CN201087923Y - Mooring type electric unmanned helicopter and system thereof - Google Patents
Mooring type electric unmanned helicopter and system thereof Download PDFInfo
- Publication number
- CN201087923Y CN201087923Y CNU2007201731391U CN200720173139U CN201087923Y CN 201087923 Y CN201087923 Y CN 201087923Y CN U2007201731391 U CNU2007201731391 U CN U2007201731391U CN 200720173139 U CN200720173139 U CN 200720173139U CN 201087923 Y CN201087923 Y CN 201087923Y
- Authority
- CN
- China
- Prior art keywords
- group
- motor
- type electric
- mooring
- mooring guy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a mooring electric robot helicopter and a system thereof, which can stop in the air for a long time to be used for sensing. The mooring electric robot helicopter comprises a helicopter body, an electric motor, a set of servo-operating devices, and at least one mooring guy, wherein, the helicopter forms an air flow rectification channel in which a bracket is arranged; the electric motor is arranged on the bracket, an output shaft at one end of the electric motor is connected with a set of oar blades through a first coupling; the servo-operating devices respectively comprise a winch controlled by a servo motor; one end of each mooring guy is connected with the helicopter through a corresponding mooring guy coupling, and the other end is wound on the corresponding winch, wherein, the electric motor is connected to a ground electricity supply unit through a transmission cable in at least one mooring guy. The mooring electric robot helicopter of the utility model also has the advantages that the height and the position are determined accurately within the height range of 10-500m, the flexibility is good, the spread of the equipment is quick and convenient, the service is well, and the use and the maintenance are convenient, etc.
Description
Technical field
The utility model relates to a kind of mooring formula aircraft, relates in particular to a kind of hitching type electric self-service helicopter and system thereof.
Background technology
Mooring formula vehicle technology promptly has since time immemorial, China's kite that has been utility model before from the Han dynasty, and the mooring lift-off is taken by Shu State army during three states with personnel " hot balloon " implemented to scout to the enemy, is the Military Application that this technology has record in history for the first time.During " World War I ", German naval once utilized the long-range auxiliary means of communication of mooring formula balloon as submarine.At present, Italian Navy all is utilization and the development of this technological concept in the present age from " sentry " depopulated helicopter (mooring/free flight) of later stage nineties equipment, " regional missile defense systems " mooring formula unmanned airship that the early warning subsystem adopted of the U.S.'s research and development beginning of this century etc.
Owing to need installing controlled in wireless command reception device, a large amount of attitude transducer and sender unit, complicated mechanical electrical equipment servomechanism and accumulator jar, fuel oil equal energy source on the depopulated helicopter, thereby the net load of helicopter is bigger, hang time is shorter, usually at several hours, and maintenance is also very inconvenient.
The utility model content
Main purpose of the present utility model is to provide a kind of hang time long hitching type electric self-service helicopter and system's (or being called for short the mooring unmanned plane) thereof.
For reaching this purpose, the utility model has improved a kind of hitching type electric self-service helicopter on the one hand, and it comprises at least: body, middle part form air-flow rectification duct, and are provided with support in the described air-flow rectification duct; Motor is located on the described support, and an end output shaft of described motor links to each other with first group of blade by first coupling; Wherein, described motor is connected to the power supply device on ground by cable.
Preferably, above-mentioned body comprises ringwise main part and is positioned at some landing sleds of described main part bottom, the middle part formation rectification duct of described main part, and the inside of described main part forms the chamber that carries task module.
Preferably, above-mentioned support comprises piggyback pod and described power bin is fixed on one group of streamlined sheet strut on the body that described motor is fixed in the described power bin.
Preferably, the section of aforementioned body part is the right-angled trapezium with fillet.
Preferably, the other end output shaft of above-mentioned motor also links to each other with second group of blade by reverse driver, second coupling, thus the direction of rotation of its rotation direction and described first group of blade.
Preferably, described first group of blade and described second group of blade all place in the described air-flow rectification duct.
The utility model provides a kind of hitching type electric self-service helicopter system on the other hand, it comprises at least: body, wherein: body comprises main part, the middle part of described main part forms air-flow rectification duct, and its section is near hollow 1/4 circle that fillet is arranged, the body center place is for installing the piggyback pod of motor, and one group of sheet strut is fixed on piggyback pod on the body, is provided with one group of landing sled in the bottom of body; Lift unit, comprise: high-frequency electric machines, be fixed in the described power bin, an end output shaft of described high-frequency electric machines links to each other with first group of blade by the coupling of band radome fairing, and its other end output shaft links to each other with second group of blade by the coupling of reverse coupling, band radome fairing; And one group of mooring guy, be connected with described body respectively, wherein, comprise power cable at least one mooring guy, described high-frequency electric machines obtains electric power by described power cable.
Preferably, above-mentioned pulling force rope, an end is connected with described body by the mooring guy coupling, and other end solderless wrapped connection is on the stepping motor capstan winch of the first servo operation device; Signal pulling force rope is made of pulling force rope and data line at least, and an end is connected with described body by the mooring guy coupling, and other end solderless wrapped connection is on the stepping motor capstan winch of the second servo operation device; Transmission of electricity pulling force rope is made of pulling force rope and described power cable at least, and described transmission of electricity pulling force rope is connected with described body by the mooring guy connector, and other end solderless wrapped connection is on the stepping motor capstan winch of the 3rd servo operation device.
Preferably, above-mentioned hitching type electric self-service helicopter system also comprises the carrier loader group, described carrier loader group comprises information processing car and energy car at least, the messaging device of described information processing car is connected with the signal collecting device of described body carrying by the data line of described signal pulling force rope, and described energy car is connected with the high-frequency electric machines of described lift unit by the power cable of described transmission of electricity pulling force rope.
The utility model also provides a kind of hitching type electric self-service helicopter system, and it comprises: body forms air-flow rectification duct, and is provided with support in the described air-flow rectification duct; Motor is located on the described support, and an end output shaft of described motor links to each other with one group of blade; One group of servo operation device, each described servo operation device comprise the capstan winch by servomotor control; One group of attitude transducer, each described attitude transducer comprise the mooring guy pulling force sensor of rotating shaft one end that is located at described capstan winch; And one group of mooring guy, an end of each described mooring guy is connected with described body, and the other end is on corresponding described capstan winch, and wherein, described motor is connected to the power supply device on ground by power transmission cable.
Preferably, above-mentioned servo operation device also comprises pawl head, and described pawl head is implemented braking to capstan winch when mooring guy is discarded to predetermined length.
The utility model also provides a kind of hitching type electric self-service helicopter system, and it comprises: body is distributed with one group of air-flow rectification duct, and is provided with support in each described air-flow rectification duct on the described body; One group of motor is located at respectively in the described support, and the output shaft of described motor links to each other with one group of blade by a coupling, and described blade is positioned at described air-flow rectification duct; And at least one mooring guy, an end is connected in body, and the other end lies in ground installation, and wherein, described motor is connected to the power supply device on ground by the cable in the mooring guy.
Preferably, above-mentioned ground installation comprises the servo operation device, and described servo operation device comprises that described mooring guy solderless wrapped connection is on described capstan winch by the capstan winch of servomotor control.
The utility model also provides a kind of hitching type electric self-service helicopter, it comprises the lift unit of body and described body, wherein, described lift unit comprises motor and the blade that is rotated by described driven by motor, and described motor obtains electric power by the power cable in the mooring guy of electronic helicopter.
Compare with existing free flight unmanned vehicle, the utility model effect of mooring unmanned plane is embodied in following six aspects:
One,, can in 10-500 rice altitude range, accurately decide high location by regulating mooring guy.
Two, significantly promote payload (mission payload) amount, prolong the hang time.
Owing to need not install conventional controlled in wireless command reception device, a large amount of attitude sensing instrument and sender unit, complicated mechanical electrical equipment servomechanism and accumulator jar, fuel oil equal energy source on the electronic helicopter A, so above-mentioned weight all can transfer payload to, and because of the motor energy is that ground provides, be guaranteed or directly connect under the situation of civil power at the energy source device oil plant, mooring unmanned plane airborne period can be longer than the free flight unmanned vehicle greatly.
Three, can implement the omnidistance real time monitoring of fixed point to big territory region.
In concept, this mooring unmanned plane suitable one can erect reach tens of to hundreds of rice high " antennas ", or suitable " extreme low-altitude " geosynchronous satellite.When the location highly is 500 meters, about 80 kms of the radius distance of its radio communication (about 20,000 sq-kms of area coverage); Airborne optical instrument is looked at visible radius distance straight and is not less than 30-50Km (about 7,800 sq-kms of visual territory), and the radius distance of target identification is near 30Km.
Four,, carry out the function conversion easily by carrying additionally the different task module.
The characteristics that have big load capacity based on the mooring unmanned plane, to in use can change module according to the mission requirements terrain at any time at task modules such as the supporting design reconnaissance and surveillance of requirements of different users, target identification, remote sensing remote measurement, communication transfering the letter and zone locations.
Five, duties are good, easy to use and maintenance.
The power section of the lift load subsystem of mooring unmanned plane mainly is a motor, and it is convenient to maintain; Terrestrial information is handled and the maintenance of controlling equipment mainly is various computer softwares, can be by rewriting, reset and upgrading the method for upgrading and safeguard.
Six, mobility is good, and equipment launches rapid, easy.
Mooring unmanned plane whole system volume is little, in light weight, and a complete set of equipment can comprise messaging device, lifting appliance, generating equipment etc. by two common offroad vehicle carryings.System does not have specific (special) requirements to the place, and maximum developed area is no more than 100 * 100 meters, offers/removes between the time receiving less than 30 minutes.
Be noted that the description and the following detailed description all are exemplary, being intended to provides further instruction to desired the utility model.
Except purpose described above, feature and advantage, the utility model also has other purpose, feature and advantage, below with reference to accompanying drawings, other purpose, feature and effect of the present utility model is described in further detail.
Description of drawings
Constitute this specification a part, be used for further understanding accompanying drawing of the present utility model and show preferred embodiment and be used for illustrating principle of the present utility model with explanation.In the accompanying drawing:
Fig. 1 schematically shows the cutaway view according to the hitching type electric self-service helicopter of the utility model preferred embodiment;
Fig. 2 schematically shows the reverse transmission device according to hitching type electric self-service helicopter of the present utility model;
Fig. 3 schematically shows according to the mooring of the utility model hitching type electric self-service helicopter system and the cutaway view of servo operation subsystem;
Fig. 4 schematically shows the cutaway view of the pulling force sensor of mooring shown in Figure 3 and servo operation subsystem;
Fig. 5 schematically shows the mooring guy of hitching type electric self-service helicopter system;
Fig. 6 schematically shows the hitching type electric self-service helicopter system according to the utility model preferred embodiment; And
Fig. 7 schematically shows the position correction of electronic depopulated helicopter.
Embodiment
Below in conjunction with Fig. 1 to Fig. 7 hitching type electric self-service helicopter of the present utility model and hitching type electric self-service helicopter system are described in detail.In each accompanying drawing, Reference numeral all is since 01 ordering, though the Reference numeral of same parts in each accompanying drawing, have nothing in common with each other, yet in the represented preferred embodiment that goes out of same accompanying drawing, identical parts have used identical Reference numeral.
The utility model hitching type electric self-service helicopter is a kind of novel aircrafts that is different from present various unmanned plane, depopulated helicopter on the control mode of the short side formula and the attitude of hovering that stagnates.
Form by floating unloaded lotus subsystem, mooring and servo operation subsystem and Ground Control subsystem and one group of truck according to the mooring unmanned plane total system of the utility model preferred embodiment.
Floating unloaded lotus subsystem is that hitching type electric self-service helicopter integral body is circular, alternatively, outer diameter 0.9-1.2m, interior along diameter 0.65-0.9m, high 0.4-0.6m is delivered by the equipment truck among the truck group.
Mooring and servo operation subsystem comprise 3 by power transmission line or data wire and the stranded mooring guy of light-weight metal backguy, 3 adjustable electric capstans, its profile is identical substantially with common cable wire and capstan winch, can be installed in respectively on equipment truck, information processing car and the energy car rear bumper.
Ground Control subsystem (not shown) is made up of the notebook computer of outsourcing, disk array machine, communication apparatus etc., collection is contained in the high strength polymeric packing case of 1-2 about 0.6 * 0.4 * 0.4m of overall dimension, and packing case is delivered by the information processing car among the truck group.
Particularly, as shown in Figure 6, the hitching type electric self-service helicopter system can be divided into electronic helicopter 1, mooring guy 2, servo operation device 3, attitude transducer 4, position calibration equipment 5, energy source device 6, messaging device 7, communication equipment 8, task execution module 9 and truck group 10,11,12 by function and structure.
When system was launched into operating state, electronic helicopter 1 lift-launch task was carried out 9 of moulds and is risen in the air, links to each other by the servo operation device of installing on mooring guy 2 and ground each car of truck group 3, and be the location floating state under the effect of mooring guy; Attitude transducer 4 on the servo operation device is delivered to the delta data of electronic helicopter spatial attitude the information processing car 10 among the truck group at any time, after the messaging device that this car is equipped with is handled, send signal instruction and make the servo operation device produce corresponding actions, handle electronic helicopter and keep, recover at former allocation.Each power consumption unit required electric power of system is provided by energy source device, and airborne task execution module is accepted surface instruction by the data wire on the mooring guy and carried out work.
Be described in detail at each parts and preferred disposition thereof below.
One, electronic helicopter, its preferred embodiment as shown in Figure 1, body 1 section is near hollow 1/4 circle that fillet is arranged, having both air-flow rectification duct and equipment, to carry the cabin dual-purpose; The body outer wall has some optical device outgoing windows, and each window covers the effect that transparent organic glass plays sealing and conformal, and internal body has installs the bearing 3 that carries task module.
The body center place is equipped with the high-frequency electric machines 6 of a coaxial two-direction outputting power, and is used for the reverse driver 7 with the outputting power break-in for 4, one groups of streamlined sheet struts 5 of piggyback pod that high-frequency electric machines is installed are fixed on piggyback pod on the body in the piggyback pod.
Motor two ends output shaft 8,9 links to each other with a pair of paddle 14,15 by the coupling 12,13 of band radome fairing 10,11, and two slurry backward rotation are to eliminate moment of torsion in the work.
16,17,18,3 landings of one group of landing sled of body below installation are prized into 120 degree distributions and are installed.The landing sled respectively is equipped with mooring guy coupling 19,20,21, wherein installs power cable interface 22 and generating laser installing rack 23 additional on the landing sled, installs transfer of data line interface 24 additional on the landing sled.
Electronic helicopter is the aerial platform that carries task execution module, and its lift-off height and load capacity determine system-wide basic capacity.
Fig. 2 schematically shows the reverse driver preferred embodiment of (or being called reverse transmission device), as shown in the figure, reverse driver, second coupling that one end output shaft of motor 1 is formed by one group of angular wheel 2,3,4 of singularization link to each other with one group of blade 5, the other end of motor 1 then can directly link to each other with another group blade by second coupling, thereby when motor rotates, the direction of rotation of these two groups of blades.Expect easily, can use two motors, one group of blade of each driven by motor and realize the opposite effect of rotating of two groups of blades.
Two, mooring guy, its major function are that electronic helicopter is positioned on the set point of space, also have the effect of the attachment and the operation control line of data line, power cable simultaneously concurrently.
Its preferred embodiment as shown in Figure 5, it serves as that design is improved on the basis with the signal cable of homemade line guidance antitank missile.Be respectively the stranded signal pulling force rope 1 for one of pulling force rope 2, pulling force rope and data line, pulling force rope and power cable are stranded to be one transmission of electricity pulling force rope 3.
Pulling force rope 2 one ends are fixed by mooring guy coupling 11 and electronic helicopter 4, and other end solderless wrapped connection is on the stepping motor capstan winch 6 of the first servo operation device 5.
Signal pulling force rope 1 one ends are fixed by mooring guy coupling 9 and electronic helicopter 4, and data line inserts transfer of data line interface 7, and other end solderless wrapped connection is on the stepping motor capstan winch (not shown) of another servo operation device.
Transmission of electricity pulling force rope one end is fixed by mooring guy coupling 10 and electronic helicopter, and power cable inserts the power cable interface, and other end solderless wrapped connection is on the stepping motor capstan winch (not shown) of another servo operation device.
Three, servo operation device, it comprises three capstan winches by the folding and unfolding of servomotor control mooring guy.The function of three capstan winches, structure and parts are formed can be identical.It is the servo operation device of servomotor that Fig. 3 shows with the stepping motor, wherein, the rotating shaft 2 of capstan winch runner 1 is installed in the bearing pedestal 4,5 of capstan winch support 3, rotating shaft one end is the signal sensing end, mooring guy pulling force sensor 6 is housed, the tension variations data in real time of pulling force rope is reached messaging device by data wire; The other end of rotating shaft is a power intake, accepts the power of stepping motor through uni-drive gear box 7; Uni-drive gear box, stepping motor and mooring guy pulling force sensor all are fixed on the capstan winch support; The stepping motor capstan winch preferably is loaded on the rear bumper of energy car.
When electronic helicopter is subjected to the external force impact position to produce drift, the pulling force that bears on pulling force rope, signal pulling force rope and the transmission of electricity pulling force rope will change, it changes numerical value by the transducer sensing of earth terminal separately and after reaching messaging device, handle generating 3 stepping motor capstan winches that control command makes the servo operation device automatically as calculated, according to the principle of " 3 definite object space positions " electronic helicopter " is drawn " again and return initial point with different variable quantity folding and unfolding mooring guies.
Four, attitude transducer refers again to Fig. 3, and attitude transducer comprises three mooring guy pulling force sensors 6.Mooring guy pulling force sensor 6 is located at the rotating shaft signal sensing end place of stepping motor capstan winch by corresponding capsizing moment spindle brake 10 (perhaps being called pawl head) and/or corresponding connection/clutch device.The function one of connection/clutch is that attitude transducer is fixed on the capstan winch support, the 2nd, and when playing the big variable of step motor drive capstan winch runner and rotating, the protective effect that transducer torsion perception contact is separated with the capstan winch rotating shaft.The function of capsizing moment spindle brake is when mooring guy is discarded to predetermined length, and capstan winch is implemented braking, and the size of its braking force and electronic helicopter keep balance through the pulling force size that mooring guy is delivered on the capsizing moment spindle, are in a kind of " void is stopped " state; The position excursion of electronic helicopter will be broken equilibrium of forces under the external force influence, thereby by the pulling force sensor sensing.
Below in conjunction with Fig. 4 the preferred embodiment of mooring guy pulling force sensor is elaborated.In this preferred embodiment, pulling force sensor combines as a whole with pawl head, and disk 1 usefulness key and location spiral shell 4 are fixed on the magnet shaft 2, and disk is equipped with coil 3, and electric current enters coil from brush 5 through conducting ring 6.
Dish type armature 7 is contained on the capsizing moment spindle 11 vertically by key, under the thrust of top spring 10, leave a distance when not working with disk 1, when leading to upward, coil 3 produces magnetic field behind the electric current, dish type armature 7 is subjected to magnetic attraction that frictional disk 8 and disk 1 are close to, because magnet shaft 2 maintains static, so disk and dish type armature produce friction and make capsizing moment spindle produce braking force, the size of this braking force and electronic helicopter A are delivered to size balance on the capsizing moment spindle by mooring guy B, are in a kind of " void is stopped " state.
Change the exciting curent of coil, can regulate the torque magnitude of transmitting; Otherwise when stressed the disequilibrating of capsizing moment spindle institute, must make the exciting curent of coil produce respective change, this changing value is the electronic helicopter drift value of pulling force sensor perception after little electric weight conversion.
Five, position calibration equipment, it is divided into geographical position calibration equipment and alliance calibration equipment.
The geographical position calibration equipment mainly is a GPS/ Big Dipper dual mode satellite location navigator, with the configuration that exists together of out of Memory treatment facility.
The alliance calibration equipment is a laser collimator (as shown in Figure 5), and generating laser 71 is loaded in the landing sled generating laser installing rack of electronic helicopter, and the working power interface on it links to each other with the lead that the last power cable interface of landing sled is told.Laser pickoff 73 places ground under the electronic helicopter, align the beam axis of generating laser, connect energy source device by the working power interface with lead, send the position data of electronic helicopter to messaging device by data-interface and data conductor.
The position calibration equipment is responsible for comparing in real time the departure of electronic helicopter current location and predetermined point, feeds back to messaging device as checking data, is made for the important parameter that the computer control instruction is adjusted, revised.
Six, energy source device is made up of gasoline engine generator, distributor, monitoring device cable reel installation, and wherein the energy car engine in the also available truck group of gasoline engine generator substitutes.
Energy source device is installed in the energy car, and each provides suitable power with the consumption unit for total system.
Seven, messaging device is divided into hardware and software two parts.
Hardware device comprises notebook, large capacity disc array, local net network router, power-off protector and the color laser printer etc. of two CPU, big internal memory; above equipment draws in when motor-driven in the high strength polymeric packing case of information processing car delivery, launches in same car during work.
Except that computer system operation platform and database software, independently developed software is mainly divided into following 5 groups, wherein, and (1) common software: figure, Image Information Processing software, geographic information processing software.(2) electronic helicopter is controlled software: electronic helicopter attitude information gathering process software, servo operation device Control Software.(3) system's energy distributes and carries Control Software.4) computer system maintenance software: system operation situation monitoring software; System safety and security software.5) special-purpose software of corresponding task execution module: scouting, monitor message process software; Remote sensing, telemetry intelligence (TELINT) process software; The target identification information process software; Communication, transfering the letter signal processing software; User's locating information process software.
Eight, communication equipment H is mainly used in agency and carries out telecommunication and message transmission, and by agency's dispensing, this does not give unnecessary details usually.
Nine, the specific design of task execution module can be determined as required, only the requirement of its volume, weight and basic function is summarized as follows herein:
Each module is decomposed into lift-off in design and puts two submodules in ground, and the volume of the submodule that wherein goes up to the air is controlled within 0.3-0.4 * 0.3-0.4 * 0.2-0.25m, and weight is no more than 15-20Kg.
Scouting, monitor module: function comprises target search, discovery, tracking, location and locking etc., and the optical visible distance is not less than 30-50Km.
Remote sensing, telemetry module: function comprises infrared thermal imaging remote sensing, sound wave remote sensing, radio wave remote sensing etc., and can carry out the DATA REASONING such as territory in target body and region, location, and detection-sensitive distance is not less than 60-80Km.
Target identification module: have high-res resolution and texture color rendition rate, can target information be reached ground discern processing, the accurate decipherment distance of target of 1m * 1m territory is not less than 30Km with image, two kinds of patterns of image to target.
Communication, transfering the letter module: function is decided on user's specific requirement.
Zone location module: according to the direction-finding station principle, adopt the method for " polar coordinates " or " rear crosses ", provide regional two-dimensional localization information for placing 1-2 the user in the native system sphere of action.
Ten, it is selected that truck group, vehicle are looked feelings, and bigger interior space and high motor-driven cross-country ability need be arranged.It is first preferred intending among the design with the high motor-driven offroad vehicle of homemade Beijing " warrier " board, is information processing car, equipment truck and energy car by assessment of tasks.Three tasks also can be distributed rationally on two cars, need otherwise designed one cover servo operation device ground fixture this moment.
Overlap one group when the hitching type electric self-service helicopter system by two, interval 50-80Km disposes, when the lift-off height setting is 300-500m, can obtain the best effort effect.The effective mulched ground width of cloth of system's this moment can reach about 1.5 ten thousand sq-kms, and system can also realize zone location except that can finishing tasks such as scouting, supervision, communication transfering the letter in this scope.
In other embodiment of the present utility model, can include only the part of the above feature, thereby realize the part purpose or the function of preferred embodiment.
The above is a preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes, variation and omission.All within spirit of the present utility model and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection range of the present utility model.
Description of reference numerals
Among Fig. 1:
1. body 2. optical device outgoing windows 3. task module bearings
4. high-frequency electric machines piggyback pod 5. streamlined sheet strut 6. high-frequency electric machines
7. reverse driver 8. output shafts 9. output shafts
10. radome fairing 11. radome fairings 12. couplings
13. coupling 14. paddles 15. paddles
16. landing is prized 17. landings and is prized 18. landings sled
19. mooring guy coupling 20. mooring guy couplings 21. mooring guy couplings
22. power cable interface 23. generating laser installing racks 24. transfer of data line interfaces
Among Fig. 2:
1. motor 2. angular wheels 3. angular wheels
4. angular wheel 5. blades
Among Fig. 3:
1. capstan winch runner 2. rotating shafts 3. capstan winch supports
4. bearing pedestal 5. bearing pedestals 6. stay the rope pulling force sensor
7. uni-drive gear box 8. stepping motors 9. connection/clutches
10. capsizing moment spindle brake
Among Fig. 4:
1. disk 2. magnet shafts 3. coils
4. dog screw 5. brushes 6. conducting rings
7. dish type armature 8. frictional disks 9. hold-down screws
10. top spring 11. capsizing moment spindles 12. bearing/seats
13. the magnetic line of force
Among Fig. 5:
1, signal pulling force rope 2, pulling force rope
3, transmission of electricity pulling force rope 4, electronic helicopter
5, servo operation device 6, stepping motor capstan winch
7, transfer of data line interface 8, power cable interface
9, mooring guy coupling 10, stay the rope coupling
11, mooring guy coupling
Among Fig. 6:
1. electronic helicopter 2. mooring guies 3. servo operation devices
4. attitude transducer 5. position calibration equipments 6. energy source devices
7. messaging device 8. communication equipments 9. task execution module
10. information processing car 11. energy cars 12. equipment trucks
Among Fig. 7:
71. generating laser 73. laser pickoffs
Claims (14)
1. a hitching type electric self-service helicopter is characterized in that, comprises at least: body, middle part form air-flow rectification duct, and are provided with support in the described air-flow rectification duct;
Motor is located on the described support, and an end output shaft of described motor links to each other with first group of blade by first coupling;
Wherein, described motor is connected to the power supply device on ground by cable.
2. hitching type electric self-service helicopter according to claim 1, it is characterized in that, described body comprises ringwise main part and is positioned at some landing sleds of described main part bottom, the middle part of described main part forms the rectification duct, and the inside of described main part forms the chamber that carries task module.
3. hitching type electric self-service helicopter according to claim 1 and 2 is characterized in that, described support comprises piggyback pod and described power bin is fixed on one group of streamlined sheet strut on the body that described motor is fixed in the described power bin.
4. hitching type electric self-service helicopter according to claim 1 and 2 is characterized in that, the section of described main part is the right-angled trapezium with fillet.
5. hitching type electric self-service helicopter according to claim 1 and 2, it is characterized in that, the other end output shaft of described motor also links to each other with second group of blade by reverse driver, second coupling, thus the direction of rotation of its rotation direction and described first group of blade.
6. hitching type electric self-service helicopter according to claim 1 and 2 is characterized in that, described first group of blade and described second group of blade all place in the described air-flow rectification duct.
7. a hitching type electric self-service helicopter system is characterized in that, comprises at least: body, wherein:
Body comprises main part, and the middle part of described main part forms air-flow rectification duct, and its section is near hollow 1/4 circle that fillet is arranged, and the body center place is for installing the piggyback pod of motor, and one group of sheet strut is fixed on piggyback pod on the body,
Be provided with one group of landing sled in the bottom of body;
Lift unit comprises:
High-frequency electric machines is fixed in the described power bin, and an end output shaft of described high-frequency electric machines links to each other with first group of blade by the coupling of band radome fairing, and its other end output shaft links to each other with second group of blade by the coupling of reverse coupling, band radome fairing; And
One group of mooring guy is connected with described body respectively,
Wherein, comprise power cable at least one mooring guy, described high-frequency electric machines obtains electric power by described power cable.
8. hitching type electric self-service helicopter according to claim 7 system is characterized in that described one group of mooring guy comprises at least:
The pulling force rope, an end is connected with described body by the mooring guy coupling, and other end solderless wrapped connection is on the stepping motor capstan winch of the first servo operation device;
Signal pulling force rope is made of pulling force rope and data line at least, and an end is connected with described body by the mooring guy coupling, and other end solderless wrapped connection is on the stepping motor capstan winch of the second servo operation device;
Transmission of electricity pulling force rope is made of pulling force rope and described power cable at least, and described transmission of electricity pulling force rope is connected with described body by the mooring guy connector, and other end solderless wrapped connection is on the stepping motor capstan winch of the 3rd servo operation device.
9. hitching type electric self-service helicopter according to claim 8 system, it is characterized in that, also comprise the carrier loader group, described carrier loader group comprises information processing car and energy car at least, the messaging device of described information processing car is connected with the signal collecting device of described body carrying by the data line of described signal pulling force rope, and described energy car is connected with the high-frequency electric machines of described lift unit by the power cable of described transmission of electricity pulling force rope.
10. hitching type electric self-service helicopter system is characterized in that: body forms air-flow rectification duct, and is provided with support in the described air-flow rectification duct;
Motor is located on the described support, and an end output shaft of described motor links to each other with one group of blade;
One group of servo operation device, each described servo operation device comprise the capstan winch by servomotor control;
One group of attitude transducer, each described attitude transducer comprise the mooring guy pulling force sensor of rotating shaft one end that is located at described capstan winch; And
One group of mooring guy, an end of each described mooring guy is connected with described body, the other end on corresponding described capstan winch,
Wherein, described motor is connected to the power supply device on ground by power transmission cable.
11. hitching type electric self-service helicopter according to claim 10 system is characterized in that, also comprises pawl head, described pawl head is implemented braking to capstan winch when mooring guy is discarded to predetermined length.
12. a hitching type electric self-service helicopter system is characterized in that, comprising:
Body is distributed with one group of air-flow rectification duct on the described body, and is provided with support in each described air-flow rectification duct;
One group of motor is located at respectively in the described support, and the output shaft of described motor links to each other with one group of blade by a coupling, and described blade is positioned at described air-flow rectification duct; And
At least one mooring guy, an end is connected in body, and the other end lies in ground installation,
Wherein, described motor is connected to the power supply device on ground by the cable in the mooring guy.
13. hitching type electric self-service helicopter according to claim 12 system is characterized in that described ground installation is the servo operation device, described servo operation device comprises that described mooring guy solderless wrapped connection is on described capstan winch by the capstan winch of servomotor control.
14. hitching type electric self-service helicopter, the lift unit that comprises body and described body, it is characterized in that described lift unit comprises motor and the blade that is rotated by described driven by motor, described motor obtains electric power by the power cable in the mooring guy of electronic helicopter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201731391U CN201087923Y (en) | 2007-09-14 | 2007-09-14 | Mooring type electric unmanned helicopter and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201731391U CN201087923Y (en) | 2007-09-14 | 2007-09-14 | Mooring type electric unmanned helicopter and system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201087923Y true CN201087923Y (en) | 2008-07-16 |
Family
ID=39635508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201731391U Expired - Lifetime CN201087923Y (en) | 2007-09-14 | 2007-09-14 | Mooring type electric unmanned helicopter and system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201087923Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101620A (en) * | 2012-12-31 | 2013-05-15 | 天津曙光敬业科技有限公司 | Heavy-load multi-rotor-wing unmanned helicopter |
| CN104236403A (en) * | 2008-09-30 | 2014-12-24 | 通用电气公司 | Store management system and method of operating the same |
| WO2016124794A1 (en) * | 2015-02-06 | 2016-08-11 | Vimar Creative Sa | Remote-controlled helicopter with dual motor drive system |
| CN106476990A (en) * | 2016-11-16 | 2017-03-08 | 东北林业大学 | A kind of stop device for air force ship |
-
2007
- 2007-09-14 CN CNU2007201731391U patent/CN201087923Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236403A (en) * | 2008-09-30 | 2014-12-24 | 通用电气公司 | Store management system and method of operating the same |
| CN104236403B (en) * | 2008-09-30 | 2016-06-29 | 通用电气公司 | The method of store management system and operation store management system |
| CN103101620A (en) * | 2012-12-31 | 2013-05-15 | 天津曙光敬业科技有限公司 | Heavy-load multi-rotor-wing unmanned helicopter |
| WO2016124794A1 (en) * | 2015-02-06 | 2016-08-11 | Vimar Creative Sa | Remote-controlled helicopter with dual motor drive system |
| CN106476990A (en) * | 2016-11-16 | 2017-03-08 | 东北林业大学 | A kind of stop device for air force ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101385903B (en) | Hitching type electric self-service helicopter and system thereof | |
| US10518901B2 (en) | Power and communication interface for vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) | |
| CA1328009C (en) | Monitoring system for power lines and right-of-way using remotely piloted drone | |
| US6364253B1 (en) | Remote piloted vehicle powered by beamed radiation | |
| US11618565B2 (en) | Methods and systems for self-deployment of operational infrastructure by an unmanned aerial vehicle (UAV) | |
| CN107402583B (en) | Light remote sensing sensor carrying device with power helium balloon | |
| US20170225799A1 (en) | Composition and process for applying hydrophobic coating to fibrous substrates | |
| US8226043B2 (en) | Autonomous stratosphere platform | |
| EP3729224B1 (en) | Methods and systems for using an unmanned aerial vehicle (uav) dedicated to deployment of operational infrastructure | |
| RU128868U1 (en) | AUTOMATED RADIOACTIVE MATERIAL DETECTION SYSTEM | |
| WO2016130711A1 (en) | Pod operating system for a vertical take-off and landing (vtol) unmanned aerial vehicle (uav) | |
| CN101811578A (en) | Special photoelectric nacelle of power patrol unmanned helicopter | |
| CN104118559A (en) | Virtual mast used for scouting | |
| US20200031497A1 (en) | Recharging network for drones | |
| CN112041257B (en) | System and method for handling wind turbine components for assembling same | |
| KR20160142670A (en) | Landing system of air vehicle | |
| CN110176955A (en) | UAV Communication base station, communication system and communication system construction method | |
| US6382557B1 (en) | Permanently rotating free aerostat mobile in radial translation relative to ambient air | |
| CN201087923Y (en) | Mooring type electric unmanned helicopter and system thereof | |
| RU2287910C1 (en) | Method and overhead telecommunication platform for organizing regional wireless data-transfer networks | |
| US20210276705A1 (en) | Methods and apparatus for vertical short takeoff and landing and operational control | |
| Hall et al. | Mission analysis of solar powered aircraft | |
| CN108974316B (en) | Multi-rotor unmanned hot-air airship system | |
| RU2652322C1 (en) | Aerostat | |
| RU2816399C1 (en) | Unmanned aerial complex |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20081219 Address after: Room 318, No. 342 Avision Road, Tuo Lin Town, Shanghai, Fengxian District: 200030 Patentee after: Shanghai Yong Yan Cci Capital Ltd Address before: Room 118, south wing, office building, Suzhou garden, Friendship Hotel, Beijing, Haidian District: 100873 Patentee before: Beijing Delu Image Technology Co., Ltd. |
|
| ASS | Succession or assignment of patent right |
Owner name: SHANGHAI YONGYAN INVESTMENT MANAGEMENT CO., LTD. Free format text: FORMER OWNER: BEIJING DELU IMAGING TECHNOLOGY CO., LTD. Effective date: 20081219 |
|
| ASS | Succession or assignment of patent right |
Owner name: BEIJING DELU IMAGE TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: SHANGHAI YONGYAN INVESTMENT MANAGERMENT CO., LTD. Effective date: 20101130 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 200030 ROOM 342, NO.318, HONGGUANG AVENUE, TUOLIN TOWN, FENGXIAN DISTRICT, SHANGHAI TO: 100873 ROOM 118, SOUTH OF 1/F, SUYUAN OFFICE BUILDING, FRIENDSHIP HOTEL, HAIDIAN DISTRICT, BEIJING |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20101130 Address after: 100873, Haidian District Friendship Hotel Beijing Su office building on the south side of room 118 Patentee after: Beijing Delu Image Technology Co., Ltd. Address before: 200030, room 318, 342 Avision Road, Tuo Lin Town, Shanghai, Fengxian District Patentee before: Shanghai Yong Yan Cci Capital Ltd |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20080716 Effective date of abandoning: 20070914 |