JPH04306198A - Takeoff pad of helicopter - Google Patents

Abstract

PURPOSE:To provide a takeoff pad of helicopters which enables helicopters to automatically take off in a stable state as it deals with various kinds of the causes of fluctuations that prevent helicopters from taking off, while preventing the weight of each helicopter from increasing. CONSTITUTION:To start a helicopter 5, the helicopter 5 is tied by a tying device 13 and hydraulic servo cylinders 9, 10 and groups 17, 18, 19, 20 of steering actuators 6 are controlled according to the signals of load sensors 2, 7, 8, 11 in such a manner that loads which the helicopter 5 applies to a takeoff 6 become zero; then the helicopter 5 tied by the tying device 13 is released and allowed to take off.

Description

[Detailed description of the invention]

0001

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

0002

[Prior Art] Generally, when a single-rotor type helicopter is launched and floated from the ground, a vehicle, a ship, etc., collective steering (vertical steering) of the main rotor of the helicopter is performed.
, vertical and horizontal cyclic steering (front/back and left/right steering), tail rotor steering (main rotor anti-torque cancellation steering)
It is necessary to perform multiple steps. In the case of a manned helicopter, these steering operations can be performed by a pilot, but in the case of an unmanned helicopter, they are entrusted to an automatic flight control device or the like.

[0003] For this reason, various techniques have been proposed in the past. For example, in Japanese Patent Application Laid-open No. 2-11496, the angle of the launcher is controlled based on preset aircraft control information, and the set attitude is continuously adjusted by taking into account attitude control from an unmanned aircraft mounted on the launcher. An invention relating to a controlled launcher is disclosed.

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

Furthermore, Japanese Utility Model Application Publication No. 152600/1987 discloses an idea regarding a marine landing and departure device that holds a table on a ship horizontally according to the attitude of the ship.

[0006] However, the amount of steering in each maneuver varies slightly due to various variable factors such as aircraft characteristics, weather conditions, and ground friction resistance. For this reason, these conventional techniques can be applied to experienced pilots, but there is a problem in that they cannot be applied to unmanned helicopters or inexperienced pilots. In other words, in order for unmanned helicopters and unskilled pilots to obtain stable start-up and levitation, it is necessary to equip the helicopter with a considerable amount of control equipment that can handle these fluctuation factors, and to develop software that can handle these fluctuation factors. Needed.

[0007]

[Problem to be Solved by the Invention] However, in general, helicopters, regardless of whether they are manned or unmanned, are strongly required to be lightweight, so installing control equipment on the helicopter side as described above goes against this desire. It turns out. In addition, the development of software that responds to various variable factors,
There are also problems that are extremely difficult.

The present invention was developed based on the above circumstances, and it is possible to automatically start a helicopter in a stable state by responding to various fluctuation factors that inhibit the start of the helicopter while suppressing the weight of the helicopter. The purpose of the present invention is to provide a launching pad for a helicopter that can

[0009]

[Means for Solving the Problems] In order to achieve the above object, the launching platform for a helicopter of the present invention is capable of swinging the launching platform in any direction, forward, backward, left, or right on a column with a load detector that is erected on the platform. At least two sets of servo cylinders equipped with load detectors are erected on the gantry to swing the starting stand back and forth and left and right, and when the starting stand is in a position where the starting stand can be tilted back and forth and left and right, the gantry and the starting stand are erected. A horizontal support with a load detector is connected to the launch platform in a direction that restricts the rotation of the launch platform in the same horizontal plane as the launch platform, and the helicopter mounted on the launch platform is connected to the launch platform. A lashing device for lashing and releasing the lashing is provided, and a control circuit for a steering actuator group is provided at the lower part of the fuselage of the helicopter, and a servo controller circuit for controlling the servo cylinder and the steering actuator group based on signals from each of the load detectors. A connector is detachably provided in conjunction with the lashing device, and when the helicopter starts, the lashing device lashes the helicopter, and the lashing device locks the helicopter based on the signals from each of the load detectors. After controlling the servo cylinder and the steering actuator group so that the load received from the helicopter becomes zero, the lashing of the helicopter by the lashing device is released and the helicopter is started.

0010

[Operation] In the present invention, when the helicopter starts, the servo cylinder and the steering actuator group are controlled based on the signals from each load detector so that the load that the helicopter receives on the starting platform becomes zero. The helicopter is brought to a stop in the air. As a result, it is possible to respond to various fluctuation factors that inhibit the launch of the helicopter, and to automatically launch the helicopter in a stable state. Moreover, since the various devices for realizing the state of stopping the helicopter in the air on the launch pad are provided on the launch pad side, it is possible to suppress an increase in the weight of the helicopter.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, details of embodiments of the present invention will be explained based on the drawings. FIGS. 1 to 3 illustrating an embodiment of the present invention
1, reference numeral 1 indicates a pedestal, and a support 3 on which a load detector 2 is provided is erected approximately at the center of the pedestal 1 or directly below the center of gravity of the helicopter 5. A uniball 4 is provided at the tip of the column 3, and the column 3 supports the launching platform 6 of the helicopter 5 so as to be swingable in any direction, front, back, left, or right, using the uniball 4 as a fulcrum.

Furthermore, two sets of hydraulic servo cylinders 9 and 10 are installed on the pedestal 1 and are respectively provided with load detectors 7 and 8 for swinging the starting platform 6 back and forth and left and right. In addition,
Various positions can be considered for the hydraulic servo cylinders 9 and 10, but in view of load balance, they are arranged symmetrically at the rear of the helicopter 5 as shown in FIG. 3.

The starting platform 6 is connected to the pedestal 1 via a horizontal support 12 provided with a load detector 11 so as to restrict rotation in a horizontal plane. This launching platform 6 has a lashing device 13 for lashing and releasing the helicopter 5.
is provided. This lashing device 13 is attached to the helicopter 5.
A hook 1 capable of restraining the legs 14 of the
5... and a hydraulic servo cylinder 16 connected to a linkage 16a that opens and closes these hooks 15 in conjunction with each other.

Further, in the lower part of the fuselage of the helicopter 5, hydraulic servo cylinders 9, 10 and steering actuator groups 17, 18,
a servo controller circuit 22 that controls 19 and 20;
A connector 23 connecting the steering actuator groups 17, 18, 19, and 20 is detachably provided in conjunction with the lashing device 13.

The actuator 17 drives the collective, and has the function of moving the body of the helicopter 5 up and down. Further, the actuator 18 drives the tail rotor and functions to rotate (change direction) the aircraft body. Further, the actuator 19 acts to tilt the aircraft back and forth in a vertical cyclic manner. Further, the actuator 20 acts to tilt the aircraft left and right in a lateral cyclic manner.

Each of the actuators 17, 18, 19,
20 is controlled by actuator 17 → actuator 1
It is preferable to perform this in the order of 8→actuator 19→actuator 20. This is done by first driving the collective with the actuator 17 to balance the lift force (lift force =
(gravity), actuators 18, 19, and 20 may be operated at the same time, but after balancing the lift forces, actuator 18 drives the tail rotor, cancels the collective's counter torque, stabilizes the rotation, and then actuator 19 →
This is because adjustment is easier if the control is performed in the vertical to horizontal or horizontal to vertical cyclic order using 20 or 20→19.

In FIG. 3, reference numeral 24 indicates 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 part according to the sequence shown in FIG.

Next, an explanation will be given of the operation of the helicopter launch pad constructed as described above when the helicopter is launched. First, in order to correct the load due to the starting platform 6's own weight, the detected loads of the vertical support 3, hydraulic servo cylinders 9, 10, and horizontal support 12 are set to zero.

Next, the helicopter 5 is mounted on the launch pad 6, and
The lashing device 13 is activated, the legs 14 of the helicopter 5 are restrained by the hooks 15, and the connectors 23 are connected manually.

Thereafter, the helicopter 5 is started, and the servo controller circuit 22 uses the sequence shown in FIG. 3 to determine whether the load on the launch pad 6 from the helicopter 5 is zero or The hydraulic servo cylinders 9, 10 and the steering actuator groups 17, 18, 19, 20 are controlled to approximate zero. As a result, the helicopter 5 is stopped in the air on the launch pad 6.

Thereafter, the lashing device 13 is activated, the legs 14 of the helicopter 5 are released from the hook 15, and the helicopter 5 is launched.

As described above, in this embodiment, since the helicopter 5 is stopped in the air on the launch pad 6, it is possible to cope with various fluctuation factors that hinder the launch of the helicopter 5, and the helicopter 5 can be maintained in a stable state. can be started automatically.

The helicopter launch pad of the present invention can also be mounted on a vehicle 25, as shown in FIG. Moreover, as shown in FIG. 5, it can also be mounted on a ship 26. In FIG. 5, the vertical support 3 is replaced with a hydraulic cylinder 27, making it possible to move the starting platform itself up and down.

[0024]

[Effects of the Invention] As explained above, according to the present invention,
Since the helicopter is stopped in the air on the launch pad when the helicopter is launched, it is possible to respond to various fluctuation factors that inhibit the launch of the helicopter, and to automatically launch the helicopter in a stable state. In addition, various equipment for realizing the helicopter's mid-air suspension state on the launch pad are as follows:
Since it is provided on the launch pad side, it is possible to suppress the weight of the helicopter.

[Brief explanation of drawings]

FIG. 1 is a longitudinal cross-sectional view of a helicopter launch pad according to an embodiment of the present invention.

FIG. 2 is a top view of a helicopter launch platform according to an embodiment of the present invention.

FIG. 3 is a configuration block diagram of a helicopter launch pad according to an embodiment of the present invention.

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

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

[Explanation of symbols]

1 Frame 2, 7, 8, 11 Load detector 3 Support column 4 Uniball 5 Helicopter 6 Launch platform 9, 10 Hydraulic servo cylinder 12 Horizontal column 13 Lashing device 14 Leg 15 Hook 16 Hydraulic servo cylinder 17, 18, 19, 20 Steering actuator group 2
2 Servo controller circuit 23 connector

Claims (1)

[Claims] Claim 1: At least two sets of at least two sets in which a starting platform is swingably supported in any direction on a column with a load detector installed upright in the center of the platform, and the launching platform is pivoted back and forth and left and right on the platform. A servo cylinder with a load detector is installed upright, and when the starting platform is in a position where the starting platform can tilt forward, backward, left, and right, the starting platform is horizontally mounted in a direction in which rotation of the starting platform is restrained at a position on the same horizontal plane as the starting platform. A horizontal support with a load detector is connected to the launch platform, and the launch platform is provided with a lashing device for lashing and releasing the helicopter mounted on the launch platform. A connector connecting a control circuit for an actuator group and a servo controller circuit for controlling the servo cylinder and the steering actuator group based on signals from each of the load detectors is provided in a detachable manner in conjunction with the lashing device, and the connector is detachably provided in conjunction with the lashing device; lashing the helicopter with the lashing device when the helicopter is launched;
After controlling the servo cylinder and the steering actuator group so that the load that the launch pad receives from the helicopter becomes zero based on the signals from each of the load detectors, the lashing of the helicopter by the lashing device is released. A helicopter launch pad characterized by being adapted to launch a helicopter.