WO2024041584A1

WO2024041584A1 - Rotary aircraft launching apparatus and system

Info

Publication number: WO2024041584A1
Application number: PCT/CN2023/114544
Authority: WO
Inventors: 姜军; 王雪竹
Original assignee: 沈阳极动科技有限公司
Priority date: 2022-08-25
Filing date: 2023-08-23
Publication date: 2024-02-29
Also published as: CN117682083A

Abstract

A rotary aircraft launching apparatus and system, comprising a support body (1), at least one rotary body (2) rotating about the axis of the support body (1), and a driving apparatus (4) for supplying power for the rotation of the rotary body (2). At least one attitude adjustment apparatus (5) is provided on the rotary body (2), the attitude adjustment apparatus (5) is used for adjusting in real time the attitude of an aircraft during rotation acceleration and at the time of launching, a launching rack (6) for holding and releasing the aircraft is provided on the attitude adjustment apparatus (5), and a base (3) for providing a stable support for the whole launching apparatus is provided at the bottom of the support body (1). In the rotary launching apparatus and system, an attitude adjustment apparatus (5) controls and adjusts the attitude of an aircraft in a targeted manner, such that the linear velocities of left and right wings of the aircraft, in particular a fixed-wing aircraft, with respect to the air at a launching moment are the same, thereby avoiding the potential take-off safety issues caused by a lift force difference between the left and right wings.

Description

An aircraft rotation launching device and system

Technical field

The invention belongs to the technical field of aircraft launch, and specifically relates to an aircraft rotation launch device and system.

Background technique

Aircraft such as fixed-wing aircraft and rotary-wing aircraft can be designed for specific mission objectives with the advantages of high speed, long endurance, and large payload. However, such aircraft need to reach and maintain a certain speed as a take-off and landing condition, usually requiring a specially constructed runway to accelerate to take-off speed and decelerate from landing speed to stop. It is difficult for fixed wings to take off and land in uneven terrain, mountains, forests, cities and other environments, which seriously limits the flexibility of their use. In order to enable a fixed-wing aircraft to take off smoothly in an environment without taxiing conditions, it is usually necessary to use auxiliary equipment to provide the fixed wing with an initial speed, so as to achieve takeoff without a slippery runway.

Existing auxiliary take-off and landing systems mostly adopt the form of linear guidance and power-assisted take-off, which uses energy storage equipment or drives to generate push/pull forces to provide fixed wings with the initial speed required for take-off within the size range of the linear guidance equipment. However, there are mutual constraints between the structural size of this type of auxiliary take-off and landing system, the maximum output force of the driver, and the ability of the fixed aircraft to withstand overload, making this form of take-off and landing system often bulky and providing very limited initial speed. In addition, this type of equipment is often large in size, and is very cumbersome and time-consuming to unfold and stow. It is even more inconvenient to install it on a vehicle and eject it during movement.

Chinese patent CN101327846A discloses a small unmanned aerial vehicle rotating ejection mount, which includes a launcher base, a rotating rocker arm, and a torsion spring. The launcher base is composed of a tripod bracket, a support rod, a fixed disk, and a limit block. The upper end of the torsion spring is fixedly connected to the rotating rocker arm, and the lower end of the torsion spring is fixedly connected to the fixed disc on the base. This solution can provide the aircraft with a greater initial speed at a smaller cost of size. However, this solution uses torsion springs as energy storage components, and the initial speed range that can be provided to the aircraft is very limited. In addition, because this solution uses a fixed-direction clamping frame, a fixed-length arm, and an uncontrolled torque drive method, it is unable to effectively control the aircraft's linear speed and attitude based on the current angular velocity during the spindle rotation process, thereby reducing the aircraft's impact on the arm. the load caused. The most critical thing is that when this solution is used to release an aircraft such as a fixed-wing aircraft, the left and right wings of the aircraft will generate a large lift difference due to the different distances relative to the center of rotation, thus threatening the safety of the aircraft.

Chinese patent CN101294782A discloses a launching device, which includes: a power system, a transmission system, a rotator, and a launched object; the power system is connected to the rotator through the transmission system to rotate the rotator, and the launched object is placed on the rotator. Although this patent solves the problem of power, it cannot effectively control the linear speed and attitude of the aircraft according to the current angular velocity during the rotation of the rotator, and it still cannot reduce the load caused by the aircraft to the rotator. This solution also cannot solve the problem that the take-off safety of the aircraft is threatened when the aircraft is released due to the large lift difference produced by the different distances between the left and right wings of the aircraft relative to the center of rotation. The solution proposed in this patent is even more unable to provide a complex and flexible launch initial state for the aircraft based on today's advanced aircraft trajectory planning and control methods.

technical problem

One aspect of the present disclosure provides an aircraft rotation launch device and system. The launch device adjusts the attitude of the aircraft during rotation acceleration and launch in real time through an attitude adjustment device, so that the aircraft is in a safer or more favorable initial state during launch. , to reduce or offset the centrifugal force generated by rotation during the rotation acceleration process, and can also be launched in a more flexible launch state obtained by the planning control method.

Technical solutions

Another aspect of the present disclosure is that through the structural design of the device, the device is more convenient to carry and store, and it is easy to realize integrated design and use with its carrier.

In order to achieve the above object, the present invention adopts the following technical solutions:

An aircraft rotation launching device includes a support body, at least one rotating body rotating around the axis of the supporting body, and a driving device that provides power for the rotation of the rotating body; at least one attitude adjustment device is provided on the rotating body, and the attitude adjustment device The adjustment device is used to real-time adjust the attitude of the aircraft during rotational acceleration and launch; the attitude adjustment device is provided with a launcher for holding and releasing the aircraft; the bottom of the support body is provided with a base for providing stable support for the entire launcher.

Wherein, the attitude adjustment device includes a mechanical arm composed of at least two rotating pairs. Each rotating pair is driven by a servo or energy storage device or a combination of a servo and an energy storage device. By adjusting the angles of multiple axes on the mechanical arm Then adjust the attitude of the aircraft.

Further, the attitude adjustment device includes at least one rotating pair or a combination of several rotating pairs for adjusting the heading angle of the aircraft.

Furthermore, the attitude adjustment device includes at least one rotating pair or a combination of several rotating pairs for adjusting the pitch angle of the aircraft.

Furthermore, the attitude adjustment device includes at least one rotation pair or a combination of several rotation pairs for adjusting the roll angle of the aircraft.

Specifically, the attitude adjustment device includes three connecting rods connected in sequence by rotating pairs. The first connecting rod is connected to the rotating body through the first rotating pair. The axis of the first rotating pair is the central radiation direction of the rotating body. The first connecting rod and the second connecting rod are connected through the second rotating pair. The axis of the second rotating pair is perpendicular to the axis of the first rotating pair. The second connecting rod and the third connecting rod are connected through the third rotating pair. The axis of the three rotating pairs is perpendicular to the axis of the second rotating pair, and the launcher is set on the third connecting rod. The first rotating pair, the second rotating pair, and the third rotating pair are all driven by servo drive or energy storage device or servo and Driven by a combination of energy storage devices.

In addition, in one embodiment, the attitude adjustment device includes three connecting rods connected in sequence, the first connecting rod is connected to the rotating body through the first rotating pair, and the axis of the first rotating pair is perpendicular to the rotating body at the same time. axis and the center radiation direction of the rotating body, the first connecting rod and the second connecting rod are connected through the second rotating pair, the axis of the second rotating pair is perpendicular to the axis of the first rotating pair, the second connecting rod and the third connecting rod Through the connection of the third rotating pair, the axis of the third rotating pair is perpendicular to the axis of the first rotating pair and the axis of the second rotating pair at the same time. The launcher is arranged on the third connecting rod. The first rotating pair, the second rotating pair, and the third rotating pair are connected. The three rotating pairs are driven by servo drive or energy storage device or a combination of servo and energy storage device.

Further, the attitude adjustment device can reciprocate in the radial direction of the rotation center of the rotating body.

Preferably, the rotating body is a rotating structure provided with at least one rotating arm, and the attitude adjustment device is provided on the rotating arm.

Further, the rotating arm is a single-stage or multi-stage telescopic mechanism, or a mechanical arm in which the rotating arm is composed of two or more rotating pairs, and the rotating pairs are all driven by servo.

Further, the rotating arm is provided with a connecting block, the rotating arm is connected to the support body through the connecting block, the rotating arm is rotationally connected to the connecting block, and a rotational locking mechanism is provided at the connection.

Preferably, in one embodiment, the rotating body is a rotating platform, and the attitude adjustment device is arranged on the rotating platform.

Further, a linear guide rail is provided on the upper edge of the rotary table in the radial direction, and the attitude adjustment device is provided on the moving part of the linear guide rail.

The driving device is the launched aircraft itself; or

The driving device is an aerodynamic driver installed on the rotating body; or

The driving device is a driver arranged at the coupling point between the support body and the rotating body. The driver is fixedly installed on the supporting body, and the power output end of the driver is connected to the rotating body; or

The driving device is a driver. The driver is arranged on the base. The support body is fixedly connected to the rotating body. The supporting body is rotationally connected to the base. The power output end of the driver is connected to the supporting body and drives the supporting body to rotate and then drives the rotating body to rotate.

Furthermore, the rotating body can reciprocate along the length direction of the support body.

Furthermore, an inclination angle adjustment structure is provided between the support body and the base, and the inclination angle adjustment structure is used to adjust the inclination angle between the support body and the base.

Further, the inclination angle adjustment structure is provided with a rotating pair between the support body and the base, the horizontal angle between the support body and the base is adjusted through the rotating pair, and the rotating pair is driven by the servo module support inclination angle driving device; or

A servo-driven worm gear is used, and the worm gear output shaft is connected to the rotating shaft between the support body and the base for driving; or

A linear guide rail is provided on the base, and a connecting rod is provided between the moving part of the linear guide rail and the support body. The inclination angle between the support body and the base is adjusted by adjusting the position of the moving part of the linear guide rail.

In addition, the rotary body is also provided with a balance arm to reduce the torque on the base in the roll and pitch directions when the rotary body is stationary and during rotation. The balance arm is provided with a counterweight block for counterweighting, so The counterweight block can reciprocate in the radial direction of the rotation center of the trim arm, its distance from the rotation axis of the rotating body is adjustable in real time, and it can be quickly detached from the trim arm.

A launch system for an aircraft, including the above-mentioned rotating launch device and a controller. The controller is a general-purpose computer or an embedded controller. The working state of the launch device is controlled by selecting a corresponding program according to the performance of the aircraft, so that the aircraft can operate with relatively good performance. Attitude launch.

Further, the launch system is provided with an environment sensing device, which includes at least one of a wind speed measuring instrument, a wind volume measuring instrument, a lidar and a visual sensor, and the environment sensing device is signally connected to the controller.

beneficial effects

Compared with the prior art, the present invention has the following advantages:

(1) Targeted control and adjustment of the attitude of the aircraft through the attitude adjustment device can make the aircraft, especially fixed-wing aircraft, have the same linear velocity of the left and right wings relative to the air at the time of launch, thus avoiding the problem caused by the difference in lift between the left and right wings. Potential takeoff safety.

(2) Combined with aircraft control technology, a more flexible launch method can be adopted. For example, when the aircraft takes off (ejection), the attitude of the aircraft is adjusted through the attitude adjustment device and the tilt angle control of the support body to make the attitude angle of the aircraft larger or the direction of the initial speed. There is a large angle with the horizontal plane, or both.

(3) Introduce robot and aircraft control technology, and adjust the attitude of the aircraft in real time during acceleration and launch through the attitude adjustment device. By controlling the angle of attack of the aircraft and the attitude of the aircraft relative to the launcher, the lift of the aircraft is used to reduce the load on the launcher.

(4) This device is equipped with multiple kinematic pairs and widely adopts servo control. It has a high degree of automation, is easy to carry and deploy, and can be placed on a vehicle, making it easy to integrate the aircraft and the vehicle.

(5) Use environmental sensing equipment to realize the perception of the surrounding space environment and wind speed and direction, and provide data support for aircraft flight planning and takeoff and landing planning.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of an embodiment according to an aspect of the present disclosure;

Figure 2 is a schematic structural diagram of an embodiment of a support rod according to an aspect of the present disclosure;

Figure 3 is a schematic structural diagram of another embodiment of a support rod according to an aspect of the present disclosure;

Figure 4 is a schematic structural diagram of an embodiment of a posture adjustment device according to an aspect of the present disclosure;

Figure 5 is a schematic structural diagram of another embodiment of a posture adjustment device according to an aspect of the present disclosure;

Figure 6 is a structural schematic diagram of a support rod angle adjustment structure according to one aspect of the present disclosure;

Figure 7 is a schematic structural diagram of a rotating body provided with connecting blocks according to one aspect of the present disclosure;

Figure 8 is a schematic diagram of the overall structure with a balance arm according to one aspect of the present disclosure;

Figure 9 is a schematic structural diagram of an embodiment of a balance arm according to an aspect of the present disclosure;

Figure 10 is a schematic diagram of an overall structure with a rotating stage according to one aspect of the present disclosure;

Figure 11 is a schematic structural diagram of a launch system according to one aspect of the present disclosure;

In the picture: 1-support body, 101-sliding block, 2-rotating body, 201-rotating arm, 202-rotating table, 203-connecting block, 204-trimming arm, 205-counterweight block, 3-base, 301 -Rotating pair, 4-driving device, 5-attitude adjustment device, 501,504-first link, 502,505-second link, 503,506-third link, 6-launcher, 7-controller, 8-environment perception equipment.

Best Mode of Carrying Out the Invention

The present invention will be further explained below in conjunction with specific embodiments, but the invention is not limited. The structures, proportions, sizes, etc. shown in the drawings of the description are only used to coordinate with the content disclosed in the description to facilitate familiarity with this invention. Those skilled in the art understand and read, but they are not intended to limit the implementation of the present invention, and therefore have no technical substantive significance. Any structural modifications, changes in proportions, or adjustments in size will not affect the performance of the present invention. The effect and the purpose that can be achieved should still fall within the scope of the technical content disclosed in the present invention. At the same time, terms such as "upper", "lower", "front", "back", and "middle" cited in this specification are only for convenience of description and are not used to limit the scope of the present invention. , changes or adjustments in their relative relationships, provided there is no substantial change in the technical content, shall also be deemed to be within the scope of the present invention.

Please refer to Figure 1. The rotary launcher of the present invention includes a cylindrical support body 1, and a rotating body 2 that rotates around the axis of the supporting body. In this embodiment, the rotating body is provided with two rotating arms 201, And the driving device 4 that provides power for the rotation of the rotating body 2; the rotating arm 201 is provided with an attitude adjustment device 5, which is used to real-time adjust the attitude of the aircraft during rotation acceleration and launch; the attitude adjustment device 5 is provided with The launcher 6 docked with the aircraft, the launcher 6 and the attitude adjustment device 5 can be integrated or separated; the launcher 6 uses mechanical or electromagnetic means to realize the connection and separation of the aircraft and the attitude adjustment device 5. For example, a U-shaped manipulator clamping method is used to clamp the mating parts on the aircraft to realize the docking between the launcher 6 and the aircraft, and the attachment and detachment of the aircraft are realized through the cooperation between the launcher 6 and the aircraft. A base 3 is provided at the bottom of the support body 1 to provide stable support for the entire launch device.

The present invention provides four embodiments of the driving device 4. The focus of the four embodiments is to illustrate the position of the driving device 4. In practical applications, different implementations can be selected according to different needs and existing technologies. Way.

In the first embodiment of the driving device 4, the support body 1 is rotationally connected to the rotating body 2. The driving device 4 that provides rotational driving force for the rotating body 2 is the launched aircraft itself, that is, the flight power of the aircraft itself is the rotation of the rotating body 2. Provide motivation.

In the second embodiment of the driving device 4, the driving device 4 is arranged on the rotating body 2. The supporting body 1 is rotationally connected to the rotating body 2. The rotating body 2 is provided with an aerodynamic driver. A common driver is a motor-driven propeller. The driver provides power for the rotation of the rotating body 2 through the driver.

The third embodiment of the driving device 4, the driving device 4 is provided at the coupling point between the supporting body 1 and the rotating body 2. For example, a motor is fixedly installed on the supporting body 1, and the power output end of the motor is connected to the rotating body 2. The motor can also be replaced with another qualified drive.

The fourth embodiment of the driving device 4, the driving device 4 is arranged on the base 3, the support body 1 is fixedly connected to the rotating body 2, the support body 1 is rotationally connected to the base 3, and a motor is provided on the base 3. The power output end is connected to the support body 1 and drives the support body 1 to rotate and then drives the rotating body 2 to rotate. The motor can also be a steam turbine or a fuel engine.

In one embodiment, the rotating body 2 is relatively fixedly connected to the supporting body 1 in the length direction of the supporting body 1, that is, the rotating body 2 is relatively stationary in the length direction of the supporting body 1.

More preferably, in another embodiment, the rotating body 2 can reciprocate along the length direction of the support body 1. In the first embodiment, as shown in Figure 2, the support body 1 is provided with guide rails, and the guide rails are provided with slide rails. Block 101, the rotating body 2 is placed on the slider 101, and the reciprocating motion of the rotating body 2 is realized through the sliding of the slider 101; in the second embodiment, as shown in Figure 3, the support body 1 is a single-stage or multi-stage telescopic mechanism, and the rotation The body 2 is arranged on the top of the support body 1, and the reciprocating motion of the rotating body 2 is realized through the expansion and contraction of the telescopic mechanism; in the third embodiment, the support body 1 has two legs or multiple legs or a main leg and an auxiliary support structure. By changing each leg or auxiliary The length or position of the support changes the height and angle of the rotating body 2, thereby realizing the reciprocating motion of the rotating body 2. This embodiment can also better control the attitude of the aircraft.

In the present invention, the attitude adjustment device 5 is used to adjust the attitude of the aircraft during the circular motion and when the aircraft is launched away from the launcher 6, so that the aircraft is subjected to various vibrations during the circular motion and when the aircraft is launched away from the launcher 6. Aerodynamics are more reasonable. Adjusting the attitude of the aircraft helps: first, to reduce the aircraft's disturbance to the center of rotation when the aircraft is accelerating before taking off; second, to make the aircraft safer when taking off, and flexibly provide the initial flight state of the aircraft, making the aircraft more efficient Well adapted to the planned flight trajectory. The attitude adjustment device 5 is constructed by selecting any combination of multiple axes according to the type of aircraft to adjust the pitch angle, roll angle, and heading angle required by the aircraft, and control the aircraft to be in an optimal attitude. In particular, by combining the environment sensing and planning control methods, the launch state can be planned very flexibly, adapting to very complex motion planning, thereby obtaining launch capabilities that cannot be achieved with existing technology. The essence of the attitude adjustment device 5 is a mechanical arm composed of two or more rotating pairs. By adjusting the angle of each axis on the mechanical arm, the aircraft obtains the desired attitude. Here, two typical configurations are selected for further explanation.

The first embodiment of the attitude adjustment device 5 of the present invention, please refer to Figure 4, includes three links connected in sequence by rotating pairs. The first link 501 is connected to the rotating body 2 through the first rotating pair. The axis of the rotating pair is the central radiation direction of the rotating body 2. The first connecting rod 501 and the second connecting rod 502 are connected through the second rotating pair. The axis of the second rotating pair is perpendicular to the axis of the first rotating pair. The rod 502 and the third connecting rod 503 are connected through the third rotating pair. The axis of the third rotating pair is perpendicular to the axis of the second rotating pair. The launcher 6 is arranged on the third connecting rod 503. The first rotating pair and the second rotating pair Both the rotating pair and the third rotating pair are driven by servo motors.

In order to optimize the drive device configuration, some key rotating pairs can be driven by energy storage devices or a combination of servo and energy storage devices. For example, when the aircraft adopts the horizontal launch mode, for the third rotating pair of the attitude adjuster, energy storage devices such as hydraulic pressure, pneumatic pressure, and springs can be used to store energy in advance or temporarily store energy through servo drive during the rotation and acceleration of the rotating body 2. Device energy storage. When the aircraft is about to be launched, the energy in the energy storage device is correspondingly released via the driving member according to the energy required by the aircraft to correct its heading, so that the heading of the aircraft is at the expected value when launched.

When adjusting the attitude of the aircraft, the first link 501 is used to adjust the pitch angle attitude of the aircraft, the second link 502 is used to adjust the roll angle attitude of the aircraft, and the third link 503 is used to adjust the yaw angle attitude of the aircraft. Here, the application of this embodiment is selected for explanation. For example, the rotation plane of the rotary body 2 is parallel to the ground, and the angle of the first link 501 and the second link 502 of the attitude adjustment device 5 is the initial angle, so that the aircraft is in a horizontal state. The aircraft here is an unmanned aircraft. Before the aircraft is launched, the heading angle of the aircraft is adjusted by quickly adjusting the angle of the third link 503. When the adjustment is completed, the aircraft is launched, so that when the aircraft is thrown out, the left and right wings are opposite to each other. The ground speed is the same, thereby avoiding flight safety problems caused by the unbalanced lift of the left and right wings when the aircraft is thrown out due to rotational motion. In addition, by adjusting the angle of the first link 501, the pitch angle of the aircraft can be adjusted, thereby adjusting the angle of attack of the aircraft, so that when the aircraft is thrown out, it obtains a better lift that matches the linear speed.

The second embodiment of the attitude adjustment device of the present invention, please refer to Figure 5, includes three connecting rods connected in sequence. The first connecting rod 504 is connected to the rotating body 2 through the first rotating pair. The axis of the first rotating pair At the same time, perpendicular to the axis of the rotating body 2 and the central radiation direction of the rotating body 2, the first connecting rod 504 and the second connecting rod 505 are connected through the second rotating pair, and the axis of the second rotating pair is perpendicular to the axis of the first rotating pair. The second link 505 and the third link 506 are connected through the third rotating pair. The axis of the third rotating pair is perpendicular to the axis of the first rotating pair and the axis of the second rotating pair at the same time. The launcher is arranged on the third connecting rod 506 , the first rotating pair, the second rotating pair, and the third rotating pair are all driven by servo drive or energy storage device drive or a combination of servo and energy storage device.

The attitude adjustment device 5 can reciprocate in the radial direction of the rotation center of the rotating body 2. In one embodiment, the rotating arm 201 uses a single-stage or multi-stage telescopic mechanism to control the distance between the attitude adjustment device 5 and its rotation center. The purpose of this distance is to make full use of the capabilities of the drive device 4 . For example, during the initial accelerated rotation stage of the rotating body 2, the length of the telescopic mechanism is adjusted in real time according to the driving constraints of the driving device 4 and the task requirements for the angular velocity of the rotating body, thereby fully utilizing the driving capability of the driving device 4. More specifically, since the distance between the aircraft and the rotation center is proportional to the torque of the driving device 4, the distance between the attitude adjustment device 5 and the rotation center is set to the shortest during the initial startup of the rotation launching device. During the process of rotational acceleration, the length of the rotating body is gradually adjusted according to the type of aircraft to meet the take-off requirements of the aircraft and at the same time reduce the performance requirements of the drive device 4 . For another example, when the driving force of the third link 503, 506 of the attitude adjustment device 5 cannot satisfy the small-radius, high-speed launch mode, a long-rod, low-speed launch mode can be used.

In one embodiment, please refer to Figure 6. A rotating pair 301 is provided between the support body 1 and the base 3. Its function is to adjust the normal direction of the rotation plane of the rotating body 2, thereby adjusting the speed direction of the aircraft when it is thrown out. The rotating pair 301 is driven by the inclination driving device of the servo module support body 1; or a servo driven worm gear can be used, and the worm gear output shaft is connected to the rotating shaft between the support body 1 and the base 3; or it can also be provided on the base 3 In the linear guide rail, a connecting rod is provided between the moving part of the linear guide rail and the support body 1, and the inclination angle of the support body 1 is adjusted by adjusting the position of the moving part of the linear guide rail. Specifically, the angle between the support body 1 and the ground can be set to α, and when the angle between the aircraft's rotational speed vector and the ground is α, it is separated from the launch arm, thereby obtaining an initial velocity direction diagonally upward with an angle α between the aircraft's rotation speed vector and the ground. The aircraft that is thrown up obliquely has more time to adjust and enter a normal flight state, so this method makes the aircraft take off more flexibly and safely. In addition, this embodiment facilitates folding and storage of the device.

Please refer to Figure 7. In order to further facilitate the storage of the launching device, the rotating body 2 also includes a connecting block 204. The rotating arm 201 is connected to the support body 1 through the connecting block 203. The rotating arm 201 is rotationally connected to the connecting block 203 and has a rotating Locking mechanism. In one embodiment, the rotational locking mechanism may use a worm gear. The worm gear output shaft is connected to the rotating shaft between the rotating arm 201 and the connecting block 203. The locking purpose is achieved through the self-locking property of the worm gear. The worm can be handwheel driven or servo driven. In another embodiment, the rotating pair here can be driven by a link-slider mechanism. The connecting rod is connected to one of the supporting bodies 1 through a rotating auxiliary rotating arm, and the slider is connected to the other through a moving auxiliary. In another real-time solution, positioning pins or methods such as applying pressure to increase static friction are used to lock at the preset or required position.

In one embodiment, please refer to FIGS. 8 and 9 , a trim arm 204 is also provided on the rotating body 2 to reduce the torque in the roll and pitch directions of the base 3 when the rotating body is stationary and during rotation. The balance arm 204 is provided with a counterweight block 205 for counterweighting, and the distance between the counterweight block 205 and the rotation axis of the rotating body 2 can be adjusted in real time through servo motor driving to meet the needs of real-time balance. If necessary, the counterweight 205 can be quickly detached from the trim arm 204 to avoid sudden changes in the force balance of the system when the aircraft is thrown. For example, the trim arm 204 adopts a single-stage or multi-stage telescopic mechanism or a guide rail slider mechanism. Here, a telescopic mechanism is selected for explanation. The counterweight block 205 is set at the end of the telescopic mechanism. The position of the counterweight block 205 is controlled by the telescopic mechanism. The telescopic mechanism The mechanism and the counterweight 205 are connected through electromagnetic fastening. When the aircraft is thrown, the counterweight 205 quickly contracts to near the center point. When necessary, the electromagnetic connection between the telescopic mechanism and the counterweight 205 is released. 205 can be quickly disconnected from the trim arm 204.

Another embodiment of the present invention, combined with the above embodiment, please refer to Figure 10. The rotating body 2 in this embodiment is a rotating table 202. The rotating table 202 can be of any shape. The preferred rotating table 202 is circular. 202 is provided with at least one attitude adjustment device 5 .

Please refer to Figure 11. The launching system of the present invention includes the above-mentioned rotating launching device and the controller 7. The controller 7 is a general-purpose computer or an embedded controller. The rotating launching device and the controller 7 are connected to each other. The controller 7 obtains the rotation in real time. The status data of each node of the launch device and the status data of the aircraft are used to select the corresponding program to control the working status of the launch device through the performance of the aircraft, so that the aircraft can be launched in a relatively good attitude.

In order to better adapt to the environment, this system is equipped with an environment sensing device 8, which includes at least one of a wind speed measuring instrument, a wind volume measuring instrument, a laser radar and a visual sensor. The environment sensing device 8 is connected with the controller 7 via signals. The environment sensing device 8 and the controller 7 are used to sense surrounding environment information and control various components of the rotating launch device in real time.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims

An aircraft rotating launch device includes a support body (1), which is characterized by:

It also includes at least one rotating body (2) that rotates around the axis of the supporting body (1), and a driving device (4) that provides power for the rotation of the rotating body (2);

The rotating body (2) is provided with at least one attitude adjustment device (5), and the attitude adjustment device (5) is used to real-time adjust the attitude of the aircraft during rotational acceleration and launch;

The attitude adjustment device (5) is provided with a launcher (6) for holding and releasing the aircraft;

A base (3) is provided at the bottom of the support body (1) to provide stable support for the entire launch device.
The aircraft rotation launching device according to claim 1, characterized in that: the attitude adjustment device (5) includes a mechanical arm composed of at least two rotating pairs, each rotating pair is driven by a servo or energy storage device or a servo and energy storage device. It is driven by a combination of devices, and the attitude of the aircraft is adjusted by adjusting the angles of multiple axes on the robotic arm.
The aircraft rotation launching device according to claim 1 or 2, characterized in that the attitude adjustment device (5) can reciprocate in the radial direction of the rotation center of the rotation body (2).
The aircraft rotation launching device according to claim 1, characterized in that the rotation body (2) can reciprocate along the length direction of the support body (1).
The aircraft rotation launching device according to claim 1, characterized in that: an inclination angle adjustment structure is provided between the support body (1) and the base (3), and the inclination angle adjustment structure is used to adjust the support body (1) The angle of inclination with the base (3).
The aircraft rotating launch device according to any one of claims 1 to 5, characterized in that: the rotating body (2) is a rotating structure provided with at least one rotating arm (201), and the attitude adjustment device (5) is provided with on the rotating arm (201); or the rotating body (2) is a rotating platform (202), and the attitude adjustment device (5) is arranged on the rotating platform (202).
The aircraft rotation launching device according to claim 6, characterized in that: the rotating arm (201) is provided with a connecting block (203), and the rotating arm (201) is connected to the support body (1) through the connecting block (203). The rotating arm (201) is rotationally connected to the connecting block (203), and a rotational locking mechanism is provided at the connection.
The aircraft rotating launch device according to claim 6, characterized in that: the rotating body (201) is also provided with a trim arm (204) for reducing the impact on the base (3) when the rotating body is stationary and during rotation. Torque in roll and pitch directions;

The balance arm (204) is provided with a counterweight block (205) for counterweighting. The counterweight block (205) can reciprocate along the radial direction of the rotation center of the balance arm (204). It is connected with the rotating body (205). 2) The distance between the rotation axis can be adjusted in real time, and it can be quickly detached from the trim arm (204).
A launch system for an aircraft, characterized by: including the rotary launch device of any one of claims 1 to 8 and a controller (7), the controller (7) being a general-purpose computer or an embedded controller, selected by the performance of the aircraft The corresponding program controls the working status of the launch device so that the aircraft can be launched in a relatively good attitude.
The launch system of an aircraft according to claim 9, characterized in that: the launch system is provided with an environment sensing device (8), which includes at least one of a wind speed measuring instrument, a wind volume measuring instrument, a laser radar and a visual sensor. The sensing device (8) is signally connected to the controller (7).