CN114527775A - Unmanned aerial vehicle landing brake device for small ships - Google Patents
Unmanned aerial vehicle landing brake device for small ships Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The invention discloses an unmanned aerial vehicle landing brake device for a small ship, belongs to the technical field of unmanned aerial vehicle landing braking, and aims to solve the problem that the braking performance is not high due to the fact that the braking distance of an existing unmanned aerial vehicle recovery device is large. The scheme of the invention is as follows: the U-shaped upper cover and the capturing unit are arranged at the head end and the tail end of the guide rail in parallel along the running direction; the U-shaped upper cover is downward opened, the first and last hinged points of the inner wall of the side plate of the U-shaped upper cover are respectively hinged with and support two ends of a pressure plate spring unit with a double-arc structure, and the roller unit is supported by a guide rail to roll along the guide rail; the capture unit is used for capturing unmanned aerial vehicle, and through rope pulling gyro wheel unit to rolling to the end along the guide rail, the gyro wheel unit rolls the in-process along flat clamp plate lower surface to the end and promotes the arc clamp plate and upwards rotate around the head end pin joint, and then compresses bow spring in vertical direction in order to begin unmanned aerial vehicle braking, and unmanned aerial vehicle's kinetic energy converts friction heat energy and elastic potential energy into in the braking process, and the braking landing of unmanned aerial vehicle is accomplished to the terminal locking that the gyro wheel unit slided to the guide rail.
Description
Technical Field
The invention relates to an unmanned aerial vehicle landing technology on a small ship, and belongs to the technical field of unmanned aerial vehicle landing braking.
Background
When the fixed-wing unmanned aerial vehicle lands on a small ship, the fixed-wing unmanned aerial vehicle is generally not allowed to directly land on a deck due to the limitation of the space of the ship. The modes of 'net collision recovery' and 'all-terrain recovery' are frequently adopted on land and are not suitable for offshore recovery, and once recovery is wrong, the unmanned aerial vehicle can possibly collide on corresponding facilities such as buildings, radars and the like of ships. The recovery mode of the offshore unmanned aerial vehicle which is commonly used in the world is that the unmanned aerial vehicle flies to the sea area near a warship, lands in the sea by utilizing a parachuting mode, and then is manually recovered. However, this kind of recovery mode that consuming time is hard, the risk is higher needs to protect unmanned aerial vehicle and handles. As regards the problem of unmanned aerial vehicles landing on small ships, there is no satisfactory solution so far. Especially for high mass and high landing speed fixed wing drones, the landing problem becomes especially complex. For this reason, the U.S. defense pre-research institute (DARPA) developed a "side arm" unmanned aerial vehicle recovery plant (SideArm) on board, which is a short rail with an intercepting cable and an elastic net installed below, when the unmanned aerial vehicle passes below the track, the catching hook on the unmanned aerial vehicle catches the intercepting cable, the net can accurately block and stop the unmanned aerial vehicle, the device has small volume and high precision, is a recovery device and a launching device, effectively solves the problem of safe landing of the unmanned aerial vehicle on a small ship, when the drone lands on a "side arm" recovery device, the length of the braking distance becomes particularly important, the size of the recovery device is determined, the recovery device is placed on a small ship or other mobile platforms, the requirement on the braking performance is high, the braking distance of the existing unmanned aerial vehicle recovery device (Sideaarm) on the side arm ship is large, the overall size of the recovery device is relatively long, and the braking performance is relatively poor.
Therefore, to above not enough, need provide an unmanned aerial vehicle that can effectively reduce braking distance and catch technique for unmanned aerial vehicle recovery unit overall dimension further reduces, with improvement brake performance, makes it be applicable to more small-size naval vessel or other moving platform.
Disclosure of Invention
The invention provides an unmanned aerial vehicle landing brake device for a small ship, aiming at the problem that the braking performance is not high due to the large braking distance of the existing unmanned aerial vehicle recovery device.
The landing brake device of the unmanned aerial vehicle facing the small ship comprises a U-shaped upper cover 100, a roller unit 200, a pressure plate spring unit 300, a guide rail 400 and a capturing unit 500; the compression platen spring unit 300 includes a flat platen 30 and a bow spring 31 hinged together;
the U-shaped upper cover 100 and the catching unit 500 are installed in parallel at the head and tail ends of the guide rail 400 in the running direction;
the U-shaped upper cover 100 is opened downwards, the first and last hinged points of the inner wall of the side plate of the U-shaped upper cover are respectively hinged with and support two ends of a pressure plate spring unit 300 with a double-arc structure, and the roller unit 200 is supported by a guide rail 400 to roll along the guide rail;
the capture unit 500 is used for capturing the unmanned aerial vehicle, and pulls the roller unit 200 to roll towards the tail end along the guide rail 400 through the rope, the roller unit 200 rolls the in-process along the lower surface of the flat pressing plate 30 towards the tail end and pushes the arc pressing plate 30 to rotate upwards around the hinge point at the head end, and then compresses the bow spring 31 in the vertical direction to start the braking of the unmanned aerial vehicle, the kinetic energy of the unmanned aerial vehicle is converted into friction heat energy and elastic potential energy in the braking process, until the roller unit 200 slides to the tail end locking of the guide rail 400, and the braking landing of the unmanned aerial vehicle is completed.
Preferably, the U-shaped upper cover 100 includes two side plates 10 and a top cover, the lower portions of the two side plates 10 are opened with elongated holes 11 along the length direction, the two elongated holes 11 are used for restricting the roller units 200 from rolling along the guide rail direction, and the ends of the elongated holes 11 are provided with grooves as locking grooves 12; the tops of the head ends of the two side plates 10 are symmetrically provided with a pair of mounting holes and hinged with the head end of the flat pressing plate 30 through a first rotating hinge 13, the tops of the tail ends of the two side plates 10 are symmetrically provided with a pair of mounting holes and hinged with the tail end of the bow spring 31 through a second rotating hinge 14, and the tail end of the flat pressing plate 30 is hinged with the head end of the bow spring 31 through a third rotating hinge 32;
the bottom of both side panels 10 have an outwardly turned mounting edge.
Preferably, the guide rail 400 comprises a U-shaped frame 40 with an upward opening, a 90-degree V-shaped guide rail is arranged inside the U-shaped frame 40, and a hollow working space 41 is arranged in the middle section of a bottom plate of the U-shaped frame 40 and is used as a space required by deformation of the compression pressing plate spring unit 300;
the U-shaped frame 40 is provided with two side plates with outward-turning mounting edges at the upper end and the lower end, namely an upper mounting edge 42 and a lower mounting edge 43, the upper mounting edge 42 is mounted with the outward-turning mounting edge of the U-shaped upper cover 100 through screws, and the lower mounting edge 43 is used for connecting with the outside.
Preferably, the roller unit 200 includes a roller 20 and a rope joint 21, wherein both sides of the roller 20 are chamfered at 45 degrees, a rolling pair is formed by the roller and the 90-degree V-shaped guide rail of the U-shaped frame 40, the roller shaft of the roller 20 is placed in the elongated hole 11, and both ends of the roller shaft are respectively hinged with one rope joint 21.
Preferably, the catching unit 500 includes a rope 51, a pulley holder 52, a set of crown blocks, a rope guard 55, and a rope guard 56;
a pair of pulley supports 52 are symmetrically arranged at the tail end of the U-shaped upper cover 100 through screws, a pulley block is arranged in each pulley support 52, the pulley block is composed of an upper fixed pulley 53 and a lower fixed pulley 54, a rope stop rod 56 is erected at the top ends of the two pulley supports 52, and a rope baffle 55 is arranged at the top end of each pulley support 52 and used for limiting the rope stop rod 56 to prevent the rope stop rod 56 from falling off from the pulley block;
two ends of rope 51 are worn out from rope pin 56 both ends simultaneously, walk around two assembly pulleys respectively after and link firmly with two rope joint 21 of gyro wheel unit 200, the mouth shape is constituteed with rope pin 56 in the middle section of rope 51 and is caught the end for catch unmanned aerial vehicle, unmanned aerial vehicle pulling rope 51, and then drive gyro wheel 20 and roll to the end along guide rail 400.
Preferably, the flat platen 30 is a flat and absolutely rigid plate and the bow springs 31 are non-linear bow springs.
The invention provides another technical scheme: an unmanned aerial vehicle landing braking method for small ships comprises the following steps:
utilize rope 51 to catch unmanned aerial vehicle, rope 51 is pulled by unmanned aerial vehicle, it rolls to the end to move the gyro wheel under the direction of assembly pulley, gyro wheel 20 promotes flat clamp plate 30 and upwards rotates around the head end pin joint, and then vertical direction compression bow spring 31 is in order to begin the unmanned aerial vehicle braking, unmanned aerial vehicle's kinetic energy converts the friction heat energy between gyro wheel 20 and the guide rail 400 into in the braking process, friction heat energy and the elastic potential energy of bow spring 31 between gyro wheel 20 and the flat clamp plate 30, when the pivot of gyro wheel 20 both sides slides into in the terminal locking groove 12 of U type upper cover 100 both sides rectangular hole 11, exert the locking of gyro wheel 20 with the help of bow spring 31 and realize the thrust of gyro wheel 20 on flat clamp plate 30, accomplish the landing of unmanned aerial vehicle on small-size naval vessel.
The invention has the beneficial effects that: the invention provides an unmanned aerial vehicle landing brake device facing a small ship, which adopts a press plate and an arch spring to be matched as a brake energy storage key component, converts kinetic energy in the braking process of an unmanned aerial vehicle into friction heat energy between a roller and a guide rail and elastic potential energy between the roller and the press plate and between the roller and the arch spring, the arch spring is compressed and deformed, the deformation mainly occupies a space in the vertical direction, the horizontal braking distance is effectively reduced, when rotating shafts on two sides of the roller slide into locking grooves at the tail ends of long holes on two sides of a U-shaped upper cover, the stored potential energy of the arch spring reaches the maximum value, downward thrust is provided for the end of the press plate hinged with the arch spring, the rotating shaft of the roller is locked in the locking grooves by means of the thrust exerted on the press plate by the arch spring, and landing of the unmanned aerial vehicle on the small ship is completed.
The braking device is simple, and skillfully utilizes the vertical space to make up the deficiency of the horizontal space of the small ship, reduce the braking distance and miniaturize the braking device.
Drawings
FIG. 1 is a schematic perspective view of a brake apparatus according to the present invention;
FIG. 2 is a side cross-sectional view of the brake apparatus of the present invention;
FIG. 3 is a schematic perspective view of a roller mechanism and a guide rail of the braking device of the present invention;
FIG. 4 is a perspective view of the guide rail;
FIG. 5 is a schematic view of the braking device of the present invention in an initial state;
FIG. 6 is a schematic view of the brake of the present invention in a locked condition;
FIG. 7 shows different ratios L according to the present inventionP0Static characteristic F of brake device under/LX(XP) A variation graph;
FIG. 8 shows different initial tilt angles α of the present invention0Static characteristic F of the braking deviceX(XP) A variation graph;
FIG. 9 shows the static behavior F of the braking device according to the invention at different stiffnesses cX(XP) A variation graph;
FIG. 10 shows different pretensions F according to the present invention0Static characteristic F of the lower brakeX(XP) A variation graph;
in the figure:
100. a U-shaped upper cover;
10. a side plate; 11. a strip hole; 12. a locking groove; 13. a first rotary hinge; 14. a second rotary hinge;
200. a roller unit;
20. a roller; 21. a rope joint;
300. a platen spring unit;
30. a flat press plate; 31. a bow spring;
400. a guide rail;
40. a U-shaped frame; 41. hollowing out a working space; 42. the upper end is provided with an edge; 43. the lower end is provided with an edge;
500. a capturing unit;
51. a rope; 52. a pulley support; 53. an upper fixed pulley; 54. a lower fixed pulley; 55. a rope baffle; 56. a rope stop lever.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1 to 10, and the landing brake device of the unmanned aerial vehicle for small ships according to the present embodiment includes a U-shaped upper cover 100, a roller unit 200, a pressure plate spring unit 300, a guide rail 400, and a capturing unit 500; bow spring 31 of flat pressure plate 30
The U-shaped upper cover 100 and the catching unit 500 are installed in parallel at the head and tail ends of the guide rail 400 in the running direction; there is a little distance between the U-shaped upper cover 100 and the capturing unit 500.
The U-shaped upper cover 100 is downward opened, the inner wall of the side plate of the U-shaped upper cover is hinged with a support pressure plate spring unit 300, the compression pressure plate spring unit 300 comprises a flat pressure plate 30 and an arch spring 31 which are hinged together, the flat pressure plate 30 is made of a flat and absolutely rigid plate, and the arch spring 31 is made of a nonlinear arch spring; the head end of the flat pressing plate 30 is hinged with the hinge point of the head end of the U-shaped upper cover 100, the tail end of the flat pressing plate 30 is hinged with the head end of the bow spring 31, and the tail end of the bow spring 31 is hinged with the hinge point of the tail end of the U-shaped upper cover 100; the hinge points of the head and the tail ends of the U-shaped upper cover 100 are respectively provided with the positions of the head and the tail ends of the side plates which are inclined upwards, and the roller unit 200 is supported by the guide rail 400 to roll along the guide rail;
The U-shaped upper cover 100 comprises two side plates 10 and a top cover, the lower parts of the two side plates 10 are provided with strip holes 11 along the length direction, the two strip holes 11 are used for restraining the roller unit 200 from rolling along the guide rail direction and can bear large load in the vertical direction, the load comprises the gravity of the roller unit 200 and the reverse thrust of the flat pressing plate 30 to the roller unit 200, and the tail ends of the strip holes 11 are provided with grooves as locking grooves 12; the tops of the head ends of the two side plates 10 are symmetrically provided with a pair of mounting holes and hinged with the head end of the flat pressing plate 30 through a first rotating hinge 13, the tops of the tail ends of the two side plates 10 are symmetrically provided with a pair of mounting holes and hinged with the tail end of the bow spring 31 through a second rotating hinge 14, and the tail end of the flat pressing plate 30 is hinged with the head end of the bow spring 31 through a third rotating hinge 32;
the bottom of both side plates 10 have an out-turned mounting rim.
The guide rail 400 comprises a U-shaped frame 40 with an upward opening, a 90-degree V-shaped guide rail is arranged in the U-shaped frame 40, the roller unit 200 comprises a roller 20 and a rope joint 21, the two sides of the roller 20 are provided with 45-degree chamfers, a rolling pair is formed by the roller 20 and the 90-degree V-shaped guide rail of the U-shaped frame 40, a rolling shaft of the roller 20 is arranged in the long hole 11, and the two end parts of the rolling shaft are respectively hinged with one rope joint 21. The bottom plate of the U-shaped frame 40 is divided into three parts, the first end of the U-shaped frame is approximately one third provided with a plate-shaped bottom part for supporting the roller 20, the tail end of the U-shaped frame is provided with a narrow strip bottom part for supporting the mechanical frame, the area of the middle section of the bottom plate of the U-shaped frame 40, which is approximately two thirds, is provided with a hollowed-out working space 41 which is through up and down and is used as a space required by the deformation of the compression pressing plate spring unit 300, when the U-shaped frame is not deformed, the initial included angle between the flat pressing plate 30 and the horizontal plane is large, the flat pressing plate is obliquely arranged, the hinged point between the flat pressing plate 30 and the bow spring 31 penetrates through the hollowed-out working space 41 to be positioned below the guide rail 400, when the U-shaped frame is compressed, the flat pressing plate 30 rotates upwards by taking the hinged point at the first end as the center, the included angle between the flat pressing plate 30 and the horizontal plane is small, the hinged point between the flat pressing plate 30 and the bow spring 31 moves upwards and is finally higher than the bottom plate, the height, the bow spring 31 is mainly deformed in the vertical direction, so that the limited horizontal space is saved, the horizontal braking distance is shortened;
the U-shaped frame 40 is provided with two side plates with outward-turning mounting edges at the upper end and the lower end, namely an upper mounting edge 42 and a lower mounting edge 43, the upper mounting edge 42 is mounted with the outward-turning mounting edge of the U-shaped upper cover 100 through screws, and the lower mounting edge 43 is used for connecting with the outside.
The capturing unit 500 includes a rope 51, a pulley holder 52, a set of crown blocks, a rope guard 55, and a rope bar 56;
a pair of pulley supports 52 are symmetrically arranged at the tail end of the U-shaped upper cover 100 through screws, a pulley block is arranged in each pulley support 52, the pulley block is composed of an upper fixed pulley 53 and a lower fixed pulley 54, a rope stop rod 56 is erected at the top ends of the two pulley supports 52, and a rope baffle 55 is arranged at the top end of each pulley support 52 and used for limiting the rope stop rod 56 to prevent the rope stop rod 56 from falling off from the pulley block;
two ends of rope 51 are worn out from rope pin 56 both ends simultaneously, walk around two assembly pulleys respectively after and link firmly with two rope joint 21 of gyro wheel unit 200, the mouth shape is constituteed with rope pin 56 in the middle section of rope 51 and is caught the end for catch unmanned aerial vehicle, unmanned aerial vehicle pulling rope 51, and then drive gyro wheel 20 and roll to the end along guide rail 400.
The two pulley supports 52 are respectively fixed on two sides of the guide rail 400, and the area in the middle of the two pulley supports 52 is free, so that the horizontal deformation space towards the tail end can not be prevented when the bow spring 31 is deformed in the vertical direction. Each pulley support 52 is provided with a pulley block, the projections of the upper fixed pulley 53 and the lower fixed pulley 54 on the horizontal plane are overlapped, the pulley blocks play a role of guiding, the horizontal movement direction generated by pulling the roller 20 by the rope 51 is converted into the vertical movement direction, the rope 51 upwards penetrates through two ends of a rope stop lever 56 from the upper fixed pulley 53, the rope stop lever 26 is fixedly connected with the rope 51 and positioned above the upper fixed pulley 53, and the functions of preventing the rope 51 from being separated from the upper fixed pulley 53 on one hand and ensuring that the rope 51 is always tangent to the upper fixed pulley 53 on the other hand are achieved; the rope baffle 55 is fixedly connected with the pulley support 52 through a screw and has the function of limiting, so that the rope baffle rod 56 is prevented from falling off from the upper part of the upper fixed pulley 53; rope 51 middle section and rope pin 56 are the square shape, are convenient for catch unmanned aerial vehicle.
The second embodiment is as follows: the embodiment is described below with reference to fig. 2, and the method for landing and braking the small-sized ship-oriented unmanned aerial vehicle is implemented based on the landing and braking device for the small-sized ship-oriented unmanned aerial vehicle according to the first embodiment, and the method includes:
the rope 51 is used for capturing the unmanned aerial vehicle, the rope 51 is pulled by the unmanned aerial vehicle to drive the roller 20 to roll towards the tail end under the guidance of the pulley block, the roller 20 pushes the flat pressing plate 30 to rotate upwards around the hinge point at the head end, then the bow spring 31 is compressed in the vertical direction to start braking of the unmanned aerial vehicle, the kinetic energy of the unmanned aerial vehicle is converted into the friction heat energy between the roller 20 and the guide rail 400, the friction heat energy between the roller 20 and the flat pressing plate 30 and the elastic potential energy of the bow spring 31 in the braking process, the movement speed is rapidly reduced, when the rotating shafts on both sides of the roller 20 slide into the locking grooves 12 at the ends of the elongated holes 11 on both sides of the U-shaped upper cover 100, the stored potential energy of the bow spring reaches a maximum value, the end of the pressing plate hinged to the bow spring is provided with downward thrust, the roller rotating shaft is locked in the locking groove by means of the thrust exerted on the pressing plate by the bow spring, and the landing of the unmanned aerial vehicle on the small ship is completed.
Referring to fig. 5, the tilt angle α of the flat platen 30 in the initial position without thrust from the drone0＝arctan(ZP0/XP0) The point P is the contact point between the roller 20 and the flat pressing plate 30, and the coordinate system Z is established by taking the hinge point at the head end of the flat pressing plate 30 as the center of circleP0Is the Z-axis coordinate of the P point at the initial position, XP0Is the X-axis coordinate of the point P at the initial position. In the initial position, the bow spring 31 can be completely relaxed, i.e. the pretension force F acting on the flat pressure plate 30SprWhen the spring rate is 0, the bow spring 31 may be compressed in advance, i.e., FSpr＝F0. In the theoretical analysis of the present embodiment, the flat platen 30 is set to be flat and absolutely rigid. Initial coordinate Z of the contact point of flat pressure plate 30 and bow spring 31 on Z axisSpr0＝L sinα0。
When the roller 20 is displaced X along the X-axisP>XP0The inclination angle of the flat platen 30:
in the formula, ZPIs the Z-axis coordinate, X, of point P at any positionPIs the X-axis coordinate of the point P at any position.
ZP＝ZP0+rP[cosα0-cosα(XP)] (2)
in the formula, alpha (X)P) X coordinate of point P is XPThe included angle between the time-flat pressing plate 30 and the horizontal plane;
when Lcos alpha0>>rPWhen, can take ZP≈ZP0. Where L is the length of the flat platen 30.
Force of bow spring 31 on flat platen 30:
FSpr(XP)＝F0+cL[sinα0-sinα(XP)] (3)
wherein, FSpr(XP) X coordinate of point P is XPThe force of bow spring 31 acting on flat platen 30; c-bow spring 31 stiffness.
Force of the flat platen 30 on the roller 20:
wherein, FP(XP) X coordinate of point P is XPThe force, X, of the flat press plate 30 acting on the roller 20SprIs the coordinate of the hinge point of the flat pressure plate 30 and the bow spring 31 on the X axis.
FX(XP) Is determined by the following relationship:
FX(XP)＝FP(XP)sinα(XP)+kFrFP(XP)cosα(XP) (5)
wherein k isFr-coefficient of friction.
In summary, the initial position coordinate Z of the wheel 20 can be completely determined by the relations (1) to (5)P0，XP0And depends on the design parameters (L, alpha)0，c，F0，kFr) Of the braking device FX(XP)。
Depending on the landing speed of the drone, it is desirable to be able to change the static characteristics of the braking device in the case of severe constraints on the braking distance and overload allowability. Thus, the effect of the design parameters on the static behavior is illustrated by the following example. Design parameters of the braking device: l is 1 m; c is 10000N/m; alpha is alpha0＝30°；kFr＝0.1；F0＝0N。
Initial position Z of roller 20P0，XP0The influence on the static characteristics of the braking device is given by the ratio LP0Estimate of/L, where LP0Distance between the initial coordinates of the contact point of the roller 20 with the flat platen 30 and the origin of coordinates. For different ratios LP0L static characteristic of the braking device FX(XP) The variation is shown in fig. 7.
As can be seen from FIG. 7, when the roller 20 is displaced XPAt [0m,0.5m]Static characteristic F of initial position of roller 20 versus braking device during intervalX(XP) Having a great influence on the displacement X of the roller 20P>Static characteristic F of initial position of roller 20 to braking device at 0.5mX(XP) There is little effect.
For different initial tilt angles alpha0Static characteristic of the braking device FX(XP) The variation is shown in fig. 8.
As can be seen in FIG. 8, the angle α is inclined with the flat platen 300The static characteristic curve shape remains unchanged and the braking force increases.
Static characteristic F of the braking device for different stiffness c of the bow spring 31X(XP) The variation is shown in fig. 9. For different pretension forces F of bow spring 310Static characteristic of the braking device FX(XP) The variation is shown in fig. 10.
As can be seen from fig. 9, an increase in the stiffness c of the bow spring 31 results in a proportional increase in the braking force. In this case, the static characteristic FX(XP) The form of the curve remains unchanged. As can be seen from FIG. 10, the bow spring 31 is preloaded with force F0The shape of the initial segment of the static characteristic curve is significantly changed and the braking force is significantly increased in the initial segment.
It should be noted that adjusting certain structural parameters allows to vary the static characteristics of the braking device within a large range, while maintaining the basic characteristics of the braking force decreasing as the roller 20 advances. The rate of change of the braking force reaches a maximum value in the [0, L ] section.
By increasing the preload F of bow spring 310Or changing the initial position of the roller 20 (i.e., reducing the ratio L)P0L), the static characteristic curve F can be controlled most effectivelyX(XP) Increase in slope of the initial segment.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (7)
1. An unmanned aerial vehicle landing brake device facing a small ship is characterized by comprising a U-shaped upper cover (100), a roller unit (200), a pressure plate spring unit (300), a guide rail (400) and a capturing unit (500); the compression pressure plate spring unit (300) comprises a flat pressure plate (30) and a bow spring (31) which are hinged together;
the U-shaped upper cover (100) and the capturing unit (500) are arranged at the head end and the tail end of the guide rail (400) in parallel along the running direction;
the U-shaped upper cover (100) is downward opened, the first and last hinged points of the inner wall of the side plate of the U-shaped upper cover are respectively hinged with two ends of a pressing plate spring unit (300) of a supporting double-arc structure, and the roller unit (200) is supported by a guide rail (400) to roll along the guide rail;
the capture unit (500) is used for capturing the unmanned aerial vehicle, and roll to the end along guide rail (400) through rope pulling roller unit (200), roller unit (200) roll the in-process to the end along flat clamp plate (30) lower surface and promote arc clamp plate 30 and upwards rotate around the head end pin joint, and then compress bow spring (31) in vertical direction in order to begin the unmanned aerial vehicle braking, the kinetic energy of unmanned aerial vehicle converts into friction heat energy and elastic potential energy in the braking process, until roller unit (200) slide to the terminal locking of guide rail (400), accomplish unmanned aerial vehicle braking and land.
2. The landing brake device of the unmanned aerial vehicle facing the small naval vessel as claimed in claim 1, wherein the U-shaped upper cover (100) comprises two side plates (10) and a top cover, the lower parts of the two side plates (10) are provided with elongated holes (11) along the length direction, the two elongated holes (11) are used for restraining the roller units (200) from rolling along the guide rail direction, and the tail ends of the elongated holes (11) are provided with grooves as locking grooves (12); the tops of the head ends of the two side plates (10) are symmetrically provided with a pair of mounting holes and hinged with the head end of the flat pressing plate (30) through a first rotating hinge (13), the tops of the tail ends of the two side plates (10) are symmetrically provided with a pair of mounting holes and hinged with the tail end of the bow spring (31) through a second rotating hinge (14), and the tail end of the flat pressing plate (30) is hinged with the head end of the bow spring (31) through a third rotating hinge (32);
the bottoms of the two side plates (10) are provided with outward turning mounting edges.
3. The landing gear of unmanned aerial vehicle facing small ships of claim 2, wherein the flat pressure plate (30) is made of an absolutely rigid flat plate, and the bow spring (31) is made of a nonlinear bow spring.
4. The landing brake device of the unmanned aerial vehicle facing the small naval vessel as claimed in claim 3, wherein the guide rail (400) comprises a U-shaped frame (40) with an upward opening, a 90-degree V-shaped guide rail is arranged inside the U-shaped frame (40), and a hollowed-out working space (41) is arranged in the middle section of a bottom plate of the U-shaped frame (40) and is used as a space required by deformation of the compression plate spring unit (300);
the upper end and the lower end of two side plates of the U-shaped frame (40) are respectively provided with an outward-turning mounting edge (42) and a lower end mounting edge (43), the upper end mounting edge (42) and the outward-turning mounting edge of the U-shaped upper cover (100) are mounted together through screws, and the lower end mounting edge (43) is used for being connected with the outside.
5. The landing brake device of unmanned aerial vehicle for small ships according to claim 4, wherein the roller unit (200) comprises a roller (20) and a rope joint (21), the roller (20) is chamfered at 45 degrees on both sides and forms a rolling pair with the 90-degree V-shaped guide rail of the U-shaped frame (40), the roller shaft of the roller (20) is arranged in the elongated hole (11), and the two ends of the roller shaft are respectively hinged with one rope joint (21).
6. Landing gear of unmanned aerial vehicle facing small naval vessels, according to claim 5, characterized in that the capturing unit (500) comprises a rope (51), a pulley support (52), a set of crown blocks, a rope baffle (55) and a rope bar (56);
a pair of pulley supports (52) are symmetrically arranged at the tail end of the U-shaped upper cover (100) through screws, a pulley block is arranged in each pulley support (52), the pulley block is composed of an upper fixed pulley (53) and a lower fixed pulley (54), a rope stop lever (56) is erected at the top ends of the two pulley supports (52), and a rope baffle plate (55) is arranged at the top end of each pulley support (52) and used for limiting the rope stop lever (56) to prevent the rope stop lever from falling off from the pulley block;
two ends of rope (51) are worn out from rope pin (56) both ends simultaneously, walk around two rope joints (21) of two assembly pulley backs and gyro wheel unit (200) respectively and link firmly, and the mouth-shaped end of catching is constituteed with rope pin (56) in the middle section of rope (51) for catch unmanned aerial vehicle, unmanned aerial vehicle pulling rope (51), and then drive gyro wheel (20) and roll to the end along guide rail (400).
7. The landing braking method of the unmanned aerial vehicle facing the small ship is realized based on the landing braking device of the unmanned aerial vehicle facing the small ship in claim 6, and is characterized in that the method comprises the following steps:
utilize rope (51) to catch unmanned aerial vehicle, rope (51) are pulled by unmanned aerial vehicle, it rolls to the end to move the gyro wheel under the direction of assembly pulley, gyro wheel (20) promote flat clamp plate (30) and upwards rotate around the head end pin joint, and then vertical direction compression bow spring (31) is in order to begin the unmanned aerial vehicle braking, the kinetic energy of unmanned aerial vehicle converts the friction heat energy between gyro wheel (20) and guide rail (400) into in the braking process, the friction heat energy between gyro wheel (20) and flat clamp plate (30) and the elastic potential energy of bow spring (31), when the pivot of gyro wheel (20) both sides slides in locking groove (12) of U type upper cover (100) both sides rectangular hole (11) end, realize the locking of gyro wheel (20) with the help of bow spring (31) and exert the thrust on flat clamp plate (30), accomplish the landing of unmanned aerial vehicle on the naval vessel of small-size.
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|---|---|---|---|---|
| US20120187243A1 (en) * | 2011-01-26 | 2012-07-26 | James Goldie | Unmanned aerial vehicle(UAV) recovery system |
| US20200062421A1 (en) * | 2017-04-11 | 2020-02-27 | Ampyx Power B.V. | Method for landing a tethered aircraft and launch and land system |
| WO2020093532A1 (en) * | 2018-11-06 | 2020-05-14 | 江南大学 | Take-off and landing system and method for fixed-wing unmanned aerial vehicle |
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