is conveyed to a position between the upper frame device and the ejection resetting device;
step 5), the telescopic rod positioned between the racking device and the ejection resetting device on the module chain conveyor belt is controlled to extend, and the hanging bracket is put down, so that a first sliding support pipe of the hanging bracket is positioned between the first ejector rod and a third sliding support pipe of the pulley, and a second sliding support pipe of the hanging bracket is positioned between the second ejector rod and a fourth sliding support pipe of the pulley;
step 6), the control module controls locking mechanisms in the first sliding support pipe and the second sliding support pipe of the hanger to loosen, and controls a second motor to work at the same time, and the first ejector rod and the second ejector rod are driven to push sliding rods of the unmanned aerial vehicle in the first sliding support pipe and the second sliding support pipe of the hanger to a third sliding support pipe and a fourth sliding support pipe of the pulley;
step 7), the control module controls locking mechanisms in a third sliding support pipe and a fourth sliding support pipe of the tackle to lock, and the unmanned aerial vehicle is fixed on the tackle;
step 8), the control module controls the clutch to be loosened and informs the first motor to stop working at the same time, at the moment, the winch freely rotates, the rail car slides forwards along the first ejection side plate and the through groove of the first ejection side plate under the pulling of the rubber rope, and the sliding groove rapidly slides forwards under the action of the pull rope;
step 9), when the pulley passes through the first reversing pulley, the control module controls locking mechanisms in a third sliding support pipe and a fourth sliding support pipe of the pulley to be loosened, and the unmanned aerial vehicle is ejected;
step 10), skipping to execute step 3).
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| CN117775285A (en) * | 2024-02-27 | 2024-03-29 | 四川省天域航通科技有限公司 | Cargo ejecting device for fixed wing unmanned aerial vehicle |
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