CN217456321U

CN217456321U - Drag airship and stratospheric airship

Info

Publication number: CN217456321U
Application number: CN202221771811.8U
Authority: CN
Inventors: 江京; 段洣毅; 廉英; 陈超群; 邓迎春
Original assignee: Beijing Kongtiangao Technology Co ltd
Current assignee: Beijing Kongtiangao Technology Co ltd
Priority date: 2022-07-10
Filing date: 2022-07-10
Publication date: 2022-09-20
Anticipated expiration: 2032-07-10

Abstract

The utility model relates to an airship technical field provides one kind and pulls airship and stratosphere airship, pull airship, include: an air bag; dragging the airship tail cone, fixing the airship tail cone at the tail part of the air bag and positioning the airship tail cone on the central shaft of the air bag; the towing rope winch is arranged at the rear part of a towing airship tail cone; dragging rope, winding dragging rope capstan, the tail of dragging rope is equipped with lantern ring; and the lantern ring is arranged at the tail part of the towing rope and used for locking or unlocking the connection with the locking device at the front part of the stratospheric airship. The scheme can ensure that the stratospheric airship returns to the field safely and completely, reduces energy consumption and ensures that the stratospheric airship returns to the field safely and completely.

Description

Drag airship and stratospheric airship

Technical Field

The utility model relates to an airship technical field especially relates to a pull airship and stratosphere airship.

Background

The stratospheric airship has very wide military and civil values, and has great application values in the aspects of communication, remote sensing, space observation, atmospheric measurement and the like. An airship, one type of aerostat, is an aircraft that uses a lighter-than-air gas to provide lift. The lift obtained by the airship mainly comes from lighter-than-air gas filled inside the airship, such as hydrogen, helium and the like.

Because the stratospheric airship which is being developed needs to be conformal in the descending process, the stratospheric airship can be conformally descended only after the weight of the stratospheric airship is increased by inputting air into the airship to form gravity which is larger than buoyancy. During the descent process of the stratospheric airship, the stratospheric airship can be blown away by a strong wind and deviate to a far area from a preset descent point when passing through a turbulent layer. The air blower for inputting air needs to consume a large amount of energy, and the energy is remained when the stratospheric airship descends to be close to the ground. The remaining energy of the system (including the capacity of the solar cell and the energy storage battery) is not enough to provide the stratospheric airship with low-altitude return field. In addition, because stratospheric airships are bulky, transport to the hangar from areas that are far from the intended drop point is difficult.

In the prior art, an initiating explosive device is used for blasting and tearing an outer capsule of an airship on a stratosphere, and the airship is broken and falls after helium is released, so that the airship returns to the field in a preset area. However, after the stratospheric airship made of heavy metal falls from high altitude, impact force is generated to seriously damage equipment, battery packs, bag body materials and the like on the airship, so that the airship cannot be reused, and great waste is caused.

Therefore, it is desirable to provide a towed airship and a stratospheric airship that can ensure safe and complete return of the stratospheric airship.

The above information disclosed in this background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main objective is overcome the problem that the stratospheric airship is difficult to retrieve and returns the field, provides one kind and pulls the airship and the stratospheric airship, can guarantee that the stratospheric airship is safe, completely return the field and reduce the power consumption, guarantees that the stratospheric airship is safe, completely returns the field.

In order to achieve the above object, the utility model discloses a first aspect provides a pull airship, include:

an air bag;

dragging the airship tail cone, fixing the airship tail cone at the tail part of the air bag and positioning the airship tail cone on the central shaft of the air bag;

the towing rope winch is arranged at the rear part of a towing airship tail cone;

dragging rope, winding dragging rope capstan, the tail of dragging rope is equipped with lantern ring;

and the lantern ring is arranged at the tail part of the towing rope and used for locking or unlocking the connection with the locking device at the front part of the stratospheric airship.

According to an example embodiment of the present invention, the towing airship further includes an elastic damper, the elastic damper being disposed between the towing rope and the lantern ring.

According to an exemplary embodiment of the present invention, the towing airship further comprises a course vector propulsion system, a towing airship nose cone; the towing airship nose cone is fixed at the front part of an air bag of the towing airship and is positioned on a central shaft of the air bag; the towing airship course vector propulsion system is fixed at the front part of a nose cone of the towing airship and is used for adjusting the course of the towing airship;

the towed airship heading vector propulsion system comprises a first heading propulsion propeller, a first heading propulsion motor, a first heading vector rotating motor, a first worm support piece, a first turbine, a first bearing, a first mounting platform and a first turbine shaft;

the first course vector propulsion propeller is fixedly connected with a first course propulsion motor;

the first course propulsion motor is fixedly connected with one side of the first turbine, the other side of the first turbine is fixedly connected with a first turbine shaft, the first turbine shaft is connected with the first mounting platform through a first bearing, and the first turbine shaft is vertical to a central shaft of the air bag;

the first worm wheel and the first worm form a worm wheel and worm pair, the lower part of the first worm support piece is fixedly connected with the first mounting platform, and the upper part of the first worm support piece supports the first worm; one end of the first worm is connected with a first course vector rotating motor, the first course vector rotating motor is fixedly connected with the first mounting platform, and the first turbine is driven to rotate by the first course vector rotating motor.

According to an exemplary embodiment of the present invention, the towed airship further comprises a towed airship local reinforcement frame, a plurality of towed airship pitch vector lateral thrust systems; the local reinforcing frame of the towed airship is fixed outside the air bag, the plurality of towed airship pitch vector lateral pushing systems are symmetrically arranged on two sides of the air bag and are fixedly connected with the local reinforcing frame of the towed airship, and the towed airship pitch vector lateral pushing systems are used for adjusting the pitch attitude of the towed airship and/or propelling the towed airship to advance;

the towed airship pitch vector lateral thrust system comprises a first pitch propulsion propeller, a first pitch propulsion motor, a first pitch vector rotating motor, a second worm support, a second turbine, a second bearing, a second mounting platform and a second turbine shaft;

the first pitching propulsion propeller is fixedly connected with the first pitching propulsion motor;

the first pitching propulsion motor is fixedly connected with one side of the second turbine, the other side of the second turbine is fixedly connected with a second turbine shaft, the second turbine is connected with the second mounting platform through a second bearing, and the second turbine shaft is vertical to a central shaft of the air bag;

the second worm wheel and the second worm form a worm wheel and worm pair, one end of the second worm support piece is fixedly connected with the second mounting platform, and the other end of the second worm support piece supports the second worm; one end of the second worm is connected with the first pitching vector rotating motor, the first pitching vector rotating motor is fixedly connected with the second mounting platform, and the second turbine is driven to rotate by the first pitching vector rotating motor.

According to an example embodiment of the present invention, the towing airship further comprises a pod and a plurality of pods towing side-pushing systems, wherein the pods are fixed below the middle part of the airbag, and the pods towing side-pushing systems are respectively fixed on two sides of the pods.

According to an example embodiment of the present invention, the towing airship further comprises a first observer, the first observer being fixed at a rear portion of the nacelle.

As another aspect of the utility model, a stratospheric airship is provided, include:

an outer bladder body;

and the locking device is fixed at the front part of the outer bag body and used for locking or releasing connection with the lantern ring of the towing airship.

According to an exemplary embodiment of the present invention, the stratospheric airship further comprises a second viewer secured to a front portion of the outer envelope for viewing the latch and the collar.

According to an example embodiment of the present invention, the latch includes:

the locker platform is provided with a groove and a cavity, and the wall of the groove is provided with an opening communicated with the cavity;

the bolt gear is arranged in the cavity;

the bolt rack is arranged in the cavity, is meshed with the bolt gear and can extend out of the cavity to the groove through the opening under the drive of the bolt gear;

the latch hook gear is fixedly connected to the outer side of the locker platform;

the lock hook component is of a strip structure and comprises a first arc section and a second arc section, the first end of the first arc section is fixedly connected with the lock hook gear, the second end of the first arc section is fixedly connected with the first end of the second arc section, and the size of the second arc section is smaller than that of the groove, so that the second section of the first arc section and the second arc section can be driven to be far away from or extend into the groove when the lock hook gear rotates; when the second arc section extends into the groove, the bolt rack is higher than the second end of the second arc section, and the second end of the second arc section is closer to the opening than the first end;

when the fastener is locked, the lock tongue rack extends into the groove until the second arc section of the lock hook component is clamped, so that the fastener platform, the lock hook gear, the lock hook component and the lock tongue rack form a closed loop.

According to an exemplary embodiment of the present invention, the stratospheric airship further comprises a stratospheric airship heading vector propulsion system, and a stratospheric airship tail cone; the tail cone of the stratospheric airship is fixed at the rear part of an outer bag body of the stratospheric airship and is positioned on a central shaft of the outer bag body; the course vector propulsion system of the stratospheric airship is fixed at the rear part of a tail cone of the stratospheric airship and is used for adjusting the course of the stratospheric airship;

the stratospheric airship course vector propulsion system comprises a second course propulsion propeller, a second course propulsion motor, a second course vector rotating motor, a third worm support, a third turbine, a third bearing, a third mounting platform and a third turbine shaft;

the second course propulsion propeller is fixedly connected with a second course propulsion motor;

the second course propulsion motor is fixedly connected with one side of a third turbine, the other side of the third turbine is fixedly connected with a third turbine shaft, the third turbine shaft is connected with a third mounting platform through a third bearing, and the third turbine shaft is vertical to a central shaft of the outer bag body;

the third worm wheel and the third worm form a worm wheel and worm pair, the lower part of the third worm support piece is fixedly connected with the third mounting platform, and the upper part of the third worm support piece supports the third worm; one end of the third worm is connected with a second course vector rotating motor, the second course vector rotating motor is fixedly connected with the third mounting platform, and the third turbine is driven to rotate by the second course vector rotating motor.

The utility model has the advantages of, the utility model discloses utilize ground to take off in advance at stratospheric airship decline in-process and pull the airship, catch target airship aloft and pull it to the place that possesses hangar or large-scale mooring device and carry out the fixed point and descend aloft, can descend at the fixed point under the not enough condition of stratospheric airship energy, guaranteed the complete of stratospheric airship, the safety is retrieved, also prevents to remove the stratospheric airship at subaerial remote.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are only some embodiments of the present application, and other drawings may be derived from those drawings by those skilled in the art without inventive effort.

Figure 1 schematically shows a drawing of a towed airship positioned above and in front of a stratospheric airship and releasing a towing tether.

Figure 2 schematically illustrates a towed airship towing an stratospheric airship under the direction of an integrated command system.

Fig. 3 schematically shows a structure view (closed state) of the collar.

Fig. 4 schematically shows a structure view (open state) of the collar.

Fig. 5 schematically shows a structural view of the elastic damper.

Fig. 6 schematically shows a connection diagram of a towed airship nose cone and a towed airship heading vector propulsion system.

Figure 7 schematically shows a block diagram of a towed airship heading vector propulsion system.

Fig. 8 is a schematic diagram showing the connection relationship between the local reinforcing frame and the airbag of the towed airship.

Figure 9 schematically shows a block diagram of a towed airship pitch vector side-thrust system.

Fig. 10 schematically shows a structure diagram of the latch (latched state).

Fig. 11 schematically shows a structure diagram of the latch (unlocked state).

Figure 12 schematically illustrates a block diagram of a stratospheric airship side thrust system.

Fig. 13 is a view schematically showing the connection relationship between the tail cone and the winch.

Wherein, 1-towing airship, 11-towing airship heading vector propulsion system, 11-1-first heading propulsion propeller, 11-2-first heading propulsion motor, 11-3-first heading vector rotating motor, 11-4-first worm, 11-5-first worm support member, 11-6-first turbine, 11-7-first turbine shaft, 11-8-first mounting platform, 12-towing airship head cone, 13-towing airship pitch vector side thrust system, 13-1-first pitch propulsion propeller, 13-2-first pitch propulsion motor, 13-3-first pitch vector rotating motor, 13-4-second worm, 13-5-second worm support member, 13-6-second turbine, 13-7-second turbine shaft, 13-8-second mounting platform, 14-an airbag, 15-a local strengthening frame of a towing airship, 16-a first observer, 17-a tail vane of the towing airship, 18-a collar, 18-1-an inner ring rack, 18-2-an outer ring shell, 18-3-a collar motor, 18-4-a collar gear, 19-an elastic damper, 19-1-a pull rod, 19-2-a first one-way damping oil valve, 19-3-a first pressure spring, 19-4-a second one-way damping oil valve, 19-5-a piston, 19-6-a second pressure spring, 19-7-an inner container inlet and outlet port, 19-8-an outer container inlet and outlet port, 19-9-an inner container, 19-10-a piston, 19-11-an outer container, 19-12-a container body, 19-13-an oil injection valve, 110-a towing rope, 111-a rope towing winch, 112-a nacelle towing side-pushing system, 113-pod, 114-bow tie, 115-lashing rope, 116-towing airship tail cone, 117-stiffening frame, 2-stratospheric airship, 21-stratospheric airship heading vector propulsion system, 22-stratospheric airship tail cone, 23-stratospheric airship lateral thrust system, 23-1-lateral thrust propeller, 23-2-lateral thrust motor, 23-3-fifth installation platform, 24-stratospheric airship pitch vector lateral thrust system, 25-outer capsule, 26-stratospheric airship head cone, 27-second observer, 28-latch, 28-1-driving gear, 28-2-latch follower gear, 28-3-latch member, 28-3A-first arc segment, 28-3B-second arc segment, 28-4-latch motor, 28-5-rack latch, 28-6-latch bolt, 28-7-latch bolt gear, 28-8-locker platform, 28-8A-groove, 28-8B-cavity, 28-8C-opening, 3-comprehensive command system.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one element from another. Thus, a first component discussed below may be termed a second component without departing from the teachings of the present concepts. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be appreciated by those skilled in the art that the drawings are merely schematic representations of exemplary embodiments, and that the blocks or processes shown in the drawings are not necessarily required to practice the present application and are, therefore, not intended to limit the scope of the present application.

According to the utility model discloses a first embodiment, the utility model provides a pull airship 1, as shown in fig. 1 and fig. 2, the airship that fig. 1 is located the upper left side is for pulling airship 1, pulls airship 1 and includes: the airship comprises an air bag 14, a nacelle 113, a towing rope winch 111, a towing rope 110, a collar 18, an elastic damper 19, a towing airship heading vector propulsion system 11, a towing airship nose cone 12, a towing airship local reinforcing frame 15, a plurality of towing airship pitch vector lateral thrust systems 13, a plurality of nacelle towing lateral thrust systems 112, a first observer 16, a towing airship tail wing rudder 17, a plurality of bowknots 114, a plurality of tying ropes 115, a towing airship tail cone 116 and a reinforcing frame 117.

The balloon 14 is an approximately ellipsoidal body.

The gondola 113 is fixed under the middle of the airbag 14. On either side of the pod 113, a plurality of pod towing side thrusting systems 112 are provided for generating power for flying the towed airship 1 forward. In the scheme, two pod dragging side-pushing systems 112 are symmetrically arranged at two sides of a pod 113, and as the dragging airship 1 needs to provide power to fly, the dragging airship 2 needs to drag a stratospheric airship, and in order to increase the power, a plurality of groups of pod dragging side-pushing systems 112 can be arranged.

The towing airship tail cone 116 is fixed to the tail (rear) of the air bag 14 of the towing airship 1 and is located on the central axis of the air bag 14. As shown in fig. 1, since the stratospheric airship 2 is towed by the tail cone 116, the point of force is aft rather than at the pod, requiring the addition of a reinforcing frame 117 between the aft and the pod, cradle and aft point of force at which the engine is mounted.

The tow rope winch 111 is located at the rear of the tow airship tail cone 116. As shown in fig. 13, the tow rope winch 111 and tow airship tail cone 116 are connected by a truss structure. The tow rope 110 is wound around a tow rope winch 111, and a collar 18 is provided at the tail, i.e., the distal end, of the tow rope 110, and an elastic damper 19 is provided between the tow rope 110 and the collar 18. The collar 18 is preferably self-locking, with automatic opening and closing being achieved by the collar motor 18-3. As shown in fig. 3 and 4, the collar 18 includes: an outer ring housing 18-2, an inner ring rack 18-1, a collar gear 18-4 and a collar motor 18-3. An inner ring rack 18-1 and a collar gear 18-4 are provided within the outer ring housing 18-2, the inner ring rack 18-1 and the collar gear 18-4 being in mesh. The lantern ring motor 18-3 drives the lantern ring gear 18-4 to rotate, and further drives the inner ring rack 18-1 to rotate. The outer ring housing 18-2 is of an arcuate configuration. Both ends of the outer ring housing 18-2 are provided with collar openings. The inner ring rack 18-1 is of an arc-shaped structure. The center of the inner ring rack 18-1 coincides with the center of the outer ring shell 18-2. The inner ring rack 18-1 can extend out of the outer ring shell 18-2 from one lantern ring opening and can extend into the outer ring shell 18-2 from the other lantern ring opening under the driving of the lantern ring gear 18-4. When the inner ring rack 18-1 extends out of the outer ring shell 18-2 from one collar opening and extends into the outer ring shell 18-2 from the other collar opening, the inner ring rack 18-1 and the outer ring shell 18-2 form a complete ring structure, and the collar 18 is in a closed ring state. When the lantern ring 18 is changed from the closed ring state to the open ring state, only the inner ring rack 18-1 needs to rotate into the outer ring shell 18-2, so that the structure formed by the outer ring shell 18-2 and the inner ring rack 18-1 is an arc-shaped structure.

An elastic damper 19 is disposed between the tow rope 110 and the collar 18 and may be provided integrally with the collar 18. As shown in FIG. 5, the elastic damper 19 comprises a pull rod 19-1, a first one-way damping oil valve 19-2, a first pressure spring 19-3, a second one-way damping oil valve 19-4, a piston 19-5, a second pressure spring 19-6, an inner container air inlet and outlet 19-7, an outer container air inlet and outlet 19-8, an inner container 19-9, an oil ring piston 19-10, an outer container 19-11, a container body 19-12 and an oil filling valve 19-13.

Inside the container body 19-12 are an inner container 19-9 and an outer container 19-11, the outer container 19-11 surrounding the inner container 19-9. The piston 19-5 is disposed within the inner container 19-9. The device body 19-12 is a cylinder structure, and one end of the device body is provided with a pull rod channel. The body 19-12 is provided with a filling valve 19-13 for filling oil into the outer container 19-11, and the filling valve 19-13 is close to the pull rod channel. One end of the pull rod 19-1 extends into the cavity through the pull rod channel and is fixedly connected with the piston 19-5. The piston 19-5 is pulled by the pull rod 19-1 so that the piston 19-5 can slide in the cavity. A first compression spring 19-3 is arranged between the opening and the piston 19-5. The oil ring piston 19-10 is arranged in the middle of the outer container 19-11, on one side close to the pull rod channel and on the other side away from the pull rod channel. A first one-way damping oil valve 19-2 and a second one-way damping oil valve 19-4 are arranged between the inner container 19-9 and the outer container 19-11 on one side of the oil ring piston 19-10 close to the pull rod channel. The first one-way damping oil valve 19-2 supplies oil from the outer container 19-11 to the inner container 19-9 in one-way flow. The second one-way damping oil valve 19-4 supplies oil from the inner container 19-9 to the outer container 19-11 in one-way flow. And a second pressure spring 19-6 is arranged on one side of the oil ring piston 19-10 far away from the pull rod channel, one end of the second pressure spring 19-6 is fixedly connected with the oil ring piston 19-10 to drive the oil ring piston 19-10 to slide in the outer container 19-11, and the other end of the second pressure spring is fixedly connected to the outer container 19-11. On the side of the oil ring piston 19-10 far away from the pull rod channel, an inner container air inlet and outlet 19-7 for connecting the inner container 19-9 and the outer container 19-11, and an outer container air inlet and outlet 19-8 for connecting the outer container 19-11 and the outside are also arranged. In the outer container 19-11, the oil ring piston 19-10 has hydraulic oil on one side near the pull rod passage and air on the other side. In the inner container 19-9, one side of the piston 19-5 close to the pull rod channel is provided with hydraulic oil, and the other side is provided with air.

The working principle of the elastic damper 19 is as follows:

when the elastic damper 19 is under tension: the pull rod 19-1 pulls the piston 19-5 to gradually approach a pull rod channel, the piston 19-5 compresses the first pressure spring 19-3, the sliding of the piston 19-5 compresses hydraulic oil, so that the hydraulic oil enters the outer container 19-11 through the second one-way damping oil valve 19-4, the hydraulic oil entering the outer container 19-11 extrudes the oil ring piston 19-10, the oil ring piston 19-10 compresses the second pressure spring 19-6, and the air is sucked into the air inlet and outlet 19-7 of the inner container.

When the elastic damper 19 is not under tension: the first pressure spring 193 releases pressure, the piston 195 gradually gets away from the pull rod channel, the second pressure spring 19-6 releases pressure, the oil ring piston 19-10 is pushed to approach the pull rod channel, hydraulic oil enters the inner container 19-9 from the outer container 19-11 through the first one-way damping valve 19-2, and air in the inner container 19-9 is exhausted through the inner container air inlet and outlet 19-7.

A first sight 16 is fixed to the rear of the bird 113 for dragging the relative position between the airship 1 and the stratospheric airship 2 and for observing the relative position of the collar 18 and the latches 28 to determine whether the collar 18 has been successfully locked to or unlocked from the latches 28.

The towing airship nose cone 12 is fixed to the front of the envelope 14 of the towing airship 1, on the central axis of the envelope 14. As shown in fig. 6, a towed airship heading vector propulsion system 11 is fixed in front of a towed airship nose cone 12 for adjusting the heading of the towed airship 1. As shown in FIG. 7, the towed airship heading vector propulsion system 11 is seen from the side, and the towed airship heading vector propulsion system 11 comprises a first heading propulsion propeller 11-1, a first heading propulsion motor 11-2, a first heading vector rotating motor 11-3, a first worm 11-4, a first worm support 11-5, a first turbine 11-6, a first bearing, a first mounting platform 11-8 and a first turbine shaft 11-7. The first course propulsion propeller 11-1 is fixedly connected with the first course propulsion motor 11-2. The first heading propulsion motor 11-2 is fixedly connected with one side of the first turbine 11-6, the other side of the first turbine 11-6 is fixedly connected with the first turbine shaft 11-9, and the first turbine shaft 11-7 is connected with the first mounting platform 11-8 through the first bearing. The first turbine shaft 11-7 is perpendicular to the central axis of the air bag 14, when the airship 1 is dragged to fly horizontally, the first turbine shaft 11-7 is arranged vertically, and the first turbine 11-6 is arranged horizontally. The first worm wheel 11-6 and the first worm 11-4 form a worm wheel and worm pair, the lower part of the first worm support 11-5 is fixedly connected with the first mounting platform 11-8, and the upper part supports the first worm 11-4; one end of the first worm 11-4 is connected with a first course vector rotating motor 11-3, the first course vector rotating motor 11-3 is fixedly connected with a first mounting platform 11-8, and the first turbine 11-6 is driven by the first course vector rotating motor 11-3 to rotate, so that the first course propulsion motor 11-2 rotates by taking the first turbine shaft 11-7 as an axis, and the course is further adjusted by the first course propulsion propeller 11-1.

The local strengthening frame 15 of the towing airship is fixed outside the air bag 14, as shown in fig. 8, the local strengthening frame is fixed through bowties 114 and binding ropes 115, each bowtie 114 corresponds to one binding rope 115, each two bowties 114 are respectively arranged at two sides of the local strengthening frame 15 of the towing airship and fixed on the outer surface of the air bag 14, one end of each binding rope 115 is bound with one bow 114, and the other end is bound with the other binding rope 115. The plurality of towed airship pitch vector lateral pushing systems 13 are symmetrically arranged on two sides of the air bag 14 and fixedly connected with the towed airship local reinforcing frame 15, and the towed airship pitch vector lateral pushing systems 13 are used for adjusting the pitch attitude of the towed airship 1 and/or propelling the towed airship 1 to move forward. As shown in fig. 9, the towed airship pitch vector sidetracking system 13 is similar in structure to the towed airship heading vector propulsion system 11 in a top view. The towed airship pitch vector sideslip system 13 comprises a first pitch propulsion propeller 13-1, a first pitch propulsion motor 13-2, a first pitch vector rotating motor 13-3, a second worm 13-4, a second worm support 13-5, a second turbine 13-6, a second bearing, a second mounting platform 13-8 and a second turbine shaft 13-7. The first pitch propulsion propeller 13-1 is fixedly connected with the first pitch propulsion motor 13-2. The first pitching propulsion motor 13-2 is fixedly connected with one side of the second turbine 13-9, the other side of the second turbine 13-6 is fixedly connected with the second turbine shaft 13-7, and the second turbine shaft 13-7 is connected with the second mounting platform 13-8 through a second bearing. The second turbine shaft 13-7 is perpendicular to the central axis of the air bag 14, when the airship 1 is towed to fly horizontally, the second turbine shaft 13-7 is horizontally arranged, the second turbine 13-6 is vertically arranged, and the plane of the second turbine 13-6 is parallel to the central axis of the air bag 14. A second worm gear 13-6 and a second worm 13-4 form a worm gear and worm pair, one end of a second worm support 13-5 is fixedly connected with the second mounting platform 13-8, and the other end supports the second worm 13-4; one end of the second worm 13-4 is connected with the first pitch vector rotating motor 13-3, the first pitch vector rotating motor 13-3 is fixedly connected with the second mounting platform 13-8, and the second turbine 13-6 is driven by the first pitch vector rotating motor 13-3 to rotate, so that the first pitch propulsion motor 13-2 rotates by taking the second turbine shaft 13-7 as an axis, and the pitch attitude is adjusted by the first pitch propulsion propeller 13-1.

According to the scheme, the dragging airship 1 at the front part controls the course through the dragging airship course vector propulsion system 11, the dragging airship pitch vector lateral thrust systems 13 at the two sides adjust the pitch attitude, the dragging rope 110 at the rear part of the dragging airship tail cone 116 is released, the dragging airship can be connected with the stratospheric airship, and the stratospheric airship can be dragged to the recovery area.

According to the utility model discloses a second embodiment, the utility model provides a stratospheric airship 2, as shown in fig. 1 and fig. 2, the airship that fig. 1 is located the right side below is stratospheric airship 2, and this stratospheric airship 2 can be pulled airship 1 and pull to recovery region. The stratospheric airship 2 includes: the airship comprises an stratospheric airship heading vector propulsion system 21, a stratospheric airship tail cone 22, a plurality of stratospheric airship lateral thrust systems 23, a plurality of stratospheric airship pitch vector lateral thrust systems 24, an outer capsule 25, a stratospheric airship head cone 26, a second observer 27 and a lock 28.

The stratospheric airship nose cone 22 is fixed to the front of the outer bladder 25 and is located on the central axis of the outer bladder 25. A latch 28 is secured to the front of the stratospheric airship nose cone 26 for locking and unlocking with the collar 18 of the towing airship 1 of the first embodiment. The latch 28 is preferably an automatic latch. The self-locking collar may be telescoped into or un-telescoped from the self-locking device. The latch 28 is a single catch or a multi-catch. As shown in fig. 10 and 11, the latch 28 includes: a locker platform 28-8, a lock tongue gear 28-6, a lock tongue rack 28-5, a lock hook gear, a lock hook component 28-3, a lock hook motor 28-7 and a lock tongue motor 28-4. The retainer platform 28-8 has a recess 28-8A and a chamber 28-8B, and the wall of the recess 28-8A has an opening 28-8C communicating with the chamber 28-8B. Deadbolt gear 28-6 is disposed within chamber 28-8B and includes a first gear body, a first connector, and a first bearing. The first connecting piece is fixedly connected with the locker platform 28-8, and the first connecting piece is connected with the first gear body through the first bearing. The first gear body is engaged with the deadbolt rack 28-5. The latch bolt rack 28-5 is disposed in the chamber 28-8B and is movable by the latch bolt gear 28-6 out of the chamber 28-8B through the opening 28-8C into the recess 28-8A. The latch hook gear is fixedly connected to the outer side of the locker platform 28-8. The latch hook gear comprises a latch hook driving gear 28-1 and a latch hook driven gear 28-2. The latch hook pinion gear 28-1 includes a second gear body, a second link, and a second bearing. The second connecting piece is fixedly connected with the locker platform 28-8 and is connected with the second gear body through a second bearing. The latch hook follower gear 28-2 includes a third gear body, a third link, and a third bearing. The third connecting piece is fixedly connected with the locker platform 28-8 and is connected with the third gear body through a third bearing. The second gear body is meshed with the third gear body, and therefore meshing of the latch hook driving gear 28-1 and the latch hook driven gear 28-2 is achieved. The shackle gears are preferably secured above the retainer platforms 28-8. The latch hook member 28-3 is a bar structure including a first arc segment 28-3A and a second arc segment 28-3B. The first and second arc segments 28-3A and 28-3B each include a first end and a second end. The collar 18 (i.e., the diameter of the inner ring rack 12-2 and the outer ring housing 12-1) is larger than the second arc 28-3B so that the collar 18 can telescope into the latch 22 from the second arc 28-3B. The first end of the first arc section 28-3A is fixedly connected with a third gear body of a latch hook driven gear 28-2 of the latch hook gear, and the first end of the first arc section 28-3A is far away from the circle center of the third gear body and is arranged near the edge of the third gear body. The second end of the first arc section 28-3A is fixedly connected with the first end of the second arc section 28-3B, the first arc section 28-3A and the second arc section 28-3B are integrally formed, and the first arc section 28-3A is longer than the second arc section 28-3B. The second end of the first arc section 28-3A extends towards the groove direction, and the size of the second arc section 28-3B is smaller than that of the groove 28-8A, so that the second end of the first arc section 28-3A and the second arc section 28-3B can be driven to be far away from or extend into the groove 28-8A when the latch hook gear rotates; when the second arc 28-3B extends into the groove 28-8A, the deadbolt rack 28-5 is higher than the second end of the second arc 28-3B, with the second end of the second arc 28-3B being closer to the opening 28-8C than the first end. The latch hook motor 28-7 drives the latch hook driving gear 28-1 to rotate. The latch motor 28-4 drives the latch gear 28-6 to rotate. As shown in fig. 10 and 11, the shackle gears are located on the same side of recess 28-8A as chamber 28-8B. When the locking device 28 is locked, the lock tongue rack 28-5 extends into the groove 28-8A until the second arc section 28-3B of the lock hook component 28-3 is clamped, so that the locking device platform 28-8, the lock hook gear, the lock hook component 28-3 and the lock tongue rack 28-5 form a closed loop to realize locking. As shown in fig. 9 and 10, a single grapple structure, i.e., one latch hook member 28-3, is provided. A multi-grabbing hook structure can be arranged, a plurality of latch hook members 28-3 are arranged, and the plurality of latch hook members 28-3 form a fan-shaped structure by taking the connecting point of the first arc section 28-3A and the latch hook gear as the circle center, so that the lantern ring 18 can be grabbed more conveniently.

When it is desired to connect an airborne towed airship 1 and a stratospheric airship 2, as shown in figure 3, the collar 18 is closed, as shown in figure 11, the latch 22 is unlocked and the bolt rack 28-5 is located in the chamber 28-8B. The lantern ring 18 is sleeved from the second arc section 28-3B, and after the lantern ring is sleeved, the lantern ring 18 can be hooked to prevent the lantern ring 18 from being separated due to the arc shape of the second arc section 28-3B. The latch hook motor 28-7 drives the latch hook driving gear 28-1 to rotate, and the latch hook driving gear 28-1 drives the latch hook driven gear 28-2 to rotate. The latch hook driven gear 28-2 rotates clockwise such that the second end of the first arc segment 28-3A and the second arc segment 28-3B are adjacent to the recess 28-8A until they extend into the recess 28-8A; then the bolt motor 28-4 drives the bolt gear 28-6 to rotate, the bolt gear 28-6 rotates clockwise to drive the bolt rack 28-5 to extend from the chamber 28-8B to the groove 28-8A through the opening 28-8C until the second arc section 28-3B of the latch hook member 28-3 is clamped, as shown in fig. 10, the tightener platform 28-8, the latch hook driven gear 28-2 of the latch hook gear, the latch hook member 28-3 and the bolt rack 28-5 form a closed loop, and the lantern ring 18 is sleeved on the latch hook member 28-3, so that the connection of the towing airship 1 and the stratospheric airship 2 in the air is realized.

When it is desired to disconnect the towed airship 1 and the stratospheric airship 2 in the air, the latch 22 is in the latched condition, as shown in figure 10, and the collar 18 is in the closed condition, as shown in figure 3. Because the second arc 28-3B of the latch 22 is hook-shaped, the collar 18 is difficult to fly off of the second arc 28-3B. Therefore, when the drag airship 1 and the stratospheric airship 2 need to be separated, the lantern ring motor 18-3 of the lantern ring 18 drives the lantern ring gear 18-4 to rotate, the inner ring rack 18-1 retracts into the outer ring shell 18-2, the whole lantern ring 18 is changed into an arc shape from a circular shape, as shown in fig. 4, the lantern ring 18 is in an open state, and the lock hook members 28-3 are disconnected from the lantern ring 18 through gaps below the lantern ring 18, so that the drag airship 1 and the stratospheric airship 2 are separated.

A second sight 27 is secured over the front of the outer bladder 25 for viewing the relative position between the towing airship 1 and the stratospheric airship 2 and for viewing the relative position of the collar 18 to the latches 28 to determine whether the collar 18 has been successfully locked to or unlocked from the latches 28.

The stratospheric airship tail cone 22 is fixed to the rear of the outer capsule 25 of the stratospheric airship and is located on the central axis of the outer capsule 25. The stratospheric airship course vector propulsion system 21 is fixed at the rear part of a tail cone 22 of the stratospheric airship and is used for adjusting the course of the stratospheric airship 2. The structure of the stratospheric airship heading vector propulsion system 21 is similar to that of the towed airship heading vector propulsion system 11, and only one is arranged at the rear part of the airship and the other is arranged at the front part of the airship and is used for adjusting the heading of the airship. Referring to fig. 7, the stratospheric airship heading vector propulsion system 21 comprises a second heading propulsion propeller, a second heading propulsion motor, a second heading vector rotating motor, a third worm support, a third turbine, a third bearing, a third mounting platform, and a third turbine shaft. The second course propulsion propeller is fixedly connected with the second course propulsion motor. The second heading propulsion motor is fixedly connected with one side of the third turbine, the other side of the third turbine is fixedly connected with a third turbine shaft, and the third turbine shaft is connected with the third mounting platform through a third bearing. The third turbine shaft is vertical to the central shaft of the outer capsule, and when the stratospheric airship 2 flies horizontally, the third turbine shaft is vertically arranged, and the third turbine is horizontally arranged. The third worm wheel and the third worm form a worm wheel and worm pair, the lower part of the third worm support piece is fixedly connected with the third mounting platform, and the upper part of the third worm support piece supports the third worm; one end of the third worm is connected with a second course vector rotating motor, the second course vector rotating motor is fixedly connected with the third mounting platform, and the third turbine is driven by the second course vector rotating motor to rotate, so that the second course propelling motor rotates by taking the third turbine shaft as a shaft, and the course is further adjusted by the second course propelling propeller.

The stratospheric airship pitch vector lateral thrust system 24 is also connected with the outer capsule 25 through a local reinforcing frame in a connection mode referred to as towing of the airship 1. The plurality of stratospheric airship pitch vector lateral thrust systems 24 are respectively arranged on two sides of the front part of the stratospheric airship 2 and far away from the mass center of the stratospheric airship 2, so that the pitch attitude of the stratospheric airship 2 can be adjusted in a labor-saving manner. The stratospheric airship pitch vector sidestep system 24 is similar in structure to the towed airship pitch vector sidestep system 13, and with reference to fig. 9, the stratospheric airship pitch vector sidestep system 24 includes a second pitch propulsion propeller, a second pitch propulsion motor, a second pitch vector rotating motor, a fourth worm support, a fourth turbine, a fourth bearing, a fourth mounting platform, and a fourth turbine shaft. The second pitching propulsion propeller is fixedly connected with the second pitching propulsion motor. The second pitching propulsion motor is fixedly connected with one side of the fourth turbine, the other side of the fourth turbine is fixedly connected with a fourth turbine shaft, and the fourth turbine shaft is connected with the fourth mounting platform through a fourth bearing. The fourth turbine shaft is perpendicular to the central axis of the outer capsule 25, when the stratospheric airship 2 flies horizontally, the fourth turbine shaft is horizontally arranged, the fourth turbine is vertically arranged, and the plane where the fourth turbine is located is parallel to the central axis of the outer capsule 25. A fourth worm wheel and a fourth worm form a worm wheel and worm pair, one end of a fourth worm support piece is fixedly connected with the fourth mounting platform, and the other end of the fourth worm support piece supports the fourth worm; one end of a fourth worm is connected with a second pitching vector rotating motor, the second pitching vector rotating motor is fixedly connected with the fourth mounting platform, and the fourth turbine is driven to rotate by the second pitching vector rotating motor, so that the second pitching propulsion motor rotates by taking the fourth turbine shaft as a shaft, and the pitching attitude is adjusted through the second pitching propulsion propeller.

The stratospheric airship lateral pushing systems 23 are respectively positioned at two sides of the outer bag body 25, one pair or a plurality of pairs of stratospheric airship lateral pushing systems 23 can be arranged, and each pair of stratospheric airship lateral pushing systems 23 are respectively connected at two sides of the middle part or the rear part of the stratospheric airship 2 and are used for providing power for the forward flight of the airship. As shown in FIG. 7, the stratospheric airship lateral thrust system 23 comprises a lateral thrust propeller 23-1, a lateral thrust motor 23-2 and a fifth mounting platform 23-3. The side-push motor 23-2 is connected with the side-push propeller 23-1 to provide power for the rotation of the side-push propeller 23-1. The side-push motor 23-2 is fixed on the fifth mounting platform 23-3.

According to the scheme, the course of the stratospheric airship 2 is controlled by the course vector propulsion system 21 at the rear part of the stratospheric airship, the pitching postures of the stratospheric airship pitching vector lateral propulsion systems 24 at the two sides are adjusted, and the locking device 28 at the front part can be fixedly connected with the towing airship 1 and can be towed to a recovery area by the towing airship 1.

According to the utility model discloses a third embodiment, the utility model provides a system for controlling landing of stratospheric airship returning, like figure 1 and figure 2, this system includes: towing fly, 1, comprehensive command system 3, and a lock 28 fixed at the front of the stratospheric airship 2.

The comprehensive command system 3 is connected with the towing airship 1, the stratospheric airship 2 and the locking device 28 in a communication manner and is used for controlling the towing airship 1, the stratospheric airship 2 and the locking device 28 to realize return landing of the stratospheric airship 2.

The towing airship 1 can be controlled by a person or can be intelligently controlled by an unmanned person. If the control is unmanned intelligent control, the control is directly carried out by the comprehensive command system 3.

According to the utility model discloses a fourth embodiment, the utility model provides a stratospheric airship returning landing method adopts the system of third embodiment, including following step:

step S1: and (4) descending the stratospheric airship 2 to a specified height, namely a medium-low airspace. At the moment, the stratospheric airship 2 consumes a lot of energy for shape preservation in the running and descending processes, and the energy is not enough to control the stratospheric airship 2 to directly run to a preset recovery area when the airship goes to a low-medium airspace.

The medium and low altitude airspace can be set to be about 3000 meters in absolute height in sea level areas, and the plateau areas, such as areas with an altitude of more than 3000 meters, can be positioned to be about 1000 meters in absolute height from the ground. The medium and low airspace is based on safe capture and safe return.

Step S2: as shown in fig. 1, a towing airship 1 is to be driven in front of and above a stratospheric airship 2.

The comprehensive control system 3 carries out prejudgment through local weather forecast data, plans and controls the towed airship 1 to enter a low-medium altitude airspace where the stratospheric airship 2 descends in advance, and then approaches the front of the stratospheric airship 2 and is higher than the stratospheric airship 2.

When the towed airship 1 approaches the stratospheric airship 2, the relative positions of the towed airship 1 and the stratospheric airship 2 need to be monitored through the comprehensive control system 3 so that an operator can operate the towed airship 1 to approach the relative safe position of the stratospheric airship 2.

Step S3: and adjusting the speed and height of the dragging airship and the stratospheric airship, vertically and downwards releasing the dragging rope, locking the lantern ring and the locking device, and stopping releasing the dragging rope.

The towing rope winch 111 is rotated to vertically release the towing rope 110, the release state of the towing rope 110 and the locking state of the lantern ring 18 are observed through the first observer 17 and the second observer 27, the videos observed and shot by the first observer 17 and the second observer 27 are transmitted to the comprehensive command control system 3, and the comprehensive command control system 3 commands the towing airship 1 to adjust the course deflection angle and the rotating speed, the pitch deflection angle and the rotating speed, the release speed (namely the rotating speed of the towing rope winch 111) and the length of the towing rope 110, so that the lantern ring 18 is connected with the locker 28. Too fast a release speed of the towing rope 110 may damage the airship envelope structure and the solar cell, and the release length of the towing rope 110 needs to be determined by the relative position between the towing airship 1 and the stratospheric airship 2. Collar 18 is an auto-locking collar and latch 28 is an auto-latch. The method of connecting the collar 18 to the latch 28 includes: the catch of the latch 28 (i.e., the latch hook member 28-3) is opened and the collar 18 telescopes over the catch of the latch 28 and closes the catch 28-3 (i.e., the deadbolt rack 28-5 catches the latch hook member 28-3). After the comprehensive command control system 3 confirms that the towed airship 1 successfully captures the stratospheric airship 2, the towed rope winch 111 is locked to enable the length of the towed rope 110 to be fixed.

Step S4: and controlling the towing airship 1 to tow the stratosphere airship 2 to fly to a preset recovery area.

And starting the pod towing propulsion system 112, the towing airship pitching vector sidestepping system 11 and the towing airship heading vector propulsion system 11, and controlling the speed, attitude angle and hovering height of the towing airship system to tow the stratospheric airship 2 to fly to a preset recovery area.

In the initial stage of traction, the towed airship 1 runs right in front of the stratospheric airship 2. After the towing rope 110 is straightened and tightened, the elastic damper 19 absorbs the instantaneous towing rope 110 tensile force impact kinetic energy to protect the structure of the towing airship 1 and the stratospheric airship 2.

After the initial stage of traction, by starting the stratospheric airship heading vector propulsion system 21, the stratospheric airship lateral thrust system 23 and the stratospheric airship pitch vector lateral thrust system, as shown in fig. 2, the heading deflection angle and the pitch angle of the stratospheric airship 2 are adjusted so that the stratospheric airship 2 and the towed airship 1 are at the same height.

During the towing process, the maximum thrust of the towed airship 1 must be greater than or equal to the sum of the drag coefficient xi multiplied by the drag of the stratospheric airship 2 at the altitude and the drag of the towed airship 1 at the altitude. The calculation formula is as follows:

F _t ≥(F _t1 +ξF _t2 )

the symbols in the formula:

F _t : total thrust of the towing airship;

F _t1 : the thrust of the towing airship during single flight;

F _t2 : thrust required by the stratospheric airship during single flight;

xi: a drag coefficient;

D _h : altitude air density of towing operation;

C _d1h : the drag airship has an air resistance coefficient at the drag operation altitude;

C _d2h : the air resistance coefficient of the stratospheric airship at the towing operation altitude;

V ₁ : towing the airship volume;

V ₂ : stratospheric airship volume;

v ₁ : towing flight airspeed of the towing airship at the towing operation altitude;

v ₂ : the towing flight airspeed of the stratospheric airship at the towing operation altitude.

Preferably, the drag coefficient ξ is greater than or equal to 1.1.

Step S5: after a preset recovery area is reached, the comprehensive control system 3 controls the towing airship 1 and the stratospheric airship 2 to keep descending at the same height until a specified height (the height capable of freely and safely descending is a medium-low air space) and a specified recovery point are reached, the connection between the lantern ring 18 and the locking device 28 is released, the towing airship 1 and the stratospheric airship 2 are in contact traction state, the towing airship 1 and the stratospheric airship 2 are separated, the stratospheric airship 2 is recovered, and the towing airship 1 is recovered at the same time.

The method of disconnecting the collar 18 and the latch 28 includes: the collar 18 is opened and the catch (catch member 28-3) is disengaged from the collar 18.

Through this scheme, through pulling in the air and keeping away from the smooth layer airship 2 safety return field of boat storehouse and almost exhaust the power energy, solved the ground transportation and needed the super large scale transport carrier and must possess the problem that can pass these super large scale transport carrier roads, also solved the problem of destroying smooth layer airship 2.

Exemplary embodiments of the present invention have been particularly shown and described above. It is to be understood that the invention is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A towed airship, comprising:

an air bag;

2. The towing airship of claim 1, further comprising an elastic damper disposed between the towing rope and the collar.

3. The towed airship of claim 1, further comprising a towed airship heading vector propulsion system, a towed airship nose cone; the towing airship head cone is fixed at the front part of the air bag of the towing airship and is positioned on the central shaft of the air bag; the towing airship course vector propulsion system is fixed at the front part of a nose cone of the towing airship and is used for adjusting the course of the towing airship;

the first course propulsion propeller is fixedly connected with a first course propulsion motor;

4. The towed airship of claim 1, further comprising a towed airship local reinforcement frame, a plurality of towed airship pitch vector side-thrust systems; the local reinforcing frame of the towed airship is fixed outside the air bag, the plurality of towed airship pitch vector lateral pushing systems are symmetrically arranged on two sides of the air bag and are fixedly connected with the local reinforcing frame of the towed airship, and the towed airship pitch vector lateral pushing systems are used for adjusting the pitch attitude of the towed airship and/or propelling the towed airship to advance;

the first pitching propulsion motor is fixedly connected with one side of the second turbine, the other side of the second turbine is fixedly connected with a second turbine shaft, the second turbine shaft is connected with the second mounting platform through a second bearing, and the second turbine shaft is vertical to a central shaft of the air bag;

5. The towed airship of claim 1, further comprising a pod secured below the middle of the envelope and a plurality of pod towing sidethrust systems secured to either side of the pod.

6. The towing airship of claim 5, further comprising a first observer secured to a rear portion of the nacelle.

7. An stratospheric airship, comprising:

an outer bladder body;

a latch secured to the front of the outer bladder for locking and unlocking with a collar of a towing airship according to any one of claims 1 to 6.

8. The stratospheric airship of claim 7, further comprising a second viewer secured to a front portion of the outer bladder for viewing the latch and the collar.

9. The stratospheric airship of claim 7, wherein the latch comprises:

the bolt gear is arranged in the cavity;

the lock tongue rack is arranged in the cavity, is meshed with the lock tongue gear and can extend out of the cavity to the groove through the opening under the driving of the lock tongue gear;

10. The stratospheric airship of claim 7, further comprising a stratospheric airship heading vector propulsion system, a stratospheric airship tail cone; the tail cone of the stratospheric airship is fixed at the rear part of an outer bag body of the stratospheric airship and is positioned on a central shaft of the outer bag body; the course vector propulsion system of the stratospheric airship is fixed at the rear part of a tail cone of the stratospheric airship and is used for adjusting the course of the stratospheric airship;