CN115610661B - Aircraft aerial recovery system and method, carrier aircraft, and recovery aircraft - Google Patents
Aircraft aerial recovery system and method, carrier aircraft, and recovery aircraft Download PDFInfo
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- CN115610661B CN115610661B CN202211339521.0A CN202211339521A CN115610661B CN 115610661 B CN115610661 B CN 115610661B CN 202211339521 A CN202211339521 A CN 202211339521A CN 115610661 B CN115610661 B CN 115610661B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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Abstract
本发明公开了一种飞行器空中回收系统，包括主动安装件、主动回收件、被动安装件和被动回收件；主动安装件和被动安装件中：一个用于安装在运载飞行器上，另一个用于安装在回收飞行器上；主动回收件活动安装于主动安装件，且主动回收件的抵接部能够被操作至向被动回收件的抵接部活动；被动回收件安装于被动安装件；主动回收件和被动回收件其中一个抵接部为左右方向延伸的条形件，另一个抵接部具有锁孔且锁孔的锁口位于抵接侧。能够有效地解决空中飞行器回收效果不好的问题。本发明还公开了一种运载飞行器、一种回收飞行器，以及公开了一种同时包括上述运载飞行器、回收飞行器的飞行器空中回收系统，同时还公开了一种飞行器空中回收方法。
The present invention discloses an aircraft aerial recovery system, including an active mounting part, an active recovery part, a passive mounting part and a passive recovery part; among the active mounting part and the passive mounting part: one is used to be installed on a carrier aircraft, and the other is used to be installed on a recovery aircraft; the active recovery part is movably mounted on the active mounting part, and the abutment part of the active recovery part can be operated to move toward the abutment part of the passive recovery part; the passive recovery part is mounted on the passive mounting part; one of the abutment parts of the active recovery part and the passive recovery part is a strip extending in the left and right directions, and the other abutment part has a lock hole and the lock mouth of the lock hole is located on the abutment side. The problem of poor recovery effect of aerial aircraft can be effectively solved. The present invention also discloses a carrier aircraft, a recovery aircraft, and an aircraft aerial recovery system including the above-mentioned carrier aircraft and recovery aircraft, and also discloses an aircraft aerial recovery method.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an aircraft air recovery system, a carrier aircraft, a recovery aircraft, an aircraft air recovery system comprising the carrier aircraft and the recovery aircraft, and an aircraft air recovery method.
Background
Unmanned aerial vehicle industry is vigorous in development, and current unmanned aerial vehicle is towards cluster distributed development. However, the common range of the clustered unmanned aerial vehicle or the loyal plane is limited, so that the problem of air recovery is solved, the problem of shorter actual range of the unmanned aerial vehicle can be comprehensively improved, the unmanned aerial vehicle can be carried and launched through the carrier, and meanwhile, the air recovery is carried back to the base after the task is completed, so that the low-cost reuse is realized. At present, no air recovery technology for unmanned aerial vehicles and other small-sized aircrafts exists, and air recovery is performed, and the greatest difficulty is that the space between a carrier aircraft and a recovery aircraft is uncontrollable, the error range is relatively large, and effective recovery is difficult to perform.
In summary, how to effectively solve the problem that the aircraft cannot realize the recovery in the air is a problem that a person skilled in the art needs to solve.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide an aircraft air recovery system that can effectively solve the problem that an aircraft cannot realize air recovery;
A second object of the invention is to provide a carrier vehicle;
a third object of the present invention is to provide a recovery aircraft;
a fourth object of the present invention is to provide an aircraft aerial recovery system comprising a carrier aircraft, a recovery aircraft as described above;
A fifth object of the present invention is to provide a method of aircraft aerial recovery.
In order to achieve the first object, the present invention provides the following technical solutions:
The aerial recovery system of the aircraft comprises an active installation piece, an active recovery piece, a passive installation piece and a passive recovery piece, wherein one of the active installation piece and the passive installation piece is used for being installed on a carrier aircraft, the other one of the active installation piece and the passive installation piece is used for being installed on a recovery aircraft, the active recovery piece is movably installed on the active installation piece, an abutting portion of the active recovery piece can be operated to move towards an abutting portion of the passive recovery piece, the passive recovery piece is installed on the passive installation piece, abutting sides of the active recovery piece and the passive recovery piece are opposite to each other when the active recovery piece and the passive recovery piece are in butt joint, one abutting portion is a strip-shaped piece extending in the left-right direction, the other abutting portion is provided with a lock hole, and a locking opening of the lock hole is located on the abutting side and used for guiding the strip-shaped piece.
In use, one of the active and passive mounts is mounted on the carrier aircraft and the other is mounted on the recovery aircraft. And then the recovery aircraft and the carrier aircraft fly synchronously, and the relative positions of the abutting part of the active recovery piece and the abutting part of the passive recovery piece are in a waiting butt joint state. And then actively operating the abutting part of the active recovery piece to move towards the abutting part of the passive recovery piece, namely relatively moving until the strip-shaped piece enters the lock hole from the locking opening so as to complete the buckling. In the aircraft aerial recovery system, wherein the active recovery member can be actively operated to perform activities without requiring docking through a speed differential between the recovery aircraft and the carrier aircraft. The active recovery piece and the passive recovery piece are abutted to each other and collide when in butt joint, the collision force between the active recovery piece and the passive recovery piece is controllable, namely the operation force for the active recovery piece, so that the excessive collision force is avoided, and the recovery effect is ensured. In conclusion, the aerial recovery system of the aircraft can effectively solve the problem that the recovery effect of the aerial aircraft is poor.
Preferably, one group of the active recovery piece and the active mounting piece, and the passive recovery piece and the passive mounting piece are connected in a rotating way around an axis parallel to the strip-shaped piece, and the other group of the active recovery piece and the passive recovery piece is connected in a rotating way around an axis parallel to the strip-shaped piece or is connected in a sliding way along the abutting direction.
The active recovery piece is connected with the active installation piece in a rotating mode, and when the rotating axis is in a horizontal state, the abutting part of the active recovery piece can be actively released to swing back and forth along the flying direction under the action of gravity when the locking piece between the active recovery piece and the active installation piece is unlocked.
Preferably, the connecting end at one end of the passive recovery member is rotatably connected with the passive mounting member, when the rotation axis is in a horizontal state, the abutting part at the other end of the passive recovery member can swing backwards, and a torsion spring is arranged between the passive recovery member and the passive mounting member to prevent the abutting part of the passive recovery member from rotating backwards.
Preferably, the passive recovery piece is sequentially provided with a plurality of abutting parts along the extending direction, and each abutting part is provided with the lock hole.
Preferably, the passive recovery piece comprises a diagonal rod, a vertical rod and a cross rod arranged at the abutting part, one end of the diagonal rod is abutted against the cross rod, the other end of the diagonal rod is connected with the vertical rod, and the diagonal rod is rotationally connected with the vertical rod and is directly provided with a lockhole torsion spring so as to be capable of rotating inwards to form a locking opening.
Preferably, the active recovery piece comprises a hinging seat, the strip-shaped piece and two connecting rods, wherein the two connecting rods are respectively connected with two ends of the strip-shaped piece and are both connected with the hinging seat, and the strip-shaped piece is a rope body.
In order to achieve the second object, the invention further provides a carrier aircraft, which comprises a carrier body, an active mounting piece and an active recovery piece, wherein one end of the active mounting piece is connected to the abdomen of the carrier body, the other end of the active mounting piece is rotatably connected with the active recovery piece, the active recovery piece is provided with a strip-shaped piece extending in the left-right direction, and the active recovery piece is operated to rotate so as to enable the strip-shaped piece to swing back and forth. The same vehicle as the above-described vehicle air recovery system in which the active recovery member can be operated to rotate should have the corresponding technical effects due to the technical effects of the above-described vehicle air recovery system.
The automatic recovery device is characterized by further comprising an active mounting piece and an active recovery piece, wherein one end of the active mounting piece is connected to the abdomen of the carrier body, the other end of the active mounting piece is rotatably connected with the active recovery piece, the active recovery piece is provided with a strip-shaped piece extending in the left-right direction, and the active recovery piece is operated to rotate so that the strip-shaped piece can swing back and forth.
Preferably, when the rotation axis of the active recovery member is in a horizontal state, the bar-shaped member of the active recovery member can be actively released to swing back and forth along the flying direction under the action of gravity when the locking member between the active recovery member and the active mounting member is unlocked.
Preferably, the vehicle further comprises a lifting driver, the active mounting piece is rotatably connected to the abdomen of the vehicle body, and the lifting driver is used for driving the active mounting piece to rotate so that the active recycling piece moves in the direction of approaching the abdomen of the vehicle body.
Preferably, the active recovery piece comprises a hinging seat, the strip-shaped piece and two connecting rods, wherein the two connecting rods are respectively connected with two ends of the strip-shaped piece and are both connected with the hinging seat, and the strip-shaped piece is a rope body.
In order to achieve the third object, the invention further provides a recovery aircraft, which comprises a recovery machine body, and is characterized by further comprising a passive mounting piece and a passive recovery piece, wherein the passive mounting piece is mounted on the back of the recovery machine body, one end connecting end of the passive recovery piece is rotationally connected with the passive mounting piece, when the rotation axis is in a horizontal state, an abutting part at the other end of the passive recovery piece can swing backwards, and the abutting part is provided with a lock hole, and a locking opening of the lock hole is positioned at the abutting side so as to be matched with the strip-shaped piece for carrying the aircraft in any embodiment. Since the above-mentioned carrier vehicle has the above-mentioned technical effects, the recovery vehicle should also have the corresponding technical effects.
Preferably, an obstructing torsion spring is provided between the passive recovery member and the passive mounting member to prevent the abutment portion of the passive recovery member from rotating rearward.
Preferably, the passive recovery piece comprises a vertical rod and a cross rod arranged at the abutting part, and further comprises an inclined rod, one end of the inclined rod is abutted to the cross rod, the other end of the inclined rod is connected with the vertical rod, and the inclined rod is rotationally connected with the vertical rod and is directly provided with a lockhole torsion spring so as to be capable of rotating inwards to form a locking opening.
Preferably, the device further comprises a releasable locking device, wherein the locking device locks the position of the passive recovery piece when the passive recovery piece rotates to be abutted against the back of the recovery machine body, and enables the passive recovery piece to rotate to stand on the back of the recovery machine body under the action of the blocking torsion spring when released.
In order to achieve the fourth object, the present invention further provides an airborne vehicle recycling system, which includes any one of the carrier vehicles and any one of the recycling vehicles, wherein the strip-shaped member of the carrier vehicle can be operated to move towards the abutting part of the passive recycling member of the recycling vehicle, and can swing upwards and backwards after abutting the passive recycling member of the recycling vehicle, and when pushing the passive recycling member to rotate backwards, the strip-shaped member enters into the locking opening of the passive recycling member along the guiding surface on the passive recycling member. Since the carrier vehicle has the technical effects, the air recovery system of the vehicle should have the corresponding technical effects.
In order to achieve the fifth object, the invention further provides an air recovery method of an aircraft, which comprises the following steps of flying the carrier aircraft to the upper side of the recovery aircraft and keeping synchronous flying, enabling an active recovery piece on the carrier aircraft to be operated to move towards a passive recovery piece abutting part of the recovery aircraft, enabling a strip piece on the active recovery piece to swing backwards and rotate backwards, and continuing to swing backwards and upwards after the active recovery piece abuts against the passive recovery piece abutting part of the recovery aircraft in the backward rotation, so that the strip piece moves along a guide surface on the passive recovery piece to enter a locking notch when the passive recovery piece is pushed to rotate backwards. Because the above-mentioned aerial recovery system of the aircraft has the above-mentioned technical effects, the aerial recovery method of the aircraft recovered by adopting the same way should have corresponding technical effects too.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a pre-docking architecture of an aircraft aerial recovery system provided by an embodiment of the present invention;
FIG. 2 is a schematic illustration of a docking architecture of an aircraft aerial recovery system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a butt joint structure of an active recovery member and a passive recovery member according to an embodiment of the present invention;
FIG. 4 is a schematic view of a part of a passive recovery member according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a connection structure between a passive recovery member and a passive mounting member according to an embodiment of the present invention.
The figures are marked as follows:
The device comprises an active mounting piece 1, an active recycling piece 2, a strip-shaped piece 3, a passive recycling piece 4, a lock hole 5, a passive mounting piece 6, a blocking torsion spring 7, a lock hole torsion spring 8, a diagonal rod 9, a vertical rod 10 and a cross rod 11.
Detailed Description
The embodiment of the invention discloses an air recovery system of an aircraft, which is used for effectively solving the problem that the aircraft cannot realize air recovery.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 5, fig. 1 is a schematic diagram of a structure before docking of an air recovery system of an aircraft provided by an embodiment of the present invention, fig. 2 is a schematic diagram of a structure in docking of an air recovery system of an aircraft provided by an embodiment of the present invention, fig. 3 is a schematic diagram of a structure in docking of an active recovery member and a passive recovery member provided by an embodiment of the present invention, fig. 4 is a schematic diagram of a partial structure of a passive recovery member provided by an embodiment of the present invention, and fig. 5 is a schematic diagram of a connection structure between a passive recovery member and a passive installation member provided by an embodiment of the present invention.
In some embodiments, the present embodiments provide an aircraft airborne recovery system that primarily enables recovery of one aircraft from another. For convenience of explanation, the recovered aircraft is a recovered aircraft, typically a small unmanned aerial vehicle, and the aircraft that performs recovery operation on the recovered aircraft is called a carrier aircraft, typically a large unmanned aerial vehicle. Of course, the sizes of the recovery aircraft and the carrier aircraft can be equal, for example, the recovery aircraft can be larger than the carrier aircraft if the same-specification aircraft is adopted, and the recovery aircraft can be correspondingly arranged according to actual recovery requirements.
The aerial recovery system of the aircraft mainly comprises an active installation piece 1, an active recovery piece 2, a passive installation piece 6 and a passive recovery piece 4, wherein the active recovery piece 2 is installed on the active installation piece 1, and the passive recovery piece 4 is installed on the passive installation piece 6. Wherein one of the active 1 and passive 6 mounts is for mounting on a carrier aircraft and the other is for mounting on a recovery aircraft. When the recovery is performed, the active recovery member 2 moves towards the passive recovery member 4, so that the active recovery member 2 and the passive recovery member 4 are in abutting connection to form a buckling relationship, and recovery acting force can be transmitted between the active recovery member 2 and the passive recovery member 4. After the fastening is completed, the carrier aircraft can transmit acting force to the recovery aircraft through the fastening connection between the active recovery piece 2 and the passive recovery piece 4 so as to drive the recovery aircraft to fly back.
Wherein the active recovery member 2 is movably mounted on the active mounting member 1 so as to be movable relative to the active mounting member 1. Through the movable installation, the abutting part of the active recycling piece 2 moves towards the abutting part of the passive recycling piece 4, so that the abutting part of the passive recycling piece 4 moves towards the abutting part, and the abutting part of the active recycling piece 2 and the abutting part of the passive recycling piece 4 are buckled. Wherein the movable mounting is a sliding connection, a rotating connection or other connection modes.
The abutment of the active recovery member 2 can be operated to move toward the abutment of the passive recovery member 4. The control operation can be realized by a driving mechanism, such as a control driving mechanism for starting, so as to apply a driving force to the active recovery member 2 to drive the abutting part of the active recovery member 2 to move towards the abutting part of the passive recovery member 4, a driving mechanism, such as a telescopic mechanism, a rotation driving mechanism, and the like, i.e. such as a telescopic cylinder, a motor, and the like, or a release mechanism, such as a locking mechanism, typically an electric latch, a hydraulic latch, and the like, and the active recovery member 2 can be driven to move by a precompressed elastic device or accumulated potential energy, such as a height potential energy, when the release mechanism releases. That is, the abutting portion of the active recovery member 2 can be operated to perform active movement, i.e., the fastening operation can be performed actively.
The active recovery piece 2 and the passive recovery piece 4 are abutted to form a buckling relationship, wherein buckling is generally realized through the strip-shaped piece 3 and the matched lock hole 5, a locking opening is formed in one side of the lock hole 5, the locking opening can be automatically or passively opened, so that the strip-shaped piece 3 can transversely move into the lock hole 5, and then a closed door body at the locking opening can automatically or passively move to enable the locking opening to be closed so as to maintain a buckling state.
Specifically, the abutting sides of the active recovery member 2 and the passive recovery member 4 are opposite to each other when in butt joint, the abutting part of one of the active recovery member and the passive recovery member is a strip-shaped member 3 extending in the left-right direction, the abutting part of the other one of the active recovery member and the passive recovery member is provided with a lock hole 5, and the locking opening of the lock hole 5 is positioned on the abutting side for guiding the strip-shaped member 3. As shown in the drawing, the strip 3 is disposed on the active recovery member 2 as an abutting portion of the active recovery member 2, and the lock hole 5 is disposed on an abutting portion of the passive recovery member 4, or may be disposed in the opposite manner. Wherein the bar 3 is for example a rod, a stretched rope or the like. The locking opening can be designed with reference to the side opening of the safety catch, but other designs can also be used.
In use, one of the active mount 1 and the passive mount 6 is mounted on a carrier aircraft and the other is mounted on a recovery aircraft. Then, the recovery aircraft and the carrier aircraft are flown synchronously, and the relative positions of the abutting portions of the active recovery member 2 and the passive recovery member 4 are set in a state of waiting for docking. Then actively operating the abutting part of the active recovery piece 2 to move towards the abutting part of the passive recovery piece 4, namely relatively moving until the strip-shaped piece 3 enters the lock hole 5 from the lock opening, so as to complete the buckling. In this aircraft aerial recovery system, wherein the active recovery member 2 can be actively operated to perform activities without the need to achieve docking by recovering the speed differential between the aircraft and the carrier aircraft. So that the collision force between the active recovery piece 2 and the passive recovery piece 4 is controllable when the active recovery piece 2 and the passive recovery piece 4 are abutted against each other to collide when in butt joint, namely the operation force for the active recovery piece 2 is realized, the overlarge collision force is avoided, and the recovery effect is ensured. In conclusion, the aerial recovery system of the aircraft can effectively solve the problem that the recovery effect of the aerial aircraft is poor.
In some embodiments, the distance between the carrier vehicle and the recovery vehicle is not controllable during recovery, and the relative distance range is relatively large. Based on this, it is possible to connect the active recovery member 2 and the active mounting member 1, and the passive recovery member 4 and the passive mounting member 6, one group of them being rotatably connected about an axis parallel to the strip member 3, and the other group of them being rotatably connected about an axis parallel to the strip member 3 or slidably connected in the abutment direction. Because one of the active recovery member 2 and the passive recovery member 4 has the strip member 3, the other has the lock hole 5, the recovery member rotation axis having the strip member 3 can be referred to the strip member 3, and the recovery member rotation axis having the lock hole 5 can be referred to the hole portion extending direction of the lock hole 5 which is matched with the strip member 3. In addition, the abutting direction is generally perpendicular to the extending direction of the strip 3, and as shown in the drawings, the abutting direction is the front-back direction, and the extending direction of the strip 3 is the left-right direction, so that the recovery vehicle and the carrier vehicle are arranged up and down. Of course, the recovery vehicle and the carrier vehicle may be arranged left and right, and the abutment direction may be the up-down direction, and the extending direction of the strip 3 may be the front-back direction.
In one version, the extending direction, the abutting direction and the juxtaposition direction of the strip 3, which refers to the juxtaposition direction between the carrier vehicle and the recovery vehicle, are all mutually perpendicular to each other.
As described above, one of the recovery members is rotated about an axis parallel to the strip member 3, and one end after the abutment is moved, and because of the rotation, there is not only a relative movement in the abutment direction but also a partial movement in a direction perpendicular to the abutment direction and perpendicular to the strip member 3, so that the two recovery members are moved relatively in the direction, and during the relative movement, the strip member 3 can be moved in a biased manner with respect to the locking notch.
The active recovery piece 2 rotates, the passive recovery piece 4 can slide, the active recovery piece 2 starts rotating until the active recovery piece 2 and the passive recovery piece 4 are abutted, and the locking opening and the strip piece 3 are staggered, especially in the staggered direction, if the locking opening is staggered, the strip piece 3 is close to the rotating shaft of the active recovery piece 2. At this time, the active recovery member 2 continues to rotate, while rotating, the passive recovery member 4 is pushed to slide along the abutting direction so as to self-adjust the positions of the active recovery member 4 in the abutting direction, and because of the rotation, the active recovery member 2 can also have a split motion perpendicular to the abutting direction, so that the strip-shaped member 3 and the locking notch have a relative motion in the direction perpendicular to the abutting direction and perpendicular to the extending direction of the strip-shaped member 3 until the strip-shaped member 3 and the locking notch are overlapped from staggering in the direction, and the strip-shaped member 3 enters the locking hole 5 from the locking notch when overlapped, and the locking is completed, namely the butt joint is completed.
Of course, the passive recovery member 4 rotates, and the active recovery member 2 slides as described above, and the movement patterns are similar. Similarly, when the passive recovery member 4 and the active recovery member 2 are both rotated, the butt joint operation is similar.
The final aim is that when one of them rotates, the other one slides or slides correspondingly, so that the abutting direction keeps synchronous movement, and in the direction perpendicular to the abutting direction and perpendicular to the extending direction of the strip-shaped piece 3 (such as the up-down direction in the figure), relative movement is formed, so that the strip-shaped piece 3 and the locking notch are staggered to overlap, and butt joint is completed when the abutting is performed. Because of the rotation, the rotation can be staggered within a certain range and can be relatively rotated to be overlapped.
In some embodiments, a rotational connection between one end hinged end of the active retrieval member 2 and the active mounting member 1 may be made such that the movement released by the active retrieval member 2 is rotational. The rotation can be realized by a motor, for example, the motor is arranged between the active mounting piece 1 and the active recovery piece 2 to drive the active recovery piece 2 to rotate, and the rotation degree can be detected by the detector to finish the buckling or not so as to judge whether to stop the rotation, for example, the locking rod at the locking opening is judged to be in an open or closed state, for example, the opening or closing is continuously detected, the completion of the butt joint is indicated, and the motor can be controlled to stop driving.
In some embodiments, when the rotation axis between the active mounting piece 1 and the active recovery piece 2 is in a horizontal state, and when the locking piece between the active recovery piece 2 and the active mounting piece 1 is unlocked, the abutting portion of the active recovery piece 2 can be actively released to swing back and forth along the flying direction under the action of gravity, so that the abutting portion of the passive recovery piece 4 is abutted in the backward swinging process. Before unlocking, the gravity center of the active recovery piece 2 is as high as possible, so that after the active recovery piece rotates to a vertical state, the amplitude of continuous backward swing is larger, the allowable staggering is ensured to be larger to the greatest extent, and a larger fault-tolerant space is provided. Wherein the active recovery member 2 may be provided with a center weight to control the position of the center of gravity.
In some embodiments, the connecting end of one end of the passive recovery member 4 and the passive mounting member 6 may be rotationally connected, and when the rotation axes of the connecting end and the passive recovery member 4 are in a horizontal state, the abutting portion of the other end of the passive recovery member 4 may swing backward, so as to adapt to the backward swing of the active recovery member 2, that is, the rotation axes between the passive recovery member 4 and the passive mounting member 6 are also extended left and right.
In some embodiments, a blocking torsion spring 7 may be provided between the passive recovery member 4 and the passive mount member 6 therein to prevent the abutment portion of the passive recovery member 4 from rotating rearward. In order to set up with hindering torsional spring 7 for rotate in initiative recovery piece 2, when the passive recovery piece 4 is supported in the collision, the collision force acts on passive recovery piece 4 this moment, passive recovery piece 4 will power transfer to hinder torsional spring 7 on, makes hinder torsional spring 7 take place to warp, so that passive recovery piece 4 can take place adaptive deformation. Of course, the passive recovery piece 4 can not be directly sprung out by collision force under the action of the blocking torsion spring 7, and keeps contact with the active recovery piece 2, so that the buckling connection is completed in the later relative movement process. The elastic coefficient of the blocking torsion spring 7 is not too small, the blocking torsion spring still can be sprung, and too large, the rotational kinetic energy of the active recovery member 2 is quickly released due to the too large elastic coefficient, so that the relative motion degree is not large.
In some embodiments, other damping devices, such as friction pair devices or general damping devices, may be provided between the passive recovery member 4 and the passive mounting member 6 to prevent the passive recovery member 4 from being sprung apart during a collision.
In some embodiments, to avoid the passive recovery element 4 being in a convex state at all times, a locking device may be provided between the passive mounting element 6 and the passive recovery element 4 during use to allow the passive recovery element 4 to be placed in a horizontal position prior to docking, at which time the passive recovery element 4 is prevented from standing by a locking device, such as a latch. Then when the butt joint is needed, the locking device is released, and the passive recovery piece 4 can be in the standing state under the action of the blocking torsion spring 7 so as to prepare for the butt joint with the active recovery piece 2.
In some embodiments, in order to increase the fault tolerance space, a plurality of abutting portions may be sequentially disposed on the passive recovery member 4 along the extending direction, and each abutting portion is provided with a lock hole 5, and each lock hole 5 is correspondingly provided with a locking opening.
The passive component 4 is disposed along the extending direction, i.e., perpendicular to the abutting direction and perpendicular to the rotation axis direction of the passive component 4.
By providing a plurality of abutments in this direction, there is more fault-tolerant space in this direction, i.e. between the carrier vehicle and the recovery vehicle.
In some embodiments, regarding the arrangement of the locking hole 5, the passive recovery member 4 specifically includes a diagonal rod 9, a vertical rod 10 and a cross rod 11 disposed at the abutting portion, wherein the diagonal rod 9, the vertical rod 10 and the cross rod 11 enclose a locking hole 5 structure, and the diagonal rod 9 is fully or partially rotatably connected to the vertical rod 10 or the cross rod 11, and a locking hole torsion spring 8 is disposed between the diagonal rod 9 and the diagonal rod to prevent the diagonal rod 9 from rotating, so that the diagonal rod 9 is kept in a closed state, and when in butt joint, under the action of the bar 3, the abutting force between the bar 3 and the diagonal rod 9 can push the diagonal rod 9 to rotate into the locking hole 5, so that the diagonal rod 9 is opened, i.e. to rotate inwards, to form a locking notch, and the bar 3 enters the locking hole 5 from the locking notch.
And the inclined rod 9 is provided with a guide surface, so that when the inclined rod is in staggered abutting connection, the strip-shaped piece 3 can abut against the guide surface and move along the guide surface to enter the locking notch to complete buckling.
When a plurality of abutting parts are arranged, cross bars 11 can be arranged at a plurality of positions of the vertical rods 10, and inclined rods 9 are correspondingly arranged at the cross bars 11 at all positions so as to form a plurality of lock holes 5 in a combined mode.
In some embodiments, the active recovery member 2 may include a hinge base, a bar member 3, and two connecting rods, wherein the two connecting rods are respectively connected to two ends of the bar member 3, and the two connecting rods are both connected to the hinge base, so that the bar member 3 and the two connecting rods are combined into a triangle, and a distance between the bar member 3 and the hinge base determines a fault tolerance space. Also, the length of the strip 3 in the direction of extension determines the tolerance space in this direction. The strip-shaped piece 3 can be a rod piece or a rope body, and the strip-shaped piece 3 is preferably a rope body, so that a good pneumatic buffering effect can be achieved, and the phenomenon that the passive recovery piece 4 is sprung out due to collision between the strip-shaped piece 3 and the passive recovery piece 4 can be effectively avoided.
In some embodiments, a carrier aircraft is provided, which comprises a carrier body, and further comprises any one of the active mounting pieces 1 and any one of the active recovery pieces 2, wherein one end of the active mounting piece 1 is connected to the belly of the carrier body, the other end of the active mounting piece is rotatably connected with the active recovery piece 2, the active recovery piece 2 is provided with a strip-shaped piece 3 extending in the left-right direction, and the active recovery piece 2 can be operated to rotate so that the strip-shaped piece 3 can swing back and forth.
The manner in which the active recovery member 2 is operated to rotate can be referred to the above-described embodiment, whereas the rotational connection between the active mounting member 1 and the active recovery member 2, i.e. the rotational connection is effected about an axis extending right and left of the carrier body, wherein the strip-shaped members 3 are arranged extending in the right and left direction. When the active recovery member 2 rotates, the strip member 3 swings back and forth, and when the distance between the strip member 3 and the carrier body is maximized, the strip member 3 continues to swing back. The bar 3 may be referred to as a catch, to catch, when rotated, a corresponding portion of the recovery vehicle, such as a hook, a projection, or the passive recovery member 4, such as the locking aperture 5 with a locking notch. The active recovery piece 2 can be actively operated to rotate, and can actively complete recovery, so that the recovery of the two machine bodies can be avoided.
In some embodiments, in the carrier vehicle, when the rotation axis of the active recovery member 2 is in a horizontal state, the bar-shaped member 3 of the active recovery member 2 can actively release the back-and-forth swing along the flying direction under the action of gravity when the locking member between the active recovery member 2 and the active mounting member 1 is unlocked. I.e. the arrangement of the active recovery member 2 as described above, the description thereof will not be repeated here.
In some embodiments, when the return is completed, i.e. when the active recovery member 2 and the passive recovery member 4 are docked, i.e. when the fastening is completed, the active mounting member 1 sags, which is disadvantageous for the flight. In this context, it is preferred here to further comprise a lift drive, wherein the active mount 1 is rotatably connected to the belly of the carrier body, and wherein the lift drive is adapted to drive the active mount 1 in rotation for moving the active recovery member 2 in a direction towards the belly of the carrier body. Wherein the lifting driving mechanism drives a hydraulic driving cylinder, a motor and the like.
In some embodiments, as described in detail above, the active recovery member 2 of the carrier vehicle may comprise a hinge seat, a bar member 3 and two connecting rods, which connect the two ends of the bar member 3 respectively, and both connecting rods are connected to the hinge seat.
In some embodiments, the strip 3 is a rope, as described in particular above.
In some embodiments, still provide a recovery aircraft, including retrieving the organism, the embodiment of above-mentioned, still include passive installed part 6 and passive recovered part 4, wherein passive installed part 6 installs in retrieving the organism back, and wherein rotate between passive recovered part 4 one end link and the passive installed part 6 and be connected, and when the axis of rotation between passive recovered part 4 and passive installed part 6 is in the horizontality, can make the butt portion of passive recovered part 4 other end can backward swing, the butt portion that corresponds is provided with lockhole 5 and the fore shaft of lockhole 5 is located the butt side, in order to conveniently carry out the catching structure on the delivery aircraft and catch.
In some embodiments, as described above, a blocking torsion spring 7 may be further disposed between the passive recovery element 4 and the passive mounting element 6 to prevent the abutment portion of the passive recovery element 4 from rotating backward.
In some embodiments, as described above, the passive recovery piece 4 may include a vertical rod 10 and a cross rod 11 disposed at the abutting portion, and further includes an inclined rod 9, one end of the inclined rod 9 is abutted to the cross rod 11, the other end of the inclined rod 9 is connected to the vertical rod 10, and the inclined rod 9 is rotatably connected to the vertical rod 10 and is directly provided with a keyhole torsion spring 8, so as to be capable of rotating inwards to form a locking opening.
In some embodiments, a releasable locking device is also included, which locks the passive recovery element 4 in position against the back of the recovery body when the passive recovery element 4 is rotated, and enables the passive recovery element 4 to rotate under the action of the obstructing torsion spring 7 to stand on the back of the recovery body when released.
In some embodiments, there is also provided an aircraft air recovery system comprising any one of the carrier aircraft and any one of the recovery aircraft described above. Wherein the strip-shaped piece 3 of the carrier aircraft is operated to move towards the abutting part of the passive recovery piece 4, and can continue to swing upwards backwards after abutting the passive recovery piece 4 of the carrier aircraft, and the strip-shaped piece pushes the passive recovery piece 4 to rotate backwards, and enters into the locking notch of the passive recovery piece 4 along the guide surface on the passive recovery piece 4.
In some embodiments, an aircraft aerial recovery method is also provided, specifically including the following steps:
step 100, flying the carrier aircraft to the position above the recovery aircraft, and keeping synchronous flight.
In operation, the carrier vehicle and the recovery vehicle are kept in the same-speed flight, i.e. synchronously flown, by controlling the operation, and the carrier vehicle and the recovery vehicle are relatively stationary.
Step 200, the active recovery piece 2 on the carrier aircraft is operated to move towards the abutting part of the passive recovery piece 4 of the recovery aircraft, so that the strip-shaped piece 3 on the active recovery piece 2 swings backwards and rotates backwards, and in the backward rotation, the strip-shaped piece 3 continues to swing backwards and upwards after the active recovery piece 2 abuts against the abutting part of the passive recovery piece 4 of the recovery aircraft, so that when the passive recovery piece 4 is pushed to rotate backwards, the strip-shaped piece 3 moves along the upper guide surface of the passive recovery piece 4 to enter a locking notch.
The active recovery member 2 is operated by the active recovery member 2 on board the carrier vehicle to move against the abutment of the passive recovery member 4 of the recovery vehicle so as to actively move the active recovery member 2. Reference may be made to the above embodiments for specific operation. After moving to the butt, the fore shaft is staggered with the strip 3 at this moment, the strip 3 is arranged downwards relative to the fore shaft, the passive recovery piece 4 rotates backwards under the action of the active recovery piece 2, the butt part rotates backwards and downwards, and the active recovery piece 2 rotates backwards and upwards, so that the strip 3 moves upwards relative to the fore shaft while rotating backwards and upwards until the strip 3 enters the fore shaft.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An aerial recovery system of an aircraft is characterized by comprising an active installation piece, an active recovery piece, a passive installation piece and a passive recovery piece, wherein one of the active installation piece and the passive installation piece is used for being installed on a carrier aircraft, the other one of the active installation piece and the passive installation piece is used for being installed on the recovery aircraft, the active recovery piece is movably installed on the active installation piece, an abutting part of the active recovery piece can be operated to move towards the abutting part of the passive recovery piece, the passive recovery piece is installed on the passive installation piece, the active recovery piece and the passive recovery piece are oppositely arranged at the abutting side when being in butt joint, one abutting part is a strip-shaped piece extending in the left-right direction, the other abutting part is provided with a lock hole, a locking opening of the lock hole is located at the abutting side and used for guiding the strip-shaped piece, the active recovery piece and the active recovery piece are movably installed between the passive recovery piece and the active recovery piece, the active recovery piece and the passive recovery piece are connected between one group of the active recovery piece and the passive recovery piece through a connection around an axis parallel to the active recovery piece, the active recovery piece and the passive recovery piece are horizontally connected between the active recovery piece and the passive recovery piece in a horizontal hinge state when being in a horizontal state, the connection is achieved between the active recovery piece and the passive recovery piece, the swing piece is horizontally connected between the active recovery piece and the swing piece when being in a horizontal state, and the swing piece is in a horizontal state when being in a horizontal state, and the recovery piece is horizontally connected when the connection is in the opposite to the rotation state when the active recovery piece is in the rotation piece and the one end and the swing piece is horizontally when being in the connection, the passive recovery piece comprises a diagonal rod, a vertical rod and a cross rod arranged at the abutting part, one end of the diagonal rod is abutted against the cross rod, the other end of the diagonal rod is connected with the vertical rod, and the diagonal rod is rotatably connected with the vertical rod and is directly provided with a lock hole torsion spring so as to be capable of inwards rotating to open to form a locking opening.
2. The aerial recovery system of claim 1, wherein the passive recovery member is provided with a plurality of abutment portions in sequence along an extension direction, each of the abutment portions being provided with the lock hole.
3. The aerial recovery system of claim 2, wherein the active recovery member comprises a hinge base, the strip member and two connecting rods, the two connecting rods are respectively connected with two ends of the strip member, the two connecting rods are both connected with the hinge base, and the strip member is a rope.
4. An aircraft aerial recovery method, characterized in that it is based on an aircraft aerial recovery system as claimed in any one of claims 1-3, comprising the steps of:
Flying the carrier aircraft to the position above the recovery aircraft, and keeping synchronous flight;
the active recovery piece on the carrier aircraft is operated to move towards the passive recovery piece abutting part of the recovery aircraft, so that the strip-shaped piece on the active recovery piece swings backwards and rotates backwards, and in the backward rotation, the strip-shaped piece continues to swing backwards and upwards after the active recovery piece abuts against the passive recovery piece abutting part of the recovery aircraft, so that when the passive recovery piece is pushed to rotate backwards, the strip-shaped piece moves along the upper guide surface of the passive recovery piece to enter the locking notch.
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| CN202211339521.0A CN115610661B (en) | 2022-10-26 | 2022-10-26 | Aircraft aerial recovery system and method, carrier aircraft, and recovery aircraft |
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| CN202211339521.0A CN115610661B (en) | 2022-10-26 | 2022-10-26 | Aircraft aerial recovery system and method, carrier aircraft, and recovery aircraft |
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|---|---|---|---|---|
| GB673550A (en) * | 1949-10-19 | 1952-06-11 | Vickers Armstrongs Ltd | Improvements in means for launching aeroplanes and other flying bodies |
| US7143976B2 (en) * | 2005-02-04 | 2006-12-05 | Lockheed Martin Corp. | UAV arresting hook for use with UAV recovery system |
| US9010683B2 (en) * | 2011-09-30 | 2015-04-21 | Aurora Flight Sciences Corporation | Rail recovery system for aircraft |
| CN109747837A (en) * | 2018-12-27 | 2019-05-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of UAV air-based belly hanging cable recovery device and recovery method |
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| EP2186728A1 (en) * | 2008-11-14 | 2010-05-19 | The Boeing Company | Unmanned air vehicle recovery system |
| CN202642096U (en) * | 2012-04-01 | 2013-01-02 | 北京航空航天大学 | Small-scale unmanned aerial vehicle, as well as onboard arresting gear, ground arresting gear and arresting system thereof |
| CN107697303A (en) * | 2017-09-27 | 2018-02-16 | 北京航空航天大学 | A kind of unmanned plane space base retracting device and method based on the stable target system of aviation pull-type |
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| Publication number | Publication date |
|---|---|
| CN115610661A (en) | 2023-01-17 |
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