CN216834336U - Unmanned aerial vehicle launches retrieves integration system - Google Patents
Unmanned aerial vehicle launches retrieves integration system Download PDFInfo
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- CN216834336U CN216834336U CN202123069119.9U CN202123069119U CN216834336U CN 216834336 U CN216834336 U CN 216834336U CN 202123069119 U CN202123069119 U CN 202123069119U CN 216834336 U CN216834336 U CN 216834336U
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Abstract
The utility model provides an unmanned aerial vehicle launching and recovery integrated system, which comprises an energy absorption and release module, a guide rail module and a driving cable module; the energy absorption and release module comprises a hydraulic cylinder and a movable pulley block and a fixed pulley block; the movable and fixed pulley block comprises a movable pulley block and a fixed pulley block; the movable pulley block comprises a pulley seat and a plurality of parallel and coaxial pulleys, and the pulley seat is fixedly connected with the head of a piston rod of the oil cylinder; the fixed pulley block consists of a plurality of parallel and coaxial pulleys and is fixedly connected with the ground; the driving cable module is respectively connected with the guide rail module and the energy absorption and release module; the guide rail module comprises a guide rail, a sliding block, a launching frame and a recovery cable; the guide rail is fixedly arranged, the sliding block moves along the guide rail, one end of the sliding block is rigidly connected with the steel cable, and the other end of the sliding block is connected with the launching frame and the recovery cable. The utility model discloses unmanned aerial vehicle transmission that can retrieves integrated system has reduced the weight and the size of system, has also increased adaptability and the flexibility of system to complicated topography and special case.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle guarantee technical field, concretely relates to unmanned aerial vehicle launches retrieves integrated system.
Background
The existing launching and recovery of small and medium-sized unmanned aerial vehicles generally adopt respectively independent systems, the unmanned aerial vehicle launching adopts rubber band ejection, hand throwing take-off, rocket boosting, pneumatic ejection and other modes, and the unmanned aerial vehicle recovery adopts parachuting recovery, net collision recovery, hook recovery and other modes.
Rubber band ejection, hand throwing take-off and rocket boosting launching in the mode mainly aim at small unmanned aerial vehicles, small and medium unmanned aerial vehicles are less in application, the existing launching mode mainly adopts air pressure or gas liquid, and the blocking recovery mode mainly adopts a friction or hydraulic braking mode to convert kinetic energy into heat energy.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a take off and land support equipment of integration for middle-size and small-size unmanned aerial vehicle, can arrange on land or naval vessel, can have the integrated system of transmission and recovery function simultaneously concurrently.
The unmanned aerial vehicle launching and recovering integrated system comprises an energy absorption and release module, a guide rail module and a driving cable module;
the energy absorption and release module comprises a hydraulic cylinder and a movable pulley block and a fixed pulley block; the hydraulic cylinder adopts a double-acting oil cylinder, the hydraulic cylinder comprises an oil cylinder piston rod, and the end part of the oil cylinder piston rod is connected with the movable pulley block and the fixed pulley block; the movable pulley block and the fixed pulley block comprise a movable pulley block and a fixed pulley block; the movable pulley block comprises a pulley seat and a plurality of parallel and coaxial pulleys, and the pulley seat is fixedly connected with the head of the piston rod of the oil cylinder; the fixed pulley block consists of a plurality of parallel and coaxial pulleys and is fixedly connected with the ground;
the driving rope module comprises a steel rope, one end of the steel rope is connected with the guide rail module, and the other end of the steel rope is connected with the energy absorption and release module;
the guide rail module comprises a guide rail, a sliding block, a launching frame and a recovery cable; the guide rail is fixedly arranged, the sliding block is matched with the guide rail and can move along the guide rail, one end of the sliding block is rigidly connected with the steel cable and is connected to the hydraulic cylinder through the movable pulley block and the fixed pulley block; the launching frame and the recovery cable are connected with the sliding block.
Furthermore, unmanned aerial vehicle launches retrieve integrated system includes the crane module, the crane module sets up on ground, with the guide rail module is connected for fixed and bear the weight of the guide rail module.
Furthermore, the driving cable module comprises a plurality of guide pulleys, and the guide pulleys are respectively arranged on the guide rail module and the hoisting module and used for changing the trend of the steel cable.
Further, the drive cable module comprises a recovery damper, and the recovery damper comprises a movable pulley, a damper, a first guide pulley and a second guide pulley; the first guide pulley and the second guide pulley are fixedly arranged, the shaft of the movable pulley is connected with the damper, and the steel cable sequentially bypasses the first guide pulley, the movable pulley and the second guide pulley.
Still further, the energy absorption and release module comprises a launch accumulator and a recovery accumulator; the hydraulic cylinder is provided with a launching oil port and a recovery oil port, the launching oil port is connected with the launching energy accumulator, and the recovery oil port is connected with the recovery energy accumulator.
Furthermore, the guide rail module comprises a trolley net, the trolley net is connected with the sliding block, and the trolley net is arranged behind the recovery rope; the trolley net is installed only in a recovery state.
Furthermore, the guide rail module comprises a buffer belt assembly, the buffer belt assembly comprises a group of buffer brake belts, and the buffer brake belts are fixed on the guide rail and used for blocking the launcher after the unmanned aerial vehicle launches and takes off.
Further, the launcher is mounted on the slider only in a launch state; the recovery rope is mounted on the slider only in a recovery state.
The beneficial effects of the utility model include:
the utility model discloses a hydraulic system launches and retrieves, is applicable to weight to 400kg, and speed is to 140 km/h's medium-sized unmanned aerial vehicle transmission and recovery.
The utility model discloses a launching system and recovery system can structurally share energy absorption release system, guide rail system, drive cable system and the partial part parts of auxiliary system etc. have greatly reduced the weight and the size of system, have also increased adaptability and the flexibility of system to complicated topography and special cases.
The utility model discloses a module and integrated design can adapt to the development demands of future high frequency time launch task, overhead rate recovery task, high-speed unmanned aerial vehicle, high automation mechanized operation, low manpower etc. on the ship by bigger degree, do benefit to and realize deploying fast and depositing.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle launching and recovery integrated system provided by an embodiment of the present invention;
fig. 2 is a front view of an integrated system for launching and recovering an unmanned aerial vehicle provided by an embodiment of the present invention;
fig. 3 is a left side view of an integrated system for launching and recovering an unmanned aerial vehicle provided by an embodiment of the present invention;
fig. 4 is a top view of an integrated system for launching and recovering an unmanned aerial vehicle provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a principle of an emission process of an integrated system for emission and recovery of an unmanned aerial vehicle provided by an embodiment of the present invention;
fig. 6 is a recovery process principle schematic diagram of the utility model provides a recovery integration system is retrieved in unmanned aerial vehicle transmission.
Detailed Description
The technical solution of the present invention will be described in more detail with reference to the accompanying drawings, and the present invention includes, but is not limited to, the following embodiments.
As shown in the accompanying drawings 1-4, the utility model provides an unmanned aerial vehicle launches and retrieves integrated system, this unmanned aerial vehicle launches and retrieves integrated system and includes energy absorption release module, guide rail module, crane module, drive cable module.
The energy absorption and release module comprises a hydraulic cylinder, a movable pulley block, a fixed pulley block, an emission energy accumulator and a recovery energy accumulator, and the energy absorption and release module is used for providing energy for the emission of the unmanned aerial vehicle or absorbing kinetic energy generated when the unmanned aerial vehicle is recovered.
The hydraulic cylinder adopts a double-acting oil cylinder, both a rod cavity and a rodless cavity can be communicated with oil liquid and can move in two directions, a buffer cavity is designed at the bottom of a cylinder barrel of the hydraulic cylinder, a punch is designed at the tail part of a piston rod of the oil cylinder, the punch is designed in a conical shape, and the piston rod can play a role of buffering when moving to the bottom of the cylinder barrel; the hydraulic cylinder is provided with a cylinder piston rod, a launching oil port and a recovery oil port, the launching oil port is connected with the launching energy accumulator, the recovery oil port is connected with the recovery energy accumulator, and the end part of the cylinder piston rod is connected with the movable pulley block and the fixed pulley block. During launching, high-pressure oil of the launching energy accumulator instantly enters the hydraulic cylinder through the launching oil port, and the steel cable generates tension for launching the unmanned aerial vehicle under the action of hydraulic force of the hydraulic cylinder; during the recovery, fluid in the pneumatic cylinder gets into the recovery energy storage ware through retrieving the oil port, and unmanned aerial vehicle's most kinetic energy is consumed by fluid throttle, and the energy storage of small part is in retrieving the energy storage ware.
The movable pulley block and the fixed pulley block comprise a movable pulley block and a fixed pulley block; the movable pulley block consists of a pulley seat and a plurality of parallel and coaxial pulleys, and the pulley seat is fixedly connected with the head of the piston rod of the oil cylinder; the fixed pulley block consists of a plurality of parallel and coaxial pulleys, and a pulley seat of the fixed pulley block is fixedly connected with the ground.
In one embodiment, the movable pulley block and the fixed pulley block are connected through a steel cable which penetrates through and is wound, one end of the steel cable is fixed on a pulley seat of the movable pulley block and sequentially penetrates through a first pulley of the fixed pulley block, the first pulley of the movable pulley block, a second pulley of the fixed pulley block and a second pulley of the movable pulley block to be wound out and connected to each guide pulley, the other end of the steel cable after being wound out is connected with the unmanned aerial vehicle, and the transmission ratio formed by the steel cable penetrating through and winding between the movable pulley block and the fixed pulley block is 1: and 5, ensuring that the displacement of the piston rod of the double-acting hydraulic cylinder is in a certain proportion to the displacement of the unmanned aerial vehicle.
The movable pulley block and the fixed pulley block are designed according to a certain transmission ratio, and the displacement of the oil cylinder is ensured to be proportional to the moving distance of the unmanned aerial vehicle. The energy accumulator is used for storing energy, the pump station pressurizes the energy accumulator before launching to form high-pressure energy, and during recovery, oil liquid of the oil cylinder continuously compresses air after entering the oil cylinder, so that the pressure of the energy accumulator is increased, and the energy accumulator is used for resetting a system. The control valve component is divided into two paths, wherein one path is specially used for controlling the launching process of the unmanned aerial vehicle according to a launching strategy to ensure that the launching process is stable, and the other path is used for controlling the valve port to be closed according to a preset rule, so that the steel cable force in the recovery process is changed, and the fluctuation of the recovery process is ensured to be small.
The drive cable module includes a wire rope, a recovery damper, and a plurality of guide pulleys. Each guide pulley is respectively arranged on the guide rail module and the hoisting module and used for changing the trend of the steel cable; the steel cable is a direct force transmission unit and directly acts on the unmanned aerial vehicle; the recovery damper is specially configured for the recovery process, is arranged at the front end of the module, and can quickly release the steel cable and absorb certain aircraft kinetic energy when being recovered, so that the tension change on the steel cable is more gradual, and the peak tension is smaller.
In one embodiment, the recovery damper consists of a movable pulley, a damper and two guide pulleys; the steel cable sequentially winds the first guide pulley, the movable pulley and the second guide pulley, the two guide pulleys are fixedly arranged, and a shaft of the movable pulley is connected with the damper. Retrieve the attenuator and participate in only when unmanned aerial vehicle retrieves, can keep wearing of cable wire around the mode when unmanned aerial vehicle launches, nevertheless with the round pin hub fixation for the movable pulley, retrieve the attenuator and only play the guide effect when launching. The principle of recovering the damper is that an elastic force related to displacement and a damping force related to speed are provided for the module, and through the matching design of the energy absorption module, the purposes of absorbing impact, reducing the vibration of the steel cable and finally reducing the recovery overload of the unmanned aerial vehicle are achieved.
The crane module is arranged on the ground and used for fixing and bearing the guide rail module. In this embodiment, the crane module includes a main arm, a middle arm, a front arm, a guide rail connecting arm, and a swing arm mechanism.
The guide rail module comprises a guide rail, a sliding block, a recovery cable, a launching frame, a trolley net, a buffer belt assembly and the like. Wherein, the guide rail is 3 or 4 sections of folding tracks, and the middle section of track is rigidly connected with the crane module. The sliding block is matched with the guide rail, and one end of the sliding block is rigidly connected with the steel cable and is connected to the hydraulic cylinder through the pulley block. The other end is provided with a launching frame in a launching state, and a recovery rope and a pulley net in a recovery state, so that the launching frame or the pulley net slides along the guide rail under the driving of the steel cable. The pulley assembly is arranged on the guide rail, the steel cable in the launching and recovery processes is guided, the launching rack is used for fixing the airplane during launching, the airplane is initially restrained and quickly released at the tail end by matching with the locking mechanism, and the launching rack is only arranged in a launching state. The recovery rope is in a triangular structure, is connected with the sliding block and is used for being hooked by the unmanned aerial vehicle in the recovery of the unmanned aerial vehicle, so that the unmanned aerial vehicle is decelerated by the hydraulic cylinder driven by the sliding block and the steel cable; the retrieval rope is installed only in a retrieval state. The scooter net is connected with the sliding block, is arranged at the rear side of the recovery rope, and is used for the recovery of the unmanned aerial vehicle, after the airplane hooks the recovery rope, the net belt can protect the airplane due to certain lifting force movement under the action of inertia, and meanwhile, the aircraft can be prevented from falling down after the aircraft front end barb device hooks the net belt, so that the airplane is guaranteed to be stably stopped, and the scooter net is only installed under the recovery state. The buffer belt assembly comprises a group of buffer brake belts, and the buffer brake belts are fixed on the guide rail and used for stopping the launcher after the unmanned aerial vehicle launches and takes off.
The general working principle of the unmanned aerial vehicle launching and recycling integrated system is as follows:
(1) principle of unmanned aerial vehicle launching process
As shown in fig. 2, when the system is in the unmanned aerial vehicle transmitting state, the oil cylinder piston rod is in the full-extension state to pass through the rope through running block, crown block, leading pulley and slider etc. and be connected with the launcher, unmanned aerial vehicle places on the launcher, accomplishes the preparation work before the unmanned aerial vehicle launches.
When starting unmanned aerial vehicle transmission, the transmission hydro-cylinder passes through the energy storage ware and pours into high-pressure fluid into, drives launcher and unmanned aerial vehicle accelerated motion through running block, fixed pulley group etc. and unmanned aerial vehicle accomplishes the transmission action under the effect of transmission hydro-cylinder, realizes the braking of launcher simultaneously under the effect of buffering area subassembly.
(2) Principle of unmanned aerial vehicle recovery process
As shown in fig. 3, when the system is in the unmanned aerial vehicle recovery state, the piston rod of the oil cylinder is in the full retraction state and is connected with the slide block through the movable pulley block, the fixed pulley block, the guide pulley, the slide block is connected with a recovery rope in a triangular configuration, and meanwhile, the slide block and the pulley net are connected in a closed loop mode through a rope.
When unmanned aerial vehicle colluded the recovery cable, under unmanned aerial vehicle's drive, it breaks away from the support frame to retrieve the cable, drive the slider along the motion of unmanned aerial vehicle direction in the track, and then drive running block and hydro-cylinder motion, produce hydraulic braking force, simultaneously the coaster net through with the slider between closed loop be connected, follow-up with the slider state, keep predetermined distance with unmanned aerial vehicle all the time, ensure that unmanned aerial vehicle rises upward the action in the recovery process and can accurately collude on coaster net device, unmanned aerial vehicle and coaster net device can be guaranteed to collude back synchronous motion, restriction and protection unmanned aerial vehicle.
Note: if unmanned aerial vehicle is single type, can control unmanned aerial vehicle's recovery speed completely before retrieving, so the coaster net device can be placed in fixed position, collude back coaster net device follow-up when unmanned aerial vehicle rather than contact can, reduced the complexity of cable wire module, launch and retrieve the change time in the conversion process.
(3) Unmanned aerial vehicle launching and recovery switching principle
The system can quickly switch between emission and recovery, and the state of the system is changed into the unmanned aerial vehicle emission standby state after the unmanned aerial vehicle is recovered, wherein the unmanned aerial vehicle emission standby state comprises the following steps:
taking down the recovered unmanned aerial vehicle;
taking down the recovery net in the tackle net device, and releasing the closed-loop connecting rope between the slide block and the tackle net device;
taking down the triangular recovery cable on the sliding block, and installing an unmanned aerial vehicle launcher for fixing the unmanned aerial vehicle in the launching process;
the sliding block is pulled to the position corresponding to the other end of the guide rail, and a rope of the launching oil cylinder is fixed with the sliding block;
the movable pulley of the recovery damper is fixed by a pin shaft, so that the movable pulley does not act in the launching process.
The present invention is not limited to the above embodiments, and those skilled in the art can adopt other embodiments to implement the present invention according to the disclosure of the embodiments and the drawings, and therefore, all the design structures and ideas of the present invention can be adopted to do some simple transformations or modified designs, and all fall into the protection scope of the present invention.
Claims (8)
1. An unmanned aerial vehicle launching and recycling integrated system is characterized by comprising an energy absorption and release module, a guide rail module and a driving cable module;
the energy absorption and release module comprises a hydraulic cylinder and a movable pulley block and a fixed pulley block; the hydraulic cylinder adopts a double-acting oil cylinder, the hydraulic cylinder comprises an oil cylinder piston rod, and the end part of the oil cylinder piston rod is connected with the movable pulley block and the fixed pulley block; the movable pulley block and the fixed pulley block comprise a movable pulley block and a fixed pulley block; the movable pulley block comprises a pulley seat and a plurality of parallel and coaxial pulleys, and the pulley seat is fixedly connected with the head of the piston rod of the oil cylinder; the fixed pulley block is composed of a plurality of parallel and coaxial pulleys, and the fixed pulley block 3 is fixedly connected with the ground;
the driving rope module comprises a steel rope, one end of the steel rope is connected with the guide rail module, and the other end of the steel rope is connected with the energy absorption and release module;
the guide rail module comprises a guide rail, a sliding block, a launching frame and a recovery cable; the guide rail is fixedly arranged, the sliding block is matched with the guide rail and can move along the guide rail, one end of the sliding block is rigidly connected with the steel cable and is connected to the hydraulic cylinder through the movable pulley block and the fixed pulley block; the launching frame and the recovery cable are connected with the sliding block.
2. The UAV launching and recovery integrated system of claim 1, comprising a crane module, wherein the crane module is disposed on the ground, connected to the rail module, and used for fixing and carrying the rail module.
3. The unmanned aerial vehicle launching and recovery integrated system according to claim 2, wherein the driving cable module comprises a plurality of guide pulleys, and the guide pulleys are respectively mounted on the guide rail module and the hoisting module and used for changing the trend of the steel cable.
4. The unmanned aerial vehicle launching and recovery integrated system of claim 1, wherein the drive cable module comprises a recovery damper, the recovery damper comprising a movable pulley, a damper, a first guide pulley, and a second guide pulley; the first guide pulley and the second guide pulley are fixedly arranged, the shaft of the movable pulley is connected with the damper, and the steel cable sequentially bypasses the first guide pulley, the movable pulley and the second guide pulley.
5. The unmanned aerial vehicle launch and recovery integrated system of claim 1, wherein the energy absorption and release module comprises a launch accumulator and a recovery accumulator; the hydraulic cylinder is provided with a launching oil port and a recovery oil port, the launching oil port is connected with the launching energy accumulator, and the recovery oil port is connected with the recovery energy accumulator.
6. The unmanned aerial vehicle launching and recovery integrated system of claim 1, wherein the rail module comprises a trolley net, the trolley net is connected with the sliding block and is arranged behind the recovery cable; the trolley net is installed only in a recovery state.
7. The unmanned aerial vehicle launching and recovery integrated system of claim 1, wherein the rail module comprises a buffer band assembly, the buffer band assembly comprising a set of buffer brake bands, the buffer brake bands being fixed on the rail for arresting the launcher after launch of the unmanned aerial vehicle.
8. The unmanned aerial vehicle launching and recovery integration system of claim 1, wherein the launcher is mounted on the slider only in a launch state; the recovery rope is mounted on the slider only in a recovery state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123069119.9U CN216834336U (en) | 2021-12-08 | 2021-12-08 | Unmanned aerial vehicle launches retrieves integration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123069119.9U CN216834336U (en) | 2021-12-08 | 2021-12-08 | Unmanned aerial vehicle launches retrieves integration system |
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| Publication Number | Publication Date |
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| CN216834336U true CN216834336U (en) | 2022-06-28 |
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| CN202123069119.9U Active CN216834336U (en) | 2021-12-08 | 2021-12-08 | Unmanned aerial vehicle launches retrieves integration system |
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- 2021-12-08 CN CN202123069119.9U patent/CN216834336U/en active Active
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