JP3194477B2 - Helicopter launch pad - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a helicopter launching platform used, for example, when launching an unmanned helicopter.

[0002]

2. Description of the Related Art Generally, when a single-rotor type helicopter is started and levitated from the ground, a vehicle, a ship, or the like, collective steering (vertical steering), vertical and horizontal cyclic steering (front-rear and left-right steering) of a main rotor of the helicopter, It is necessary to perform the tail rotor steering (steering to cancel the anti-torque of the main rotor) in a complex manner. In the case of a manned helicopter, such steering can be realized by a pilot, but in the case of an unmanned helicopter, it is left to an automatic flight control device or the like.

[0003] For this reason, various techniques have been conventionally proposed. For example, Japanese Patent Application Laid-Open No. 2-1496 discloses an angle control of a launching device based on aircraft control information set in advance, and taking into account attitude control from an unmanned vehicle mounted on the launching device, continuously changes a set attitude. An invention relating to a launching device to be controlled is disclosed.

[0004] Also, Japanese Patent Application Laid-Open No. 2-48397 discloses that
An invention related to an automatic balancing device that supports a load by a plurality of hydraulic jacks and horizontally holds the load by detecting an inclination angle is disclosed.

Further, Japanese Utility Model Laid-Open Publication No. Sho 61-152600 discloses a marine departure / landing device for holding a table on a boat horizontally according to the attitude of the boat.

However, the amount of steering in each steering slightly changes due to various fluctuation factors such as airframe characteristics, weather conditions, and ground contact friction resistance. Therefore, these prior arts can be applied to skilled pilots, but cannot be applied to unmanned helicopters and unskilled pilots. In other words, in order for unmanned helicopters and immature pilots to obtain a stable starting levitation, it is necessary to equip the helicopter with a considerable amount of control equipment corresponding to these fluctuation factors, and to develop software that responds to these fluctuation factors. Needed.

[0007]

However, in general, there is a strong demand for helicopters to be light, regardless of whether they are manned or unmanned. Therefore, mounting a control device on the helicopter side as described above contradicts such a demand. Will be. In addition, software development that responds to various variables
Another problem is that it is extremely difficult.

[0008] The present invention has been made in view of the above-described circumstances, and automatically starts a helicopter in a stable state by coping with various fluctuation factors that hinder the start of the helicopter while suppressing the weight of the helicopter. It is an object of the present invention to provide a helicopter launch pad that can be driven.

[0009]

In order to achieve the above object, a starting table for a helicopter according to the present invention is provided in which a starting table for starting a helicopter on a support with a load detector erected at the center of a gantry is swung in any direction. Freely supporting, at least two servo cylinders with load detectors are erected on the gantry so that the starting table can be inclined in any direction,
A horizontal support with a load detector for restricting rotation of the starter in a horizontal plane while being tiltable, provided in connection with the mount, and a securing device for securing the helicopter; and the plurality of loads. A servo controller circuit for controlling the servo actuator group and the servo cylinder of the helicopter based on a signal of a detector is provided on the starting table, and the connection between the servo controller circuit and the steering actuator group is the securing device. It is released at the same time as the release.

[0010]

According to the present invention, when the helicopter starts, the servo cylinder and the steering actuator group are controlled based on the signal of each load detector so that the load received from the helicopter becomes zero based on the signal of each load detector. An air stop state of the helicopter is realized. This makes it possible to cope with various fluctuation factors that hinder the start of the helicopter, and to automatically start the helicopter in a stable state. In addition, since various devices for realizing the airborne stop state of the helicopter on the starting table are provided on the starting table side, the weight of the helicopter can be suppressed.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below in detail with reference to the drawings. 1 to 3 for explaining an embodiment of the present invention.
In the figure, reference numeral 1 denotes a gantry, and a column 3 on which a load detector 2 is provided is provided upright at substantially the center of the gantry 1 or in the vicinity immediately below the center of gravity of the helicopter 5. A uniball 4 is provided at the tip of the support 3, and the support 3 supports the launch table 6 of the helicopter 5 swingably in any of the front, rear, left, and right directions with the uniball 4 as a fulcrum.

On the gantry 1, two sets of hydraulic servo cylinders 9 and 10 provided with load detectors 7 and 8 for tilting the starting table 6 in arbitrary directions of front, rear, left and right are provided. Although the positions of the hydraulic servo cylinders 9 and 10 may be various, they are provided symmetrically behind the helicopter 5 as shown in FIG.

The starting table 6 is connected to the gantry 1 via a horizontal support 12 provided with a load detector 11 so as to restrict rotation in a horizontal plane. A securing device 1 for securing and releasing the helicopter 5 is provided on the starting table 6.
3 are provided. The lashing device 13 is composed of hooks 15 capable of restraining the legs 14 of the helicopter 5 at four places, respectively, and a hydraulic servo cylinder 16 connected to a linkage 16a for opening and closing the hooks 15 in an interlocking manner. Be composed.

In addition, hydraulic servo cylinders 9 and 10 and steering actuator groups 17 and 18 are provided below the body of the helicopter 5 by the signals of the load detectors 2, 7, 8 and 11.
A servo controller circuit 22 for controlling 19 and 20;
A connector 23 that connects the steering actuator groups 17, 18, 19, and 20 is detachably provided in conjunction with the securing device 13.

Here, the actuator 17 drives the collective and acts to raise and lower the body of the helicopter 5. The actuator 18 drives the tail rotor, and acts to rotate (turn) the body. Further, the actuator 19 has a function of tilting the body forward and backward in a vertical cyclic manner. In addition, the actuator 20 acts to incline the body horizontally from side to side.

Each of the actuators 17, 18, 19,
20 is controlled by the actuator 17 → actuator 1
It is preferable to perform the operations in the order of 8 → actuator 19 → actuator 20. This means that the collective force is first balanced by driving the collective by the actuator 17 (lift =
Gravity) and actuators 18, 19 and 20 may be used simultaneously, but after balancing the lift, the tail rotor is driven by the actuator 18 to cancel the anti-torque of the collective and stabilize the rotation.
This is because it is easier to control in the order of vertical → horizontal or horizontal → vertical cyclic by 20 or 20 → 19.

In FIG. 3, reference numeral 24 denotes a hydraulic unit for controlling the hydraulic pressure of the hydraulic servo cylinders 9, 10, and 16. Further, the servo controller circuit 22 controls each unit according to the sequence shown in FIG.

Next, the operation of the helicopter starting table configured as described above when the helicopter starts will be described.
First, in order to correct the load due to the own weight of the starting table 6, the load detection amounts of the vertical support 3, the hydraulic servo cylinders 9, 10 and the horizontal support 12 are set to be zero.

Next, the helicopter 5 is mounted on the starting platform 6,
The lashing device 13 is operated, the leg 14 of the helicopter 5 is restrained by the hook 15, and the connector 23 is manually connected.

After that, the helicopter 5 is started, and the servo controller circuit 22 executes the sequence shown in FIG. 3 based on the signals of the load detectors 2, 7, 8, and 11, and the load applied to the starting table 6 from the helicopter 5 is zero or zero. The hydraulic servo cylinders 9, 10 and the steering actuator groups 17, 18, 19, 20 are controlled to approximate zero. As a result, an aerial stop state of the helicopter 5 on the starting platform 6 is realized.

Thereafter, the securing device 13 is operated to release the restraint of the leg 14 of the helicopter 5 by the hook 15, and the helicopter 5 is started.

As described above, in this embodiment, since the helicopter 5 is stopped in the air on the starting platform 6, it is possible to cope with various fluctuation factors which hinder the starting of the helicopter 5, and to stably operate the helicopter 5 in a stable state. Can be started automatically.

The starting base of the helicopter according to the present invention can be mounted on a vehicle 25 as shown in FIG.
In addition, as shown in FIG. In FIG. 5, the vertical support 3 is replaced with a hydraulic cylinder 27 to enable the starting table itself to move up and down.

[0024]

As described above, according to the present invention,
When the helicopter starts, the helicopter is stopped in the air on the starting platform, so that it is possible to cope with various fluctuation factors that hinder the start of the helicopter, and to automatically start the helicopter in a stable state. In addition, various devices for realizing the helicopter's aerial stop state on the starting platform are:
Since the helicopter is provided on the starting table side, the weight of the helicopter can be reduced.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of a starting table of a helicopter according to an embodiment of the present invention.

FIG. 2 is a top view of a starting table of the helicopter according to the embodiment of the present invention.

FIG. 3 is a block diagram illustrating a configuration of a starting table of a helicopter according to an embodiment of the present invention.

FIG. 4 is a diagram showing an example in which a helicopter launch table of the present invention is mounted on a vehicle.

FIG. 5 is a diagram showing an example in which a helicopter launch pad of the present invention is mounted on a ship.

[Explanation of symbols]

 Reference Signs List 1 base 2, 7, 8, 11 load detector 3 support 4 uniball 5 helicopter 6 launch table 9, 10 hydraulic servo cylinder 12 horizontal support 13 securing device 14 leg 15 hook 16 hydraulic servo cylinder 17, 18, 19, 20 steering Actuator group 22 Servo controller circuit 23 Connector

Claims (1)

(57) [Claims] A starting table for starting a helicopter is swingably supported in an arbitrary direction on a column with a load detector erected in the center of the gantry, and the starting table is tilted in an arbitrary direction on the gantry. At least two servo cylinders with load detectors are erected so that the starter can be tilted, and a horizontal support with load detectors that restricts rotation of the starter in a horizontal plane is connected to the mount. A securing device for securing the helicopter, and a servo controller circuit for controlling the helicopter steering actuator group and the servo cylinder based on the signals of the plurality of load detectors are provided on the starting table, The servo controller circuit and the steering actuator
A helicopter launch table, wherein the connection with the group of terminals is released simultaneously with the release of the securing device .