CN218537097U

CN218537097U - Small-size carrier-borne fixed wing unmanned aerial vehicle

Info

Publication number: CN218537097U
Application number: CN202223093747.5U
Authority: CN
Inventors: 何玉庆; 谷丰; 褚玲玲; 周浩; 张洛溪
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2022-11-17
Filing date: 2022-11-17
Publication date: 2023-02-28
Anticipated expiration: 2032-11-17

Abstract

The utility model relates to an unmanned aerial vehicle is surveyed to the ocean, in particular to small-size carrier-borne fixed wing unmanned aerial vehicle. This small-size carrier-borne fixed wing unmanned aerial vehicle includes the aircraft nose, the fuselage, the right wing, the right spoiler, the left spoiler, retrieve the hook subassembly, left wing and retrieve hook locking mechanical system, wherein the aircraft nose sets up in the front end of fuselage, right wing and left wing symmetry set up in the anterior both sides of fuselage, respectively the level is equipped with right electric screw and left electric screw on right wing and the left wing, right spoiler and left spoiler symmetry set up in the fuselage afterbody, retrieve the hook subassembly and set up in the bottom of fuselage, it sets up in the fuselage to retrieve hook locking mechanical system, it is used for drive and locking to retrieve the hook subassembly to retrieve the hook locking mechanical system, it is used for fixed wing unmanned aerial vehicle's recovery to retrieve the hook subassembly. The utility model discloses effectively promoted unmanned aerial vehicle's transmission and retrieved the success rate, made ocean survey unmanned aerial vehicle's transmission/retrieve security, availability factor and intelligent promotion greatly, can avoid the aircraft to damage, retrieve major accident such as failure to take place.

Description

Small-size carrier-borne fixed wing unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned aerial vehicle is surveyed to the ocean, in particular to small-size carrier-borne fixed wing unmanned aerial vehicle.

Background

Fixed wing drones have the advantage of long flight times and therefore play an important role in the marine field, for example for marine monitoring, marine surveying and marine law enforcement. However, their use has been limited due to the lack of safe and reliable short range fixed wing drone recovery methods aboard ships. Although recovery methods of unmanned aerial vehicles on the sea, such as net collision recovery, parachute recovery and vertical rope recovery (hook recovery), are researched and applied. However, these methods require significant physical space or human assistance, resulting in inefficient recovery. In recent years, an efficient and intelligent release and recovery system for a ship-borne fixed-wing unmanned aerial vehicle is provided, the recovery method belongs to full-autonomous horizontal rope recovery, an intelligent horizontal arresting system is fixed on a small ship, the recovery rope is kept horizontal by actively compensating disturbance such as sea waves in real time, and the recovery success rate of the fixed-wing unmanned aerial vehicle can be greatly improved; the automatic grabbing device can accurately grab and place the unmanned aerial vehicle to a designated storage position or an ejection rack on a ship, and cyclic launching and application of the unmanned aerial vehicle can be realized. Compared with the recovery method of the offshore fixed wing unmanned aerial vehicle, the recovery method has the advantages that the requirement on physical space is very low, the intelligent level is high, and the recovery success rate can be effectively improved. However, due to the small physical size of the recovery system, the method has high requirements on the overall performance of the unmanned aerial vehicle, such as cruising ability, stability and control accuracy. In conclusion, it can be seen that the recovery rate and the intelligent level of marine recovery of fixed-wing unmanned aerial vehicle can be effectively improved by adopting the fully-autonomous horizontal rope recovery method, but the overall performance of the fixed-wing unmanned aerial vehicle body has higher requirements. Specifically, the fixed-wing drone for marine observation and recovery by adopting fully autonomous horizontal transverse ropes has the following specific requirements: long endurance, complete the offshore flight task; the low-speed performance is adopted, so that the influence of the recovery moment on the structure of the unmanned aerial vehicle is reduced; the control precision is high, and the successful dynamic recovery is realized under a small recovery system; the anti-interference capability is used for resisting the influence of wake flow and other interference; the recycling capability can realize the offshore cyclic launching/recycling.

Under prior art, for improving task execution ability and the dynamic recovery success rate of fixed wing unmanned aerial vehicle under this kind of novel full autonomic horizontal rope recovery system to further improve fixed wing unmanned aerial vehicle and use frequency and the width at sea, the design is towards sea application, possess the high performance unmanned aerial vehicle system that sea high success rate was retrieved is future development direction.

SUMMERY OF THE UTILITY MODEL

To the problem, an object of the utility model is to provide a small-size carrier-borne fixed wing unmanned aerial vehicle to it is low to solve the autonomy and the marine success rate of retrieving of the fixed wing unmanned aerial vehicle that has now been used for the ocean exploration, has leaded to fixed wing unmanned aerial vehicle to be difficult to the problem of popularization and development in applications such as ocean exploration.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a pair of small-size carrier-borne fixed wing unmanned aerial vehicle, the test platform comprises a head, the fuselage, the right wing, the right fin, left fin, retrieve the hook subassembly, left wing and retrieve hook locking mechanical system, wherein the aircraft nose sets up in the front end of fuselage, right wing and left wing symmetry set up in the anterior both sides of fuselage, the level is equipped with right electric screw and left electric screw on right wing and the left wing respectively, right fin and left fin symmetry set up in the afterbody of fuselage, it sets up in the bottom of fuselage to retrieve the hook subassembly, it sets up in the fuselage to retrieve hook locking mechanical system, it is used for the drive and locks to retrieve the hook subassembly to retrieve hook locking mechanical system, it is used for fixed wing unmanned aerial vehicle's recovery to retrieve the hook subassembly.

The recovery hook assembly comprises a return spring, a rotating shaft, a recovery hook fixing seat, a recovery hook and a connecting seat, wherein the recovery hook fixing seat is connected with a machine body partition frame in the machine body; the reset spring is sleeved on the rotating shaft and used for resetting the recovery hook.

The recovery hook locking mechanism comprises a steering engine, a base and a swing arm, wherein the base is arranged at the bottom of the machine body and is close to the connecting seat; the swing arm is rotatably arranged on the base, and the outer side end of the swing arm is abutted against the connecting seat; the steering wheel set up in the inside of fuselage, and the output is connected with the medial extremity of swing arm, the steering wheel passes through swing arm drive the connecting seat reaches the hook rotates to the rear side.

The right tail wing and the left tail wing are arranged in a V shape.

The right electric propeller and the left electric propeller are respectively arranged on the front edges of the right wing and the left wing, and the right electric propeller and the left electric propeller are symmetrically arranged relative to the airplane body.

And the propeller rotating planes of the right electric propeller and the left electric propeller are within the envelope surface range of the wings of the fuselage.

Both sides of the machine body are provided with a rear hanging rod and a front hanging rod, the front hanging rod is positioned on the front side of the rear hanging rod, and the mounting height of the front hanging rod is lower than that of the rear hanging rod.

The top of fuselage is equipped with gesture and serial number discernment two-dimensional code.

The front end part of the nose is provided with an airspeed head for detecting the flying speed in real time; the bottom of the machine head is provided with a camera, the outer side of the camera is covered with a transparent camera dome cover, and the envelope line of the camera dome cover and the contour line of the machine head are in smooth curve smooth transition.

And a charging contact is arranged at the bottom of the machine body.

The utility model has the advantages that: the utility model provides a pair of small-size carrier-borne fixed wing unmanned aerial vehicle launches through the flight control system that the fuselage is inside to be carried on and takes off, surveys the flight, retrieves automatically, can realize the automatic detection of the large tracts of land of ocean.

The utility model provides a small-size carrier-borne fixed wing unmanned aerial vehicle has effectively promoted unmanned aerial vehicle's transmission and has retrieved the success rate, and unmanned aerial vehicle's volume also correspondingly diminishes, makes marine exploration unmanned aerial vehicle's transmission/retrieve security, availability factor, and intelligent promotion greatly, can avoid aircraft damage, retrieve heavy occurence of failure etc. and take place.

Drawings

Fig. 1 is an axonometric view of a small-sized carrier-based fixed-wing drone of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at I;

fig. 3 is a side view of a small carrier-based fixed-wing drone of the present invention;

fig. 4 is a bottom view of the small carrier-based fixed-wing drone of the present invention;

FIG. 5 is an enlarged view of a portion II of FIG. 4;

in the figure: 1 is the aircraft nose, 2 is gesture and serial number discernment two-dimensional code, 3 is right electric screw, 4 are the right wing, 5 are the right wing, 6 are left tail, 7 are retrieving the hook subassembly, 8 are reset spring, 9 are the pivot, 10 are retrieving the hook fixing base, 11 are the fuselage bulkhead, 12 are the rear portion peg, 13 are left wings, 14 are left electric screw, 15 are camera hemisphere covers, 16 are the camera, 17 are the airspeed tube, 18 are anterior peg, 21 are retrieving hook locking mechanical system, 22 are the contact that charges, 23 are retrieving the hook, 24 are the connecting seat, 25 are the base, 26 are the swing arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-4, the utility model provides a pair of small-size carrier-borne fixed wing unmanned aerial vehicle, including aircraft nose 1, the fuselage, right wing 4, right tail 5, left tail 6, retrieve hook component 7, left wing 13 and retrieve hook locking mechanical system 21, wherein aircraft nose 1 sets up in the front end of fuselage, right wing 4 and left wing 13 symmetry set up in the anterior both sides of fuselage, respectively the level is equipped with right electric screw 3 and left electric screw 14 on right wing 4 and the left wing 13, right tail 5 and left tail 6 symmetry set up in the fuselage afterbody, retrieve hook component 7 and set up in the bottom of fuselage, retrieve hook locking mechanical system 21 and set up in the fuselage, it is used for drive and locking to retrieve hook component 7 to retrieve hook locking mechanical system 21, it is used for fixed wing unmanned aerial vehicle's recovery to retrieve hook component 7.

As shown in fig. 2, in the embodiment of the present invention, the recovery hook assembly 7 includes a return spring 8, a rotating shaft 9, a recovery hook fixing seat 10, a recovery hook 23 and a connecting seat 24, wherein the recovery hook fixing seat 10 is connected to a fuselage bulkhead 11 inside the fuselage, the recovery hook 23 is located at the bottom of the fuselage, and one end of the recovery hook 23 is provided with the connecting seat 24, the connecting seat 24 is hinged to the recovery hook fixing seat 10 through the rotating shaft 9, and the other end of the recovery hook 23 is in a hook-shaped structure; the return spring 8 is sleeved on the rotating shaft 9 and used for returning the recovery hook 23.

As shown in fig. 5, in the embodiment of the present invention, the recovery hook locking mechanism 21 includes a steering engine, a base 25 and a swing arm 26, wherein the base 25 is disposed at the bottom of the machine body and is close to the connecting seat 24; the swing arm 26 is rotatably mounted on the base 25, and the outer end of the swing arm 26 is abutted against the connecting seat 24; the steering wheel sets up in the inside of fuselage, and the output is connected with the medial extremity of swing arm 26, and the steering wheel passes through swing arm 26 drive connecting seat 24 and retrieves hook 23 and rotate to the rear side. Hook locking mechanical system 21 is retrieved in unmanned aerial vehicle back belly position design, retrieves successfully the back at unmanned aerial vehicle, and the locking is in the recovery hook 23 of retrieving the state because of unmanned aerial vehicle gravity oppression to follow-up automatic filling device's the operation of snatching.

In the embodiment of the present invention, the right empennage 5 and the left empennage 6 are disposed above the tail of the fuselage in a V-shape, and preferably, the right empennage 5 and the left empennage 6 form a 100-degree included angle. The tail wing adopts a V-shaped tail wing, so that the pitching stability and the yawing stability of the unmanned aerial vehicle can be ensured at the same time; in the recovery process of the unmanned aerial vehicle, the damage caused by collision between the arresting rope and the empennage can be effectively avoided; simultaneously, the storage space of the unmanned aerial vehicle on the mother ship can be reduced.

The embodiment of the utility model provides an in, right wing 4 and left wing 13 are fixed on fuselage upper portion, adopt wing body to fuse the rectification design between fuselage and the wing to reduce unmanned aerial vehicle's cruise resistance, promote the time of endurance. The right electric propeller 3 and the left electric propeller 14 are respectively arranged at the front edges of the right wing 4 and the left wing 13, and the right electric propeller 3 and the left electric propeller 14 are symmetrically arranged relative to the fuselage.

Furthermore, the propeller rotating planes of the right electric propeller 3 and the left electric propeller 14 are within the envelope surface range of the wings of the airplane body, so that the blocking ropes are prevented from being scraped with the propellers in the recovery process.

As shown in fig. 3, in the embodiment of the present invention, the lower middle portions of the two sides of the fuselage are provided with the rear hanging rod 12 and the front hanging rod 18 connected to the fuselage bulkhead 11, the front hanging rod 18 is located at the front side of the rear hanging rod 12, and the installation height of the front hanging rod 18 is lower than that of the rear hanging rod 12. The rear hanging rod 12 and the front hanging rod 18 are used as ejection loading points to protrude out of the machine body, so that concentrated force generated during ejection can be effectively transmitted, and the damage to the machine body mechanism is avoided.

Further, the top of fuselage is equipped with gesture and serial number discernment two-dimensional code 2 for the discernment guide camera of arm discerns unmanned aerial vehicle's position and relative gesture. The bottom of fuselage is equipped with charging contact 22, and when unmanned aerial vehicle was snatched by the arm and places to the storage storehouse, charging contact 22 was connected with the automatic charging device in storage storehouse, realizes the function of charging.

Furthermore, the front end part of the nose 1 is provided with a pitot tube 17 for detecting the flying speed in real time; the bottom of aircraft nose 1 is equipped with camera 16, and the outside cover of camera 16 is equipped with transparent camera hemisphere cover 15, and the envelope curve of camera hemisphere cover 15 and the outline line of aircraft nose 1 are through the smooth and easy curve rounding off of obtuse angle, and the anterior pneumatic appearance of unmanned aerial vehicle is more smooth, when reducing unmanned aerial vehicle's cruise resistance, also can avoid retrieving the shipborne device and hinder the rope and take place "interlock" collision with the aircraft and lead to retrieving the failure. The camera 16 is used for ocean monitoring, has a good forward view, and the camera hemisphere cover 15 has good seawater and salt fog prevention functions, so that the service life of the camera is prolonged. The fuselage upper portion of fixed wing unmanned aerial vehicle is smooth plane, and the automatic grabbing device vacuum chuck's of the arm of being convenient for snatchs the success rate.

The utility model provides a pair of small-size carrier-borne fixed wing unmanned aerial vehicle for ocean exploration can launch in succession automatically and retrieve, is used for solving the current fixed wing unmanned aerial vehicle system autonomy that is used for ocean exploration and retrieves the problem that the success rate is low. 1 lower part pitch arc of aircraft nose is smooth extension to the fuselage rear lower place, when retrieving flying height on the low side, can be effectively with retrieving the rope and deflect downwards, promotes the tolerance rate of retrieving altitude control to promote to hang the rope and retrieve the success rate. In this embodiment, adopt the drive of hanging two motor screw of wing, compare in the single screw power layout who installs in organism afterbody, can promote aircraft low-speed lift, reduce with mother's ship relative speed when retrieving, can effectively avoid afterbody single-shot screw to cause easily that the unexpected screw of scraping of recovery rope leads to the risk of missed flyover again. The double propellers rotate oppositely at the same rotating speed, the reaction moments of the double propellers can be mutually offset, the control disturbance caused by the reaction moment generated by the power layout of the single-engine propeller at the tail part is eliminated, and the control precision and the recovery success rate are improved.

In the embodiment of the utility model, the lower part of the belly of the body is provided with the locking and recovering hook component 7 which can be automatically retracted and released, when the unmanned aerial vehicle is launched, after the unmanned aerial vehicle is separated from the launcher, the locking and recovering hook component 7 is separated from the launcher and then automatically put down by the elasticity and gravity of the reset spring 8; after unmanned aerial vehicle was retrieved by success, the locking is retrieved 7 accessible states of hook subassembly and is detected and accomplish automatic locking to make things convenient for the arm secondary to load the transmission. A gap (typical value is 1mm-60 mm) is formed between a bracket and a machine body of the ejection device, so that the requirement on the positioning precision of the automatic filling device can be effectively reduced; the ejection rod outer side limiting device prevents the unmanned aerial vehicle from being separated from the ejection bracket when the crosswind is ejected. The double-engine propeller (the right electric propeller 3 and the left electric propeller 14) adopts a reverse rotation working mode, so that asymmetric moment generated when the engine propeller rotates can be offset, and the stability of the unmanned aerial vehicle is improved; the wing optimal design is carried out by combining the aerodynamic coupling effect of the propeller slipstream field and the wing, so that the wing resistance is reduced, and the low-speed performance of the unmanned aerial vehicle is improved. For smooth planar design on the unmanned aerial vehicle fuselage, the arm vacuum that promotes the automatic loading system snatchs the success rate that snatchs of subassembly, in fuselage upper portion plane, the design has gesture and serial number discernment two-dimensional code 2, and this gesture of automatic grabbing device's discernment camera accessible and serial number discernment two-dimensional code 2 judge unmanned aerial vehicle's position and gesture to automatic grabbing device accurately snatchs unmanned aerial vehicle and accurately places unmanned aerial vehicle. The unmanned aerial vehicle carries out catapult-assisted take-off, detection flight and automatic recovery through a flight control system carried in the body, and can realize large-area automatic detection on the ocean.

The embodiment of the utility model provides an in, unmanned aerial vehicle's weight is 1600 grams, and the span is 1.2 meters, and unmanned aerial vehicle's automatic transmission frequency has reached more than 3 frame times/minute, and the automatic success rate of retrieving has reached more than 95%, has effectively promoted unmanned aerial vehicle's transmission and has retrieved the success rate, and unmanned aerial vehicle's volume also correspondingly diminishes, and the transmission success rate has promoted 30%, retrieves the success rate and has promoted 50%, and the transmission frequency has promoted 80%. The utility model discloses make ocean exploration unmanned aerial vehicle's transmission/recovery security, availability factor and intelligent promote greatly, can avoid aircraft damage, retrieve major accident such as failure to take place.

The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. The utility model provides a small-size carrier-borne fixed wing unmanned aerial vehicle, a serial communication port, including aircraft nose (1), the fuselage, right wing (4), right wing (5), left tail (6), retrieve hook component (7), left wing (13) and retrieve hook locking mechanical system (21), wherein aircraft nose (1) sets up in the front end of fuselage, right wing (4) and left wing (13) symmetry set up in the anterior both sides of fuselage, respectively the level is equipped with right electric propeller (3) and left electric propeller (14) on right wing (4) and left wing (13), right wing (5) and left tail (6) symmetry set up in the fuselage afterbody, retrieve hook component (7) and set up in the bottom of fuselage, retrieve hook locking mechanical system (21) and set up in the fuselage, it is used for drive and locking to retrieve hook component (7) to retrieve hook locking mechanism (21), it is used for fixed wing unmanned aerial vehicle's recovery to retrieve hook component (7).

2. The small carrier-based fixed-wing unmanned aerial vehicle as claimed in claim 1, wherein the recovery hook assembly (7) comprises a return spring (8), a rotating shaft (9), a recovery hook fixing seat (10), a recovery hook (23) and a connecting seat (24), wherein the recovery hook fixing seat (10) is connected with a fuselage bulkhead (11) inside the fuselage, the recovery hook (23) is located at the bottom of the fuselage, one end of the recovery hook fixing seat is provided with the connecting seat (24), the connecting seat (24) is hinged to the recovery hook fixing seat (10) through the rotating shaft (9), and the other end of the recovery hook (23) is of a hook-shaped structure; the return spring (8) is sleeved on the rotating shaft (9) and used for returning the recovery hook (23).

3. The small carrier-based fixed-wing drone according to claim 2, characterized in that the recovery hook locking mechanism (21) comprises a steering engine, a base (25) and a swing arm (26), wherein the base (25) is arranged at the bottom of the fuselage and close to the connecting seat (24); the swing arm (26) is rotatably arranged on the base (25), and the outer end of the swing arm (26) is abutted against the connecting seat (24); the steering engine is arranged in the machine body, the output end of the steering engine is connected with the inner side end of the swing arm (26), and the steering engine drives the connecting seat (24) and the recovery hook (23) to rotate towards the rear side through the swing arm (26).

4. The small carrier-based fixed wing drone according to claim 1, characterized in that the right tail (5) and the left tail (6) are laid V-shaped.

5. The small carrier-based fixed-wing drone according to claim 1, characterized in that the right electric propeller (3) and the left electric propeller (14) are respectively arranged at the leading edges of the right wing (4) and the left wing (13), and the right electric propeller (3) and the left electric propeller (14) are symmetrically arranged with respect to the fuselage.

6. The small, carrier-based fixed-wing drone according to claim 5, characterized in that the propeller rotation plane of the right electric propeller (3) and the left electric propeller (14) is within the fuselage-wing envelope.

7. The small carrier-based fixed-wing unmanned aerial vehicle as claimed in claim 1, wherein a rear hanging rod (12) and a front hanging rod (18) are provided on both sides of the fuselage, the front hanging rod (18) is located on the front side of the rear hanging rod (12), and the mounting height of the front hanging rod (18) is lower than that of the rear hanging rod (12).

8. The small carrier-borne fixed-wing drone according to claim 1, characterized in that the top of the fuselage is provided with a gesture and number identification two-dimensional code (2).

9. The small carrier-borne fixed-wing drone according to claim 1, characterized in that the nose (1) has its front end provided with an airspeed head (17) for real-time detection of the flying speed; the bottom of the machine head (1) is provided with a camera (16), the outer side of the camera (16) is covered with a transparent camera dome cover (15), and the envelope curve of the camera dome cover (15) and the contour line of the machine head (1) are in smooth transition through a smooth curve.

10. The small carrier-based fixed wing drone according to claim 1, characterized in that the bottom of the fuselage is provided with charging contacts (22).