CN114771860A - Automatic device of loading of unmanned aerial vehicle boosting rocket - Google Patents
Automatic device of loading of unmanned aerial vehicle boosting rocket Download PDFInfo
- Publication number
- CN114771860A CN114771860A CN202210340473.0A CN202210340473A CN114771860A CN 114771860 A CN114771860 A CN 114771860A CN 202210340473 A CN202210340473 A CN 202210340473A CN 114771860 A CN114771860 A CN 114771860A
- Authority
- CN
- China
- Prior art keywords
- module
- lifting
- rocket
- groups
- pitching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000001681 protective effect Effects 0.000 claims description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 230000000712 assembly Effects 0.000 claims description 21
- 238000000429 assembly Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 230000037452 priming Effects 0.000 claims 9
- 238000013461 design Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000005429 filling process Methods 0.000 description 3
- 238000009966 trimming Methods 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- 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—Ground or aircraft-carrier-deck installations for launching aircraft
-
- 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
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides an automatic loading device for a boosting rocket of an unmanned aerial vehicle, which comprises a support bracket, wherein a lifting module for adjusting the vertical movement of the boosting rocket is fixedly arranged on the support bracket, a pitching module for adjusting the pitching angle of the boosting rocket is fixedly arranged on the lifting module, a transverse pushing module for adjusting the forward and backward movement of the boosting rocket is fixedly arranged on the pitching module, and a fine adjusting module for adjusting the left and right displacement of the boosting rocket is fixedly arranged on the transverse pushing module; the lifting module is fixedly arranged on the supporting bracket, and the control module is electrically connected with the lifting module, the pitching module and the transverse pushing module respectively. The automatic loading device for the unmanned aerial vehicle booster rocket adopts a modular design, the structure is highly integrated, the loading process is time-saving and labor-saving, the automation degree is high, the human resources are effectively saved, the potential safety hazard is reduced, the operation time is shortened, and the docking accuracy of the rocket can be improved due to the modular design.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle system launching, and particularly relates to an automatic loading device for a boosting rocket of an unmanned aerial vehicle.
Background
In recent years, the technical development of domestic unmanned aerial vehicles is mature continuously, the industry is developed rapidly, and the unmanned aerial vehicles play more and more important roles in the military field and the civil field. The launching mode has good maneuverability, is not limited by a field, can be launched on the ground or a vehicle, and is a common launching mode of the unmanned aerial vehicle;
at present, the rocket filling structure applied to the unmanned aerial vehicle has the following defects:
(1) the existing unmanned aerial vehicle booster rocket mounting devices are in a manual adjusting mode, time and labor are consumed, the waste of human resources in the whole filling process is increased, full-automatic filling cannot be realized, the booster rocket is relatively heavy in weight, and potential safety hazards exist for operators due to the manual adjusting device;
(2) the existing unmanned aerial vehicle booster rocket mounting device is single in structure, lacks of modularized function division, lacks of accuracy, needs to be continuously adjusted, and prolongs the operation time of filling;
in order to realize safe and stable lifting of the unmanned aerial vehicle launched by the rocket in a boosting way, a rocket filling device which is modularized in structural design, convenient to install and operate, safe and reliable is needed.
Disclosure of Invention
In view of this, the invention aims to provide an automatic filling device of a boosting rocket of an unmanned aerial vehicle, so as to solve the problems that the existing manual filling structure of the boosting rocket is single, the precision is short, the operation time is long, the manpower is consumed, and the like.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an automatic boosting rocket filling device of an unmanned aerial vehicle comprises a support bracket, wherein a lifting module for adjusting the up-and-down motion of a boosting rocket is fixedly installed on the support bracket, a pitching module for adjusting the pitching angle of the boosting rocket is fixedly installed on the lifting module, a transverse pushing module for adjusting the front-and-back motion of the boosting rocket is fixedly installed on the pitching module, and a fine adjustment module for adjusting the left-and-right displacement of the boosting rocket is fixedly installed on the transverse pushing module;
the lifting module is fixedly arranged on the supporting bracket, and the control module is electrically connected with the lifting module, the pitching module and the transverse pushing module respectively.
Furthermore, the supporting bracket comprises a supporting bottom plate, two groups of fixing supports are fixedly arranged on the supporting bottom plate and arranged in parallel, each group of fixing supports comprises two groups of vertical plates, and the top ends of the two groups of vertical plates are fixedly connected through a connecting plate;
the supporting bottom plate is also fixedly provided with a reinforcing rib for supporting the vertical plate.
Furthermore, the lifting module comprises two groups of lifting components, the two groups of lifting components are symmetrically arranged on the supporting bottom plate, a mounting plate is arranged on each group of lifting components, the pitching module is fixedly arranged on the mounting plate, and the two groups of lifting components are connected through a transmission component;
the lifting device is characterized by further comprising a driving assembly, wherein the driving assembly is fixedly arranged on the supporting bottom plate and fixedly connected with the transmission assembly and used for driving the mounting plate to move up and down along the lifting assembly.
Furthermore, the two groups of lifting assemblies are identical in structure, each group of lifting assembly comprises two groups of symmetrically-arranged reversing bases, the two groups of reversing bases are fixedly arranged on the supporting bottom plate, a first lead screw is arranged on each group of reversing bases, the top end of the first lead screw is fixedly arranged on the connecting plate through a bearing support, a first lead screw nut is arranged on each of the two groups of first lead screws, and the mounting plate is fixedly arranged on the first lead screw nuts;
the transmission assembly is positioned between the two groups of lifting assemblies and comprises two groups of commutators fixedly arranged on the supporting bottom plate, each group of commutators are respectively connected with the commutation bases at two sides through connecting shafts, the two groups of commutators are also connected through the connecting shafts, and one group of commutators is connected with the driving assembly;
the driving assembly comprises a lifting speed reducer, the lifting speed reducer is fixedly installed on the supporting bottom plate through an installing support, an output shaft end of the lifting speed reducer is fixedly connected with the commutator, an input shaft end of the lifting speed reducer is connected with a first servo motor, and a first encoder is further arranged on the first servo motor.
Furthermore, the pitching module comprises two groups of pitching assemblies which are symmetrically arranged, and the two groups of pitching assemblies are correspondingly and fixedly arranged on the two groups of mounting plates;
the two groups of pitching assemblies have the same structure, each group of pitching assemblies comprises a switching frame, the switching frame is fixedly mounted at the bottom end of the mounting plate through bolts, a worm and gear speed reducer is fixedly mounted on the switching frame, the input end of the worm and gear speed reducer is fixedly connected with a second servo motor, and a second encoder is further arranged on the second servo motor;
the output shaft end of the worm gear speed reducer is fixedly provided with a pitching bearing seat, the pitching bearing seat is assembled and provided with a pitching support through a bearing, the pitching support is fixedly arranged on the adapter rack, the bottom end of the pitching bearing seat is fixedly provided with a pitching base support, the pitching base support is fixedly provided with a slide rail mounting plate, the pitching bearing seat is also fixedly provided with a reinforcing bracket for supporting the slide rail mounting plate, the slide rail mounting plate is fixedly provided with a slide rail, a plurality of groups of slide blocks are arranged on the slide rail in a sliding manner, and two ends of the slide rail are both fixedly provided with limit blocks for preventing the slide blocks from being separated from the slide rail;
and a screw nut adapter used for installing a transverse pushing module is fixedly arranged on the side wall of the pitching bearing block.
Furthermore, the number of the transverse pushing modules is two, the two transverse pushing modules have the same structure, each transverse pushing module comprises an adapter plate, the adapter plates are fixedly arranged on the multiple groups of sliders, the tail ends of the adapter plates are fixedly provided with supporting blocks, and the supporting blocks are provided with placing positions for lapping the tail portions of the boosting rockets;
a stepping motor is fixedly arranged on the adapter plate, the output shaft end of the stepping motor is fixedly connected with a second lead screw through a coupler, the second lead screw is fixedly arranged on the adapter plate through a bearing support, a second lead screw nut is arranged on the second lead screw, and the second lead screw nut is fixedly arranged on the adapter of the second lead screw nut;
the fine setting module is fixedly installed at the head end of the adapter plate.
Further, the fine setting module includes the rocket clamp, and the intermediate position of rocket clamp is the arc structure, and the both ends of rocket clamp are fixed respectively and are provided with the slip table adaptor, and the equal fixed mounting in bottom of every slip table adaptor has the slip table, is provided with manual adjust knob on the slip table.
The control module comprises a control box and a key device, the control box is fixedly arranged on the supporting bottom plate through screws, a controller is arranged in the control box, and the controller is electrically connected with the lifting module, the pitching module and the transverse pushing module respectively;
the controller is electrically connected with the key device, and the key device is fixedly arranged on the reinforcing rib of the lifting module.
Furthermore, a bottom plate protective cover for protecting the transmission assembly and the driving assembly is fixedly arranged on the supporting bottom plate, and two groups of side surface protective covers for protecting the lifting assembly are also fixedly arranged on the supporting bottom plate;
a slide rail protective cover for protecting the slide rail and the slide block is fixedly arranged on the slide rail mounting plate;
a transverse pushing protective cover for protecting the transverse pushing module is fixedly arranged on the adapter plate;
the outer surfaces of the bottom plate protective cover, the side surface protective cover, the sliding rail protective cover and the transverse pushing protective cover are all coated with high-temperature-resistant paint.
Further, still fixedly on the bottom plate protective cover being provided with two sets of supporting seats that are used for supporting the boosting rocket, two sets of supporting seats parallel arrangement, the up end of two sets of supporting seats all sets up to the arc structure.
Compared with the prior art, the automatic filling device for the unmanned aerial vehicle booster rocket has the following beneficial effects:
(1) the automatic filling device for the boosting rocket of the unmanned aerial vehicle adopts a modular design, is high in structural integration level, and specifically comprises a lifting module, a pitching module, a transverse pushing module, a fine adjustment module and a control module, wherein the control module sends a control instruction to control the actions of the modules to realize the adjustment of the vertical height, the adjustment of the pitching angle, the adjustment of the front and rear positions and the fine adjustment of the left and right positions of the boosting rocket, so that the boosting rocket can be quickly and accurately butted with an installation interface of the unmanned aerial vehicle, and the alignment accuracy of the boosting rocket and the unmanned aerial vehicle is effectively improved; compared with the traditional manual filling equipment for the boosting rocket, the structure is highly integrated, the filling process is time-saving and labor-saving, and the device is safe and reliable;
(2) the automatic filling device of the unmanned aerial vehicle booster rocket can realize automatic filling, can control each execution module to adjust the position in the corresponding direction in a single step through the button on the key press, and can realize the ordered linkage operation of each execution module through the one-key positioning/resetting button on the key press so that the booster rocket can quickly reach the designated position; compared with the traditional manual filling device, the manual filling device can effectively save labor, ensure the safety of operators, shorten the filling time and increase the convenience of filling operation;
(3) according to the automatic filling device for the unmanned aerial vehicle booster rocket, the manual input shafts with the key grooves are arranged on the lifting module and the pitching module, the outer hexagonal structure is arranged at the end part of the lead screw of the transverse moving module, and the outer hexagonal lead screw can be manually operated by using a wrench, so that the filling of the booster rocket can be realized through manual operation even if the electric execution assembly has problems, and the stable filling process of the booster rocket is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a support bracket, a lifting module, a pitching module, a pushing module fine-tuning module and a control module according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a support bracket and a lifting module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pitch module according to an embodiment of the present invention;
FIG. 4 is a detailed cutaway view of a portion of a pitch module according to an embodiment of the present invention;
fig. 5 is a schematic view of a detailed structure of a part of a pitch module according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a horizontal pushing module according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a trimming module according to an embodiment of the present invention;
fig. 8 is a schematic view of the overall structure of an automatic filling device for an unmanned aerial vehicle assisted rocket according to an embodiment of the present invention.
Description of reference numerals:
1-a support bracket; 101-a support floor; 102-a riser; 103-a connecting plate; 104-reinforcing ribs; 2-a lifting module; 201-a reversing base; 202-a first lead screw; 203-a first lead screw nut; 204-a mounting plate; 205-a commutator; 206-a connecting shaft; 207-lifting reducer; 208-a servo motor I; 3-a pitch module; 301-a transfer rack; 302-worm gear reducer; 303-servo motor two; 304-pitch bearing; 305-pitch bearing blocks; 306-pitch shoe; 307-reinforcing brackets; 308-a slide rail mounting plate; 309-a slide rail; 3010-slide block; 3011-a stop block; 3012-a screw nut adapter; 4-transversely pushing the module; 401-an adapter plate; 402-a support block; 403-step motor; 404-screw II; 405-a bearing support; 406-lead screw nut two; 5-fine tuning the module; 501-rocket hoop; 502-slip joint; 503-a slide table; 504-manual adjustment knob; 6-a control module; 601-control box; 602-a key press; 7-a floor shield; 8-side shield; 9-slide rail protection cover; 10-transversely pushing the protective cover; 11-support seat.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, an automatic loading device for a boosting rocket of an unmanned aerial vehicle comprises a support bracket 1, wherein a lifting module 2 used for adjusting the vertical movement of the boosting rocket is fixedly mounted on the support bracket 1, a pitching module 3 used for adjusting the pitching angle of the boosting rocket is fixedly mounted on the lifting module 2, a transverse pushing module 4 used for adjusting the front and back movement of the boosting rocket is fixedly mounted on the pitching module 3, and a fine adjusting module 5 used for adjusting the left and right displacement of the boosting rocket is fixedly mounted on the transverse pushing module 4;
still include control module 6, control module 6 fixed mounting is on support bracket 1, and control module 6 respectively with lift module 2, every single move module 3, violently push away module 4 electric connection.
As shown in fig. 2, the supporting bracket 1 includes a supporting base plate 101, two sets of fixing supports are fixedly mounted on the supporting base plate 101, the two sets of fixing supports are arranged in parallel, each set of fixing support includes two sets of vertical plates 102, and the top ends of the two sets of vertical plates 102 are fixedly connected through a connecting plate 103;
reinforcing ribs 104 for supporting the risers 102 are also fixedly arranged on the supporting base plate 101.
The lifting module 2 comprises two groups of lifting components, the two groups of lifting components are symmetrically arranged on the supporting bottom plate 101, a mounting plate 204 is mounted on each group of lifting components, the pitching module 3 is fixedly mounted on the mounting plate 204, and the two groups of lifting components are connected through a transmission component;
the lifting device further comprises a driving assembly, the driving assembly is fixedly mounted on the supporting base plate 101, and the driving assembly is fixedly connected with the transmission assembly and used for driving the mounting plate 204 to move up and down along the lifting assembly.
As shown in fig. 2, the two groups of lifting assemblies have the same structure, each group of lifting assemblies comprises two groups of symmetrically arranged reversing bases 201, the two groups of reversing bases 201 are fixedly installed on the supporting base plate 101, a first lead screw 202 is installed on each group of reversing bases 201, the top end of the first lead screw 202 is fixedly installed on the connecting plate 103 through a bearing support 405, a first lead screw nut 203 is installed on each group of first lead screws 202, and the mounting plate 204 is fixedly installed on the two groups of first lead screw nuts 203; a manual backup shaft with a key slot is reserved on the reversing base 201, and when the electric movement mode fails, manual operation can be performed, so that the lifting module 2 finishes ascending or descending actions;
the transmission assembly is positioned between the two groups of lifting assemblies and comprises two groups of commutators 205 fixedly arranged on the supporting base plate 101, each group of commutators 205 is respectively connected with the commutation bases 201 at two sides through a connecting shaft 206, the two groups of commutators 205 are also connected through the connecting shaft 206, and one group of commutators 205 is connected with the driving assembly;
the driving assembly comprises a lifting reducer 207, the lifting reducer 207 is fixedly installed on the supporting base plate 101 through an installation support, the output shaft end of the lifting reducer 207 is fixedly connected with the commutator 205, the input shaft end of the lifting reducer 207 is connected with a first servo motor 208, the first servo motor 208 is also connected with an absolute encoder, and the first servo motor 208 and the absolute encoder are of an integrated installation structure;
the working principle of the lifting module 2 is that when the first servo motor 208 receives a lifting or descending command sent by the control module 6, the first servo motor 208 rotates forwards or backwards, the four first lead screws 202 in the lifting assembly are driven to rotate simultaneously through the lifting speed reducer 207, and the two mounting plates 204 mounted on the first lead screw nuts 203 ascend or descend simultaneously, so that the lifting or descending motion of the booster rocket mounted on the device is realized.
As shown in fig. 3 to 5, the pitch module 3 includes two groups of pitch assemblies, the two groups of pitch assemblies are symmetrically arranged, and the two groups of pitch assemblies are correspondingly and fixedly mounted on the two groups of mounting plates 204;
the two groups of pitching assemblies have the same structure, each group of pitching assemblies comprises a switching frame 301, the switching frame 301 is fixedly mounted at the bottom end of the mounting plate 204 through bolts, a worm and gear speed reducer 302 is fixedly mounted on the switching frame 301, the input end of the worm and gear speed reducer 302 is fixedly connected with a second servo motor 303, an encoder is further arranged on the second servo motor 303, and the second servo motor 303 and the absolute encoder are of an integral mounting structure;
a pitch bearing seat 305 is fixedly installed at an output shaft end of the worm gear reducer 302, a pitch support 304 is installed on the pitch bearing seat 305 through double bearing assembly, the pitch support 304 is fixedly installed on the adapter bracket 301, output shaft ends of the worm gear reducer 302 on the left side and the right side are installed inside the pitch bearing seat 305 through double bearings, the structural form is more reliable, a pitch bottom support 306 is fixedly installed at the bottom end of the pitch bearing seat 305, a slide rail installation plate 308 is fixedly installed on the pitch bottom support 306, a reinforcing bracket 307 used for supporting the slide rail installation plate 308 is also fixedly arranged on the pitch bearing seat 305, a slide rail 309 is fixedly installed on the slide rail installation plate 308, a plurality of groups of sliders 3010 are arranged on the slide rail 309 in a sliding manner, and limiting blocks 3011 for preventing the sliders 3010 from being separated from the slide rail 309 are fixedly arranged at two ends of the slide rail 309; manual input shafts (namely manual backup shafts) with keyways are reserved on the two worm and gear speed reducers 302 on the two sides of the pitching module 3, and when the electric motion mode breaks down, the angle adjusting function can be completed through manual operation;
a lead screw nut adapter 3012 for mounting the transverse pushing module 4 is fixedly arranged on the side wall of the pitching bearing block 305.
The working principle of the pitching module 3 is that when the second servo motors 303 receive the pitching angle adjusting instruction sent by the control module 6, the second servo motors 303 on the left and right sides synchronously rotate, and simultaneously drive the pitching bearing blocks 305 on the two sides to rotate around the pitching shaft, so that the whole pitching module 3 rotates around the rotating shaft, and the angle adjustment of the boosting rocket mounted on the device is realized.
As shown in fig. 6, the number of the transverse pushing modules 4 is two, the two transverse pushing modules 4 have the same structure, each transverse pushing module 4 includes an adapter plate 401, the adapter plate 401 is fixedly mounted on a plurality of sets of sliders 3010, a supporting block 402 is fixedly mounted at the tail end of the adapter plate 401, and a placing position for lapping the tail of the booster rocket is arranged on the supporting block 402;
the adapter plate 401 is fixedly provided with a stepping motor 403, the stepping motor 403 is further connected with an absolute encoder, an output shaft end of the stepping motor 403 is fixedly connected with a second lead screw 404 through a coupler, the second lead screw 404 is fixedly arranged on the adapter plate 401 through a bearing support 405, the second lead screw 404 is provided with a second lead screw nut 406, the second lead screw nut 406 is fixedly arranged on a lead screw nut adapter 3012, the second lead screw 404 extends to the outer end of the lead screw nut and is arranged in an outer hexagonal shape, the booster can be manually operated through a wrench, even if an electric execution assembly has a problem, the booster rocket can be loaded through manual operation, the function design is equivalent to that the traditional manual loading form is integrated into the device on the basis of an automatic function, and the manual loading backup function is realized;
the transverse pushing module 4 has the working principle that when the stepping motors 403 on the two sides receive a forward moving instruction or a backward moving instruction, the two stepping motors 403 rotate forwards or reversely at the same time to drive the two lead screws 404 on the two sides to rotate simultaneously, the two lead screws 404 move in the lead screw nuts 406, and the sliding block 3010 arranged at the bottom of the adapter plate 401 slides on the sliding rail 309 so as to drive the whole adapter plate 401 to move and realize the forward or backward movement of the boosting rocket arranged above the transverse pushing module;
the trimming module 5 is fixedly mounted at the head end of the adapter plate 401.
As shown in fig. 7, the fine adjustment module 5 includes a rocket hoop 501, the middle position of the rocket hoop 501 is an arc structure, sliding table adapters 502 are fixedly disposed at two ends of the rocket hoop 501 respectively, a sliding table 503 is fixedly mounted at the bottom end of each sliding table adapter 502, and a manual adjustment knob 504 is disposed on the sliding table 503; the fine adjustment module 5 is a manual fine adjustment structure, and when the fine adjustment module works, the manual adjustment knob 504 is operated under the condition that the fine adjustment structure is necessary, so that the boosting rocket carries out fine displacement adjustment along the left-right direction and is aligned with an unmanned aerial vehicle installation interface;
the structure of boosting rocket direct contact is for violently pushing away two back tail-end support pieces 402 in the module 4 and finely tune rocket clamp 501 in the module 5, and when the butt joint of boosting rocket and unmanned aerial vehicle interface was accomplished, when possessing the transmission state, the fastening screw in the module 5 was finely tuned in the release to release semi-circular rocket clamp 501, when guaranteeing the rocket transmission, the rocket bottom does not have any part and produces the interference.
The control module 6 is a control core of the unmanned aerial vehicle booster rocket automatic filling device and mainly has the functions of sending and receiving control instructions and controlling the motors in the modules to rotate according to requirements so as to further meet various motion requirements for rocket filling, the control module 6 comprises a control box 601 and a key press 602, the control box 601 is fixedly installed on the supporting base plate 101 through screws, a controller is arranged in the control box 601, and the controller is electrically connected with the servo motor I208, the servo motor II 303 and the stepping motor 403 respectively;
the controller is electrically connected with the key press 602, and sends a control instruction to the controller by controlling a control button on the key press 602, and the key press 602 is fixedly installed on the reinforcing rib 104 of the lifting module 2;
one-key in-place instruction information of the key press 602 is transmitted to a control board in the controller, and the controller controls each module mechanism to complete preset movement according to the control instruction; meanwhile, the controller can receive single-step control instruction information on the button device 602, the controller can complete high-precision position control such as lifting, pitching, advancing and retreating in a single step according to the received control instruction information, the controller performs data interaction with an information acquisition board in the button device 602 in the movement process of the equipment to complete instruction control, the button information acquisition board transmits the control information of the acquired buttons to the controller, and the position information and the like transmitted by the controller are indicated;
the controller that adopts in this technical scheme can utilize current mature technique to solve, for example current PLC controller, and this patent application does not improve it, consequently, does not give unnecessary detail.
As shown in fig. 8, a bottom plate protective cover 7 for protecting the transmission assembly and the driving assembly is fixedly installed on the supporting bottom plate 101, two groups of side surface protective covers 8 for protecting the lifting assembly are also fixedly installed on the supporting bottom plate 101, and a notch for placing the manual backup shaft is reserved on each side surface protective cover 8;
a slide rail protective cover 9 for protecting the slide rail 309 and the slide block 3010 is fixedly arranged on the slide rail mounting plate 308;
a transverse pushing protective cover 10 for protecting the transverse pushing module 4 is fixedly arranged on the adapter plate 401;
the outer surfaces of the bottom plate protective cover 7, the side surface protective cover 8, the sliding rail protective cover 9 and the transverse pushing protective cover 10 are coated with high-temperature-resistant paint, so that the automatic feeding device of the unmanned aerial vehicle boosting rocket can operate safely and reliably at high temperature.
Still fixed being provided with two sets of supporting seats 11 that are used for supporting the boosting rocket on the bottom plate protection casing 7, 11 parallel arrangement of two sets of supporting seats, the up end of two sets of supporting seats 11 all sets up to the arc structure.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides an automatic device of filling of unmanned aerial vehicle boosting rocket which characterized in that: the booster rocket lifting device comprises a support bracket (1), wherein a lifting module (2) used for adjusting the vertical movement of a booster rocket is fixedly installed on the support bracket (1), a pitching module (3) used for adjusting the pitching angle of the booster rocket is fixedly installed on the lifting module (2), a transverse pushing module (4) used for adjusting the forward and backward movement of the booster rocket is fixedly installed on the pitching module (3), and a fine adjustment module (5) used for adjusting the left and right displacement of the booster rocket is fixedly installed on the transverse pushing module (4);
the lifting mechanism is characterized by further comprising a control module (6), wherein the control module (6) is fixedly installed on the supporting bracket (1), and the control module (6) is electrically connected with the lifting module (2), the pitching module (3) and the transverse pushing module (4) respectively.
2. The automatic priming device of an unmanned aerial vehicle booster rocket of claim 1, characterized in that: the supporting bracket (1) comprises a supporting base plate (101), two groups of fixing supports are fixedly mounted on the supporting base plate (101) and arranged in parallel, each group of fixing supports comprises two groups of vertical plates (102), and the top ends of the two groups of vertical plates (102) are fixedly connected through a connecting plate (103);
the supporting bottom plate (101) is also fixedly provided with a reinforcing rib (104) for supporting the vertical plate (102).
3. The automatic priming device of unmanned aerial vehicle boosting rocket of claim 2, characterized in that: the lifting module (2) comprises two groups of lifting components, the two groups of lifting components are symmetrically arranged on the supporting base plate (101), a mounting plate (204) is mounted on each group of lifting components, the pitching module (3) is fixedly mounted on the mounting plate (204), and the two groups of lifting components are connected through a transmission component;
the lifting mechanism further comprises a driving assembly, the driving assembly is fixedly mounted on the supporting base plate (101), and the driving assembly is connected with the transmission assembly and used for driving the mounting plate (204) to move up and down along the lifting assembly.
4. The automatic priming device of unmanned aerial vehicle boosting rocket of claim 3, characterized in that: the structure of each group of lifting assemblies is the same, each group of lifting assemblies comprises two groups of symmetrically-arranged reversing bases (201), the two groups of reversing bases (201) are fixedly mounted on the supporting base plate (101), a first lead screw (202) is mounted on each group of reversing bases (201), the top end of the first lead screw (202) is fixedly mounted on the connecting plate (103) through a bearing support (405), a first lead screw nut (203) is mounted on each group of first lead screws (202), and the mounting plate (204) is fixedly mounted on the two groups of first lead screw nuts (203);
the transmission assembly is positioned between the two groups of lifting assemblies and comprises two groups of commutators (205) fixedly mounted on the supporting base plate (101), each group of commutators (205) is respectively connected with the commutation bases (201) at two sides through a connecting shaft (206), the two groups of commutators (205) are also connected through the connecting shaft (206), and one group of commutators (205) is connected with the driving assembly;
the driving assembly comprises a lifting speed reducer (207), the lifting speed reducer (207) is fixedly installed on the supporting base plate (101) through a mounting bracket, an output shaft end of the lifting speed reducer (207) is fixedly connected with the commutator (205), and an input shaft end of the lifting speed reducer (207) is connected with a first servo motor (208).
5. The automatic priming device of an unmanned aerial vehicle booster rocket of claim 4, characterized in that: the pitching module (3) comprises two groups of pitching assemblies which are symmetrically arranged, and the two groups of pitching assemblies are correspondingly and fixedly arranged on the two groups of mounting plates (204);
the two groups of pitching assemblies have the same structure, each group of pitching assemblies comprises a switching frame (301), the switching frame (301) is fixedly mounted at the bottom end of the mounting plate (204) through bolts, a worm and gear speed reducer (302) is fixedly mounted on the switching frame (301), and the input end of the worm and gear speed reducer (302) is fixedly connected with a second servo motor (303);
a pitch bearing seat (305) is fixedly installed at an output shaft end of a worm gear speed reducer (302), a pitch support (304) is installed on the pitch bearing seat (305) through a bearing assembly, the pitch support (304) is fixedly installed on a switching frame (301), a pitch bottom support (306) is fixedly installed at the bottom end of the pitch bearing seat (305), a slide rail installation plate (308) is fixedly installed on the pitch bottom support (306), a reinforcing bracket (307) used for supporting the slide rail installation plate (308) is further fixedly arranged on the pitch bearing seat (305), a slide rail (309) is fixedly installed on the slide rail installation plate (308), a plurality of groups of slide blocks (3010) are arranged on the slide rail (309) in a sliding manner, and limiting blocks (3011) for preventing the slide blocks (3010) from separating from the slide rail (309) are fixedly arranged at two ends of the slide rail (309);
and a lead screw nut adapter (3012) for mounting the transverse pushing module (4) is fixedly arranged on the side wall of the pitching bearing block (305).
6. The automatic priming device of unmanned aerial vehicle boosting rocket of claim 5, characterized in that: the number of the transverse pushing modules (4) is two, the two transverse pushing modules (4) are identical in structure, each transverse pushing module (4) comprises an adapter plate (401), the adapter plates (401) are fixedly mounted on a plurality of groups of sliders (3010), a supporting block (402) is fixedly mounted at the tail end of each adapter plate (401), and a placing position for lapping the tail of the boosting rocket is arranged on each supporting block (402);
a stepping motor (403) is fixedly mounted on the adapter plate (401), the output shaft end of the stepping motor (403) is fixedly connected with a second lead screw (404) through a coupler, the second lead screw (404) is fixedly mounted on the adapter plate (401) through a bearing support (405), a second lead screw nut (406) is mounted on the second lead screw (404), and the second lead screw nut (406) is fixedly mounted on a lead screw nut adapter (3012);
the fine tuning module (5) is fixedly arranged at the head end of the adapter plate (401).
7. The automatic priming device of unmanned aerial vehicle boosting rocket of claim 6, characterized in that: the fine tuning module (5) comprises a rocket hoop (501), the middle position of the rocket hoop (501) is of an arc structure, sliding table adapters (502) are fixedly arranged at two ends of the rocket hoop (501) respectively, a sliding table (503) is fixedly arranged at the bottom end of each sliding table adapter (502), and a manual adjusting knob (504) is arranged on each sliding table (503).
8. The automatic priming device of an unmanned aerial vehicle booster rocket of claim 7, characterized in that: the control module (6) comprises a control box (601) and a key device (602), the control box (601) is fixedly installed on the supporting base plate (101) through screws, a controller is arranged in the control box (601), and the controller is electrically connected with the lifting module (2), the pitching module (3) and the transverse pushing module (4) respectively;
the controller is electrically connected with the button device (602), and the button device (602) is fixedly arranged on the reinforcing rib (104) of the lifting module (2).
9. The automatic priming device of unmanned aerial vehicle boosting rocket of claim 2, characterized in that: a bottom plate protective cover (7) used for protecting the transmission assembly and the driving assembly is fixedly arranged on the supporting bottom plate (101), and two groups of side protective covers (8) used for protecting the lifting assembly are also fixedly arranged on the supporting bottom plate (101);
a slide rail protective cover (9) for protecting the slide rail (309) and the slide block (3010) is fixedly arranged on the slide rail mounting plate (308);
a transverse pushing protective cover (10) for protecting the transverse pushing module (4) is fixedly arranged on the adapter plate (401);
the outer surfaces of the bottom plate protective cover (7), the side surface protective cover (8), the sliding rail protective cover (9) and the transverse pushing protective cover (10) are coated with high-temperature-resistant paint.
10. The automatic priming device of an unmanned aerial vehicle booster rocket of claim 9, characterized in that: still fixedly on bottom plate protection casing (7) be provided with two sets of supporting seats (11) that are used for supporting the boosting rocket, two sets of supporting seats (11) parallel arrangement, the up end of two sets of supporting seats (11) all sets up to the arc structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210340473.0A CN114771860B (en) | 2022-04-02 | 2022-04-02 | Automatic device of loading of unmanned aerial vehicle boosting rocket |
| PCT/CN2022/092110 WO2023184653A1 (en) | 2022-04-02 | 2022-05-11 | Automatic filling apparatus for unmanned aerial vehicle rocket booster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210340473.0A CN114771860B (en) | 2022-04-02 | 2022-04-02 | Automatic device of loading of unmanned aerial vehicle boosting rocket |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114771860A true CN114771860A (en) | 2022-07-22 |
| CN114771860B CN114771860B (en) | 2022-09-09 |
Family
ID=82426908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210340473.0A Active CN114771860B (en) | 2022-04-02 | 2022-04-02 | Automatic device of loading of unmanned aerial vehicle boosting rocket |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114771860B (en) |
| WO (1) | WO2023184653A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115503976A (en) * | 2022-11-15 | 2022-12-23 | 杭州牧星科技有限公司 | Rocket mounting device |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5529264A (en) * | 1994-02-18 | 1996-06-25 | Lockheed Missiles & Space Company, Inc. | Launch vehicle system |
| CN104148914A (en) * | 2014-08-07 | 2014-11-19 | 天津航天长征火箭制造有限公司 | Posture adjustment assembly system used for butt joint of components of rocket and posture adjustment method |
| CN106892130A (en) * | 2017-02-20 | 2017-06-27 | 西安爱生技术集团公司 | A kind of unmanned plane booster rocket adjusts positioner and method |
| CN110092009A (en) * | 2019-04-25 | 2019-08-06 | 沈阳飞研航空设备有限公司 | A kind of aircraft intelligent electric bomb truck |
| CN110901947A (en) * | 2019-11-22 | 2020-03-24 | 成都凯天电子股份有限公司 | Multi-dimensional attitude adjusting platform for loading and maintaining airplane ground |
| CN210592481U (en) * | 2019-08-22 | 2020-05-22 | 西安新宇航空维修工程有限公司 | Multi-degree-of-freedom aircraft missile hanging trailer |
| CN112224447A (en) * | 2020-12-14 | 2021-01-15 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring gravity center of unmanned aerial vehicle and matching thrust line |
| WO2021011045A2 (en) * | 2019-04-25 | 2021-01-21 | Aerovironment, Inc. | Ground support equipment for a high altitude long endurance aircraft |
| CN112498727A (en) * | 2020-12-18 | 2021-03-16 | 成都航天万欣科技有限公司 | Unmanned aerial vehicle boosting launcher |
| CN112918696A (en) * | 2021-01-27 | 2021-06-08 | 天津航天中为数据系统科技有限公司 | Detachable fixed-wing unmanned aerial vehicle shutdown cabin |
| CN214268000U (en) * | 2020-12-18 | 2021-09-24 | 成都航天万欣科技有限公司 | Unmanned aerial vehicle boosting launcher |
| CN215043804U (en) * | 2021-03-16 | 2021-12-07 | 吴秀利 | Fixed wing unmanned aerial vehicle boosting rocket attitude adjusting mechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10899472B2 (en) * | 2017-08-11 | 2021-01-26 | Ford Global Technologies, Llc | Vehicle mounted launcher for fixed-wing unmanned aerial vehicle |
| CN209870773U (en) * | 2019-03-29 | 2019-12-31 | 成都立航科技股份有限公司 | Six-freedom-degree posture adjusting mechanism of missile hanging vehicle |
| CN111854545B (en) * | 2020-06-04 | 2022-09-30 | 中国人民解放军国防科技大学 | Boosting gliding small-sized test rocket system |
-
2022
- 2022-04-02 CN CN202210340473.0A patent/CN114771860B/en active Active
- 2022-05-11 WO PCT/CN2022/092110 patent/WO2023184653A1/en unknown
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5529264A (en) * | 1994-02-18 | 1996-06-25 | Lockheed Missiles & Space Company, Inc. | Launch vehicle system |
| CN104148914A (en) * | 2014-08-07 | 2014-11-19 | 天津航天长征火箭制造有限公司 | Posture adjustment assembly system used for butt joint of components of rocket and posture adjustment method |
| CN106892130A (en) * | 2017-02-20 | 2017-06-27 | 西安爱生技术集团公司 | A kind of unmanned plane booster rocket adjusts positioner and method |
| CN110092009A (en) * | 2019-04-25 | 2019-08-06 | 沈阳飞研航空设备有限公司 | A kind of aircraft intelligent electric bomb truck |
| WO2021011045A2 (en) * | 2019-04-25 | 2021-01-21 | Aerovironment, Inc. | Ground support equipment for a high altitude long endurance aircraft |
| CN210592481U (en) * | 2019-08-22 | 2020-05-22 | 西安新宇航空维修工程有限公司 | Multi-degree-of-freedom aircraft missile hanging trailer |
| CN110901947A (en) * | 2019-11-22 | 2020-03-24 | 成都凯天电子股份有限公司 | Multi-dimensional attitude adjusting platform for loading and maintaining airplane ground |
| CN112224447A (en) * | 2020-12-14 | 2021-01-15 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring gravity center of unmanned aerial vehicle and matching thrust line |
| CN112498727A (en) * | 2020-12-18 | 2021-03-16 | 成都航天万欣科技有限公司 | Unmanned aerial vehicle boosting launcher |
| CN214268000U (en) * | 2020-12-18 | 2021-09-24 | 成都航天万欣科技有限公司 | Unmanned aerial vehicle boosting launcher |
| CN112918696A (en) * | 2021-01-27 | 2021-06-08 | 天津航天中为数据系统科技有限公司 | Detachable fixed-wing unmanned aerial vehicle shutdown cabin |
| CN215043804U (en) * | 2021-03-16 | 2021-12-07 | 吴秀利 | Fixed wing unmanned aerial vehicle boosting rocket attitude adjusting mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115503976A (en) * | 2022-11-15 | 2022-12-23 | 杭州牧星科技有限公司 | Rocket mounting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114771860B (en) | 2022-09-09 |
| WO2023184653A1 (en) | 2023-10-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114771860B (en) | Automatic device of loading of unmanned aerial vehicle boosting rocket | |
| CN109367825B (en) | Automatic butt joint method for cabin sections | |
| CN212294594U (en) | Quick interfacing apparatus of emergent benefit drainage pipe | |
| CN215043804U (en) | Fixed wing unmanned aerial vehicle boosting rocket attitude adjusting mechanism | |
| CN111196381A (en) | Self-positioning load adapter | |
| CN111364434A (en) | Rapid docking device for emergency water supply and drainage pipeline and control method | |
| CN206684191U (en) | A kind of electrically pressure-resistant short-circuit frock docking facilities of hitch | |
| CN115743665B (en) | Unmanned aerial vehicle hangar of mechanical battery replacement | |
| CN219372071U (en) | Automatic charging mechanism of inspection device of transformer substation | |
| CN211001915U (en) | Lifting adjusting support suitable for fixed horizontal tail dock | |
| CN116620099A (en) | Power changing method of AGV power changing vehicle | |
| CN216942766U (en) | Move and carry mechanism and trade electrical equipment | |
| US20240034187A1 (en) | Unlocking mechanism, support assembly, battery pack unlocking method, and battery pack locking method | |
| CN113894518A (en) | Top-mounted mechanism for assembling missile under airplane belly and control method thereof | |
| CN113371624A (en) | Mechanical hoisting device for repairing and maintaining helicopter | |
| CN214292765U (en) | Flexible positioning splicing table | |
| CN111546163A (en) | Equipment is used in special fire prevention wallboard processing of transformer substation's main transformer | |
| CN111674493B (en) | Automatic alignment assembly equipment for automobile tires | |
| CN211629003U (en) | Bilateral-propelling circuit breaker input end isolation body convenient to assemble and debug | |
| CN213429201U (en) | Intelligent cabin capable of being rapidly assembled and moved | |
| CN211629014U (en) | Manual-automatic integrated double-side propelling circuit breaker input end isolation body of high-voltage power distribution cabinet for mine | |
| CN219928014U (en) | Multi-rotor unmanned aerial vehicle homing device suitable for vehicle-mounted shelter | |
| CN109877580B (en) | Automatic mounting device of electron gun and using method | |
| CN220784555U (en) | New energy automobile battery box mould | |
| CN218503654U (en) | Electric motor car support body welding set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |