CN113501125B - Blooming type openable nacelle for launching and recovering unmanned aerial vehicle in air - Google Patents
Blooming type openable nacelle for launching and recovering unmanned aerial vehicle in air Download PDFInfo
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- CN113501125B CN113501125B CN202110770949.XA CN202110770949A CN113501125B CN 113501125 B CN113501125 B CN 113501125B CN 202110770949 A CN202110770949 A CN 202110770949A CN 113501125 B CN113501125 B CN 113501125B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/22—Arrangement of cabins or gondolas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
Abstract
The invention belongs to the technical field of pod equipment, and provides an open-type openable pod of an aerial release recovery unmanned aerial vehicle, which comprises a cabin body 1, an open-type six-cabin door 2 at the bottom of the cabin body, an upper supporting plate 6 and a lower supporting plate 5 inside the cabin body, electrical control equipment fixedly arranged on the upper supporting plate 6, a horn-shaped recovery device 3 fixedly arranged on the lower supporting plate 5, and a linkage mechanism 7 fixedly arranged between the upper supporting plate and the lower supporting plate; the linkage mechanism 7 is used for controlling the opening and closing of the cabin door 2 and controlling the horn-shaped recovery device 3 and the lifting of the aircraft 4-2, and the horn-shaped recovery device 3 is used for realizing the launching and the recovery of the aircraft 4-2. The invention can realize the independent petal-shaped opening and closing of the cabin doors, the synchronous motion of the opening and closing of the cabin doors and the single-drive multi-mechanism lifting of the aircraft, and the effective launching, mounting, aerial recovery, sealing, charging and the like of the aircraft.
Description
Technical Field
The invention belongs to the technical field of pod equipment, and particularly relates to an open type openable pod for launching and recovering an unmanned aerial vehicle in the air.
Background
A pod is a streamlined, short-cabin segment that is equipped with some onboard equipment or weapons and is suspended from the fuselage or wings. With the development of aviation technology, the technology of airborne pod has also been greatly improved. Generally speaking, airborne pods can be divided into: ordnance pods (including aircraft gun pods, aircraft rocket pods), reconnaissance pods, fire control pods, logistics assistance pods (refueling pods).
At present, researches on launching pods of aerostats are few in the global scope, and especially petal-shaped openable pods of unmanned aerial vehicles for aerial delivery and recovery are not precedent.
At present, aerial launching and recovery of aircrafts are difficult to realize by various aerostat nacelles, opening and closing of a cabin door and single-drive synchronous motion of lifting and descending of the aircrafts are difficult to realize, and effective launching, mounting, aerial recovery, sealing, charging and the like of the aircrafts are difficult to realize.
Disclosure of Invention
Based on the defects of the existing aerostat nacelle, the invention provides the blooming type openable nacelle for launching and recovering the unmanned aerial vehicle in the air, and aims to solve the problems that the opening and closing of a cabin door and the single-drive synchronous motion of the lifting of an aircraft are difficult to realize, the effective launching, mounting, air recovery, sealing and charging of the aircraft are difficult to realize in the prior art.
The invention adopts the following technical scheme for solving the technical problems:
the utility model provides an aerial transmission and retrieve unmanned aerial vehicle's blossoming formula open-type nacelle which characterized in that: the cabin comprises a cabin body 1, a flower-open type six-cabin door 2 at the bottom of the cabin body, an upper supporting plate 6 and a lower supporting plate 5 in the cabin body, electrical control equipment fixedly arranged on the upper supporting plate 6, a horn-shaped recovery device 3 fixedly arranged on the lower supporting plate 5, and a linkage mechanism 7 fixedly arranged between the upper supporting plate and the lower supporting plate; the linkage mechanism 7 is used for controlling the opening and closing of the cabin door 2 and controlling the horn-shaped recovery device 3 and the lifting of the aircraft 4-2, and the horn-shaped recovery device 3 is used for realizing the launching and the recovery of the aircraft 4-2.
Further, the horn-shaped recovery device 3 comprises a primary contact cone 3-1, a contact column 3-2, a secondary contact cone 3-3 and a locking mechanism 3-4; the lower supporting plate 5 is provided with a large-mouth contact horn mouth 5-1 and a small-mouth contact horn mouth 5-2, the blooming type openable pod for the aerial distribution and recovery unmanned aerial vehicle is in two-time virtual positioning contact with the large-mouth contact horn mouth 5-1 and the small-mouth contact horn mouth 5-2 of the lower supporting plate 5 through the first contact cone 3-1 and the second contact cone 3-2 of the horn-shaped recovery device 3, the horn-shaped recovery device 3 is accurately inserted into the horn mouth of the lower supporting plate 5 in the lifting process, accurate positioning and fixed locking are achieved, and the safety and reliability of aircraft suspension are improved.
Further, trumpet-shaped recovery unit 3 is used for realizing that the aircraft retrieves, specifically is: the aircraft recovery rod 4-1 on the aircraft 4-2 is inserted into the horn-shaped recovery device 3 of the cabin body 1 and locked, six telescopic rods 7-14 of the linkage mechanism 7 drive the six link mechanisms 7-18 to move, so that the six cabin doors 2 are driven to be closed, meanwhile, a winch 7-2 of the linkage mechanism 7 synchronously rotates to drive the lifting rope 7-8 to ascend, so that the horn-shaped recovery device 3 and the aircraft 4-2 are driven to ascend, when the six cabin doors 2 are synchronously closed and horizontally positioned, the horn-shaped recovery device 3 is inserted into a conical groove of the lower supporting plate 5, the aircraft 4-2 is firmly suspended, the aircraft is prevented from shaking in the cabin body, and the aircraft is recovered in the air.
Further, the horn-shaped recovery device is used for realizing aircraft launching, and specifically comprises: six telescopic rods 7-14 of the linkage mechanism 7 drive six link mechanisms 7-19 to move so as to drive the flower-open type six cabin doors 2 to open, meanwhile, winches 7-2 of the linkage mechanism 7 synchronously rotate to drive lifting ropes 7-8 to descend so as to drive the horn-shaped recovery device 3 and the aircraft 4-1 to descend, when the six flower-open type cabin doors 2 are synchronously opened to be in a vertical state, the horn-shaped recovery device 3 and the aircraft 4-2 are exposed out of the cabin body 1, and finally, the aircraft recovery rods 4-1 of the aircraft 4-2 and the locking mechanisms 3-4 of the horn-shaped recovery device 3 are unlocked, so that aerial distribution of the aircraft 4-2 is realized.
Further, the linkage mechanism is divided into an upper layer and a lower layer:
the upper strata is equipped with along the horizontal direction in proper order: a passive spiral cone 7-1, a winch 7-2, an active spiral cone 7-3 and a spiral cone supporting plate 7-4; 7-5 parts of a motor, 7-6 parts of a motor bracket, 7-7 parts of a transmission rope, 7-8 parts of a lifting rope and 7-9 parts of a spiral conical spiral groove; the passive spiral cone 7-1, the winch 7-2 and the active spiral cone 7-3 are sequentially connected in series through a support rod and are fixedly arranged on an upper support plate 6 through two spiral cone support plates 7-4; the motor 7-5 is arranged in the driving spiral cone 7-3 through a motor output shaft and is fixedly arranged on an upper supporting plate 6 through a motor bracket 7-6; the passive spiral cone 7-1 and the active spiral cone 7-3 are arranged on a spiral disc 7-11, a spiral cone spiral groove 7-9 and a spiral disc spiral groove 7-12 are mutually matched, a transmission rope 7-7 is wound in the spiral cone spiral groove 7-9 of the active spiral cone 7-3 and the spiral disc spiral groove 7-12 of the spiral disc, two ends of the transmission rope 7-7 are transmitted through a through hole on the spiral disc 7-11 and fixed on a transmission rope end part fixer 7-22, a lifting rope 7-8 is wound on a winch 7-2, a motor 7-5 rotates to drive the active spiral cone 7-3, the winch 7-2 and the passive spiral cone to rotate 7-1, so that the lifting rope 7-8 is driven to lift, the transmission rope 7-7 is driven to wind, the spiral disc 7-11 is driven to rotate, six transmission pins 7-13 are driven to linearly move, and finally six telescopic rods 7-14 are driven to linearly move, so that synchronous stretching of the six telescopic rods 7-14 and synchronous lifting rope 7-8 are realized;
the lower layer is provided with a sliding support disk 7-10, a spiral disk 7-11 and a spiral disk spiral groove 7-12, the sliding support disk 7-10 is fixedly arranged on the lower support plate 5, the spiral disk 7-11 is hinged on the sliding support disk 7-10 through six transmission pins 7-13, six Archimedes spiral grooves on the spiral disk and six linear grooves on the sliding support disk 7-10, six telescopic rods 7-14 are fixedly connected with the six transmission pins 7-13, and the six transmission pins 7-13 slide in the six Archimedes spiral grooves on the spiral disk 7-11 and the six linear grooves on the sliding support disk 7-10 relatively, so that the spiral disk 7-11 is driven to rotate relative to the sliding support disk 7-10, and the six transmission pins 7-13 and the six telescopic rods 7-14 are driven to move linearly.
Furthermore, the large radius end of the linkage mechanism telescopic rod 7-14 is provided with a swing arm connecting rod 7-15, a lifting rod 7-16 and a cabin door opening and closing connecting rod 7-17 from top to bottom; the upper ends of the swing arm connecting rods 7-15 are hinged on the telescopic rods 7-14, and the lower ends are hinged on the lifting rods 7-16; the upper ends of the lifting rods 7 to 16 are connected with swing arm connecting rods 7 to 15, and the lower ends are hinged on cabin door opening and closing connecting rods 7 to 17; the cabin door opening and closing connecting rods 7-17 are of arc structures and are prevented from interfering with the cabin body 1 and the cabin door 2, the other ends of the opening and closing connecting rods 7-17 are hinged to corresponding hinged points of the cabin door 2, so that a six-connecting-rod mechanism 7-18 is formed, and when the six telescopic rods 7-14 are synchronously stretched, the six swing arm connecting rods 7-15 are driven to rotate, the six lifting rods 7-16 are driven to lift, the six cabin door opening and closing connecting rods 7-17 are driven to rotate, and finally the six cabin doors 2 are driven to be synchronously opened and closed.
Further, the six patterned cabin doors 2 comprise cabin door hinge rings 2-1, the cabin door hinge rings 2-1 are respectively hinged to six cabin body hinge rings 1-1 of the cabin body 1, two ends of six link mechanisms 7-18 of the linkage mechanism 7 are respectively installed between six telescopic rods 7-14 of the linkage mechanism 7 and the six cabin doors 2 and sleeved on the plurality of lifting rod fixing rings 7-19, and the linear motion of the six telescopic rods 7-14 of the linkage mechanism 7 is converted into the synchronous opening and closing motion of the six cabin doors 2; an aircraft recovery rod 4-1 of the aircraft is locked with a locking mechanism 3-4 of the horn-shaped recovery device 3 and is suspended on a winch 7-2 on a linkage mechanism 7 through a lifting rope 7-8, so that the aircraft 4-2 is suspended.
Advantageous effects of the invention
1. The aerial distribution and recovery unmanned aerial vehicle blooming type openable pod realizes aerial distribution and recovery of the aircraft through virtual positioning and locking of a horn-shaped recovery device of the pod and an aircraft recovery rod of the aircraft;
2. the open-type openable pod of the aerial delivery and recovery unmanned aerial vehicle realizes synchronous motion of opening and closing of a pod door and lifting of an aircraft through synchronous motion of the opening and closing of the pod door and a lifting linkage mechanism of the aircraft;
3. the blooming type openable pod of the aerial delivery and recovery unmanned aerial vehicle realizes multi-rod synchronous expansion through transmission of the spiral cone and the spiral disk taper rope and synchronous sliding motion of the spiral disk and the plurality of telescopic rods, and realizes synchronous blooming type opening and closing of the cabin door through a plurality of multi-link mechanisms;
4. the overhead-release-type openable pod for the unmanned aerial vehicle is in two virtual positioning contact with the primary contact cone, the secondary contact cone of the horn-shaped recovery device and the large-mouth contact bell mouth and the small-mouth contact bell mouth of the lower support plate, so that the horn-shaped recovery device is accurately inserted into the bell mouth of the lower support plate in the lifting process, the accurate positioning and the fixed locking are realized, and the safety and the reliability of aircraft suspension are improved;
5. the aerial distribution recovery unmanned aerial vehicle blooming type openable pod realizes integration of the lifting rope, the aircraft locking mechanism power line, the aircraft locking mechanism control line and the aircraft charging line through arrangement of the aircraft locking mechanism power and control line, the aircraft charging line and the like in the hollow lifting rope, and completes integration of functions of lifting, charging, locking and the like of the aircraft;
6. aerial offering is retrieved unmanned aerial vehicle flower open type openable gondola and is presented the honeycomb shape, can realize the combination of assembling of multimode, hatch door opening angle is 90 degrees simultaneously, it can not take place to interfere to have guaranteed that multimode assembles back hatch door and has opened, can realize that unmanned aerial vehicle is whole to shield after the hatch door is closed, guarantee unmanned aerial vehicle's security, protectiveness and stealthy nature, simultaneously the hatch door can independently be opened between each gondola, the aircraft can independently be offered and retrieved, the complexity of adaptable different operation tasks, diversity, customization nature, module reorganization nature and reliability demand etc..
Drawings
FIG. 1 is a schematic view of a pod docked with an aircraft;
FIG. 2 is a schematic view of the pod docked with the aircraft;
FIG. 3 is a schematic view of the opening and closing of a pod door in synchronized motion with the lifting and lowering of an aircraft;
FIG. 4 is a schematic view of pod door closing and aircraft lift locking;
FIG. 5 is a cross-sectional view of the pod door closing and aircraft lift locking;
FIG. 6 is a view of the nacelle door closing and aircraft lift locking interior configuration;
FIG. 7 is a schematic view of the nacelle door opening and closing and aircraft lifting linkage motion;
FIG. 8 is a schematic cross-sectional view of the movement of the pod door opening and closing and aircraft lifting linkage;
fig. 9 is a schematic diagram of the movement principle of the hatch opening multi-link mechanism.
Wherein, 1, cabin body; 1-1: a cabin body hinge ring; 2. a six-compartment door with a flower opening; 2-1, a cabin door hinge ring; 3. a horn-shaped recovery device; 3-1: a primary contact cone; 3-2: a contact post; 3-3: secondary contact cone; 3-4: a locking mechanism; 4-1: an aircraft retraction mast; 4-2: an aircraft; 5. a lower support plate; 5-1: the large opening contacts the bell mouth; 5-2: the small opening is in contact with the bell mouth; 6: an upper support plate; 6-1: a battery; 6-2: a controller; 6-3: a power management system;
7: a linkage mechanism; 7-1: a passive spiral cone; 7-2: a winch; 7-3, driving the spiral cone; 7-4, a spiral cone supporting plate; 7-5, a motor; 7-6, a motor bracket; 7-7, a transmission rope; 7-8, a lifting rope; 7-9, spiral cone spiral groove; 7-10, a sliding support disc; 7-11, spiral disks (spiral upper disk and spiral lower disk); 7-12, spiral disc spiral groove; 7-13, a transmission pin; 7-14, a telescopic rod; 7-15: a swing arm connecting rod; 7-16: lifter, 7-17: a hatch opening and closing link; 7-18: a six-bar linkage; 7-19: a lifter fixing ring; 7-20: a support roller; 7-21: a support bar; 7-22, a driving rope end part fixer;
Detailed Description
Design principle of the invention
1. The design difficulty of the invention. The difficulty lies in integrating the functions of aircraft launching, mounting, recovering, opening and closing the cabin in the air and the like.
2. Three key points of the integrated pod. The first is the design of the hatch door, the second is the design of the recovery device, and the third is the design of the linkage mechanism. The cabin door adopts the design of an open 6 cabin door, and the design simultaneously considers the convenience of aircraft recovery and the convenience of cabin door opening and closing; the recovery device adopts the design of a horn-shaped recovery device, the design is convenient for smooth alignment with the aircraft instantly, and the horn-shaped recovery device adopts a method combining a coarse positioning mode and a limiting mode; the linkage mechanism adopts a composite driving design, and the design not only considers the vertical motion of the aircraft, but also considers the telescopic motion of the flower-opening type cabin door. In a word, the three are mutually dependent and dependent, the horn-shaped recovery device can launch the aircraft at the moment when the cabin door is opened, the horn-shaped recovery device can recover the aircraft to the corresponding position of the nacelle at the moment before the cabin door is closed and also depends on the composite function of the vertical motion and the telescopic motion of the linkage mechanism, the opening and the closing of the blooming cabin door also depend on the linkage mechanism, and the linkage mechanism also depends on the blooming cabin door as a linkage object.
To summarize: the integrated pod is the combined effect of the hatch, the recovery device and the linkage mechanism, and is not the sum of the effects before combination.
3. The linkage mechanism is matched with the horn-shaped recovery device to realize the launching of the aircraft. A motor of the linkage mechanism drives a cone and the cone to drive a spiral upper disc to move and drives a spiral lower disc to move, the spiral lower disc drives a pin of an Archimedes spiral groove to move in the groove along the Archimedes spiral groove, meanwhile, the pin penetrates through the spiral lower disc to enter a linear groove, the pin moves from a small radius to a large radius along the Archimedes spiral groove, the pin also drives six telescopic rods in six linear grooves below the spiral lower disc to gradually expand from inside to outside, when the six telescopic rods synchronously extend, six swing arm connecting rods are driven to rotate, the six swing arm connecting rods drive six lifting rods to lift, the six lifting rods drive six opening and closing connecting rods to rotate, and finally, the six cabin doors are driven to synchronously open; when the six blooming type cabin doors are synchronously opened to be in a vertical state, the controller (the controller is connected with the motors, a conventional control method is adopted, and the details are not described herein) controls the horn-shaped recovery device and the aircraft to be exposed out of the cabin body, and finally, the controller controls the aircraft recovery rod of the aircraft to be unlocked with the locking mechanism of the horn-shaped recovery device, so that the aerial launching of the aircraft is realized.
4. The linkage mechanism is matched with the horn-shaped recovery device to realize aircraft recovery. When aircraft recovery pole on the aircraft inserts in the loudspeaker form recovery unit of cabin body 1, and when locking, six telescopic links of controller control link gear drive six link mechanism motions, thereby drive six hatch doors and close, meanwhile, the synchronous rotation of controller control link gear's capstan winch drives the lifting rope and rises, thereby drive loudspeaker form recovery unit and aircraft and rise, when six hatch doors close the level in place in step, loudspeaker form recovery unit inserts the taper groove of backup pad down, realize firmly hanging in midair of aircraft, prevent that it from rocking in the cabin body, thereby the aerial recovery of aircraft has been ended. The controller controls the synchronous rotation of the winch of the linkage mechanism to drive the lifting rope to ascend until the specific process of closing the cabin door is as follows: the controller controls the motor, the motor drives the cone and the cone drives the winch to do ascending motion, the cone drives the spiral disc upper disc to rotate, the spiral disc upper disc drives the spiral disc lower disc to rotate through the rope, the spiral disc lower disc drives the pin in the lower disc groove to rotate from a large radius to a small radius along the Archimedes spiral groove, and the pin is connected with the linear groove at the same time, so that the pin drives the telescopic rod in the linear groove to contract from outside to inside while moving from the large radius to the small radius of the Archimedes spiral groove, the telescopic rod contracts, and the swing arm connecting rod, the lifting rod and the cabin door opening and closing connecting rod synchronously move until the cabin door is closed, and the winch does ascending motion to recover the aircraft to the corresponding position of the nacelle before the cabin door is closed.
The invention is further explained below with reference to the drawings.
An open-type openable pod for launching and recovering an unmanned aerial vehicle in the air is shown in figures 1, 2, 3 and 4 and comprises a cabin body 1, an open-type six-cabin door 2 at the bottom of the cabin body 1, an upper supporting plate 6 and a lower supporting plate 5 inside the cabin body 1, electrical control equipment 6-1, 6-2 and 6-3 fixedly arranged on the upper supporting plate 6, a horn-shaped recovery device 3 fixedly arranged on the lower supporting plate 5 and a linkage mechanism 7 fixedly arranged between the upper supporting plate 6 and the lower supporting plate 5; the linkage mechanism 7 is used for controlling the opening and closing of the cabin door 2 and controlling the horn-shaped recovery device 3 and the lifting of the aircraft 4-2, and the horn-shaped recovery device 3 is used for realizing the launching and the recovery of the aircraft 4-2.
The horn-shaped recovery device 3 is shown in fig. 3 and 5 and comprises a primary contact cone 3-1, a contact column 3-2, a secondary contact cone 3-3 and a locking mechanism 3-4; the lower supporting plate 5 is provided with a large-mouth contact horn mouth 5-1 and a small-mouth contact horn mouth 5-2, the aerial distribution recovery unmanned aerial vehicle blooming type openable pod is in two virtual positioning contact with the large-mouth contact horn mouth 5-1 and the small-mouth contact horn mouth 5-2 of the lower supporting plate 5 through the first contact cone 3-1 and the second contact cone 3-2 of the horn-shaped recovery device 3, the horn-shaped recovery device 3 is accurately inserted into the horn mouth of the lower supporting plate 5 in the lifting process, accurate positioning and fixed locking are achieved, and the safety and reliability of aircraft suspension are improved.
The horn-shaped recovery device 3 is used for realizing aircraft recovery, and is shown in fig. 1, and specifically comprises the following components: the aircraft recovery rod 4-1 on the aircraft 4-2 is inserted into the horn-shaped recovery device 3 of the cabin body 1 and locked, six telescopic rods 7-14 of the linkage mechanism 7 drive the six link mechanisms 7-18 to move, so that the six cabin doors 2 are driven to be closed, meanwhile, a winch 7-2 of the linkage mechanism 7 synchronously rotates to drive the lifting rope 7-8 to ascend, so that the horn-shaped recovery device 3 and the aircraft 4-2 are driven to ascend, when the six cabin doors 2 are synchronously closed and horizontally positioned, the horn-shaped recovery device 3 is inserted into a conical groove of the lower supporting plate 5, the aircraft 4-2 is firmly suspended, the aircraft is prevented from shaking in the cabin body, and the aircraft is recovered in the air.
The horn-shaped recovery device is used for realizing the launching of the aircraft, as shown in fig. 1, fig. 2, fig. 3, fig. 7 and fig. 9, and specifically comprises the following steps: six telescopic rods 7-14 of the linkage mechanism 7 drive six link mechanisms 7-18 to move so as to drive the flower-open type six cabin doors 2 to be opened, meanwhile, winches 7-2 of the linkage mechanism 7 synchronously rotate to drive lifting ropes 7-8 to descend so as to drive the horn-shaped recovery devices 3 and the aircrafts 4-1 to descend, when the six flower-open type cabin doors 2 are synchronously opened to be in a vertical state, the horn-shaped recovery devices 3 and the aircrafts 4-2 are exposed out of the cabin body 1, and finally, the aircraft recovery rods 4-1 of the aircrafts 4-2 are unlocked with locking mechanisms 3-4 of the horn-shaped recovery devices 3, so that air launching of the aircrafts 4-2 is realized.
The linkage mechanism is divided into an upper layer and a lower layer as shown in figures 2, 6, 7 and 8:
the upper strata is equipped with along the horizontal direction in proper order: a passive spiral cone 7-1, a winch 7-2, an active spiral cone 7-3 and a spiral cone support plate 7-4; 7-5 parts of a motor, 7-6 parts of a motor bracket, 7-7 parts of a transmission rope, 7-8 parts of a lifting rope and 7-9 parts of a spiral cone spiral groove; the passive spiral cone 7-1, the winch 7-2 and the active spiral cone 7-3 are sequentially connected in series through a support rod and are fixedly arranged on an upper support plate 6 through two spiral cone support plates 7-4; the motor 7-5 is arranged in the driving spiral cone 7-3 through a motor output shaft and is fixedly arranged on the upper supporting plate 6 through a motor bracket 7-6; the passive spiral cone 7-1 and the active spiral cone 7-3 are arranged on a spiral disk 7-11, the spiral cone 7-9 and the spiral disk spiral groove 7-12 are mutually matched, a transmission rope 7-7 is wound in the spiral cone spiral groove 7-9 of the active spiral cone 7-3 and the spiral disk spiral groove 7-12 of the spiral disk, two ends of the transmission rope 7-7 are transmitted through a through hole on the spiral disk 7-11 and fixed on a transmission rope end part fixer 7-22, a lifting rope 7-8 is wound on a winch 7-2, a motor 7-5 rotates to drive the active spiral cone 7-3, the winch 7-2 and the passive spiral cone to rotate 7-1, so that the lifting rope 7-8 is driven to lift, the transmission rope 7-7 is driven to wind, the spiral disk 7-11 is driven to rotate, six transmission pins 7-13 are driven to linearly move, and finally six telescopic rods 7-14 are driven to linearly move, and synchronous stretching of the six telescopic rods 7-14 and synchronous lifting movement of the lifting rope 7-8 are realized.
The lower layer is provided with a sliding support disk 7-10, a spiral disk 7-11 and a spiral disk spiral groove 7-12 as shown in figures 7 to 9, wherein the sliding support disk 7-10 is fixedly arranged on the lower support plate 5, the spiral disk 7-11 is hinged on the sliding support disk 7-10 through six transmission pins 7-13, six Archimedes spiral grooves on the spiral disk and six linear grooves on the sliding support disk 7-10, six telescopic rods 7-14 are fixedly connected with the six transmission pins 7-13, and the six Archimedes spiral grooves on the spiral disk 7-11 and the six linear grooves on the sliding support disk 7-10 slide relatively through the six transmission pins 7-13, so that the spiral disk 7-11 is driven to rotate relative to the sliding support disk 7-10, and the six transmission pins 7-13 and the six telescopic rods 7-14 are driven to move linearly.
As shown in fig. 7 and 9, the large radius end of the link mechanism telescopic rod 7-14 is provided with a swing arm connecting rod 7-15, a lifting rod 7-16 and a cabin door opening and closing connecting rod 7-17 from top to bottom; the upper ends of the swing arm connecting rods 7-15 are hinged on the telescopic rods 7-14, and the lower ends are hinged on the lifting rods 7-16; the upper ends of the lifting rods 7 to 16 are connected with swing arm connecting rods 7 to 15, and the lower ends are hinged on cabin door opening and closing connecting rods 7 to 17; the cabin door opening and closing connecting rods 7-17 are of arc structures and are prevented from interfering with the cabin body 1 and the cabin door 2, the other ends of the opening and closing connecting rods 7-17 are hinged to corresponding hinged points of the cabin door 2, so that a six-connecting-rod mechanism 7-18 is formed, and when the six telescopic rods 7-14 are synchronously stretched, the six swing arm connecting rods 7-15 are driven to rotate, the six lifting rods 7-16 are driven to lift, the six cabin door opening and closing connecting rods 7-17 are driven to rotate, and finally the six cabin doors 2 are driven to be synchronously opened and closed.
As shown in fig. 5 and 9, the six doors 2 include door hinge rings 2-1, the door hinge rings 2-1 are respectively hinged to six cabin hinge rings 1-1 of the cabin 1, two ends of six link mechanisms 7-18 of the linkage mechanism 7 are respectively installed between six telescopic rods 7-14 of the linkage mechanism 7 and the six doors 2, and are sleeved on the plurality of lifting rod fixing rings 7-19, so that linear motion of the six telescopic rods 7-14 of the linkage mechanism 7 is converted into synchronous opening and closing motion of the six doors 2; an aircraft recovery rod 4-1 of the aircraft is locked with a locking mechanism 3-4 of the horn-shaped recovery device 3 and is suspended on a winch 7-2 on a linkage mechanism 7 through a lifting rope 7-8, so that the aircraft 4-2 is suspended.
The above description is not meant to be limiting, it being noted that: it will be apparent to those skilled in the art that various changes, modifications, additions, and substitutions can be made without departing from the true scope of the invention, and such improvements and modifications should be considered within the scope of the invention.
Claims (6)
1. A blooming type openable pod for launching and recovering unmanned aerial vehicles in the air is characterized in that: bag (bag)
The cabin comprises a cabin body (1), a flower-opened six-cabin door (2) at the bottom of the cabin body, an upper supporting plate (6) and a lower supporting plate (5) inside the cabin body, electrical control equipment fixedly arranged on the upper supporting plate (6), a horn-shaped recovery device (3) fixedly arranged on the lower supporting plate (5), and a linkage mechanism (7) fixedly arranged between the upper supporting plate and the lower supporting plate; the linkage mechanism (7) is used for controlling the opening and closing of the flower-open type six-cabin door (2) and controlling the lifting of the horn-shaped recovery device (3) and the aircraft (4-2), and the horn-shaped recovery device (3) is used for realizing the launching and recovery of the aircraft (4-2);
the horn-shaped recovery device (3) comprises a primary contact cone (3-1), a contact column (3-2), a secondary contact cone (3-3) and a locking mechanism (3-4); the lower supporting plate (5) is provided with a large-mouth contact horn mouth (5-1) and a small-mouth contact horn mouth (5-2), the aerial launch and recovery unmanned aerial vehicle blooming type openable pod is in two virtual positioning contact with the large-mouth contact horn mouth (5-1) and the small-mouth contact horn mouth (5-2) of the horn-shaped recovery device (3) through the primary contact cone (3-1), the secondary contact cone (3-2) and the lower supporting plate (5), accurate insertion into the horn mouth of the lower supporting plate (5) in the lifting process of the horn-shaped recovery device (3) is achieved, accurate positioning and fixed locking are achieved, and the safety and reliability of aircraft suspension are improved.
2. A blooming openable pod for aerial launch and recovery drone according to claim 1, characterised in that: horn form recovery unit (3) are used for realizing that the aircraft retrieves, specifically do: the aircraft recovery rod (4-1) on the aircraft (4-2) is inserted into the horn-shaped recovery device (3) of the cabin body (1) and locked, six telescopic rods (7-14) of the linkage mechanism (7) drive six link mechanisms (7-18) to move, so that the six doors (2) of the flower-open type are driven to be closed, meanwhile, a winch (7-2) of the linkage mechanism (7) rotates synchronously to drive a lifting rope (7-8) to ascend, so that the horn-shaped recovery device (3) and the aircraft (4-2) are driven to ascend, when the six doors (2) of the flower-open type are closed horizontally in place synchronously, the horn-shaped recovery device (3) is inserted into a conical groove of the lower supporting plate (5), the aircraft (4-2) is firmly suspended, the aircraft is prevented from swinging in the cabin body, and the aircraft is recovered in the air.
3. A blooming openable pod for aerial launch and recovery drone according to claim 1, characterised in that: horn form recovery unit is used for realizing the aircraft transmission, specifically is: six telescopic rods (7-14) of the linkage mechanism (7) drive six link mechanisms (7-18) to move so as to drive the six blooming type cabin doors (2) to be opened, meanwhile, winches (7-2) of the linkage mechanism (7) synchronously rotate to drive lifting ropes (7-8) to descend so as to drive the horn-shaped recovery device (3) and the aircraft (4-1) to descend, when the six cabin doors of the blooming type six cabin doors (2) are synchronously opened to be in a vertical state, the horn-shaped recovery device (3) and the aircraft (4-2) are also exposed out of the cabin body (1), and finally, the aircraft recovery rod (4-1) of the aircraft (4-2) and a locking mechanism (3-4) of the horn-shaped recovery device (3) are unlocked so as to realize air launching of the aircraft (4-2).
4. A blooming openable pod for aerial launch and recovery drone according to claim 1, characterised in that: the linkage mechanism is divided into an upper layer and a lower layer:
the upper strata is equipped with along the horizontal direction in proper order: a passive spiral cone (7-1), a winch (7-2), an active spiral cone (7-3) and a spiral cone support plate (7-4); a motor (7-5), a motor bracket (7-6), a transmission rope (7-7), a lifting rope (7-8) and a spiral cone spiral groove (7-9); the passive spiral cone (7-1), the winch (7-2) and the active spiral cone (7-3) are sequentially connected in series through a support rod and are fixedly arranged on an upper support plate (6) through two spiral cone support plates (7-4); the motor (7-5) is arranged in the driving spiral cone (7-3) through a motor output shaft and is fixedly arranged on the upper supporting plate (6) through a motor bracket (7-6); the passive spiral cone (7-1) and the active spiral cone (7-3) are arranged on a spiral disc (7-11), a spiral cone spiral groove (7-9) and a spiral disc spiral groove (7-12) are matched with each other, a transmission rope (7-7) is wound in the spiral cone spiral groove (7-9) of the active spiral cone (7-3) and a spiral disc spiral groove (7-12) of the spiral disc, two ends of the transmission rope (7-7) penetrate through a through hole in the spiral disc (7-11) and are fixed on a transmission rope end fixer (7-22), a lifting rope (7-8) is wound on a winch (7-2), a motor (7-5) rotates to drive the active spiral cone (7-3), the winch (7-2) and the passive spiral cone to rotate (7-1), so that the lifting rope (7-8) is driven to lift, the lifting rope (7-7) is driven to wind, the spiral disc (7-11) is driven to rotate, six transmission pins (7-13) are driven to linearly move, and finally, six telescopic rods (7-14) are driven to synchronously lift and move;
the lower layer is provided with a sliding support disk (7-10), a spiral disk (7-11) and spiral disk spiral grooves (7-12), the sliding support disk (7-10) is fixedly arranged on the lower support plate (5), the spiral disk (7-11) is hinged to the sliding support disk (7-10) through six transmission pins (7-13), six Archimedes spiral grooves on the spiral disk and six linear grooves on the sliding support disk (7-10), six telescopic rods (7-14) are fixedly connected with the six transmission pins (7-13), and the six Archimedes spiral grooves on the spiral disk (7-11) and the six linear grooves on the sliding support disk (7-10) slide relatively through the six transmission pins (7-13), so that the spiral disk (7-11) is driven to rotate relative to the sliding support disk (7-10), and the six transmission pins (7-13) and the six telescopic rods (7-14) are driven to move linearly.
5. An open-able pod for aerial launch and recovery of unmanned aerial vehicles according to claim 4, wherein: the large-radius ends of the telescopic rods (7-14) are provided with swing arm connecting rods (7-15), lifting rods (7-16) and cabin door opening and closing connecting rods (7-17) from top to bottom; the upper ends of the swing arm connecting rods (7-15) are hinged on the telescopic rods (7-14), and the lower ends are hinged on the lifting rods (7-16); the upper end of the lifting rod (7-16) is connected with a swing arm connecting rod (7-15), and the lower end is hinged on a cabin door opening and closing connecting rod (7-17); the cabin door opening and closing connecting rods (7-17) are of arc structures and are prevented from interfering with the cabin body (1) and the flower-open type six cabin doors (2), the other ends of the opening and closing connecting rods (7-17) are hinged to corresponding hinged points of the flower-open type six cabin doors (2) to form six connecting rod mechanisms (7-18), and when the six telescopic rods (7-14) are synchronously stretched, the six swing arm connecting rods (7-15) are driven to rotate, the six lifting rods (7-16) are driven to lift, the six cabin door opening and closing connecting rods (7-17) are driven to rotate, and finally the flower-open type six cabin doors (2) are driven to be synchronously opened and closed.
6. A blooming openable pod for aerial launch and recovery drone according to claim 1, characterised in that: the flower-open type six-cabin door (2) comprises cabin door hinge rings (2-1), the cabin door hinge rings (2-1) are respectively hinged to six cabin body hinge rings (1-1) of a cabin body (1), two ends of six link mechanisms (7-18) of the linkage mechanism (7) are respectively installed between six telescopic rods (7-14) of the linkage mechanism (7) and the flower-open type six-cabin door (2) and sleeved in a plurality of lifting rod fixing rings (7-19), and linear motion of the six telescopic rods (7-14) of the linkage mechanism (7) is converted into synchronous opening and closing motion of the flower-open type six-cabin door (2); an aircraft recovery rod (4-1) of the aircraft is locked with a locking mechanism (3-4) of the horn-shaped recovery device (3) and is suspended on a winch (7-2) on a linkage mechanism (7) through a lifting rope (7-8), so that the aircraft (4-2) is suspended.
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| CN202110770949.XA CN113501125B (en) | 2021-07-07 | 2021-07-07 | Blooming type openable nacelle for launching and recovering unmanned aerial vehicle in air |
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| US11338911B2 (en) * | 2018-09-18 | 2022-05-24 | Insitu, Inc. | Magnetic recovery systems and magnetic docking mechanisms for fixed-wing unmanned aerial vehicles |
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| CN103407586A (en) * | 2013-08-30 | 2013-11-27 | 中国人民解放军国防科学技术大学 | Electromagnetic butt joint system |
| CN205186538U (en) * | 2015-10-23 | 2016-04-27 | 南京航空航天大学 | Aerial oil distribution cones cover controlling means that adds |
| CN108100287A (en) * | 2017-11-23 | 2018-06-01 | 北京航空航天大学 | A kind of unmanned plane space base emitter |
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| CN113501125A (en) | 2021-10-15 |
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