CN109649672B - Fixed wing unmanned aerial vehicle equipment of taking off - Google Patents
Fixed wing unmanned aerial vehicle equipment of taking off Download PDFInfo
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- CN109649672B CN109649672B CN201910046024.3A CN201910046024A CN109649672B CN 109649672 B CN109649672 B CN 109649672B CN 201910046024 A CN201910046024 A CN 201910046024A CN 109649672 B CN109649672 B CN 109649672B
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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 take-off equipment of a fixed wing unmanned aerial vehicle, which comprises an ejection frame, an ejection vehicle and an ejection driving mechanism; the ejection vehicle comprises a front fixing part and a rear supporting part, the front fixing part comprises a fixing frame and a front guide wheel, the rear supporting part comprises a supporting frame and a rear guide wheel, and the fixing frame is hinged with the supporting frame; the ejection rack is provided with a first guide rail for guiding the front guide wheel to walk and a second guide rail for guiding the rear guide wheel to walk, the first guide rail is obliquely and downwards arranged relative to the ejection rack along the movement direction of the ejection vehicle, and the second guide rail is parallel to the ejection rack; still include the anticreep driving piece, this anticreep driving piece includes vertical pole and arc hook, be equipped with the horizontal pole that is used for restricting the anticreep driving piece and moves forward on the mount. The fixed-wing unmanned aerial vehicle can be started first and then placed on the ejection vehicle, so that the unmanned aerial vehicle can fly smoothly after being separated from the ejection vehicle, and crash is avoided.
Description
Technical Field
The invention relates to take-off equipment of an unmanned aerial vehicle, in particular to take-off equipment of a fixed-wing unmanned aerial vehicle.
Background
Precision agriculture led by agricultural aviation technology is the key point of national agriculture development in recent years, and has the characteristics of high operation efficiency, low operation cost, small influence on environment and the like. The existing small-sized fixed wing unmanned aerial vehicle for agricultural operation has the traditional take-off, and generally takes off by means of a runway or an operator throwing.
In addition, the fixed wing unmanned aerial vehicle ejection rack appears in market, adopts stretch cord or spring as the energy storage medium specifically, and pneumatic cylinder or pneumatic cylinder are used to the part, make unmanned aerial vehicle launch away to last before starting, start through remote controller control unmanned aerial vehicle after that, finally realize unmanned aerial vehicle's taking off. The catapult can give the unmanned aerial vehicle certain kinetic energy before the unmanned aerial vehicle is started, and compared with runway take-off and hand throwing take-off, the power obtained by the unmanned aerial vehicle is more sufficient and more stable, so that the unmanned aerial vehicle can take off smoothly; however, when the unmanned aerial vehicle leaves the ejection rack along with inertia and is suspended, the unmanned aerial vehicle is still not started, so that the unmanned aerial vehicle can directly fall off if the manual remote control starting fails, which undoubtedly causes serious damage to the unmanned aerial vehicle; simultaneously, after unmanned aerial vehicle launches and leaves the launching cradle, unmanned aerial vehicle consequently receives external environment influence because not starting, and unmanned aerial vehicle flight line under unpowered state can't be controlled, carries out manual remote control and starts this moment, and its start success rate inevitably receives the influence, finally can lead to unmanned aerial vehicle to drop and cause the damage.
For solving above-mentioned problem, can start unmanned aerial vehicle earlier before taking off with the help of the ejector rack, take off with the same place to realize under the drive of ejector rack after that, just so can ensure that unmanned aerial vehicle leaves the normal flight behind the ejector rack, avoid unmanned aerial vehicle to fall, nevertheless do not appear one kind among the prior art and can adapt to the ejection equipment of taking off that fixed wing unmanned aerial vehicle starts earlier.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the take-off equipment of the fixed-wing unmanned aerial vehicle, which can enable the fixed-wing unmanned aerial vehicle started firstly to take off smoothly and avoid the falling of the unmanned aerial vehicle in the take-off process.
The purpose of the invention is realized by the following technical scheme:
a fixed wing unmanned aerial vehicle take-off device comprises an ejection rack, an ejection vehicle arranged on the ejection rack and an ejection driving mechanism for driving the ejection vehicle to move on the ejection rack; the ejection vehicle is characterized by comprising a front fixing part and a rear supporting part, wherein the front fixing part comprises a fixing frame and a front guide wheel arranged on the fixing frame, the rear supporting part comprises a supporting frame and a rear guide wheel arranged on the supporting frame, and the fixing frame is hinged with the supporting frame; the ejection rack is provided with a first guide rail for guiding the front guide wheel to walk and a second guide rail for guiding the rear guide wheel to walk, the ejection rack is obliquely arranged, the lower end of the ejection rack is the motion starting end of the ejection vehicle, the higher end of the ejection rack is the motion tail end of the ejection vehicle, the first guide rail is obliquely and downwards arranged relative to the ejection rack along the motion direction of the ejection vehicle, and the second guide rail is parallel to the ejection rack; the anti-drop driving piece comprises a vertical rod and an arc-shaped hook arranged at the upper end of the vertical rod, the top of the arc-shaped hook is connected with the bottom of the front end of the unmanned aerial vehicle, and a cross rod used for limiting the anti-drop driving piece to move forwards is arranged on the fixing frame; before taking off, the unmanned aerial vehicle to be taken off is placed on the fixing frame and the supporting frame, the vertical rod of the anti-falling driving piece is positioned in front of the cross rod, the arc hook is hung on the cross rod, and the opening of the arc hook is positioned on the rear side of the cross rod.
The working principle of the take-off equipment of the fixed-wing unmanned aerial vehicle is as follows:
firstly, moving an ejection vehicle to the starting end of an ejection frame, and placing an unmanned aerial vehicle on the ejection vehicle, wherein the bottom of the front end of the unmanned aerial vehicle is supported on a fixed frame, a vertical rod of an anti-falling driving piece is positioned on the front side of a cross rod, an arc-shaped hook is hung on the cross rod, an opening of the arc-shaped hook is positioned on the rear side of the cross rod, and the rear end of the unmanned aerial vehicle is supported on a supporting frame; then, starting the unmanned aerial vehicle, wherein the unmanned aerial vehicle has a tendency of moving forwards after being started, but the arc-shaped hook is hung on the cross rod, so that the cross rod can prevent the unmanned aerial vehicle from moving forwards, and the unmanned aerial vehicle can still stably stay on the ejection vehicle before taking off power to prevent the unmanned aerial vehicle from separating from the ejection rack and being incapable of smoothly taking off power; then, the ejection vehicle moves forwards rapidly under the driving of the ejection driving mechanism, and the vertical rod is positioned on the front side of the cross rod, so that the unmanned aerial vehicle can be driven to move forwards when the ejection vehicle moves forwards, and sufficient power is obtained; when the catapult car drives the unmanned aerial vehicle to move forwards, the first guide rail inclines downwards relative to the catapult frame, and the fixed frame is hinged with the supporting frame, so that the cross rod on the fixed frame gradually descends downwards when the whole catapult car moves forwards and leaves the range of the arc-shaped hook through the opening of the arc-shaped hook, meanwhile, the unmanned aerial vehicle gradually obtains power when moving forwards along with the catapult car, the unmanned aerial vehicle generates buoyancy, and the front end of the unmanned aerial vehicle slowly rises; therefore, under the condition that the cross rod gradually descends away from the arc-shaped hook and the front end of the unmanned aerial vehicle gradually ascends, the cross rod does not generate a blocking effect on the advancing of the unmanned aerial vehicle; and finally, the ejection vehicle moves to the tail end of the ejection frame, and the unmanned aerial vehicle leaves the ejection frame along with inertia and flies forwards, so that the unmanned aerial vehicle is completely separated from take-off equipment to take off.
According to a preferable scheme of the invention, two groups of front guide wheels are arranged on the fixing frame and are vertically arranged; and two groups of first guide rails matched with the front guide wheels are arranged on the ejection rack, and the inclination angles of the two groups of first guide rails are consistent. Through setting up two sets of front idler wheels for the mount can descend downwards steadily gradually when moving forward, avoids descending too fast and leads to unmanned aerial vehicle to break away from the ejection car when not obtaining sufficient power, ensures that unmanned aerial vehicle takes off smoothly.
Preferably, the fixed frame comprises a main body rod and two guide wheel rods arranged on the main body rod, and the two groups of front guide wheels are respectively and rotatably connected to two ends of the corresponding guide wheel rods; the upper end of the main body rod is provided with a square blocking frame, and the top rod of the blocking frame forms the cross rod; still be equipped with first articulated rod on the main part pole, the one end of this first articulated rod is connected with the middle part of main part pole, and the other end extends backward. The fixing frame is simple in structure and light.
Preferably, the support frame is composed of a connecting portion and a supporting portion; the connecting part comprises a second hinge rod and a mounting assembly for mounting the rear guide wheel, one end of the second hinge rod is fixedly connected with the mounting assembly, and the other end of the second hinge rod extends forwards and is hinged with the first hinge rod; the supporting part comprises two supporting rods and an intermediate connecting frame which are arranged oppositely, the lower ends of the two supporting rods are connected to the two ends of the top of the intermediate connecting frame respectively, and the lower end of the intermediate connecting frame is connected to the mounting assembly. When placing unmanned aerial vehicle, unmanned aerial vehicle's wing afterbody is placed on two bracing pieces, can enough support unmanned aerial vehicle like this, also can reduce the area of contact of unmanned aerial vehicle and support frame, is favorable to reducing the friction when unmanned aerial vehicle leaves the launching cradle, reduces the power loss to unmanned aerial vehicle, ensures that unmanned aerial vehicle has sufficient power and takes off.
Preferably, pulleys are arranged at the tops of the two support rods. When the catapult vehicle moves to the tail end of the catapult frame, the wings of the unmanned aerial vehicle can slide away from the catapult vehicle under the action of the pulleys, so that the takeoff is realized; the design of pulley can further reduce the power consumption to unmanned aerial vehicle, is favorable to ensureing that unmanned aerial vehicle can take off smoothly.
Preferably, the middle connecting frame is provided with an auxiliary supporting rod, the upper end of the auxiliary supporting rod is provided with an auxiliary wheel, and the auxiliary wheel is arranged in front of the two pulleys. When the catapult vehicle moves to the middle section of the catapult frame, if the cross rod on the fixing frame leaves the arc-shaped hook, but the unmanned aerial vehicle still does not have enough power to take off and leave the catapult vehicle (or buoyancy generated by the unmanned aerial vehicle is not enough to promote the front end of the unmanned aerial vehicle to rise), only two pulleys on the supporting frame support the wings of the unmanned aerial vehicle, the anti-drop driving piece at the front end of the unmanned aerial vehicle can be undoubtedly hung on the cross rod under the action of gravity and can not be separated from the cross rod to take off, even after the catapult vehicle moves to the tail end of the catapult frame, the arc-shaped hook of the anti-drop driving piece at the front; and through be equipped with the auxiliary wheel on the intermediate junction frame, just can ensure when unmanned aerial vehicle does not obtain sufficient power, live unmanned aerial vehicle with two pulleys together support for the anticreep driving piece can separate with the horizontal pole smoothly, takes off smoothly after finally obtaining sufficient power.
In a preferred embodiment of the present invention, the ejection rack includes a main body frame, a front leg frame and a rear leg frame, the front leg frame is disposed at the end of the main body frame, the rear leg frame is disposed at the beginning of the main body frame, and the front leg frame is higher than the rear leg frame; the main body frame is composed of a square column, two first sliding grooves are formed in the square column, and the two first guide rails are arranged in the two first sliding grooves respectively; a second sliding groove is formed between the two first sliding grooves, and the second guide rail is arranged in the second sliding groove; first avoidance grooves for avoiding the main body rod and the middle connecting frame are arranged between the second sliding groove and the two first sliding grooves, and second avoidance grooves corresponding to the first avoidance grooves are arranged at the tops of the square columns; and the first hinge rod of the fixing frame, the second hinge rod of the support frame, the rear guide wheel and the mounting assembly are all arranged in the second sliding groove.
In a preferred aspect of the present invention, the ejection driving mechanism includes a spring and a winding wheel disposed at the beginning end of the main body frame, the spring is disposed in the second sliding slot, one end of the spring is connected to the winding wheel through a connecting rope, and a locking assembly for locking or unlocking the winding wheel is disposed at the beginning end of the main body frame; under the normal state, the spring is positioned at the initial end of the second sliding groove, and one end connected with the connecting rope is far away from the top of the initial end of the second sliding groove. When the sliding chute works, the connecting rope is contracted by rotating the winding wheel, the spring is compressed at the top of the starting end of the second sliding chute, and the winding wheel is locked by the locking assembly to prevent the winding wheel from automatically and reversely rotating under the action of the spring; then moving the ejection vehicle to the initial end of the main body frame, so that the rear end of the mounting assembly moves to the position corresponding to the end part of the spring; and finally, the locking assembly is loosened, the winding wheel is not locked, and the whole ejection vehicle is ejected forwards under the action of the elastic force of the spring, so that the ejection vehicle is driven forwards.
Preferably, the cross-sectional area of the second sliding groove is circular, and the top and the bottom of the second sliding groove and the corresponding edge of the first avoidance groove are horizontal planes which form a second guide rail; the rear guide wheel comprises a limiting wheel and sliding wheels arranged on two sides of the limiting wheel, the diameter of each sliding wheel is equal to the distance between horizontal planes at the top and the bottom of the second sliding groove, and the diameter of each limiting wheel is larger than that of each sliding wheel. The cross section area of the second sliding groove is set to be circular, so that the matching with a spring of the ejection driving mechanism is facilitated, and the spring can move on the second sliding groove; in addition, because the diameter of the limiting wheel is larger than that of the sliding wheel, the upper end and the lower end of the limiting wheel are embedded in the first avoidance grooves at the top and the bottom of the second sliding groove, so that the support frame is ensured to keep straight-line forward in the movement process, and meanwhile, the sliding wheel can be supported on the horizontal plane to roll, and the design is ingenious.
In a preferred embodiment of the present invention, a buffer mechanism is disposed at the end of the main body frame, and the buffer mechanism includes a fixed plate and two sets of buffer springs disposed on the fixed plate; the two groups of buffer springs are respectively arranged in the two first sliding grooves, and each group of buffer springs is respectively arranged corresponding to each group of front guide wheels. Through the arrangement of the buffer mechanism, when the ejection vehicle moves to the tail end of the main body frame, two groups of front guide wheels directly collide against corresponding buffer springs, so that the whole ejection vehicle is provided with a buffer brake, the impact of the ejection vehicle on the main body frame is reduced, and the protection of the ejection vehicle is facilitated.
Compared with the prior art, the invention has the following beneficial effects:
1. the take-off equipment provided by the invention can enable the fixed-wing unmanned aerial vehicle to be started firstly and then placed on the ejection vehicle, so that the unmanned aerial vehicle can fly smoothly after being separated from the ejection vehicle, and the crash is avoided.
2. The unmanned aerial vehicle is started when the unmanned aerial vehicle is on the ejection vehicle, so that the ejection vehicle is driven by the ejection driving mechanism to move forwards, the take-off of the unmanned aerial vehicle can be completed, workers do not need to do other operations, and compared with a take-off mode started later, the take-off mode of the unmanned aerial vehicle is more convenient and faster, and the operation difficulty is reduced.
Drawings
Fig. 1-2 are schematic structural views of a fixed-wing unmanned aerial vehicle takeoff device, wherein fig. 1 is a side view, and fig. 2 is a perspective view.
Fig. 3 to 4 are schematic structural views of the main body frame, wherein fig. 3 is a front view and fig. 4 is a perspective view.
Fig. 5-6 are schematic structural views of the ejection trolley, fig. 5 is a side view, and fig. 6 is a perspective view.
FIG. 7 is a front view of the rear idler.
Fig. 8 is a schematic perspective view of the ejection drive mechanism.
Fig. 9 is a schematic perspective view of the winding wheel and the locking assembly.
Fig. 10 is a perspective view of the damper mechanism.
Fig. 11 is a schematic structural view of the unmanned aerial vehicle at the beginning of the ejection rack.
Fig. 12 is an enlarged view of I in fig. 11.
Fig. 13 is a schematic structural view of the unmanned aerial vehicle at the end of the ejector rack.
Fig. 14 is an enlarged view of II in fig. 13.
Fig. 15-17 are schematic diagrams of the ejection vehicle and the anti-drop driving member in the moving process (arrows are schematic diagrams of moving directions of the front guide wheel and the rear guide wheel), wherein fig. 15 is a schematic diagram of the ejection vehicle just starting, fig. 16 is a schematic diagram of the ejection vehicle moving to the middle section of the ejection rack, and fig. 17 is a schematic diagram of the ejection vehicle moving to the tail end of the ejection rack.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 17, the take-off device for the fixed-wing unmanned aerial vehicle of the embodiment includes an ejection rack, an ejection vehicle 2 disposed on the ejection rack, and an ejection driving mechanism 4 for driving the ejection vehicle 2 to move on the ejection rack; the ejection vehicle 2 comprises a front fixing part and a rear supporting part, the front fixing part comprises a fixing frame and a front guide wheel 16 arranged on the fixing frame, the rear supporting part comprises a supporting frame and a rear guide wheel 19 arranged on the supporting frame, and the fixing frame is hinged with the supporting frame; the ejection rack is provided with a first guide rail 12 for guiding a front guide wheel 16 to walk and a second guide rail 11 for guiding a rear guide wheel 19 to walk, the ejection rack is obliquely arranged, the lower end of the ejection rack is the starting end of the movement of the ejection vehicle, the higher end of the ejection rack is the tail end of the movement of the ejection vehicle, the first guide rail 12 is obliquely arranged downwards relative to the ejection rack along the movement direction of the ejection vehicle 2, and the second guide rail 11 is parallel to the ejection rack; the anti-drop unmanned aerial vehicle is characterized by further comprising an anti-drop driving piece, wherein the anti-drop driving piece comprises a vertical rod 39 and an arc-shaped hook 38 arranged at the upper end of the vertical rod 39, the top of the arc-shaped hook 38 is connected with the bottom of the front end of the unmanned aerial vehicle through a connecting rod, and a cross rod 28 used for limiting the anti-drop driving piece to move forwards is arranged on the fixed frame; before taking off, the unmanned aerial vehicle to take off is placed on the fixed frame and the supporting frame, the vertical rod 39 of the anti-falling driving piece is positioned in front of the cross rod 28, the arc-shaped hook 38 is hung on the cross rod 28, and the opening of the arc-shaped hook 38 is positioned on the rear side of the cross rod 28.
Referring to fig. 5 and 6, two sets of front guide wheels 16 are arranged on the fixing frame, and the two sets of front guide wheels 16 are arranged vertically; two groups of first guide rails 12 matched with the front guide wheels 16 are arranged on the ejection rack, and the inclination angles of the two groups of first guide rails 12 are consistent. Through setting up two sets of front idler 16 for the mount can descend downwards steadily gradually when moving forward, avoids descending too fast and leads to unmanned aerial vehicle to break away from ejection car 2 when not obtaining sufficient power, ensures that unmanned aerial vehicle takes off smoothly.
Referring to fig. 5 and 6, the fixing frame includes a main body rod 15 and two guide wheel rods 29 disposed on the main body rod 15, and the two sets of front guide wheels 16 are respectively rotatably connected to two ends of the corresponding guide wheel rods 29; the upper end of the main body rod 15 is provided with a square blocking frame, and the top rod of the blocking frame forms the cross rod 28; the main body rod 15 is further provided with a first hinge rod 17, one end of the first hinge rod 17 is connected with the middle part of the main body rod 15, and the other end of the first hinge rod 17 extends backwards. The fixing frame is simple in structure and light.
Referring to fig. 5 and 6, the support frame is composed of a connection part and a support part; the connecting part comprises a second hinge rod 18 and a mounting assembly 20 for mounting a rear guide wheel 19, one end of the second hinge rod 18 is fixedly connected with the mounting assembly 20, and the other end of the second hinge rod extends forwards and is hinged with the first hinge rod 17; the supporting part includes two bracing pieces 23 and the middle link that set up relatively, the top both ends at the middle link are connected respectively to the lower extreme of two bracing pieces 23, the lower extreme of middle link is connected on the installation component 20. When placing unmanned aerial vehicle, unmanned aerial vehicle's wing afterbody is placed on two bracing pieces 23, can enough support unmanned aerial vehicle like this, also can reduce the area of contact of unmanned aerial vehicle and support frame, is favorable to reducing the friction when unmanned aerial vehicle leaves the launching cradle, reduces the power loss to unmanned aerial vehicle, ensures that unmanned aerial vehicle has sufficient power and takes off.
Referring to fig. 5 and 6, pulleys 26 are provided on the top of the two support rods 23. When the ejection vehicle 2 moves to the tail end of the ejection frame, the wings of the unmanned aerial vehicle can slide away from the ejection vehicle 2 under the action of the pulleys 26, so that the takeoff is realized; the design of pulley 26 can further reduce the power consumption to unmanned aerial vehicle, is favorable to ensureing that unmanned aerial vehicle can take off smoothly.
Referring to fig. 5 and 6, an auxiliary support rod 24 is provided on the intermediate connection frame, and an auxiliary wheel 25 is provided at the upper end of the auxiliary support rod 24, and the auxiliary wheel 25 is disposed in front of the two pulleys 26. When the catapult 2 moves to the middle section of the catapult frame, if the cross bar 28 on the fixing frame already leaves the arc-shaped hook 38, but the unmanned aerial vehicle still does not have enough power to take off and leave the catapult 2 (or buoyancy generated by the unmanned aerial vehicle is not enough to promote the front end of the unmanned aerial vehicle to rise), only two pulleys 26 on the supporting frame support the wings of the unmanned aerial vehicle, the anti-drop driving piece at the front end of the unmanned aerial vehicle can be hung on the cross bar 28 continuously under the action of gravity, and can not be separated from the cross bar 28 to take off, even after the catapult 2 moves to the tail end of the catapult frame, the arc-shaped hook 38 of the anti-drop driving piece at the front end of the unmanned aerial; and through be equipped with the auxiliary wheel 25 on the intermediate junction frame, just can ensure when unmanned aerial vehicle does not obtain sufficient power, live with two pulleys 26 together with unmanned aerial vehicle support for the anticreep driving piece can separate with horizontal pole 28 smoothly, takes off smoothly after finally obtaining sufficient power.
Referring to fig. 5 and 6, the intermediate connecting frame is composed of a T-shaped rod, the T-shaped rod includes a transverse rod 22 and a vertical rod 21, the lower end of the vertical rod 21 is connected to the rear end of the mounting assembly 20, the transverse rod 22 is arranged in parallel with the moving direction of the ejection vehicle 2, and the middle part of the transverse rod 22 is connected to the upper end of the vertical rod 21; the auxiliary support bar 24 is connected to the front end of the transverse bar 22 in the moving direction of the ejection trolley 2, and a connecting bar 27 is arranged between the two support bars 23 and is arranged at the rear end of the transverse bar 22 through the connecting bar 27.
Referring to fig. 1-4, the ejector rack comprises a main body frame 1, a front foot frame 3 and a rear foot frame 5, wherein the front foot frame 3 is arranged at the tail end of the main body frame 1, the rear foot frame 5 is arranged at the initial end of the main body frame 1, and the front foot frame 3 is higher than the rear foot frame 5; the main body frame 1 is composed of a square column, two first sliding grooves 9 are arranged in the square column, and the two first guide rails 12 are respectively arranged in the two first sliding grooves 9; a second sliding groove 8 is arranged between the two first sliding grooves 9, and the second guide rail 11 is arranged in the second sliding groove 8; a first avoidance groove 10 for avoiding the main body rod 15 and the middle connecting frame is arranged between the second sliding groove 8 and the two first sliding grooves 9, and a second avoidance groove 7 corresponding to the first avoidance groove 10 is arranged at the top of the square column; the first hinge rod 17 of the fixing frame, the second hinge rod 18 of the supporting frame, the rear guide wheel 19 and the mounting component 20 are all arranged in the second sliding groove 8. In this embodiment, the first guide rail 12 is formed by a guide post protruding upward, and the front guide wheel 16 is provided with a guide groove matching with the guide post, so that the movement guide of the fixing frame is realized, and the structure is simple.
Referring to fig. 1 and 2, the main body frame 1 is composed of two parts, and the two parts of the main body frame 1 are connected through a detachable structure 6, so that the main body frame can be detached and placed when not in use, and the space is saved. Wherein the detachable structure 6 comprises a connecting plate and a bolt for fixing the two-part body frame 1 and the connecting plate together. Preceding foot rest 3 passes through bolted connection at the end of main part frame 1, when the installation launching cradle, can adjust preceding foot rest 3 and screw up the bolt fastening again after suitable height to realize the inclination adjustment of launching cradle, the unmanned aerial vehicle of being convenient for takes off smoothly.
Referring to fig. 8 and 9, the ejection driving mechanism 4 comprises a spring 33 and a winding wheel arranged at the beginning of the main body frame 1, the spring 33 is arranged in the second sliding slot 8, one end of the spring 33 is connected with the winding wheel through a connecting rope 32, and the beginning of the main body frame 1 is provided with a locking component for locking or unlocking the winding wheel; the top of the starting end of the main body frame 1 is provided with a through hole for a connecting rope to pass through; normally, the spring 33 is located at the beginning of the second sliding slot 8, and the end connected with the connecting rope 32 is far away from the top of the beginning of the second sliding slot 8. When the sliding type sliding chute works, the connecting rope 32 is contracted by rotating the winding wheel, the spring 33 is compressed at the top of the starting end of the second sliding chute 8, and the winding wheel is locked by the locking assembly to prevent the winding wheel from automatically and reversely rotating under the action of the spring 33; then moving the ejection vehicle 2 to the beginning of the body frame 1, so that the rear end of the mounting assembly 20 moves to the corresponding position of the end of the spring 33; and finally, the locking assembly is loosened, the winding wheel is not locked, and the whole ejection vehicle 2 is ejected forwards under the action of the elastic force of the spring 33, so that the ejection vehicle 2 is driven forwards.
Referring to fig. 9, two opposite mounting plates 35 are disposed on the top surface of the main body frame 1, the winding wheel is rotatably connected between the two mounting plates 35, and a rotating handle 34 is fixedly connected to one side of the winding wheel, so that an operator can rotate the winding wheel to contract the connecting rope 32 to compress the spring 33. The winding wheel is composed of two oppositely arranged winding wheels 31, the end part of the connecting rope 32 is fixed between the two winding wheels 31, and the outer circular surfaces of the two winding wheels 31 are both provided with scale-tooth-shaped clamping grooves facing outwards; the locking assembly is composed of a clamping wheel plate 30, the clamping wheel plate 30 is arranged above the winding wheel, one end of the clamping wheel plate 30 is rotatably connected to the main body frame 1, and the other end of the clamping wheel plate 30 is bent downwards; the starting control of the ejection vehicle 2 is realized by pulling the wheel clamping plate 30 to release or prevent the take-up pulley 31 from rotating.
Referring to fig. 3, 4 and 7, the cross-sectional area of the second sliding slot 8 is circular, and the top and bottom of the second sliding slot 8 and the corresponding edge of the first avoidance slot 10 are horizontal planes, which form a second guide rail 11; the rear guide wheel 19 comprises a limiting wheel 36 and sliding wheels 37 arranged on two sides of the limiting wheel 36, the diameter of each sliding wheel 37 is equal to the distance between the horizontal planes at the top and the bottom of the second sliding groove 8, and the diameter of the limiting wheel 36 is larger than that of each sliding wheel 37. The cross-sectional area of the second sliding groove 8 is set to be circular, so that matching with the spring 33 of the ejection drive mechanism 4 is facilitated, and the movement of the spring 33 on the second sliding groove 8 is facilitated; in addition, because the diameter of the limiting wheel 36 is larger than that of the sliding wheel 37, the upper end and the lower end of the limiting wheel 36 are embedded in the first avoidance grooves 10 at the top and the bottom of the second sliding groove 8, so that the support frame is ensured to keep moving forwards in a straight line in the movement process, and meanwhile, the sliding wheel 37 can be supported on the horizontal plane to roll, and the design is ingenious.
Referring to fig. 10, the end of the main body frame 1 is provided with a buffer mechanism, and the buffer mechanism comprises a fixed plate 13 and two sets of buffer springs 14 arranged on the fixed plate 13; the two groups of buffer springs 14 are respectively arranged in the two first sliding grooves 9, and each group of buffer springs 14 is respectively arranged corresponding to each group of front guide wheels 16. Through the arrangement of the buffer mechanism, when the ejection vehicle 2 moves to the tail end of the main body frame 1, the two groups of front guide wheels 16 directly collide against the corresponding buffer springs 14, so that the whole ejection vehicle 2 is provided with a buffer brake, the impact of the ejection vehicle 2 on the main body frame 1 is reduced, and the protection of the ejection vehicle 2 is facilitated.
Referring to fig. 1 to 17, the operation principle of the take-off device of the fixed-wing drone of the present embodiment is as follows:
firstly, moving an ejection vehicle 2 to the starting end of an ejection rack, and placing an unmanned aerial vehicle on the ejection vehicle 2, wherein the bottom of the front end of the unmanned aerial vehicle is supported on a fixed frame, a vertical rod 39 of an anti-drop driving piece is positioned on the front side of a cross rod 28, an arc-shaped hook 38 is hung on the cross rod 28, an opening of the arc-shaped hook 38 is positioned on the rear side of the cross rod 28, and the rear end of the unmanned aerial vehicle is supported on a supporting frame; then, starting the unmanned aerial vehicle, wherein the unmanned aerial vehicle has a tendency of moving forward after being started, but the arc-shaped hook 38 is hung on the cross rod 28, so that the cross rod 28 can block the unmanned aerial vehicle from moving forward, and the unmanned aerial vehicle can still stably stay on the ejection vehicle 2 before taking off power, so as to prevent the unmanned aerial vehicle from separating from the ejection rack and being unable to take off power smoothly; then, the ejection vehicle 2 moves forward rapidly under the driving of the ejection driving mechanism 4, and the vertical rod 39 is located at the front side of the cross rod 28, so that the unmanned aerial vehicle can be driven to move forward when the ejection vehicle 2 moves forward, and sufficient power is obtained (see fig. 15); when the catapult vehicle 2 drives the unmanned aerial vehicle to move forward, because the first guide rail 12 inclines downwards relative to the catapult frame and the fixed frame is hinged with the support frame, the cross bar 28 on the fixed frame gradually descends downwards when the whole catapult vehicle 2 moves forward and leaves the range of the arc-shaped hook 38 through the opening of the arc-shaped hook 38, meanwhile, the unmanned aerial vehicle gradually obtains power when moving forward along with the catapult vehicle 2, the unmanned aerial vehicle generates buoyancy, and the front end of the unmanned aerial vehicle slowly rises (see fig. 16 and 17); in this way, in the case where the cross bar 28 gradually descends away from the curved hook 38, while the front end of the drone gradually ascends, said cross bar 28 no longer has an obstructing effect on the advance of the drone; and finally, the ejection vehicle 2 moves to the tail end of the ejection frame, and the unmanned aerial vehicle leaves the ejection frame along with inertia and flies forwards, so that the unmanned aerial vehicle is completely separated from take-off equipment to take off.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A fixed wing unmanned aerial vehicle take-off device comprises an ejection rack, an ejection vehicle arranged on the ejection rack and an ejection driving mechanism for driving the ejection vehicle to move on the ejection rack; the ejection vehicle is characterized by comprising a front fixing part and a rear supporting part, wherein the front fixing part comprises a fixing frame and a front guide wheel arranged on the fixing frame, the rear supporting part comprises a supporting frame and a rear guide wheel arranged on the supporting frame, and the fixing frame is hinged with the supporting frame; the ejection rack is provided with a first guide rail for guiding the front guide wheel to walk and a second guide rail for guiding the rear guide wheel to walk, the ejection rack is obliquely arranged, the lower end of the ejection rack is the motion starting end of the ejection vehicle, the higher end of the ejection rack is the motion tail end of the ejection vehicle, the first guide rail is obliquely and downwards arranged relative to the ejection rack along the motion direction of the ejection vehicle, and the second guide rail is parallel to the ejection rack; the anti-drop driving piece comprises a vertical rod and an arc-shaped hook arranged at the upper end of the vertical rod, the top of the arc-shaped hook is connected with the bottom of the front end of the unmanned aerial vehicle, and a cross rod used for limiting the anti-drop driving piece to move forwards is arranged on the fixing frame; before taking off, the unmanned aerial vehicle to be taken off is placed on the fixing frame and the supporting frame, the vertical rod of the anti-falling driving piece is positioned in front of the cross rod, the arc hook is hung on the cross rod, and the opening of the arc hook is positioned on the rear side of the cross rod.
2. The fixed wing unmanned aerial vehicle take-off device of claim 1, wherein two sets of front guide wheels are arranged on the fixed frame, and are arranged in a vertical arrangement; and two groups of first guide rails matched with the front guide wheels are arranged on the ejection rack, and the inclination angles of the two groups of first guide rails are consistent.
3. The fixed wing unmanned aerial vehicle take-off device of claim 2, wherein the fixed frame comprises a main body rod and two guide wheel rods arranged on the main body rod, and the two groups of front guide wheels are respectively rotatably connected to two ends of the corresponding guide wheel rods; the upper end of the main body rod is provided with a square blocking frame, and the top rod of the blocking frame forms the cross rod; still be equipped with first articulated rod on the main part pole, the one end of this first articulated rod is connected with the middle part of main part pole, and the other end extends backward.
4. The fixed wing drone take-off device of claim 3, wherein the support frame is comprised of a connecting portion and a support portion; the connecting part comprises a second hinge rod and a mounting assembly for mounting the rear guide wheel, one end of the second hinge rod is fixedly connected with the mounting assembly, and the other end of the second hinge rod extends forwards and is hinged with the first hinge rod; the supporting part comprises two supporting rods and an intermediate connecting frame which are arranged oppositely, the lower ends of the two supporting rods are connected to the two ends of the top of the intermediate connecting frame respectively, and the lower end of the intermediate connecting frame is connected to the mounting assembly.
5. The fixed wing drone take-off device of claim 4, wherein a pulley is provided on the top of each of the two support bars.
6. The take-off device of the fixed-wing unmanned aerial vehicle of claim 5, wherein an auxiliary support rod is arranged on the intermediate connecting frame, an auxiliary wheel is arranged at the upper end of the auxiliary support rod, and the auxiliary wheel is arranged in front of the two pulleys.
7. The fixed wing unmanned aerial vehicle take-off device of claim 4, wherein the ejector rack comprises a main body rack, a front foot rack and a rear foot rack, the front foot rack is arranged at the tail end of the main body rack, the rear foot rack is arranged at the beginning end of the main body rack, and the front foot rack is higher than the rear foot rack; the main body frame is composed of a square column, two first sliding grooves are formed in the square column, and the two first guide rails are arranged in the two first sliding grooves respectively; a second sliding groove is formed between the two first sliding grooves, and the second guide rail is arranged in the second sliding groove; first avoidance grooves for avoiding the main body rod and the middle connecting frame are arranged between the second sliding groove and the two first sliding grooves, and second avoidance grooves corresponding to the first avoidance grooves are arranged at the tops of the square columns; and the first hinge rod of the fixing frame, the second hinge rod of the support frame, the rear guide wheel and the mounting assembly are all arranged in the second sliding groove.
8. The fixed-wing unmanned aerial vehicle take-off device of claim 7, wherein the ejection driving mechanism comprises a spring and a winding wheel arranged at the beginning end of the main body frame, the spring is arranged in the second sliding groove, one end of the spring is connected with the winding wheel through a connecting rope, and a locking assembly for locking or unlocking the winding wheel is arranged at the beginning end of the main body frame; under the normal state, the spring is positioned at the initial end of the second sliding groove, and one end connected with the connecting rope is far away from the top of the initial end of the second sliding groove.
9. The fixed wing drone take-off device of claim 8, wherein the cross-sectional area of the second sliding slot is circular, and the top and bottom of the second sliding slot and the corresponding edges of the first avoidance slot are horizontal planes that constitute the second guide rail; the rear guide wheel comprises a limiting wheel and sliding wheels arranged on two sides of the limiting wheel, the diameter of each sliding wheel is equal to the distance between horizontal planes at the top and the bottom of the second sliding groove, and the diameter of each limiting wheel is larger than that of each sliding wheel.
10. The fixed wing unmanned aerial vehicle take-off device of claim 7, wherein a buffer mechanism is disposed at a distal end of the main body frame, the buffer mechanism comprising a fixed plate and two sets of buffer springs disposed on the fixed plate; the two groups of buffer springs are respectively arranged in the two first sliding grooves, and each group of buffer springs is respectively arranged corresponding to each group of front guide wheels.
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| WO2016019814A1 (en) * | 2014-08-02 | 2016-02-11 | 王振川 | Vacuum energy-storing type take-off ejector for fixed wing aircraft |
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