CN117682083A - Rotatory emitter of aircraft and system - Google Patents
Rotatory emitter of aircraft and system Download PDFInfo
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- CN117682083A CN117682083A CN202211027329.8A CN202211027329A CN117682083A CN 117682083 A CN117682083 A CN 117682083A CN 202211027329 A CN202211027329 A CN 202211027329A CN 117682083 A CN117682083 A CN 117682083A
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- 230000001133 acceleration Effects 0.000 claims abstract description 11
- 238000004146 energy storage Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 8
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/70—Launching or landing using catapults, tracks or rails
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Abstract
The invention belongs to the technical field of aircraft launching, and particularly relates to an aircraft rotation launching device and system, which comprise a support body, at least one rotating body rotating around the axis of the support body, and a driving device for providing power for the rotation of the rotating body; the rotating body is provided with at least one gesture adjusting device which is used for adjusting the gesture of the aircraft in the process of rotating acceleration and launching in real time; the attitude adjusting device is provided with a transmitting frame for holding and releasing the aircraft; the bottom of the supporting body is provided with a base for providing stable support for the whole launching device. According to the invention, the gesture of the aircraft is controlled and regulated in a targeted manner through the gesture regulating device, so that the linear speeds of the aircraft, particularly the fixed wing aircraft, relative to the air at the left wing and the right wing at the launching moment are the same, and the potential takeoff safety caused by the lift difference of the left wing and the right wing is avoided.
Description
Technical Field
The invention belongs to the technical field of aircraft launching, and particularly relates to an aircraft rotary launching device and system.
Background
Such as fixed wing aircraft, rotorcraft, etc., are aircraft that may be designed for specific mission objectives with the advantages of high speed, long endurance, large loads, etc. However, such aircraft require a certain speed to be reached and maintained as a landing condition, typically requiring a specially constructed runway to accelerate to take-off speed and decelerate from landing speed to stop. In the field with uneven topography, mountain forests, cities and other environments, the fixed wings are difficult to take off and land, which severely limits the flexibility of the use of the fixed wings. In order to enable a fixed wing aircraft to take off smoothly in an environment without running on a runway, auxiliary equipment is generally required to provide an initial speed for the fixed wing, so that take off is realized without running on the runway.
The existing auxiliary take-off and landing system mostly adopts a linear guide assisted take-off mode, and push/pull force generated by an energy storage device or a driver is utilized to provide initial speed required by take-off for a fixed wing within the size range of the linear guide device. However, the structural size of such auxiliary landing systems, the maximum output force of the drive, and the capability of the fixed aircraft to withstand overload are related to each other, so that such landing systems tend to be bulky and provide very limited initial speeds. In addition, such devices tend to be relatively large in size, cumbersome and time-consuming to deploy and stow, and more inconvenient to mount to a vehicle to perform ejection during movement.
Chinese patent CN101327846a discloses a rotatory catapult of unmanned aerial vehicle, and it includes launching cradle base, rotatory rocking arm, torsion spring, the launching cradle base constitute by tripod, bracing piece, fixed disc and stopper, torsion spring's upper end and rotatory rocking arm fixed connection, torsion spring's lower extreme and base are fixed disc fixed connection. This approach can provide a greater initial velocity for the aircraft at the cost of smaller size. However, this solution uses torsion springs as energy storage elements, which provide the aircraft with a very limited initial speed range. In addition, because the scheme adopts a clamping frame with fixed direction, an arm rod with fixed length and a driving mode with uncontrolled torsion, the linear speed and the gesture of the aircraft can not be effectively controlled according to the current angular speed in the main shaft rotation process, so that the load of the aircraft on the arm rod is reduced. Most importantly, when an aircraft such as a fixed-wing aircraft is released, the left and right wings of the aircraft can generate large lift force differences due to different distances relative to the rotation center, so that the safety of the aircraft is threatened.
Chinese patent CN101294782a discloses a launching device, comprising a power system, a transmission system, a rotator, and a launched object; the power system is connected with the rotator through a transmission system, so that the rotator can rotate, and the object to be launched is placed on the rotator. Although the problem of power is solved in this patent, the linear speed and the attitude of the aircraft cannot be effectively controlled according to the current angular speed in the process of revolving the rotator, and the load caused by the aircraft on the rotator still cannot be lightened. The scheme can not solve the problem that the aircraft takeoff safety is threatened when the aircraft is released because the left wing and the right wing of the aircraft generate larger lift force difference relative to the difference of the distances of the rotation centers. The proposal proposed by the patent cannot provide complex, flexible and changeable initial launching states for the aircraft according to the current advanced aircraft track planning and control method.
Disclosure of Invention
According to the device and the system, the gesture of the aircraft in the rotary acceleration process and the launching process is regulated in real time through the gesture regulating device, so that the aircraft is in a safer or more favorable initial state in the launching process, the centrifugal force generated by rotation is reduced or counteracted in the rotary acceleration process, and the aircraft can be launched in a more flexible launching state obtained by a planning control method.
The other aspect of the present disclosure is that through the structural design of the present device, the present device is more portable and easy to store, and the fusion design and use with its carrier are easy to be realized.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an aircraft rotary launching device comprises a support body, at least one rotating body rotating around the axis of the support body, and a driving device for providing power for the rotation of the rotating body; the rotating body is provided with at least one gesture adjusting device which is used for adjusting the gesture of the aircraft in the process of rotating acceleration and launching in real time; the attitude adjusting device is provided with a transmitting frame for holding and releasing the aircraft; the bottom of the supporting body is provided with a base for providing stable support for the whole launching device.
The attitude adjusting device comprises a mechanical arm formed by at least two revolute pairs, each revolute pair is driven by a servo or energy storage device or a mode of combining the servo and the energy storage device, and the attitude of the aircraft is adjusted by adjusting the angles of a plurality of shafts on the mechanical arm.
Further, the attitude adjusting device at least comprises one revolute pair or a combination of several revolute pairs for adjusting the course angle of the aircraft.
Furthermore, the attitude adjusting device at least comprises one revolute pair or a combination of several revolute pairs for adjusting the pitch angle of the aircraft.
Furthermore, the attitude adjusting device at least comprises one revolute pair or a combination of several revolute pairs for adjusting the roll angle of the aircraft.
Specifically, the attitude adjusting device comprises three connecting rods which are sequentially connected by rotating pairs, the first connecting rod is connected with the rotating body through a first rotating pair, the axis of the first rotating pair is the central radiation direction of the rotating body, the first connecting rod is connected with the second connecting rod through a second rotating pair, the axis of the second rotating pair is perpendicular to the axis of the first rotating pair, the second connecting rod is connected with a third connecting rod through a third rotating pair, the axis of the third rotating pair is perpendicular to the axis of the second rotating pair, the transmitting frame is arranged on the third connecting rod, and the first rotating pair, the second rotating pair and the third rotating pair are driven by a servo driving mode or an energy storage device driving mode or a servo and energy storage device combining mode.
In addition, in one embodiment, the posture adjusting device comprises three connecting rods which are sequentially connected, the first connecting rod is connected with the rotating body through a first revolute pair, the axis of the first revolute pair is perpendicular to the axis of the rotating body and the central radiation direction of the rotating body, the first connecting rod is connected with the second connecting rod through a second revolute pair, the axis of the second revolute pair is perpendicular to the axis of the first revolute pair, the second connecting rod is connected with a third connecting rod through a third revolute pair, the axis of the third revolute pair is perpendicular to the axis of the first revolute pair and the axis of the second revolute pair, the transmitting frame is arranged on the third connecting rod, and the first revolute pair, the second revolute pair and the third revolute pair are driven by a servo drive or an energy storage device or a servo and energy storage device combination mode.
Further, the posture adjusting device can reciprocate along the radial direction of the rotation center of the rotator.
Preferably, the rotating body is a rotating structure provided with at least one rotating arm, and the posture adjusting device is arranged on the rotating arm.
Furthermore, the rotating arm is a single-stage or multi-stage telescopic mechanism, or a mechanical arm formed by two or more revolute pairs, and the revolute pairs are driven by servo.
Further, be equipped with the connecting block on the swinging boom, the swinging boom passes through the connecting block to be connected with the supporter, and the swinging boom rotates with the connecting block to be connected and junction is equipped with rotation locking mechanism.
Preferably, in one embodiment, the rotating body is a rotating table, and the posture adjusting device is disposed on the rotating table.
Further, a linear guide rail is arranged on the rotary table along the radial direction, and the posture adjusting device is arranged on a moving part of the linear guide rail.
The driving device is the launched aircraft; or (b)
The driving device is a driver which is arranged on the rotating body and depends on aerodynamic force; or (b)
The driving device is a driver arranged at the coupling position of the supporting body and the rotating body, the driver is fixedly arranged on the supporting body, and the power output end of the driver is connected with the rotating body; or (b)
The driving device is a driver, the driver is arranged on the base, the supporting body is fixedly connected with the rotating body, the supporting body is rotationally connected with the base, and the power output end of the driver is connected with the supporting body and drives the supporting body to rotate so as to drive the rotating body to rotate.
Further, the rotating body can reciprocate along the length direction of the supporting body.
Further, an inclination angle adjusting structure is arranged between the supporting body and the base and used for adjusting the inclination angle between the supporting body and the base.
Furthermore, the inclination angle adjusting structure is characterized in that a revolute pair is arranged between the supporting body and the base, the horizontal included angle between the supporting body and the base is adjusted through the revolute pair, and the revolute pair is driven by the inclination angle driving device of the supporting body of the servo module; or (b)
A servo drive worm gear is adopted, and a worm gear output shaft is connected to a rotating shaft between the support body and the base for driving; or (b)
The base is provided with a linear guide rail, a connecting rod is arranged between the moving part of the linear guide rail and the supporting body, and the inclination angle between the supporting body and the base is adjusted by adjusting the position of the moving part of the linear guide rail.
In addition, the rotating body is also provided with a balancing arm for reducing the torque to the base in the rolling and pitching directions when the rotating body is static and in the rotating process, the balancing arm is provided with a balancing weight for balancing the weight, the balancing weight can reciprocate along the radial direction of the rotating center of the balancing arm, the distance between the balancing weight and the rotating shaft center of the rotating body is adjustable in real time, and the balancing weight can be quickly separated from the balancing arm.
The launching system of the aircraft comprises the rotating launching device and a controller, wherein the controller is a general computer or an embedded controller, and the working state of the launching device is controlled by selecting a corresponding program according to the performance of the aircraft, so that the aircraft is launched in a relatively good posture.
Furthermore, the emission system is provided with environment sensing equipment which at least comprises one of a wind speed measuring instrument, an air quantity measuring instrument, a laser radar and a vision sensor, and the environment sensing equipment is in signal connection with the controller.
Compared with the prior art, the invention has the following advantages:
(1) The attitude adjusting device is used for purposefully controlling and adjusting the attitude of the aircraft, so that the linear speeds of the aircraft, particularly the fixed wing aircraft, at the launching moment relative to the air are the same, and potential takeoff safety caused by the lift difference of the left wing and the right wing is avoided.
(2) By combining with the aircraft control technology, a more flexible launching mode can be adopted, for example, when the aircraft takes off (catapult), the attitude of the aircraft is controlled and regulated through the attitude regulating device and the inclination angle of the supporting body, so that the attitude angle of the aircraft is larger, or the initial speed direction and the horizontal plane have a larger included angle, or both the attitude angle and the initial speed direction have a larger included angle.
(3) A robot and an aircraft control technology are introduced, and the gesture of the aircraft during acceleration and launching is regulated in real time through a gesture regulating device. By controlling the angle of attack of the aircraft and the attitude of the aircraft relative to the launcher, the aircraft lift is used to reduce the load on the launcher.
(4) The device is provided with a plurality of kinematic pairs and widely adopts servo control, has high automation degree, is convenient to carry and expand, can be arranged on a carrier, and is easy to realize the co-fusion of an airplane and the carrier.
(5) The environment sensing equipment is adopted to realize the sensing of the surrounding space environment and wind speed and direction, and data support is provided for the flight planning and the take-off and landing planning of the aircraft.
Drawings
FIG. 1 is a schematic overall structure of an embodiment according to one aspect of the present disclosure;
FIG. 2 is a schematic structural view of one embodiment of a support bar according to one aspect of the present disclosure;
FIG. 3 is a schematic view of a construction of another embodiment of a support bar according to one aspect of the present disclosure;
FIG. 4 is a schematic structural view of one embodiment of a posture adjustment device according to one aspect of the present disclosure;
FIG. 5 is a schematic structural view of another embodiment of a posture adjustment device according to an aspect of the present disclosure;
FIG. 6 is a schematic structural view of a support rod angle adjustment structure according to one aspect of the present disclosure;
FIG. 7 is a schematic view of a structure of a rotating body provided with a connection block according to one aspect of the present disclosure;
FIG. 8 is a schematic overall structure with a balance arm according to one aspect of the present disclosure;
FIG. 9 is a schematic structural view of one embodiment of a balance arm according to one aspect of the present disclosure;
FIG. 10 is a schematic diagram of an overall structure with a rotary table according to one aspect of the present disclosure;
FIG. 11 is a schematic structural view of a transmitting system in accordance with an aspect of the present disclosure;
in the figure: 1-supporting body, 101-sliding block, 2-rotator, 201-rotating arm, 202-rotating platform, 203-connecting block, 204-balancing arm, 205-balancing weight, 3-base, 301-revolute pair, 4-driving device, 5-posture adjusting device, 501,504-first connecting rod, 502,505-second connecting rod, 503,506-third connecting rod, 6-transmitting frame, 7-controller and 8-environment sensing equipment.
Detailed Description
The present invention will be further explained with reference to specific embodiments, but the structure, proportion, size, etc. shown in the drawings are only used for understanding and reading by those skilled in the art, and are not intended to limit the applicable limitations of the present invention, so that any structural modification, proportional relation change or size adjustment does not have any technical significance, and all fall within the scope of the technical contents disclosed in the present invention without affecting the efficacy and achievement of the present invention. Also, the terms such as "upper", "lower", "front", "rear", "middle", and the like are used herein for descriptive purposes only and are not intended to limit the scope of the invention for which the invention may be practiced or for which the relative relationships may be altered or modified without materially altering the technical context.
Referring to fig. 1, the rotary launching device of the present invention includes a cylindrical support 1, and a rotary body 2 rotating around the axis of the support, in this embodiment, two rotary arms 201 are provided on the rotary body, and a driving device 4 for powering the rotation of the rotary body 2; the rotating arm 201 is provided with an attitude adjusting device 5, and the attitude adjusting device 5 is used for adjusting the attitude of the aircraft in the process of rotating acceleration and launching in real time; the attitude adjusting device 5 is provided with a transmitting frame 6 which is in butt joint with the aircraft, and the transmitting frame 6 and the attitude adjusting device 5 can be designed integrally or in a split mode; the launching cradle 6 is used for realizing the fixation and detachment of the aircraft and the attitude adjusting device 5 in a mechanical or electromagnetic mode. For example, a U-shaped manipulator clamping mode is adopted to clamp a matching piece on the aircraft, so that the docking of the launching cradle 6 and the aircraft is realized, and the fixation and detachment of the aircraft are realized through the matching of the launching cradle 6 and the aircraft. The bottom of the supporting body 1 is provided with a base 3 for providing a stable support for the whole of the launching device.
The driving device 4 of the present invention provides four examples, and the emphasis of the four embodiments is on the position of the driving device 4, and the specific implementation of the driving device can be selected according to different needs and the prior art in practical applications.
In the first embodiment of the driving device 4, the supporting body 1 is rotatably connected with the rotating body 2, and the driving device 4 for providing the rotating body 2 with a rotation driving force provides power for the rotating body 2 for the launched aircraft, namely, the flying power of the aircraft.
In the second embodiment of the driving device 4, the driving device 4 is arranged on the rotating body 2, the supporting body 1 is rotatably connected with the rotating body 2, a driver relying on aerodynamic force is arranged on the rotating body 2, a common driver is a driver for driving a propeller by a motor, and the driver provides power for the rotation of the rotating body 2.
In the third embodiment of the driving device 4, the driving device 4 is disposed at the coupling position of the support body 1 and the rotating body 2, for example, a motor is fixedly mounted on the support body 1, the power output end of the motor is connected with the rotating body 2, and the motor can be replaced by other drivers meeting the requirements.
In the fourth embodiment of the driving device 4, the driving device 4 is arranged on the base 3, the supporting body 1 is fixedly connected with the rotating body 2, the supporting body 1 is rotationally connected with the base 3, a motor is arranged on the base 3, the power output end of the motor is connected with the supporting body 1 and drives the supporting body 1 to rotate so as to drive the rotating body 2 to rotate, and the motor can also be a steam turbine or a fuel engine.
In one of the embodiments, the rotary body 2 is fixedly connected opposite to the support body 1 in the length direction of the support body 1, i.e. the rotary body 2 is relatively stationary in the length direction of the support body 1.
More preferably, in another embodiment, the rotating body 2 can reciprocate along the length direction of the supporting body 1, as shown in fig. 2, in one embodiment, a guide rail is arranged on the supporting body 1, a sliding block 101 is arranged on the guide rail, the rotating body 2 is arranged on the sliding block 101, and the reciprocating motion of the rotating body 2 is realized through the sliding of the sliding block 101; in the second embodiment, as shown in fig. 3, the support body 1 is a single-stage or multi-stage telescopic mechanism, the rotary body 2 is arranged at the top of the support body 1, and the reciprocating motion of the rotary body 2 is realized through the telescopic action of the telescopic mechanism; in the third embodiment, the support body 1 is a double-leg or multi-leg or main leg and auxiliary support structure, the height and angle of the rotating body 2 are changed by changing the length or position of each leg or auxiliary support, and further the reciprocating motion of the rotating body 2 is realized, and the gesture of the aircraft can be better controlled through the embodiment.
The attitude adjusting device 5 is used for adjusting the attitude of the aircraft in the process of circular motion and when the aircraft is separated from the launching frame 6 for launching, so that the aerodynamic force received by the aircraft in the process of circular motion and when the aircraft is separated from the launching frame 6 for launching is more reasonable. Adjusting the attitude of the aircraft helps: firstly, in the acceleration motion of the aircraft before take-off, the disturbance of the aircraft to the rotation center is reduced; secondly, the aircraft is safer during take-off, and the initial state of the aircraft is flexibly provided, so that the aircraft is better adapted to the planned flight trajectory. The attitude adjusting device 5 is constructed by selecting any combination mode of multiple axial directions according to the type of the aircraft, so as to adjust the pitch angle, the roll angle and the course angle required by the aircraft and control the aircraft to be in the optimal attitude. Particularly, the emission state can be planned very flexibly by combining the environment sensing and planning control method, and the method is suitable for very complex motion planning, so that the emission capability which cannot be realized by the prior art is obtained. The attitude adjusting device 5 is essentially a mechanical arm consisting of two or more revolute pairs, and the angle of each shaft on the mechanical arm is adjusted to enable the aircraft to obtain a desired attitude, and two typical configurations are chosen for further explanation.
Referring to fig. 4, the first embodiment of the posture adjusting device 5 of the present invention includes three connecting rods sequentially connected by revolute pairs, a first connecting rod 501 is connected to the rotator 2 through a first revolute pair, an axis of the first revolute pair is a central radiation direction of the rotator 2, the first connecting rod 501 is connected to a second connecting rod 502 through a second revolute pair, an axis of the second revolute pair is perpendicular to an axis of the first revolute pair, the second connecting rod 502 is connected to a third connecting rod 503 through a third revolute pair, an axis of the third revolute pair is perpendicular to an axis of the second revolute pair, and the transmitting frame 6 is disposed on the third connecting rod 503.
Some key revolute pairs may be driven by the energy storage device or a combination of servo and energy storage devices for optimal drive configuration considerations. For example, when the aircraft adopts the horizontal launching mode, for the third revolute pair of the attitude regulator, energy storage devices such as hydraulic pressure, air pressure, springs and the like can be adopted to store energy in advance or temporarily store energy for the energy storage devices through servo driving during the rotational acceleration of the rotating body 2. When the aircraft is near to launch, the energy in the energy storage device is correspondingly released via the drive according to the energy required by the aircraft to correct the heading, so that the heading of the aircraft is at a desired value when launched.
When the attitude of the aircraft is adjusted, the pitch angle attitude is adjusted for the aircraft through the first connecting rod 501, the roll angle attitude is adjusted for the aircraft through the second connecting rod 502, and the course angle attitude is adjusted for the aircraft through the third connecting rod 503. Here, the application of this embodiment is selected to be described, for example, the rotation plane of the rotator 2 is parallel to the ground, and the first link 501 and the second link 502 of the attitude adjusting equipment 5 are angled at initial angles, so that the aircraft is in a horizontal state. The aircraft is an unmanned aircraft, and before the aircraft is launched, the course angle of the aircraft is adjusted by quickly adjusting the angle of the third connecting rod 503, and the aircraft is launched out while the adjustment is completed, so that the ground speeds of the left and right wings are the same when the aircraft is launched, and the flight safety problem caused by unbalanced lift force of the left and right wings when the aircraft is launched due to rotary motion is avoided. In addition, through adjusting the angle of the first connecting rod 501, the pitch angle of the aircraft can be adjusted, and then the attack angle of the aircraft is adjusted, so that the aircraft obtains better lift force matched with the linear speed when being thrown.
Referring to fig. 5, the second embodiment of the posture adjusting apparatus of the present invention includes three connecting rods sequentially connected, a first connecting rod 504 is connected to the rotating body 2 through a first revolute pair, an axis of the first revolute pair is perpendicular to an axis of the rotating body 2 and a central radiation direction of the rotating body 2, the first connecting rod 504 is connected to a second connecting rod 505 through a second revolute pair, an axis of the second revolute pair is perpendicular to an axis of the first revolute pair, the second connecting rod 505 is connected to a third connecting rod 506 through a third revolute pair, an axis of the third revolute pair is perpendicular to an axis of the first revolute pair and an axis of the second revolute pair, and the transmitting frame is disposed on the third connecting rod 506, where the first revolute pair, the second revolute pair and the third revolute pair are driven by a servo drive or an energy storage device or a combination of a servo and an energy storage device.
The posture adjusting device 5 can reciprocate along the radial direction of the rotation center of the rotator 2, in one embodiment, the rotating arm 201 adopts a single-stage or multi-stage telescopic mechanism to control the distance between the posture adjusting device 5 and the rotation center thereof, and the purpose is to fully utilize the capability of the driving device 4. For example, in the initial acceleration rotation stage of the rotating body 2, the telescopic mechanism length is adjusted in real time according to the driving constraint of the driving device 4 and the requirements of the task on the angular speed of the rotating body, so that the driving capability of the driving device 4 is fully utilized. More specifically, since the distance between the aircraft and the rotation center is proportional to the torque force of the driving device 4, the distance between the attitude adjusting device 5 and the rotation center is set to be the shortest at the initial start-up stage of the rotary launching device, and the length of the rotating body is gradually adjusted according to the type of the aircraft by the attitude adjusting device 5 in the process of rotary acceleration, so that the take-off requirement of the aircraft is met, and the requirement on the performance of the driving device 4 is reduced. For another example, when the driving force of the third link 503,506 driver of the posture adjusting device 5 cannot satisfy the small-radius high-rotation-speed transmitting mode, a long-rod-amount, low-rotation-speed transmitting mode may be employed.
In one embodiment, referring to fig. 6, a revolute pair 301 is disposed between the support body 1 and the base 3, and acts to adjust the normal direction of the rotation plane of the rotating body 2, thereby adjusting the speed direction of the aircraft when the aircraft is thrown. The revolute pair 301 is driven by the inclination driving device of the servo module support body 1; or a servo drive worm gear can be adopted, and a worm gear output shaft is connected to a rotating shaft between the support body 1 and the base 3; or a linear guide rail may be provided on the base 3, a connecting rod may be provided between the moving part of the linear guide rail and the support body 1, and the inclination angle of the support body 1 may be adjusted by adjusting the position of the moving part of the linear guide rail. Specifically, the angle between the support body 1 and the ground is set to be alpha, and the launching arm is separated when the angle between the revolving speed vector of the aircraft and the ground is alpha, so that the initial speed direction in the oblique direction with the angle between the aircraft and the ground is alpha is obtained. The aircraft thrown upwards in the inclined way has more adjustment time to enter a normal flight state, so that the aircraft take-off is more flexible and safer. In addition, the embodiment is convenient for folding and storing the device.
Referring to fig. 7, in order to further facilitate the storage of the launching device, the rotating body 2 further includes a connection block 204, the rotating arm 201 is connected with the supporting body 1 through the connection block 203, the rotating arm 201 is rotatably connected with the connection block 203, and a rotation locking mechanism is disposed at the connection position. In one embodiment, the rotation locking mechanism may employ a worm gear, and the output shaft of the worm gear is connected to the rotating shaft between the rotating arm 201 and the connecting block 203, so as to achieve the purpose of tightening through self-locking of the worm gear. The worm can be driven by a hand wheel or a servo drive. In another embodiment, the revolute pair herein may be driven by a link slider mechanism. Wherein the connecting rod is connected with one of the supporting bodies 1 through a revolute pair rotating arm, and the sliding block is connected with the other through a shifting pair. In another real-time scheme, the lock is achieved at a preset or required position by adopting a locating pin or a method of applying pressure to increase static friction and the like.
In one embodiment, referring to fig. 8 and 9, a balancing arm 204 is further provided on the rotating body 2 to reduce the torque applied to the base 3 in the roll and pitch directions when the rotating body is stationary and during rotation. The balancing arm 204 is provided with a balancing weight 205 for balancing the weight, and the distance between the balancing weight and the rotating shaft center of the rotating body 2 is driven by a servo motor to be adjustable in real time so as to meet the real-time balancing requirement. If desired, the weight 205 may be quickly disengaged from the trim arm 204 to avoid abrupt changes in the system force balance when the aircraft is thrown. For example, the balancing arm 204 may be a single-stage or multi-stage telescoping mechanism or a rail-slider mechanism, where a telescoping mechanism is selected for illustration, the weight 205 is disposed at an end of the telescoping mechanism, the telescoping mechanism controls the position of the weight 205, the telescoping mechanism is connected to the weight 205 by electromagnetic fastening, when the aircraft is thrown, the weight 205 is quickly retracted to a position near a center point, and if necessary, the electromagnetic connection between the telescoping mechanism and the weight 205 is released, and the weight 205 may be quickly released from the balancing arm 204.
In another embodiment of the present invention, referring to fig. 10 in combination with the above embodiment, the rotating body 2 in this embodiment is a rotating table 202, the rotating table 202 may be any shape, and preferably the rotating table 202 adopts a circular shape, and at least one posture adjusting device 5 is provided on the rotating table 202.
Referring to fig. 11, the launching system of the present invention includes the above-mentioned rotary launching device and a controller 7, where the controller 7 is a general purpose computer and an embedded controller, the rotary launching device is connected with the controller 7, the controller 7 obtains state data of each node of the rotary launching device and state data of an aircraft in real time, and selects a corresponding program to control the working state of the launching device through the performance of the aircraft, so that the aircraft launches in a relatively good posture.
For better adaptation to the environment, the system is provided with an environment sensing device 8 which at least comprises one of a wind speed measuring instrument, an air quantity measuring instrument, a laser radar and a vision sensor, and the environment sensing device 8 is in signal connection with a controller 7. The environment sensing device 8 and the controller 7 are used for sensing surrounding environment information and controlling each component of the rotary transmitting device in real time.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An aircraft rotary launch device comprising a support (1), characterized in that: and at least one rotating body (2) rotating around the axis of the support body (1), and a driving device (4) for powering the rotation of the rotating body (2);
at least one gesture adjusting device (5) is arranged on the rotating body (2), and the gesture adjusting device (5) is used for adjusting the gesture of the aircraft in the process of rotating acceleration and launching in real time;
the attitude adjusting device (5) is provided with a transmitting frame (6) for holding and releasing the aircraft;
the bottom of the supporting body (1) is provided with a base (3) for providing stable support for the whole launching device.
2. The aircraft rotary launch apparatus of claim 1 wherein: the attitude adjusting device (5) comprises a mechanical arm formed by at least two revolute pairs, each revolute pair is driven by a servo or energy storage device or a mode of combining the servo and the energy storage device, and the attitude of the aircraft is adjusted by adjusting the angles of a plurality of shafts on the mechanical arm.
3. The aircraft rotary launch apparatus of claim 1 or 2, wherein: the posture adjusting device (5) can reciprocate along the radial direction of the rotation center of the rotating body (2).
4. The aircraft rotary launch apparatus of claim 1 wherein: the rotating body (2) can reciprocate along the length direction of the supporting body (1).
5. The aircraft rotary launch apparatus of claim 1 wherein: an inclination angle adjusting structure is arranged between the support body (1) and the base (3), and the inclination angle adjusting structure is used for adjusting the inclination angle between the support body (1) and the base (3).
6. The aircraft rotary launch apparatus according to any one of claims 1 to 5 wherein: the rotary body (2) is a rotary structure provided with at least one rotary arm (201), and the posture adjusting device (5) is arranged on the rotary arm (201); or the rotating body (2) is a rotating table (202), and the posture adjusting device (5) is arranged on the rotating table (202).
7. The aircraft rotary launch apparatus of claim 6 wherein: the rotating arm (201) is provided with a connecting block (203), the rotating arm (201) is connected with the supporting body (1) through the connecting block (203), the rotating arm (201) is rotationally connected with the connecting block (203), and a rotating locking mechanism is arranged at the connecting position.
8. The aircraft rotary launch apparatus of claim 6 wherein: the balancing device is characterized in that the rotating body (201) is further provided with a balancing arm (204) for reducing torque to the base (3) in the rolling and pitching directions when the rotating body is static and in the rotating process, the balancing arm (204) is provided with a balancing weight (205) for balancing, the balancing weight (205) can reciprocate along the radial direction of the rotating center of the balancing arm (204), the distance between the balancing weight and the rotating shaft center of the rotating body (2) is adjustable in real time, and the balancing weight can be quickly separated from the balancing arm (204).
9. A launch system for an aircraft, characterized by: a rotary launch apparatus comprising a rotary launch apparatus according to any one of claims 1 to 8 and a controller (7), the controller (7) being a general purpose computer, embedded controller, the operating state of the launch apparatus being controlled by selection of a corresponding program for performance of the aircraft to launch the aircraft in a relatively good attitude.
10. The aircraft transmission system according to claim 9, characterized in that: the emission system is provided with an environment sensing device (8), which at least comprises one of a wind speed measuring instrument, an air quantity measuring instrument, a laser radar and a vision sensor, and the environment sensing device (8) is in signal connection with the controller (7).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211027329.8A CN117682083A (en) | 2022-08-25 | 2022-08-25 | Rotatory emitter of aircraft and system |
| PCT/CN2023/114544 WO2024041584A1 (en) | 2022-08-25 | 2023-08-23 | Rotary aircraft launching apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211027329.8A CN117682083A (en) | 2022-08-25 | 2022-08-25 | Rotatory emitter of aircraft and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117682083A true CN117682083A (en) | 2024-03-12 |
Family
ID=90012604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211027329.8A Pending CN117682083A (en) | 2022-08-25 | 2022-08-25 | Rotatory emitter of aircraft and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN117682083A (en) |
| WO (1) | WO2024041584A1 (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1748663A (en) * | 1927-09-20 | 1930-02-25 | Charles B Scoville Jr | Method and means for landing and launching aircraft and aircraft freight |
| US3989206A (en) * | 1975-08-28 | 1976-11-02 | The United States Of America As Represented By The Administrator Of The United States National Aeronautics And Space Administration | Rotating launch device for a remotely piloted aircraft |
| JP2014040186A (en) * | 2012-08-22 | 2014-03-06 | Shoichi Sakamoto | Rotary takeoff-landing device |
| US9434481B2 (en) * | 2013-09-23 | 2016-09-06 | Aerovel Corporation | Apparatus and method for launch and retrieval of a hovering aircraft |
| US9126699B1 (en) * | 2015-05-26 | 2015-09-08 | Eric R Fu | Portable circular synthetic runway |
| US11370538B2 (en) * | 2018-09-10 | 2022-06-28 | Skyeton USA Inc. | Fully automated launch and recovery platform for unmanned aerial vehicle |
| CN210503239U (en) * | 2019-09-05 | 2020-05-12 | 南京国业科技有限公司 | Release device of coaxial unmanned aerial vehicle of upper and lower bispin wing |
| CN112298594B (en) * | 2020-11-11 | 2022-02-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Device for inertial projection of unmanned aerial vehicle |
-
2022
- 2022-08-25 CN CN202211027329.8A patent/CN117682083A/en active Pending
-
2023
- 2023-08-23 WO PCT/CN2023/114544 patent/WO2024041584A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024041584A1 (en) | 2024-02-29 |
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