CN107323681A - One kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence and control method - Google Patents
One kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence and control method Download PDFInfo
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- CN107323681A CN107323681A CN201710519828.1A CN201710519828A CN107323681A CN 107323681 A CN107323681 A CN 107323681A CN 201710519828 A CN201710519828 A CN 201710519828A CN 107323681 A CN107323681 A CN 107323681A
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- 239000012530 fluid Substances 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 230000000979 retarding effect Effects 0.000 claims abstract description 11
- 239000003921 oil Substances 0.000 claims description 64
- 239000002828 fuel tank Substances 0.000 claims description 39
- 230000008569 process Effects 0.000 claims description 19
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 239000010705 motor oil Substances 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 claims description 2
- 230000009347 mechanical transmission Effects 0.000 claims description 2
- 230000036961 partial effect Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 6
- 230000003139 buffering effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000033999 Device damage Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
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Abstract
The invention discloses one kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence and control method, hydraulic catapult system includes Gas fluid pressure ejection unit, intelligent releasing unit, launcher unit, fixed pulley unit, spool unit, bogie unit and electric control unit；Gas fluid pressure ejection unit, fixed pulley unit, spool unit are fixed on launcher unit；Intelligent releasing unit is fixed on bogie unit, and electric control unit is used for the keying for controlling Gas fluid pressure to launch magnetic valve in unit and collection and the signal for handling velocity sensor on bogie unit.Its control method is：Leash pretension, then unmanned plane acceleration, are reached behind transmitting position, intelligent release device is opened, unmanned plane takes off, dolly retarding braking return first.Present system possesses the functions such as intelligence release unmanned plane, automatic retarding and safeguard protection, the thorny problem such as solves that unmanned plane deceleration device is cumbersome, the non-security velocity interval of unmanned plane is taken off and do not braked with acceleration super large.
Description
Technical field
The present invention relates to a kind of unmanned plane Gas fluid pressure ejection system, more particularly to one kind be integrated with intelligence release unmanned plane,
The Gas fluid pressure ejection system and control method of the function such as automatic retarding and safeguard protection.
Background technology
Unmanned plane launching technique is varied, have hand throwing type, take off vertically, dispensing in the air, rocket assist, runway slide run,
Dolly takeoff and catapult-assisted take-off.Unmanned aerial vehicle ejecting technology includes elastic string ejection, electromagnetic launch, Gas fluid pressure ejection and Pneumatic ejection
Deng.
In Gas fluid pressure ejection process, unmanned plane is placed on dolly, and is locked by locking device, on launching cradle with
Dolly accelerates to the speed of safe take-off together.Locking device is opened, and unmanned plane separates with dolly and take off, dolly reduce speed now to
After zero, starting transmitting position is returned to, is that the transmitting of next stage unmanned plane is prepared.
Existing unmanned plane Gas fluid pressure ejection system realizes the acceleration of unmanned plane frequently with high speed hydraulic cylinder and speed increaser.
In accelerator, the movement velocity of piston rod has reached 5m/s~8m/s, hydraulic system moment flow up to 1500m/s~
3000m/s, it is therefore necessary to consider the big improvement hydraulic cylinder of hydraulic system moment flow, has that complex process, difficulty of processing are big etc. to be lacked
Point；Speed increaser is typically even multistage using two-stage running block, and it is easy to wear to there is leash, is often drawn after the completion of transmitting
With the phenomenon such as mixed and disorderly.
Unmanned plane Gas fluid pressure ejection system frequently with retarding method include hydroturbine slow down, steel wire rope intercept slow down it is gentle
Punching hydrodynamic cylinder pressure slows down.Water turbine plant is filled with fluid and the sealed volume with rotating vane, when dolly is grabbed by hook
Firmly rear haulage goes out shackle, drives blade quick rotation, and blade causes turbulent flow in fluid, dolly is subtracted so as to realize
Speed.Small vehicle speed is bigger, and turbulent flow is more obvious, and retardation efficiency is better, but at low speeds, does not have enough disorderly in fluid
Stream, it is impossible to enough brake weights are produced, so efficiency is low.Chinese Patent Application No. discloses a kind of use for 200920106279.6
In the speed-down braking mechanism of unmanned slide trolley, intercept that dolly is carried out to intercept using elastic string and slow down, but in practical application
In the problems such as there is rubber fracture of rope, its security reliability is poor.Chinese Patent Application No. is 201310306952.1 disclosures
A kind of unmanned aerial vehicle ejecting device slows down and backhaul gas-liquid pressure control system, passing ratio overflow valve control buffer-braking hydraulic pressure
Cylinder, to realize the steady deceleration of slide trolley, but the deceleration device is complicated, adds the quality of emitter, and it is pacified
Full property can not be guaranteed.
Existing unmanned plane Gas fluid pressure ejection system is not detected to unmanned plane takeoff speed, in Chinese Patent Application No.
In the unmanned plane hydraulic catapult take-off system disclosed in 201410708695.9, unmanned plane reaches a certain fixed position by simple
Machine driving opens unmanned plane locking device, the unmanned plane is still released in the case of safe take-off velocity interval is not in
Take off, it is thus possible to the accidents such as unmanned plane crash can be caused, pass through machine driving and open locking device, bad adaptability, reliability
Not enough.
Acceleration of the existing unmanned plane Gas fluid pressure ejection system not to unmanned plane in launching phase is detected, due to operation
Improper or hydraulic system causes unmanned plane emission process acceleration to become big extremely extremely, when the acceleration of unmanned plane exceedes safe model
When enclosing, device damage in unmanned plane is likely to result in, it is therefore necessary to detect the acceleration of unmanned plane in launching phase and be provided with
Emergency treatment System.
The content of the invention
, can the releasable unmanned plane of intelligence it is an object of the invention to provide one kind for defect present in above-mentioned prior art
Gas fluid pressure ejection system and control method, the system possess the functions, solution such as intelligence release unmanned plane, automatic retarding and safeguard protection
Unmanned plane deceleration device of having determined is cumbersome, the non-security velocity interval of unmanned plane is taken off the thorny problem such as does not brake with acceleration super large.
Goal of the invention is realized in order to solve above-mentioned technical problem, the present invention is to be achieved through the following technical solutions
's：
One kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence, the system include Gas fluid pressure ejection unit, intelligence release
Put unit, launcher unit, fixed pulley unit, spool unit, bogie unit and electric control unit；Gas fluid pressure ejection unit,
Fixed pulley unit, spool unit are fixed on launcher unit；Intelligent releasing unit is fixed on bogie unit, electricity
Gas control unit is used for the keying for controlling Gas fluid pressure to launch magnetic valve in unit and velocity pick-up on collection and processing bogie unit
The signal of device；
The Gas fluid pressure ejection unit is by accelerating part, braking buffer portion, brake hard part and hydraulic cylinder extension
Part is constituted, and wherein hydraulic cylinder extension part is for the intelligent releasing unit work of cooperation；
Gas fluid pressure ejection unit is slippage pump, the first solenoid directional control valve, the first overflow valve, the by repairing pump motor
One check valve, filter, the second solenoid directional control valve, accumulator, pressure gauge, first pressure sensor, proportional pressure-reducing valve, the one or three
Position four-way electromagnetic reversing valve, the first one-way throttle valve, the second one-way throttle valve, the first inserted valve, second pressure sensor, the 3rd
Solenoid directional control valve, the second overflow valve, hydraulic motor, buffer-braking cylinder, the second inserted valve, the 4th solenoid directional control valve, choke valve, cut
Only valve, the second check valve, direct acting pressure, the second three-position four-way electromagnetic directional valve, hydraulic cylinder, the 5th solenoid directional control valve, oil
Case and the oil pipe composition for connecting each element；Repairing pump motor drives slippage pump, and slippage pump inlet port is connected with fuel tank, repairing
It is pumped hydraulic fluid port and accumulator is connected by the first check valve and filter；First solenoid directional control valve and the first overflow valve are connected across repairing
Between the force feed mouthful and fuel tank of pump；Accumulator couples the rodless cavity of buffer-braking cylinder, buffer-braking by the 5th solenoid directional control valve
The rod chamber connection fuel tank of cylinder, buffer-braking cylinder to hydraulic motor rotating shaft by acting on the buffer-braking work(realized to hydraulic motor
Energy；Accumulator connects the oil inlet of hydraulic motor by the first inserted valve；Second inserted valve has three hydraulic fluid ports, time of hydraulic motor
Hydraulic fluid port connects second the first hydraulic fluid port of inserted valve, and accumulator connects the second hydraulic fluid port of the second inserted valve, the 3rd oil of the second inserted valve
Mouth is connected with fuel tank；3rd solenoid directional control valve and the second overflow valve are connected between hydraulic motor oil inlet and oil return opening；Accumulation of energy
Device is connected through proportional pressure-reducing valve with the first three-position four-way electromagnetic directional valve oil inlet, first the first work of three-position four-way electromagnetic directional valve
Make the oil return opening that hydraulic fluid port connects hydraulic motor through the first one-way throttle valve, its second actuator port is connected through the second one-way throttle valve
The oil inlet of hydraulic motor, the oil return opening connection tank drainback of the first three-position four-way electromagnetic directional valve；Pressure gauge and first pressure
Sensor is arranged on the pipeline between accumulator and proportional pressure-reducing valve；Second pressure sensor is arranged on the oil return of hydraulic motor
On pipeline between mouth and the first one-way throttle valve；Hydraulic motor oil return opening is connected to by the 4th solenoid directional control valve and choke valve
Fuel tank；Accumulator is connected fuel tank by the second solenoid directional control valve with stop valve respectively；Accumulator connects direct acting through the second check valve
Formula pressure-reducing valve, and the oil inlet for second three-position four-way electromagnetic directional valve that is linked in sequence, two working oils that the second 3-position 4-way is changed
Mouth connection liquid cylinder pressure, its oil return opening connection fuel tank；
The accelerating part of the Gas fluid pressure ejection unit is to provide a system to power source by accumulator, controls hydraulic pressure horse
Up to rotation, so as to drive reel to drive dolly and unmanned plane, the acceleration ejection of unmanned plane is realized；
The buffer-braking part of the Gas fluid pressure ejection unit is to pull on hydraulic motor by dolly inertia to rotate backward,
Under the resistance of hydraulic oil, hydraulic braking is carried out to dolly；
The brake hard part of Gas fluid pressure ejection unit is to prevent dolly and unmanned plane from accelerating in boost phase
Emergency brake device that is big and setting is spent, to ensure the equipment safety on unmanned plane；
The intelligent releasing unit is that, by gathering the rate signal on dolly, electric control unit system decides whether to beat
Open locking device, prevents unmanned plane from being taken off under non-security takeoff speed state；
The launcher unit is made up of the part such as guide rail and fuselage, and Gas fluid pressure ejection unit is provided with thereon, is slided calmly
Wheel unit, spool unit and bogie unit；
The spool unit is made up of the first fixed pulley with the second fixed pulley, and spool unit passes through traction with bogie unit
Band connection, the middle hydraulic motor that spool unit launches unit with Gas fluid pressure is connected, both common rotations；Changed by two groups of fixed pulleys
Become the direction of leash, to realize acceleration, the buffer-braking function of dolly；
The electric control unit is the control centre of Gas fluid pressure ejection system, keying, dolly for controlling magnetic valve
Collection and processing of rate signal etc.；
The bogie unit is used to carry unmanned plane, and velocity sensor is arranged on bogie unit.
It is described it is a kind of can the releasable unmanned plane Gas fluid pressure ejection system of intelligence control method, this method content include it is as follows
Step：
1) unmanned aerial vehicle ejecting process
Repairing pump motor drives repairing pump work, and the hydraulic oil of output enters accumulator by the first check valve, filter,
When accumulator internal pressure reaches setting value, the first overflow valve starts overflow；Hereafter, the pressure oil of accumulator passes sequentially through ratio
Example pressure-reducing valve, the first three-position four-way electromagnetic directional valve enters hydraulic motor oil inlet, the reel that hydraulic motor is connected will be restricted
Rope pretension；
Unmanned plane starts to accelerate, and the first inserted valve, the second inserted valve are opened, and the hydraulic oil in accumulator enters hydraulic motor
Oil inlet simultaneously quickly returns to fuel tank, hydraulic motor moment drive spool unit at a high speed rotate, by leash drive dolly with
Unmanned plane accelerates；In the entirely ejection stage, slippage pump is constantly in working condition；
2) the dolly deboost phase
This process is divided into three kinds of situations, and the first situation is unmanned plane in launching phase acceleration over range, second of feelings
Condition is the braking that unmanned plane emission rate is not in safe take-off scope, system during the third situation after unmanned plane normal transmission
It is dynamic；
Shutdown phase is in decelerating phase slippage pump；After dolly reaches transmitting position, detected by velocity sensor
Dolly rate signal simultaneously sends the signal of collection to electric control unit；
When in the first situation, unexpected, unmanned plane launching phase acceleration over range, electricity occur in boost phase for dolly
Gas control unit sends command signal, closes the first inserted valve and the second inserted valve, and the coil of the 4th solenoid directional control valve obtains electric, liquid
Fluid warp knuckle stream valve flows back to fuel tank inside pressure motor, and hydraulic motor gradually slows down, as rotating speed is reduced, and braking effect weakens, this
When the 5th solenoid directional control valve open, accumulator is passed through aux. pressure oil to buffer-braking cylinder makes hydraulic motor finally brake, realize
Dolly and the safe retarding braking of unmanned plane；
When in second of situation, when unmanned plane is in non-security takeoff speed scope, electric control unit is not sent
Command signal, locking device will be closed, and dolly is decelerated to zero under buffer-braking partial action jointly with unmanned plane；
When in the third situation, when unmanned plane is in safe take-off velocity interval, electric control unit sends instruction
Signal controls the coil of the second three position four-way directional control valve to obtain electric, hydraulic cylinder is stretched out driving mechanical transmission device, unmanned plane locking
Device will be opened, unmanned plane abrupt release；Now, dolly pulls reel by inertia by leash, so that with hydrodynamic pressure
Motor, makes the rotation direction of hydraulic motor be changed into rotating backward from initial rotating forward, resistance of the hydraulic motor in hydraulic oil
Under be decelerated to zero；When the rotating speed of hydraulic motor is zero, closes the first inserted valve and disconnect between accumulator and hydraulic motor
Loop；
3) dolly return stroke
This process is divided into two kinds of situations, and the first situation is backhaul control of the unmanned plane after launching phase brake hard,
Second of situation is backhaul control or because emission rate is not in the backhaul control of safe take-off scope after dolly normal transmission；
When in the first situation, the electromagnet coil of the first three-position four-way electromagnetic directional valve obtains electric, now accumulator
Pressure oil lead to reversal valve, the first one-way throttle valve by proportional pressure-reducing valve, the one or three four electromagnetism and reach hydraulic motor oil return
Mouthful, hydraulic motor reversion, its internal fluid returns to fuel tank through the second one-way throttle valve；
When in second of situation, after dolly completes decelerating operation, dolly is first by by Action of Gravity Field backhaul to first
Group fixed pulley position, the electromagnet coil of the first three-position four-way electromagnetic directional valve obtains electric, now the pressure oil of accumulator pass through than
Example pressure-reducing valve, the one or three four electromagnetism lead to reversal valve, the first one-way throttle valve and reach the reverse oil inlet of hydraulic motor, hydraulic motor
Reversion, its internal fluid returns to fuel tank through the second one-way throttle valve.
Due to using above-mentioned technical proposal, one kind that the present invention is provided can the releasable unmanned plane Gas fluid pressure ejection system of intelligence
And control method, compared with prior art with such beneficial effect：
1) unmanned plane speedup is driven using fluid motor-driven reel, it is to avoid used existing unmanned plane Gas fluid pressure to launch
High speed hydraulic cylinder and speed increaser that system is used, system are more simplified；
2) using intelligent releasing unit, unmanned plane emission rate is detected using velocity sensor, electric control system will be controlled
The keying of locking device processed, it is ensured that unmanned plane takes off in the range of specified emission rate, it is ensured that the non-security takeoff speed of unmanned plane
Air crash accident caused by taking off, security is good, and reliability is high；
3) there is buffer-braking function, realize that dolly slows down using hydraulic motor reversion, without being separately provided deceleration system
And deceleration device, emission system is more simplified, and alleviate the weight of emission system；
4) there is emergency braking function, exceed in the acceleration of unmanned plane under non-security ambit, utilize electromagnetic switch
Valve, choke valve and brake open in usual carry out fast braking hydraulic motor, it is ensured that equipment safety on unmanned plane.
Present system possesses the functions such as intelligence release unmanned plane, automatic retarding and safeguard protection, solves unmanned plane and subtracts
Speed variator is cumbersome, the non-security velocity interval of unmanned plane is taken off the thorny problem such as does not brake with acceleration super large.
Brief description of the drawings
Fig. 1 is that one kind of the present invention can the releasable unmanned plane Gas fluid pressure ejection system composition schematic diagram of intelligence；
Fig. 2 is the hydraulic schematic diagram that unmanned plane Gas fluid pressure of the present invention launches unit；
Fig. 3 is UAV Intelligent releasing unit of the present invention；
Fig. 4 be the present invention it is a kind of can the releasable unmanned plane Gas fluid pressure ejection system of intelligence workflow diagram.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
The present invention one kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence, its composition schematic diagram as shown in figure 1, should
System include Gas fluid pressure ejection unit, intelligent releasing unit, launcher unit, fixed pulley unit, spool unit, bogie unit and
Electric control unit is constituted；Wherein, Gas fluid pressure ejection unit, fixed pulley unit, spool unit are fixed on launcher unit
On；Intelligent releasing unit is fixed on bogie unit, and electric control unit is used to control Gas fluid pressure to launch electromagnetism in unit
The keying and collection of valve, the signal for handling velocity sensor on bogie unit.
The Gas fluid pressure ejection unit is by accelerating part, braking buffer portion, brake hard part and hydraulic cylinder extension
Part is constituted, and wherein hydraulic cylinder extension part is for the intelligent releasing unit work of cooperation；
The hydraulic schematic diagram of Gas fluid pressure ejection unit is as shown in Figure 2：It is by repairing pump motor 1, the electricity of slippage pump 2, first
Magnetic reversal valve 3, the first overflow valve 4, the first check valve 5, filter 6, the second solenoid directional control valve 7, accumulator 8, pressure gauge 9,
One pressure sensor 10, proportional pressure-reducing valve 11, the first three-position four-way electromagnetic directional valve 12, the first one-way throttle valve 13, second are single
To choke valve 14, the first inserted valve 15, second pressure sensor 16, the 3rd solenoid directional control valve 17, the second overflow valve 18, hydraulic pressure horse
Up to 19, buffer-braking cylinder 20, the second inserted valve 21, the 4th solenoid directional control valve 22, choke valve 23, stop valve 24, the second check valve
25th, direct acting pressure 26, the second three-position four-way electromagnetic directional valve 27, hydraulic cylinder 28, the 5th solenoid directional control valve 29, fuel tank 30 with
And connect the oil pipe composition of each element；Repairing pump motor 1 drives slippage pump 2, and the inlet port of slippage pump 2 is connected with fuel tank 30, mends
Oil pump 2 presses oil mouth and connects accumulator 8 by the first check valve 5 and filter 6；First solenoid directional control valve 3 and the first overflow valve 4 across
It is connected between the force feed of slippage pump 2 mouthful and fuel tank 30；Accumulator 8 couples buffer-braking cylinder 20 by the 5th solenoid directional control valve 29
Rodless cavity, the rod chamber connection fuel tank 30 of buffer-braking cylinder 20, buffer-braking cylinder 20 to the rotating shaft of hydraulic motor 19 by acting on real
Now to the buffer-braking function of hydraulic motor 19；Accumulator 8 connects the oil inlet of hydraulic motor 19 by the first inserted valve 15；The
Two inserted valves 21 have three hydraulic fluid ports, the oil return opening connection hydraulic fluid port of the second inserted valve 21 first of hydraulic motor 19, the connection of accumulator 8 the
Second hydraulic fluid port of two inserted valves 21, the 3rd hydraulic fluid port of the second inserted valve 21 is connected with fuel tank 30；3rd solenoid directional control valve 17 and
Two overflow valves 18 are connected between the oil inlet of hydraulic motor 19 and oil return opening；Accumulator 8 is through proportional pressure-reducing valve 11 and the one or three
The oil inlet of four-way electromagnetic reversing valve 12 is connected, and the actuator port of the first three-position four-way electromagnetic directional valve 12 first is through the first one-way throttle
Valve 13 connects the oil return opening of hydraulic motor 19, and its second actuator port connects entering for hydraulic motor 19 through the second one-way throttle valve 14
Hydraulic fluid port, the oil return opening connection oil return of fuel tank 30 of the first three-position four-way electromagnetic directional valve 12；Pressure gauge 9 and first pressure sensor 10
On pipeline between accumulator 8 and proportional pressure-reducing valve 11；Second pressure sensor 16 is arranged on returning for hydraulic motor 19
On pipeline between hydraulic fluid port and the first one-way throttle valve 13；The oil return opening of hydraulic motor 19 passes through the 4th solenoid directional control valve 22 and throttling
Valve 23 is connected to fuel tank 30；Accumulator 8 is connected fuel tank 30 by the second solenoid directional control valve 7 with stop valve 24 respectively；Accumulator 8 is passed through
Second check valve 25 connects direct acting pressure 26, and the oil inlet for second three-position four-way electromagnetic directional valve 27 that is linked in sequence, the
Two actuator port connection liquid cylinder pressures 28 of two three position four-way directional control valves 27, its oil return opening connection fuel tank 30.
The accelerating part of the Gas fluid pressure ejection unit is to provide a system to power source by accumulator, controls hydraulic pressure horse
Up to rotation, so as to drive reel to drive dolly and unmanned plane, the acceleration ejection of unmanned plane is realized；Its concrete implementation process is such as
Under：The driving slippage pump 2 of repairing pump motor 1 works, and the hydraulic oil of output enters accumulator by the first check valve 5 and filter 6
8, when the internal pressure of accumulator 8 reaches setting value, the first overflow valve 4 of slippage pump 2 starts overflow；Now, the pressure of accumulator 8
Power oil passes sequentially through proportional pressure-reducing valve 11, the first three-position four-way electromagnetic directional valve 12, the second one-way throttle valve 14, into hydraulic pressure horse
Up to 19 positive oil inlets, hydraulic motor 19 is set to rotate forward the angle of very little, its reel being connected is by rope pretension；Then, nobody
Machine starts to accelerate；First inserted valve 15, the second inserted valve 21 are opened, and hydraulic oil enters the inside of hydraulic motor 19 and quickly returned to
Fuel tank 30, the moment of hydraulic motor 19 drives spool unit to rotate at a high speed, drives dolly to accelerate with unmanned plane by leash.
The buffer-braking part of the Gas fluid pressure ejection unit is to pull on hydraulic motor by dolly inertia to rotate backward,
Under the resistance of hydraulic oil, hydraulic braking is carried out to dolly；Implement process as follows：When dolly locking device discharges unmanned plane
Afterwards, electric control unit causes the first inserted valve 15 to close, and the second inserted valve 21 continues to open, and dolly is by inertia by leading
Leader tape pulls reel, so as to drive hydraulic motor 19, the rotation direction of hydraulic motor 19 is become by the initial moment that rotates forward
To rotate backward, hydraulic motor 19 is decelerated to zero under the resistance of hydraulic oil, and this process hydraulic motor 19 will be from the oil suction of fuel tank 30
Pressed oil to the fliud flushing of accumulator 8.
The brake hard part of Gas fluid pressure ejection unit is to prevent dolly and unmanned plane from accelerating in boost phase
Emergency brake device that is big and setting is spent, to ensure the equipment safety on unmanned plane；It is as follows that it implements process：Pass through place
The speed sensor signal installed on reason dolly, detects the acceleration signal of dolly and sends electric control unit in real time；When
Dolly is when boost phase occurs unexpected, and the acceleration of dolly and unmanned plane exceedes safe acceleration scope, electric control unit
Command signal is sent, the first inserted valve 15 and the second inserted valve 21 is closed, the DT8 of the second solenoid directional control valve 7 obtains electro-hydraulic pressure motor
19 oil returns take back fuel tank 30 through choke valve 23, and hydraulic motor 19 gradually slows down, as rotating speed is reduced, and braking effect weakens, now
Being passed through aux. pressure oil to buffer-braking cylinder 20 makes the finally braking of hydraulic motor 19, realizes that dolly and unmanned plane slow down safely and makes
It is dynamic.
The intelligent releasing unit, as shown in figure 3, it is by gathering the rate signal on dolly, electric control unit
Decide whether to open locking device, prevent unmanned plane from being taken off under non-security takeoff speed state；It launches single by Gas fluid pressure
The hydraulic cylinder extension part of member locks device to realize function, and locking device is by vehicle frame 106, thick stick with positioning hole
Bar 104 and fixed hinge 105 are constituted；Lever 104 is fixed on dolly by fixed hinge 105, only rotatable, lever one end
The positioning hole of vehicle frame is blocked, the other end is hinged with hydraulic cylinder 28；Wheel 102 in bogie unit can be travelled on guide rail 101, sliding
Take offence hydraulic catapult unit hydraulic cylinder be arranged on trolley base 103 on, unmanned machine base 107 is placed on the car with positioning hole
On frame 106.It is implemented as follows：Unmanned machine base is placed on the vehicle frame with positioning hole, while by velocity sensor
With dolly, detect dolly rate signal and send the signal of collection to electric control unit；When unmanned plane is reached
During takeoff setting, when electric control unit detects unmanned plane in safe take-off velocity interval, electric control unit sends finger
Make signal control the 9DT of the second three position four-way directional control valve 27 to obtain electric, stretch out hydraulic cylinder 28, open unmanned plane locking device, nothing
Man-machine moment takes off；Conversely, electric control unit does not send command signal, dolly is common under buffering braking system with unmanned plane
It is decelerated to zero, it is to avoid unmanned plane ruins machine accident caused by being not in the transmitting of safe take-off velocity interval.
The launcher unit, as shown in figure 3, it is made up of the part such as guide rail and fuselage, is provided with Gas fluid pressure thereon
Launch unit, fixed pulley unit, spool unit and bogie unit.
The spool unit, as shown in figure 3, it is made up of the first fixed pulley with the second fixed pulley, spool unit with it is small
Car unit is connected by leash, and the hydraulic motor 19 that spool unit is launched with Gas fluid pressure in unit is connected, both common rotations,
By the direction of two groups of fixed pulleys change leashes, the function such as acceleration, buffer-braking to realize dolly.It implements process
It is as follows：The position of first group of fixed pulley is in the position of S distances on the lower side directly over hydraulic pressure horse, 19, it is therefore intended that reduce dolly
The mutation of braking section leash moment pulling force is switched to by accelerating sections, second group of fixed pulley is in hydraulic motor position directly above.
The electric control unit is the control centre that Gas fluid pressure launches unit, keying, dolly for controlling magnetic valve
Collection and processing of rate signal etc..
The bogie unit is used to carry unmanned plane, and velocity sensor is arranged on bogie unit.
The present invention can the releasable unmanned plane Gas fluid pressure ejection system of intelligence workflow diagram as shown in figure 4, hydraulic pressure first
Accumulator topping up in system, then leash tensioning, prepares transmitting, and then dolly carries unmanned plane acceleration, if this process occurs
Unexpected, unmanned plane acceleration increases extremely, and emergency braking system is started working, and braking deceleration is zero to dolly altogether with unmanned plane, so
Common backhaul afterwards.After transmitting position is reached, if unmanned plane is in safe take-off velocity interval, intelligent locking apparatus is opened,
Unmanned plane takes off；Conversely, intelligent locking apparatus is not opened.Then braking deceleration is completed until speed is zero, and dolly backhaul enters
Next working cycles.
It is described it is a kind of can the releasable unmanned plane Gas fluid pressure ejection system of intelligence control method, content comprises the following steps：
Leash pretension first, dolly is in tensioned state with leash；Then unmanned plane accelerates, and reaches transmitting position；
If this process occurs surprisingly, unmanned plane acceleration becomes big extremely, and emergency braking system is started working, and dolly subtracts jointly with unmanned plane
Speed braking；After transmitting position is reached, intelligent release device is opened, and unmanned plane takes off, dolly retarding braking；If generation is unexpected,
Unmanned plane speed is not in safe take-off scope, and intelligent release device does not work, unmanned plane and the common retarding braking of dolly；Finally
Complete after transmitting work, hydraulic motor reversion, dolly return.Its specific work process is as follows：
1) unmanned aerial vehicle ejecting process
The driving slippage pump 2 of repairing pump motor 1 is worked, and the hydraulic oil of output is entered by the first check valve 5, filter 6 to be stored
Energy device, when the internal pressure of accumulator 8 reaches setting value, the first overflow valve 4 starts overflow.Meanwhile, the pressure oil of accumulator 8 according to
Secondary passing ratio pressure-reducing valve 11, the first 3-position 4-way electromagnetism change 12 and entered to valve and the second one-way throttle valve 14 into hydraulic motor 19
Hydraulic fluid port, makes the reel that hydraulic motor 19 is connected by rope pretension.
Unmanned plane starts to accelerate, and the first inserted valve 15 and the second inserted valve 21 are opened, and the hydraulic oil in accumulator 8 enters liquid
The inside of pressure motor 19 simultaneously quickly returns to fuel tank 30, and the moment of hydraulic motor 19, rotation drove dolly to accelerate with unmanned plane at a high speed.
In the whole ejection stage, slippage pump 2 is constantly in working condition.
When dolly occurs unexpected in boost phase, the acceleration of dolly and unmanned plane exceedes safe acceleration scope, electricity
Gas control unit sends command signal, closes the first inserted valve 15 and the second inserted valve 21, and the DT7 of the 4th solenoid directional control valve 22 is obtained
Electricity, the oil return of hydraulic motor 19 takes back fuel tank 30 through choke valve 23, and hydraulic motor 19 gradually slows down, as rotating speed is reduced, braking effect
Fruit weakens, and being now passed through aux. pressure oil to buffer-braking cylinder 20 by the 5th solenoid directional control valve 29 of opening makes hydraulic motor 19 most
After brake, realize dolly and the safe retarding braking of unmanned plane.
2) the dolly deboost phase
Decelerating phase slippage pump is in shutdown phase.After dolly reaches transmitting position, detect small by velocity sensor
Vehicle speed signal simultaneously sends the signal of collection to electric control unit.When unmanned plane is in safe take-off velocity interval, electricity
Gas control unit sends command signal and controls the DT9 of the second three position four-way directional control valve 27 to obtain electric, hydraulic cylinder 28 is stretched out band motivation
Tool transmission device, unmanned plane locking device will be opened, unmanned plane abrupt release.Now, dolly passes through leash by inertia
Reel is pulled, so as to drive hydraulic motor 19, makes the rotation direction of hydraulic motor 19 be changed into reversely turning from initial rotating forward
Dynamic, hydraulic motor 19 is decelerated to zero under the resistance of hydraulic oil.When the rotating speed of hydraulic motor 19 is zero, the first inserted valve is closed
15 and disconnect the loop between accumulator 8 and hydraulic motor 19.When unmanned plane is in non-security takeoff speed scope, electric-controlled
Unit processed does not send command signal, and locking device will be closed, and dolly is decelerated under buffering braking system jointly with unmanned plane
Zero.
3) dolly return stroke
This process is divided into two kinds of situations, and one is backhaul control of the unmanned plane after launching phase brake hard, and two be dolly
Backhaul is controlled or because emission rate is not in the backhaul control of safe take-off scope after normal transmission.
When in the first situation, the electromagnet DT3 of the first three-position four-way electromagnetic directional valve 12 obtains electric, now accumulator
8 pressure oil reaches hydraulic pressure horse by proportional pressure-reducing valve 11, the first three-position four-way electromagnetic directional valve 12, the first one-way throttle valve 13
Up to 19 oil return openings, hydraulic motor 19 is inverted, and its internal fluid returns to fuel tank 30 through the first one-way throttle valve 13.
When in second of situation, after dolly completes decelerating operation, dolly is first by Action of Gravity Field backhaul to first group
Fixed pulley position, the electromagnet DT3 of the first three-position four-way electromagnetic directional valve 12 obtains electric, now the pressure oil of accumulator 8 pass through than
Example pressure-reducing valve 11, the first three-position four-way electromagnetic directional valve 12, the first one-way throttle valve 13 reach the oil return oil inlet of hydraulic motor 19,
Hydraulic motor 19 is inverted, and its internal fluid returns to fuel tank 30 through the first one-way throttle valve 13.
Protection scope of the present invention have the right claim restriction.Those skilled in the art can be in essence of the invention and protection
In the range of, the present invention makes various modifications or equivalent substitute, and this modification or equivalent substitute also should be regarded as the guarantor in the present invention
In the range of shield.
Claims (2)
1. one kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence, the system include Gas fluid pressure ejection unit, intelligence release
Unit, launcher unit, fixed pulley unit, spool unit, bogie unit and electric control unit；Gas fluid pressure launches unit, determined
Pulley element, spool unit are fixed on launcher unit；Intelligent releasing unit is fixed on bogie unit, electrically
Control unit is used for the keying for controlling Gas fluid pressure to launch magnetic valve in unit and velocity sensor on collection and processing bogie unit
Signal；It is characterized in that：
The Gas fluid pressure ejection unit is by accelerating part, braking buffer portion, brake hard part and hydraulic cylinder extension part
Composition, wherein hydraulic cylinder extension part is for the intelligent releasing unit work of cooperation；
The Gas fluid pressure ejection unit is by repairing pump motor, slippage pump, the first solenoid directional control valve, the first overflow valve, the first list
To valve, filter, the second solenoid directional control valve, accumulator, pressure gauge, first pressure sensor, proportional pressure-reducing valve, the one or three four
Electric change valve, the first one-way throttle valve, the second one-way throttle valve, the first inserted valve, second pressure sensor, the 3rd electromagnetism
Reversal valve, the second overflow valve, hydraulic motor, buffer-braking cylinder, the second inserted valve, the 4th solenoid directional control valve, choke valve, cut-off
Valve, the second check valve, direct acting pressure, the second three-position four-way electromagnetic directional valve, hydraulic cylinder, the 5th solenoid directional control valve, fuel tank
And connect the oil pipe composition of each element；Repairing pump motor drives slippage pump, and slippage pump inlet port is connected with fuel tank, slippage pump
Press oil mouth and accumulator is connected by the first check valve and filter；First solenoid directional control valve and the first overflow valve are connected across slippage pump
Force feed mouthful and fuel tank between；Accumulator couples the rodless cavity of buffer-braking cylinder, buffer-braking cylinder by the 5th solenoid directional control valve
Rod chamber connection fuel tank, buffer-braking cylinder, which passes through to act on hydraulic motor rotating shaft, to be realized to the buffer-braking work(of hydraulic motor
Energy；Accumulator connects the oil inlet of hydraulic motor by the first inserted valve；Second inserted valve has three hydraulic fluid ports, time of hydraulic motor
Hydraulic fluid port connects second the first hydraulic fluid port of inserted valve, and accumulator connects the second hydraulic fluid port of the second inserted valve, the 3rd oil of the second inserted valve
Mouth is connected with fuel tank；3rd solenoid directional control valve and the second overflow valve are connected between hydraulic motor oil inlet and oil return opening；Accumulation of energy
Device is connected through proportional pressure-reducing valve with the first three-position four-way electromagnetic directional valve oil inlet, first the first work of three-position four-way electromagnetic directional valve
Make the oil return opening that hydraulic fluid port connects hydraulic motor through the first one-way throttle valve, its second actuator port is connected through the second one-way throttle valve
The oil inlet of hydraulic motor, the oil return opening connection tank drainback of the first three-position four-way electromagnetic directional valve；Pressure gauge and first pressure
Sensor is arranged on the pipeline between accumulator and proportional pressure-reducing valve；Second pressure sensor is arranged on the oil return of hydraulic motor
On pipeline between mouth and the first one-way throttle valve；Hydraulic motor oil return opening is connected to by the 4th solenoid directional control valve and choke valve
Fuel tank；Accumulator is connected fuel tank by the second solenoid directional control valve with stop valve respectively；Accumulator connects direct acting through the second check valve
Formula pressure-reducing valve, and the oil inlet for second three-position four-way electromagnetic directional valve that is linked in sequence, two working oils that the second 3-position 4-way is changed
Mouth connection liquid cylinder pressure, its oil return opening connection fuel tank；
The accelerating part of the Gas fluid pressure ejection unit is to provide a system to power source by accumulator, controls hydraulic motor rotary
It is dynamic, so as to drive reel to drive dolly and unmanned plane, realize the acceleration ejection of unmanned plane；
The buffer-braking part of the Gas fluid pressure ejection unit is to pull on hydraulic motor by dolly inertia to rotate backward, in height
Under the resistance of force feed, hydraulic braking is carried out to dolly；
The brake hard part of Gas fluid pressure ejection unit is to prevent dolly and unmanned plane from accelerating to spend in boost phase
The emergency brake device set greatly, to ensure the equipment safety on unmanned plane；
The intelligent releasing unit is that, by gathering the rate signal on dolly, electric control unit system decides whether to open lock
Tight device, prevents unmanned plane from being taken off under non-security takeoff speed state；
The launcher unit is made up of the part such as guide rail and fuselage, and Gas fluid pressure ejection unit, fixed pulley list are provided with thereon
Member, spool unit and bogie unit；
The spool unit is made up of the first fixed pulley with the second fixed pulley, and spool unit is connected with bogie unit by leash
Connect, the middle hydraulic motor that spool unit launches unit with Gas fluid pressure is connected, both common rotations；Changed by two groups of fixed pulleys and led
The direction of leader tape, to realize acceleration, the buffer-braking function of dolly；
The electric control unit is the control centre of Gas fluid pressure ejection system, for the keying for controlling magnetic valve, small vehicle speed
Collection and processing of signal etc.；
The bogie unit is used to carry unmanned plane, and velocity sensor is arranged on bogie unit.
2. it is according to claim 1 it is a kind of can the releasable unmanned plane Gas fluid pressure ejection system of intelligence control method, it is special
Levy and be：This method content comprises the following steps：
1) unmanned aerial vehicle ejecting process
Repairing pump motor drives repairing pump work, and the hydraulic oil of output enters accumulator by the first check valve, filter, works as storage
When energy device internal pressure reaches setting value, the first overflow valve starts overflow；Hereafter, the pressure oil of accumulator passes sequentially through ratio and subtracted
Pressure valve, the first three-position four-way electromagnetic directional valve enters hydraulic motor oil inlet, and the reel for making hydraulic motor be connected is pre- by rope
Tightly；
Unmanned plane starts to accelerate, and the first inserted valve, the second inserted valve are opened, and the hydraulic oil in accumulator enters hydraulic motor oil-feed
Mouth simultaneously quickly returns to fuel tank, and hydraulic motor moment drives spool unit to rotate at a high speed, passes through leash and drives dolly and nobody
Machine accelerates；In the entirely ejection stage, slippage pump is constantly in working condition；
2) the dolly deboost phase
This process is divided into three kinds of situations, the first situation be unmanned plane in launching phase acceleration over range, second of situation is
Unmanned plane emission rate is not in the braking of safe take-off scope, braking during the third situation after unmanned plane normal transmission；
Shutdown phase is in decelerating phase slippage pump；After dolly reaches transmitting position, dolly is detected by velocity sensor
Rate signal simultaneously sends the signal of collection to electric control unit；
When in the first situation, unexpected, unmanned plane launching phase acceleration over range, electric-controlled occur in boost phase for dolly
Unit processed sends command signal, closes the first inserted valve and the second inserted valve, and the coil of the 4th solenoid directional control valve obtains electric, hydraulic pressure horse
Fuel tank is flowed back to up to internal fluid warp knuckle stream valve, hydraulic motor gradually slows down, as rotating speed is reduced, braking effect weakens, now the
Five solenoid directional control valves are opened, and accumulator is passed through aux. pressure oil to buffer-braking cylinder makes hydraulic motor finally brake, and realizes dolly
And the safe retarding braking of unmanned plane；
When in second of situation, when unmanned plane is in non-security takeoff speed scope, electric control unit does not send instruction
Signal, locking device will be closed, and dolly is decelerated to zero under buffer-braking partial action jointly with unmanned plane；
When in the third situation, when unmanned plane is in safe take-off velocity interval, electric control unit sends command signal
Control the coil of the second three position four-way directional control valve to obtain electric, hydraulic cylinder is stretched out driving mechanical transmission device, unmanned plane locking device
It will be opened, unmanned plane abrupt release；Now, dolly pulls reel by inertia by leash, so that hydraulic motor is driven,
The rotation direction of hydraulic motor is set to be changed into rotating backward from initial rotating forward, hydraulic motor slows down under the resistance of hydraulic oil
To zero；When the rotating speed of hydraulic motor is zero, closes the first inserted valve and disconnect the loop between accumulator and hydraulic motor；
3) dolly return stroke
This process is divided into two kinds of situations, and the first situation is backhaul control of the unmanned plane after launching phase brake hard, second
Kind of situation is backhaul control or because emission rate is not in the backhaul control of safe take-off scope after dolly normal transmission；
When in the first situation, the electromagnet coil of the first three-position four-way electromagnetic directional valve obtains electric, now the pressure of accumulator
Power oil leads to reversal valve, the first one-way throttle valve by proportional pressure-reducing valve, the one or three four electromagnetism and reaches hydraulic motor oil return opening, liquid
Pressure motor is inverted, and its internal fluid returns to fuel tank through the second one-way throttle valve；
When in second of situation, when dolly complete decelerating operation after, dolly first lean on by Action of Gravity Field backhaul to first group determine
Pulley position, the electromagnet coil of the first three-position four-way electromagnetic directional valve obtains electric, and now the pressure oil of accumulator subtracts by ratio
Pressure valve, the one or three four electromagnetism lead to reversal valve, the first one-way throttle valve and reach the reverse oil inlet of hydraulic motor, and hydraulic motor is anti-
Turn, its internal fluid returns to fuel tank through the second one-way throttle valve.
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