CN113697084A - Self-adjusting integrated anchor parking device with damping balance - Google Patents
Self-adjusting integrated anchor parking device with damping balance Download PDFInfo
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- CN113697084A CN113697084A CN202111100765.9A CN202111100765A CN113697084A CN 113697084 A CN113697084 A CN 113697084A CN 202111100765 A CN202111100765 A CN 202111100765A CN 113697084 A CN113697084 A CN 113697084A
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- 238000013016 damping Methods 0.000 title claims abstract description 28
- 238000004873 anchoring Methods 0.000 claims description 43
- 230000005484 gravity Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 16
- 230000007246 mechanism Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000979 retarding effect Effects 0.000 description 6
- 239000002131 composite material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 230000036544 posture Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000005436 troposphere Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
- B64B1/50—Captive balloons
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Abstract
The invention discloses a damping balance self-adjustment integrated anchor parking vehicle, which adopts a trailer to carry out quick transportation and transition to a flying site and can be unfolded automatically. The positions of the lifting support legs are adjusted according to the field situation, and the lifting support legs are firmly fixed to the ground by carrying the fixed heavy pressing piers and other fixing devices. When the anchor parking device works, the influence of the captive balloon on the traction tension of the anchor parking device caused by wind power and wind direction changes is balanced by automatically adjusting the damper, the counterweight module, the upper platform telescopic adjusting device and other components, and the reliability and the self-adaptive capacity of the anchor parking device are improved. The mooring vehicle has the characteristics of strong mobility and self-adaptive capacity, high automation degree, safety, practicability, high working efficiency and the like.
Description
Technical Field
The invention relates to the field of ground anchoring equipment for captive balloons, in particular to a maneuvering integrated anchoring and parking device for flying, residing, recovering and equipment transporting captive balloons, and belongs to the field of engineering machinery of captive balloon anchoring and parking vehicles.
Background
The captive balloon is a balloon which is tied on a ground winch by using a cable and can control the floating height of the captive balloon in the atmosphere; the lift-off height is basically 1km or below, and the device is mainly applied to troposphere emergency communication, earth observation and the like.
The captive balloon is an aerostat which obtains buoyancy by virtue of buoyancy gas in an air bag and is tied and fixed by a cable. By means of the mooring cable, aerodynamic lift and rich buoyancy, the constant-height and long-time residence can be realized in a specific range in the air.
The anchor parking is a device for towing and mooring balloons, most of the existing anchor vehicles adopt a structure that a towing chassis is connected with a semitrailer, the maneuverability of the anchor parking vehicles is greatly improved, but the performance of the anchor parking vehicles adapting to the change of environmental factors (such as sudden change of wind power and wind direction) is not fundamentally improved. The existing anchor parking technology is poor in environment adaptability or low in integral automatic integration degree, the retraction and the release of the captive balloon are greatly influenced by external environment conditions, particularly under severe conditions such as field wind speed and direction sudden changes, the balance self-adjusting capability of anchor parking is insufficient, and the captive balloon is difficult to guarantee to work safely and reliably.
In view of the working mode of the captive balloon, the change of external environmental factors is always a key technology which influences the normal work of the captive balloon and needs to be broken through urgently. Currently, the mooring balloon realizes the anchoring operations such as lift-off, long-term parking, recovery and the like through the ground anchoring and parking. The safety, reliability and technical performance of ground anchor parking directly influence the success or failure of the operation of the captive balloon. Therefore, the key of the technology for overcoming the problem of mooring the balloon is how to realize the automatic wind-following free rotation and swing speed of the ground anchoring vehicle in the working processes of lifting off, recovering and the like of the manually controllable mooring balloon, balance the unbalanced stress of the borne wind load, and maintain the safe and firm operation of anchoring and parking.
Disclosure of Invention
The invention aims to provide the integrated anchor parking with the damping balance self-adjustment function aiming at the defects, and solves the problems that the balance self-adjustment capability of the anchor parking in the prior art is insufficient, and the safety and the reliability of the operation of a captive balloon are difficult to ensure.
The scheme is realized as follows:
the integrated anchor parking device with the damping balance self-adjustment function comprises a chassis, an upper platform, a ground support part, a balloon support part, a counterweight part and a pulling part; a rotary part is arranged between the upper platform and the chassis, the upper platform is rotatably connected with the chassis through the rotary part, a damping structure is arranged on the rotary part, the ground support part is arranged on the chassis, and the balloon support part can move back and forth relative to the upper platform; the counterweight part is arranged on the balloon supporting part and can move in the length direction relative to the balloon supporting part, so that the integral gravity center of the anchoring vehicle can be adjusted; the pulling part is arranged on the upper platform.
Based on the integrated anchoring vehicle structure with the damping balance self-adjustment function, the end part, close to the upper platform, of the upper platform support is provided with the telescopic inner cylinder, the end part, close to the upper platform support, of the upper platform support is provided with the telescopic outer cylinder, and the telescopic outer shell is sleeved on the telescopic inner cylinder.
Based on the self-adjusting integrated anchoring vehicle structure with damping balance, the upper platform support is provided with a connecting transverse plate and a connecting vertical plate; the connecting vertical plate is arranged between the two telescopic inner cylinders, one end of the first telescopic adjusting device is arranged at the bottom of the upper platform, the other end of the first telescopic adjusting device is connected with the connecting vertical plate, and the contact part of the first telescopic adjusting device and the connecting vertical plate is arranged at the central position of the connecting vertical plate; the connecting transverse plates are arranged at the central positions between the connecting vertical plates; the counterweight part is arranged on the connecting transverse plate, the lower part of the connecting transverse plate is provided with side plates, the side plates are perpendicular to the two side positions of the connecting transverse plate, and a first cavity is formed between the connecting transverse plate and the two side plates; the two side plates are provided with corresponding sliding grooves; and a third pulley is arranged on the connecting transverse plate.
Based on the self-adjusting integrated anchoring vehicle structure with damping balance, the counterweight part is arranged in the first cavity and comprises a second telescopic adjusting device, a counterweight block and a sliding seat; one end of the second telescopic adjusting device is fixedly connected with the connecting vertical plate, the other end of the second telescopic adjusting device is connected with the sliding seat, and the balancing weight is detachably connected with the sliding seat; the sliding seat is arranged in the sliding groove and can move along the length direction of the sliding groove under the pushing of external force.
Based on the integrated anchoring vehicle structure with the damping balance self-adjustment function, the upper platform is further provided with an auxiliary supporting portion, and the auxiliary supporting portion and the balloon supporting portion cooperate to lift the captive balloon to control the captive balloon.
Based on the self-adjusting integrated anchoring vehicle structure with damping balance, the balloon supporting part comprises an upper platform bracket, a supporting and fixing frame and a first telescopic adjusting device; the upper platform support is connected with the upper platform through a first telescopic adjusting device, the supporting and fixing frame is arranged on the upper platform support, and the supporting and fixing frame is used for being in contact with the captive balloon and carrying the captive balloon.
Based on the integrated anchoring vehicle structure with the damping balance self-adjustment function, the telescopic inner cylinder is further provided with a winch swing arm, the winch swing arm is hinged to the telescopic inner cylinder, and a winch device is arranged on the end portion, far away from the telescopic inner cylinder, of the winch swing arm.
Based on the integrated self-adjusting anchoring vehicle structure with damping balance, the auxiliary supporting part comprises a first tower part, a second tower part, a third telescopic adjusting device, a first pulley, an auxiliary supporting part and a second pulley; the first tower part is fixedly connected with the upper platform, the first tower part is rotatably connected with the second tower part, one end of the third telescopic adjusting device is connected with the upper platform, and the other end of the third telescopic adjusting device is connected with the second tower part; the first pulley is arranged on the end face, far away from the first tower part, of the second tower part, the second pulley is arranged on the end part, far away from the second tower part, of the first tower part, and the auxiliary supporting piece is matched with the first pulley;
based on above-mentioned balanced self-interacting integration mooring car structure of taking damping, pulling portion includes first hoist engine and second hoist engine, first hoist engine and second hoist engine all set up on the upper mounting plate, and mooring balloon head hawser passes through first pulley and second pulley and is connected with first hoist engine, and the hawser on the mooring balloon both sides portion assembles the formation main rope in mooring balloon bottom, and the main rope passes through the third pulley and is connected with the second hoist engine.
Based on the self-adjusting integrated anchoring vehicle structure with the damping balance, the ground supporting part comprises a supporting leg telescopic arm, a lifting supporting leg and a heavy pressure pier; the supporting leg telescopic arms are respectively arranged at the periphery of the chassis and can be connected with the chassis through a mechanical locking device; the lifting support leg is arranged on the end part, far away from the chassis, of the support leg telescopic arm; the heavy pressure pier is detachably connected with the lifting support leg.
Compared with the prior art, the invention has the beneficial effects that:
1. aiming at the defects of the prior art, the invention provides a technical scheme of self-adjusting integrated anchoring vehicle with damping balance. The balance self-adjusting function of the anchoring vehicle is realized through the adjusting action of the damper, the counterweight module and other components, the performance of the anchoring vehicle adapting to environmental factor changes (such as sudden changes of wind power and wind direction) is enhanced, meanwhile, the integrated automatic transformation is carried out on the anchoring vehicle, and the functions of safety, reliability, maneuverability, convenient operation and the like of anchoring and parking are greatly improved.
2. Compared with the prior art, the anchor parking device fundamentally changes the self-adaptive capacity of the anchor parking device, is convenient to transport, can automatically adapt to the change of external wind power and wind direction during working, and has wider adaptability to the field; the pylon adopts automatic folding, and removable support is fixed, and upper platform support is scalable, and the capstan winch swing arm is also collapsible simultaneously for the overall dimension becomes compact and small and exquisite when the anchor is parked and is transported, and transportation security also greatly improves.
3. The invention initiatively realizes the change of the anchoring parking self-adaptive environment (especially the severe conditions such as sudden change of wind power and direction) through the change of the damper gear and the change of the moving position of the counterweight part, and greatly enhances the capability of the anchoring parking vehicle to adapt to the dynamic change of the field environment.
Drawings
FIG. 1 is a schematic side view of the present invention in its entirety during transport;
FIG. 2 is a schematic side view of the invention after being wholly expanded;
FIG. 3 is a schematic top view of the invention in its entirety expanded;
FIG. 4 is a schematic diagram of the operation of the anchor parking vehicle of the present invention;
FIG. 5 is a schematic bottom view of the invention in its fully expanded configuration;
FIG. 6 is an enlarged schematic view of the weight portion of the present invention;
FIG. 7 is a schematic view of the structure of the turn part in the present invention;
FIG. 8 is a schematic view of the damper of the present invention;
FIG. 9 is a schematic view of the structure and force analysis of the present invention in operation with a mooring vehicle and captive balloon;
in the figure: 1. a chassis; 2. an upper platform; 3. a ground support; 4. a balloon support portion; 5. a counterweight portion; 6. a pulling part; 7. a turning part; 8. an auxiliary support portion; 9. a traveling mechanism; 10. a trailer section; 11. captive balloons; 31. a support leg telescopic arm; 32. lifting support legs; 33. heavy pressing the pier; 331. a first pier body; 332. a second pier body; 41. an upper platform support; 42. supporting the fixed frame; 43. a first telescoping adjustment device; 44. an inner telescopic cylinder; 45. a telescopic outer cylinder; 46. a winch swing arm; 47. a winch arrangement; 421. a receiving frame; 422. a contact pad; 411. connecting the transverse plates; 412. connecting a vertical plate; 413. a side plate; 414. a sliding groove; 415. a third pulley; 51. a second telescoping adjustment device; 52. a balancing weight; 53. a sliding seat; 531. a body portion; 532. a slide bar; 61. a first winch; 62. a second hoist; 71. a rotating shaft; 72. a damper; 721. a clamping mechanism; 722. a brake pad; 723. a retarding ring; 724. adjusting the screw rod; 725. a connecting seat; 726. a first hold down bar; 727. a second hold down bar; 728. a bolt connector; 81. a first tower portion; 82. a second tower portion; 83. a third telescopic adjusting device; 84. a first pulley; 85. an auxiliary support; 86. a second pulley; 101. a first locking section; 102. a second locking portion; 103. a connecting portion; 104. a mechanical locking device; 105. and fixing the bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1
As shown in fig. 1 to 7, the present invention provides a technical solution:
the integrated anchor parking device with the damping balance self-adjustment function comprises a chassis 1, an upper platform 2, a ground support part 3, a balloon support part 4, a counterweight part 5 and a pulling part 6; a rotary part 7 is arranged between the upper platform 2 and the chassis 1, the upper platform 2 is rotatably connected with the chassis 1 through the rotary part 7, the ground support part 3 is connected with the chassis 1, and the balloon support part 4 can move back and forth relative to the upper platform 2; the counterweight part 5 is arranged on the balloon support part 4, and the counterweight part 5 can move relative to the balloon support part 4 in the length direction of the balloon support part, so that the adjustment of the integral gravity center of the anchoring vehicle is realized; the pulling part 6 is arranged on the upper platform 2, and the pulling part 6 provides power and a communication channel for a cable of the captive balloon 11).
The upper platform 2 is also provided with an auxiliary supporting part 8, and the auxiliary supporting part 8 and the balloon supporting part 4 are matched to control the lifting of the captive balloon 11 to be stable;
the balloon support part 4 comprises an upper platform bracket 41, a support fixing frame 42 and a first telescopic adjusting device 43; the upper platform support 41 is connected with the upper platform 2 through a first telescopic adjusting device 43, the upper platform support 41 moves along the length direction of the first telescopic adjusting device 43 under the driving of the first telescopic adjusting device 43, the supporting and fixing frame 42 is arranged on the upper platform support 41, the supporting and fixing frame 42 is used for being in contact with the captive balloon 11 and carrying, and the number of the supporting and fixing frames 42 is symmetrically 2 on the upper platform support 41;
specifically, a telescopic inner cylinder 44 is arranged at the end part of the upper platform support 41 close to the upper platform 2, a telescopic outer cylinder 45 is arranged at the end part of the upper platform 2 close to the upper platform support 41, the telescopic outer shell is sleeved on the telescopic inner cylinder 44, and directional telescopic operation of the upper platform support 41 is completed through the telescopic inner cylinder 44 and the telescopic outer cylinder 45;
preferably, the telescopic inner cylinder 44 and the telescopic outer cylinder 45 are both rectangular structures, so that the upper platform support 41 is prevented from being deviated during movement, and the stability of telescopic operation can be ensured by the telescopic cylinders with the rectangular structures.
The supporting and fixing frame 42 comprises a bearing frame 421 and a contact pad 422, the bearing frame 421 is perpendicular to the supporting frame of the upper platform 2, the contact pad 422 is sleeved on the top of the bearing frame 421, and the contact pad 422 is in contact with the captive balloon 11, so that damage to the captive balloon 11 by a contact part in the moving process is prevented.
The upper platform bracket 41 is provided with a connecting transverse plate 411 and a connecting vertical plate 412; connect riser 412 to set up between two flexible inner tubes 44, can form stable rectangle structure with upper mounting bracket 41 through connecting riser 412, first flexible adjusting device 43's one end sets up in upper mounting 2 bottom position, and the other end is connected with connection diaphragm 411, first flexible adjusting device 43 sets up the central point that connects diaphragm 411 with the contact site of connecting diaphragm 411 and puts, can make the driving force more average, and the promotion effect is more firm.
The connecting transverse plate 411 is arranged at the central position between the connecting vertical plates 412; the counterweight part 5 is arranged on the connecting transverse plate 411, the lower part of the connecting transverse plate 411 is provided with side plates 413, the side plates 413 are perpendicular to the two side positions of the connecting transverse plate 411, and a first cavity is formed between the connecting transverse plate 411 and the two side plates 413; the two side plates 413 are provided with corresponding sliding grooves 414;
a third pulley 415 is arranged on the connecting transverse plate 411, and the third pulley 415 is arranged at the center of the connecting transverse plate 411; the third pulley 415 is used for guiding the main cable of the captive balloon 11;
the counterweight part 5 is arranged in the first cavity, and the counterweight part 5 comprises a second telescopic adjusting device 51, a counterweight block 52 and a sliding seat 53; one end of the second telescopic adjusting device 51 is fixedly connected with the connecting vertical plate 412, the other end of the second telescopic adjusting device is connected with the sliding seat 53, and the balancing weight 52 is detachably connected with the sliding seat 53; the sliding seat 53 is arranged in the sliding groove 414, and the sliding seat 53 can move along the length direction of the sliding groove 414 under the pushing of external force;
the configuration blocks can be increased or decreased according to the requirements of the site, so that the whole adjusting process is more stable and efficient. The specific configuration block can be adjusted manually in a dynamic way according to the abundant buoyancy of the captive balloon 11 and the wind power condition on site;
based on the above structure, when the overall gravity center of the vehicle needs to be adjusted, the sliding seat 53 and the counterweight block 52 are moved in the direction away from or close to the upper platform 2 by the pushing of the second telescopic adjusting device 51, so as to achieve the purpose of adjusting the gravity center.
The sliding seat 53 includes a body portion 531 and a sliding rod 532; the sliding rods 532 are arranged at two sides of the body part 531, the counterweight block 52 is arranged at the bottom of the body part 531, the diameter of the sliding rods 532 is matched with that of the sliding groove 414, and the sliding rods 532 are arranged in the sliding groove 414; the movement direction of the balancing weight 52 is limited through the matching of the sliding rod 532 and the sliding groove 414; making the weight 52 move more smoothly.
Preferably, a winch swing arm 46 is further arranged on the telescopic inner cylinder 44, the winch swing arm 46 is vertically arranged with the telescopic inner cylinder 44 and the receiving frame 421, and a winch device 47 is arranged on the end part of the winch swing arm 46 far away from the telescopic inner cylinder 44; when the captive balloon 11 is fixed, the auxiliary-side mooring line hanging down from the captive balloon 11 is fixed by the winch device 47
The winch swing arm 46 is hinged with the telescopic inner cylinder 44, so that the winch swing arm 46 can rotate around the telescopic inner cylinder 44, and the transportation volume during transportation is reduced.
The auxiliary support portion 8 includes a first tower portion 81, a second tower portion 82, a third telescopic adjustment device 83, a first pulley 84, an auxiliary support member 85, and a second pulley 86; the first tower part 81 is fixedly connected with the upper platform 2, the second tower part 82 is rotatably connected with the second tower part 82, one end of the third telescopic adjusting device 83 is connected with the upper platform 2, and the other end of the third telescopic adjusting device is connected with the second tower part 82; second tower portion 82 is rotatable about first tower portion 81 by third telescopic adjustment means 83; the second tower part 82 is convenient to store, and the size of the whole space during transportation is reduced;
the first pulley 84 is arranged on the end face of the second tower part 82 far away from the first tower part 81, the second pulley 86 is arranged on the end part of the first tower far away from the second tower part 82, and the auxiliary supporting piece 85 is matched with the first pulley 84;
the auxiliary supporting piece 85 is of an umbrella-shaped structure, contacts with the head of the captive balloon 11 through the auxiliary supporting piece 85, and guides the auxiliary cable at the head of the captive balloon 11 into the pulling part 6 through the first pulley 84 and the second pulley 86, so that the captive balloon 11 is controlled more accurately; the contact area between the umbrella-shaped structure and the captive balloon 11 is larger, so that the captive balloon 11 can be more stably parked on the auxiliary supporting part 8 when not flying;
the pulling part 6 comprises a first winch 61 and a second winch 62, the first winch 61 and the second winch 62 are both arranged on the upper platform 2, an auxiliary rope at the head of the captive balloon 11 is connected with the first winch 61 through a first pulley 84 and a second pulley 86, ropes on two side walls of the captive balloon are gathered together and are positioned right below the center of the balloon, and a main rope (namely a photoelectric composite rope) is connected with the second winch 62 through a third pulley 415; attitude control for the ascent and descent of the captive balloon 11 is achieved by cooperation of the first winch 61 and the second winch 62. In the ascending of the captive balloon 11, the main tension is borne by the second winch 62, and the first winch 61 is mainly matched with the second winch 62 to adjust the postures of the captive balloon 11 such as the pitch angle and the like; the second winch 62 mainly plays a role in auxiliary bearing and pulling;
during low-altitude movement (generally less than 10 meters), the captive balloon 11 is further provided with two auxiliary side mooring ropes which are connected through the winch devices 47 on the two sides of the mooring vehicle, when the captive balloon 11 ascends in a low altitude, the winch devices 47 control the roll angle posture of the captive balloon 11 to a certain degree, and finally, the front end, the lower end, the left end and the right end of the captive balloon 11 are controlled, so that the high efficiency, stability and controllability of the ascent in the low altitude of the captive balloon 11 are guaranteed.
The ground support part 3 comprises a support leg telescopic arm 31, a lifting support leg 32 and a heavy pressure pier 33; the supporting leg telescopic arms 31 are respectively arranged at the periphery of the chassis 1, and the supporting leg telescopic arms 31 can be connected with the chassis 1 through a mechanical locking device; the lifting support leg 32 is arranged on the end part of the support leg telescopic arm 31 far away from the chassis 1; the heavy pressure pier 33 is detachably connected with the lifting support leg 32;
when the ground anchoring vehicle is used, the locking state of the mechanical locking device of the supporting leg telescopic arm 31 and the chassis 1 is unlocked, so that the supporting leg telescopic swing arm can automatically perform 0-180-degree swing telescopic adjustment according to the flatness and road conditions of a field, and the adaptability of the anchoring vehicle to the field can be greatly enhanced; then, the heavy pressing pier 33 is connected with the telescopic supporting leg to form a stable connecting structure;
the heavy pressing pier 33 comprises a first pier body 331 and a second pier body 332; a second cavity for connecting the lifting support leg 32 is arranged between the first pier body 331 and the second pier body 332, and the first pier body 331, the second pier body 332 and the lifting support leg 32 are connected into a whole through a binding belt; with the disconnect-type setting of first pier body 331 and second pier body 332, can reduce the transportation degree of difficulty on the one hand, on the other hand can be quick the completion to heavily pressing the installation of pier 33 and lift landing leg 32 to reduce the field operation degree of difficulty.
The heavy pressure pier 33 can be manually and dynamically adjusted according to the abundant buoyancy of the captive balloon 11 and the wind power condition on site.
The lower end of the chassis is provided with a traveling mechanism 9, and rapid transportation and transition can be realized through the traveling mechanism 9. After the anchoring vehicle is separated from the trailer part 10 in the field, the anchoring vehicle does not need to be matched with a crane, and the movement of the field position is realized through the low-speed walking function of the walking mechanism 9, so that the anchoring vehicle has the mobility and the capability of independent work;
the running gear 9 may be a prior art tire assembly;
in other embodiments, the anchor parking device further comprises a trailer part 10, wherein the trailer is provided with a first locking part 101 and a second locking part 102, a connecting part 103 is arranged on a connecting vertical plate 412 far away from the upper platform 2, and the connecting part 103 is locked with the first locking part 101, so that the upper platform 2 is prevented from rotating during transportation, and the safety of each component is ensured.
The chassis is provided with a mechanical locking device 104, the mechanical locking device 104 is connected with the second locking part 102, so that the trailer part 10 and the chassis are connected into a whole, and the chassis is dragged by the trailer part 10.
The rotary part 7 comprises a rotary shaft 71, a retarding ring 723 and a damper 72; one end of the rotating shaft 71 is fixedly connected with the upper platform 2, the other end of the rotating shaft is connected with the base through a bearing, and the retarding ring 723 is fixedly connected with the rotating shaft, so that the upper platform 2 can rotate relative to the base; the damper 72 is arranged to match the rotating shaft 71, and the friction coefficient of the rotating shaft 71 can be adjusted by the damper 72 to reduce the rotating speed of the rotating shaft 71.
The damper 72 comprises a clamping mechanism 721, a brake pad 722 and an adjusting screw 724; the clamping mechanisms 721 are arranged in a plurality in the circumferential direction of the rotating shaft 71, the clamping mechanisms 721 are fixedly connected with the base, the retarding rings 723 are arranged between the brake pads 722, the adjusting screws 724 are used for adjusting the tensioning degree of the clamping mechanisms 721 so as to realize adjustment of the relative distance between the brake pads, the friction force between the retarding rings 723 and the brake pads 722 is different at different positions at different distances, the retarding efficiency of corresponding points is adjusted as required, and the adjusting screws 724 are rotated for adjustment; when the anchor parking device is used, the swing speed of the anchor parking vehicle along with the wind direction is controlled according to environmental factors such as field wind power and the like, and safety accidents of personnel and equipment caused by too high swing speed of the anchor parking vehicle are prevented.
Specifically, the clamping mechanism comprises a connecting seat 725, a first pressing rod 726, a second pressing rod 727 and a bolt connector 728; the connecting seat is fixedly connected with the chassis, the first pressing rod 726 and the second pressing rod 727 are horizontally arranged on the connecting seat 725, the central positions of the first pressing rod 726 and the second pressing rod 727 are hinged with the connecting seat 725, the bolt connector 728 is arranged at the end part of the first pressing rod 726 or the second pressing rod 727 far away from the rotating shaft, the adjusting screw 724 is respectively in threaded connection with the bolt connector 728 of the first pressing rod 726 or the second pressing rod 727, and the brake pad is arranged at one end of the first pressing rod 726 or the second pressing rod 727 far away from the bolt connector 728; the relative distance between the two bolted joints 728 is adjusted by rotating the adjusting screw 724, thereby adjusting the relative distance between the brake pads.
The mechanical locking device described in the present scheme is a mature component in the prior art, which does not belong to the invention of the present scheme, and therefore, is not described herein again.
In other embodiments, the anchor vehicle is further provided with a fixing bracket 105 during transportation, and the second tower portion 82 is retracted during transportation, and then the second tower portion 82 is locked with the upper platform 2 by the fixing bracket 105, so that the stability during transportation is ensured.
Example 2
The present embodiment specifically explains the principle in the present solution with reference to the drawings;
referring to fig. 1, the transportation schematic diagram of the anchoring vehicle is shown, the anchoring vehicle is contracted and folded into a minimum-overall-size working state, and is transported by being dragged by a trailer part 10; the second tower portion 82 is firmly fixed to the anchor parking upper platform 2 by the fixing bracket 105 and mechanically locked; the anchor parking is realized by mechanically locking and connecting the mechanical locking device on the chassis 1 with the second locking part 102 of the trailer, and the connecting part 103 on the anchor parking upper platform 2 is fixedly connected with the trailer, so that the anchor parking upper platform 2 is prevented from rotating in transportation. On the chassis 1 was retrieved to flexible landing leg, carried out mechanical locking, flexible landing leg shrink to the shortest simultaneously, flexible bottom and upper portion adopt mechanical locking device or safety chain to fix, prevent that flexible landing leg bottom accident from touchhing to the ground in the transportation, influence transportation safety. After the machine is locked in place, the trailer can be normally dragged to work, and transportation, anchoring and parking are carried out;
referring to the schematic expanded views of the moored vehicle shown in fig. 2 and 3, the moored vehicle is transported to the flying site through the trailer part 10, and after the moored vehicle is expanded, the moored vehicle is separated from the trailer part 10; the anchor parking is unfolded from the lifting support legs 32, mechanical locking between the support leg telescopic swing arms and the anchoring vehicle chassis 1 is unlocked, the support leg telescopic swing arms automatically perform 0-180-degree swing telescopic adjustment according to site road conditions, and the support leg telescopic swing arms stay at a proper position in combination with the range of the working area of the anchor parking, and mechanical locking devices or safety chains on the lifting support legs 32 are unlocked. Mechanical locking of second tower portion 82 with fixing bracket 105 is released, third telescopic adjustment device 83 pulls second tower portion 82 to be in a vertical state and locks it, and second tower portion 82 is locked in the vertical state and fixing bracket 105 is removed. The mechanical locking device and the connecting part 103 are released from the connection state with the first locking part 101 and the second locking part 102 on the trailer, so that the trailer part 10 is separated from the anchoring vehicle, and meanwhile, the trailer is withdrawn from the site and parked in an area which does not influence the test, and a place is left for flying the captive balloon 11.
The lifting support legs 32 extend downwards to support the anchor for parking and ensure the running mechanism 9 to be in an empty state. The mechanical locking state of the upper platform bracket 41 and the upper platform 2 is released, the first telescopic adjusting device 43 starts to work, the upper platform bracket 41 extends out from the upper anchoring platform 2 to reach the working state, and meanwhile, the mechanical locking state is started, and the upper platform bracket 41 is kept locked in the working state. The mechanical locking state of the winch swing arm 46 and the upper platform support 41 is released, the winch swing arm 46 swings to a position vertical to the upper platform support 41, the winch device 47 is made to be in a working position, and meanwhile, the winch swing arm 46 is locked with the vertical position of the upper platform support 41 by adopting a mechanical locking device or a safety chain. Finally, the locked state of the turning part 7 and the counterweight part 5 is released, the main devices such as the damper 72, the second telescopic adjustment device 51, the first winch 61 and the second winch 62 are set in the working mode, and the anchor parking is set in the working mode
Referring to fig. 4, as shown in fig. 4, the operation of the anchoring vehicle is schematically illustrated, after the anchoring vehicle is deployed, the heavy pressing pier 33 presses the bottom of the lifting leg 32, and the heavy pressing pier 33 and the lifting leg 32 are fixed into a whole by using a binding band. The fixed bracket 105 is removed leaving room for personnel to operate the upper platform 2. The interface connection socket at the head of the captive balloon 11 is connected to a main cable which passes through the centre of the umbrella structure on top of the second tower portion 82, around the first pulley 84 on top of the first tower portion 81, through the second tower portion 82 and the second pulley 86 and is wound around the first winch 61. The main cable (i.e. the photoelectric composite cable) bearing and pulling device is fixed together with the cable drooping from both sides of the middle part of the captive balloon 11, the pulling force of the photoelectric composite cable and the captive balloon 113 is transmitted to the airship through the bearing and pulling device, meanwhile, one end of the connector of the photoelectric composite cable is connected with the equipment (such as a power supply and a fiber cable connector) of the lower hanging cabin of the airship, and the other end of the connector bypasses the third pulley 415 on the upper platform support 41 and is wound on the second winch 62. The two winches are controlled to release the main cable and the auxiliary cable independently or simultaneously in a local manual control mode and a remote control mode, and both have an emergency manual release mode and a mechanical locking function. When the mooring vehicle works, the mooring balloon 11 is released and lifted off through the main cable and the auxiliary cable.
In the flying process of the captive balloon 11, according to the wind power and the wind direction on site, the gear of the damper 72, the counterweight part 5, the first telescopic adjusting device 43 and other parts are adjusted to realize the matching of the anchored vehicle and the site environment.
After the captive balloon 11 is released to a preset height, the two winches stop working and are mechanically locked, and the gear of the damper 72 and the moving position of the counterweight part 5 are adjusted, so that the mooring vehicle is in the optimal stress state of the captive balloon 11. The recovery of the captive balloon 11 is reversed to the launch process, and the mooring line is towed by the winch to the height of descent of the captive balloon 11 until the airship falls onto the support and securing bracket 105.
A standby redundant safety rope is arranged at a position fixed with the photoelectric composite optical cable and the airship, autonomous locking winch devices 47 are arranged on two sides of the anchoring vehicle, a secondary side cable can be recovered when the winch devices 47 are in a locking state, but the secondary side cable cannot be released, and the cable can be freely released and released after unlocking;
compared with the existing anchor parking technology, the anchor parking vehicle can realize the change of the anchor parking self-adaptive environment (especially severe conditions such as sudden change of wind power and direction) through the change of the gears of the damper 72 and especially the change of the moving position of the counterweight part 5 in the working process, greatly enhances the capability of the anchor parking vehicle adapting to the dynamic change of the field environment, and simultaneously can manually increase and decrease the counterweight load specification of the counterweight part 5;
as shown in fig. 9, a specific process of changing the position of the weight 5 to make the anchor parking adaptive to the environment will be explained here: when the captive balloon 11 rises to the high altitude, the captive balloon 11 can perform irregular movement under the influence of the external environment, the upper platform 2 connected with the lower end of the captive balloon can rapidly and freely rotate relative to the chassis, the damper 72 is adopted in the scheme to reduce the speed, so that the safety during operation is realized, but when the wind power is too large, particularly under extreme conditions, the tension of the captive balloon 11 can cause the anchor vehicle to have a rollover risk, and at the moment, the stress balance effect can be achieved by changing the position of the counterweight block 52, so that the distance between the counterweight block 52 and the upper platform 2 is increased; since the pulling force of the captive balloon 11 is transmitted to the second winch 62 through the third pulley 415, the second winch 62 is fixedly connected with the upper platform 2, a lever-like model is constructed as a whole, the rotating shaft 71 can be regarded as an ideal fulcrum, other forces exist as internal forces, and the pulling force F of the captive balloon 11 is realized at the moment1And the distance from the third pulley 415 to the revolving shaft 71 is a force direction distance d1And the weight of the weight 52 is the opposite pulling force F2The distance from the weight 52 to the rotation axis 71 is d2，d1Is not changed, the weight of the counter weight 52 is the pulling force F2Is not changeable during movement, according to the lever formula: f1*d1＝F2*d2(ii) a When a tensile force F is applied1When the change occurs, we can adjust d2The balance is realized, that is, in the present scheme, the anchor parking self-adaptive environment capability is realized by increasing the distance between the counterweight block 52 and the upper platform 2 during the rotation of the upper platform 2.
Compared with the prior art, the anchor parking machine has the advantages that the mobility and the self-adaptive capacity of the anchor parking machine are changed, the transport is convenient, the anchor parking machine can automatically adapt to the change of external wind power and wind direction during working, and meanwhile, the adaptability to sites is wider. The tower is automatically folded, the detachable support is fixed, the upper platform support 41 is telescopic, and the winch swing arm 46 is foldable, so that the overall dimension of the anchor parking transportation becomes compact and small, and the transportation safety is greatly improved.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The integrated anchor parking device with the damping balance self-adjustment function is characterized by comprising a chassis, an upper platform, a ground supporting part, a balloon supporting part, a counterweight part and a pulling part; a rotary part is arranged between the upper platform and the chassis, the upper platform is rotatably connected with the chassis through the rotary part, a damping structure is arranged on the rotary part, the ground support part is connected with the chassis, and the balloon support part can move back and forth relative to the upper platform; the counterweight part is arranged on the balloon supporting part and can move in the length direction relative to the balloon supporting part, so that the integral gravity center of the anchoring vehicle can be adjusted; the pulling part is arranged on the upper platform.
2. The vehicle anchoring and parking integrated with damping balance self-adjustment function according to claim 1, wherein: the end part of the upper platform support close to the upper platform is provided with a telescopic inner cylinder, the end part of the upper platform support close to the upper platform is provided with a telescopic outer cylinder, and the telescopic outer shell is sleeved on the telescopic inner cylinder.
3. The self-adjusting anchor vehicle with damping balance as claimed in claim 1 or 2, wherein: the upper platform bracket is provided with a connecting transverse plate and a connecting vertical plate; the connecting vertical plate is arranged between the two telescopic inner cylinders, one end of the first telescopic adjusting device is arranged at the bottom of the upper platform, the other end of the first telescopic adjusting device is connected with the connecting vertical plate, and the contact part of the first telescopic adjusting device and the connecting vertical plate is arranged at the central position of the connecting vertical plate; the connecting transverse plates are arranged at the central positions between the connecting vertical plates; the counterweight part is arranged on the connecting transverse plate, the lower part of the connecting transverse plate is provided with side plates, the side plates are perpendicular to the two side positions of the connecting transverse plate, and a first cavity is formed between the connecting transverse plate and the two side plates; the two side plates are provided with corresponding sliding grooves; and a third pulley is arranged on the connecting transverse plate.
4. The integrated anchor parking vehicle with damping balance self-adjustment function as claimed in claim 3, wherein: the counterweight part is arranged in the first cavity and comprises a second telescopic adjusting device, a counterweight block and a sliding seat; one end of the second telescopic adjusting device is fixedly connected with the connecting vertical plate, the other end of the second telescopic adjusting device is connected with the sliding seat, and the balancing weight is detachably connected with the sliding seat; the sliding seat is arranged in the sliding groove and can move along the length direction of the sliding groove under the pushing of external force.
5. The self-adjusting anchor vehicle with damping balance as claimed in claim 1 or 2, wherein: the upper platform is also provided with an auxiliary supporting part, and the auxiliary supporting part and the balloon supporting part are matched to control the lifting of the captive balloon.
6. The self-adjusting anchor vehicle with damping balance as claimed in claim 1 or 2, wherein: the balloon supporting part comprises an upper platform bracket, a supporting and fixing frame and a first telescopic adjusting device; the upper platform support is connected with the upper platform through a first telescopic adjusting device, the supporting and fixing frame is arranged on the upper platform support, and the supporting and fixing frame is used for being in contact with the captive balloon and carrying the captive balloon.
7. The integrated anchor parking vehicle with damping balance self-adjustment function according to claim 2, characterized in that: the telescopic inner cylinder is further provided with a winch swing arm, the winch swing arm is hinged to the telescopic inner cylinder, and a winch device is arranged on the end portion, far away from the telescopic inner cylinder, of the winch swing arm.
8. The vehicle anchoring and parking integrated with damping balance self-adjustment function according to claim 7, wherein: the auxiliary supporting part comprises a first tower part, a second tower part, a third telescopic adjusting device, a first pulley, an auxiliary supporting part and a second pulley; the first tower part is fixedly connected with the upper platform, the second tower part is rotatably connected with the second tower part, one end of the third telescopic adjusting device is connected with the upper platform, and the other end of the third telescopic adjusting device is connected with the second tower part; the first pulley is arranged on the end face, far away from the first tower part, of the second tower part, the second pulley is arranged on the end portion, far away from the second tower part, of the first tower part, and the auxiliary supporting piece is matched with the first pulley.
9. The vehicle anchoring and parking integrated with damping balance self-adjustment function according to claim 8, wherein: the pulling part comprises a first winch and a second winch, the first winch and the second winch are both arranged on the upper platform, the auxiliary mooring rope at the head of the captive balloon is connected with the first winch through a first pulley and a second pulley, the mooring ropes at the two sides of the captive balloon are gathered at the bottom of the captive balloon to form a main mooring rope, and the main mooring rope is connected with the second winch through a third pulley.
10. The vehicle anchoring and parking integrated with damping balance self-adjustment of claim 9, wherein: the ground supporting part comprises a supporting leg telescopic arm, a lifting supporting leg and a heavy pressure pier; the supporting leg telescopic arms are respectively arranged at the periphery of the chassis and can be connected with the chassis through a mechanical locking device; the lifting support leg is arranged on the end part, far away from the chassis, of the support leg telescopic arm; the heavy pressure pier is detachably connected with the lifting support leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111100765.9A CN113697084B (en) | 2021-09-18 | Take balanced self-interacting integration anchoring vehicle of damping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111100765.9A CN113697084B (en) | 2021-09-18 | Take balanced self-interacting integration anchoring vehicle of damping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113697084A true CN113697084A (en) | 2021-11-26 |
| CN113697084B CN113697084B (en) | 2024-07-30 |
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| CN114162303A (en) * | 2021-12-10 | 2022-03-11 | 北京航空航天大学云南创新研究院 | Automatic device and method for mooring airship by multiple cables |
| CN114261503A (en) * | 2021-12-31 | 2022-04-01 | 北京航空航天大学云南创新研究院 | Captive balloon, control system and helium gas charging and recycling and pressure adjusting control method |
| CN115258125A (en) * | 2022-08-22 | 2022-11-01 | 山东泰开重工机械有限公司 | Mooring vehicle device for mooring airship and using method |
| CN115324828A (en) * | 2022-09-20 | 2022-11-11 | 重庆交通大学 | Flight high altitude power generation system |
| CN116986232B (en) * | 2023-09-20 | 2024-01-30 | 成都盛锴科技有限公司 | Transfer device and transfer method of train inspection robot |
| CN114261503B (en) * | 2021-12-31 | 2024-08-02 | 北京航空航天大学云南创新研究院 | Tethered balloon, tethered balloon control system and helium filling and recovering and pressure regulating and controlling method |
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| CN115324828A (en) * | 2022-09-20 | 2022-11-11 | 重庆交通大学 | Flight high altitude power generation system |
| CN116986232B (en) * | 2023-09-20 | 2024-01-30 | 成都盛锴科技有限公司 | Transfer device and transfer method of train inspection robot |
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