WO2020052612A1 - 一种发射器的弹射轨道装置 - Google Patents

一种发射器的弹射轨道装置 Download PDF

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Publication number
WO2020052612A1
WO2020052612A1 PCT/CN2019/105504 CN2019105504W WO2020052612A1 WO 2020052612 A1 WO2020052612 A1 WO 2020052612A1 CN 2019105504 W CN2019105504 W CN 2019105504W WO 2020052612 A1 WO2020052612 A1 WO 2020052612A1
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WO
WIPO (PCT)
Prior art keywords
track
plate
plates
hinged
hydraulic cylinders
Prior art date
Application number
PCT/CN2019/105504
Other languages
English (en)
French (fr)
Inventor
毕和军
Original Assignee
青岛启航弹射科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 青岛启航弹射科技有限公司 filed Critical 青岛启航弹射科技有限公司
Priority to KR1020217004014A priority Critical patent/KR102479680B1/ko
Priority to JP2021509202A priority patent/JP7158076B2/ja
Priority to EP19859276.8A priority patent/EP3822174B1/en
Priority to US17/272,691 priority patent/US20210347499A1/en
Priority to RU2021103633A priority patent/RU2761311C1/ru
Publication of WO2020052612A1 publication Critical patent/WO2020052612A1/zh

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
    • B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/70—Launching or landing using catapults, tracks or rails
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
    • B66F3/25—Constructional features
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F3/00—Rocket or torpedo launchers
    • F41F3/04—Rocket or torpedo launchers for rockets
    • F41F3/045—Rocket or torpedo launchers for rockets adapted to be carried and used by a person, e.g. bazookas

Definitions

  • the invention relates to the field of launching unmanned aerial vehicles, and in particular to a launching orbit device of a launcher.
  • Unmanned aerial vehicles take off in a variety of ways, including taxi, vehicle, airdrop, hand throw, rocket boost, catapult takeoff and other methods.
  • Catapult takeoff is the mainstream of research at home and abroad. Catapult takeoff is not restricted by environment, runway and other factors, and can take off anytime, anywhere. It has a wide applicability.
  • the current catapult track stabilization measures are to use two parallel rails with "C" cross-sections that are oppositely opened on the load-bearing chassis and extend upwards.
  • a parallel sliding frame is installed below the rails to be inserted below and mounted on The "C” track on the carrying chassis, through the "C” track to the left and right limits of the parallel sliding frame and the up and down sliding to enhance the stability of the track.
  • the above structure is relatively bulky, and with the increase of the vertical height, the anti-sway ability is greatly reduced.
  • the current launching rack is only provided with a pulley at the front of the track, which is used to pull the trolley forward through the traction cable, and a hydraulic damping buffer device or an elastic damping cable is provided at the front of the track, which is used for the end of the ejection stroke.
  • the car implements buffering stop.
  • This buffering stop and stop mode inevitably causes the trolley to have a strong impact on the orbit and the launch system at the end of the launch stroke. The angular velocity and the interference caused by the impact are harmful to the aircraft derailment.
  • the current buffer damping method does not have adjustment and adaptation functions, and has relatively low stability and reliability. It is only suitable for small, low-speed launch systems with light weight and low end impact energy.
  • the traction trolley also needs to be added with a winch or manually pulled backward to achieve reset.
  • the current ejection orbit device does not have a measurement mechanism, in order to obtain the movement data of the car and the UAV during the ejection process, only additional equipment such as high-speed cameras and wireless sensors can be used for measurement and control.
  • the system cost is high and the operation is complicated .
  • the technical problem to be solved by the present invention is how to overcome the shortcomings of the existing technology, and provide a launching orbit device of the launcher with light weight, large structural rigidity, impact resistance, convenient operation, advanced technology, easy measurement and control, stability and reliability. It is convenient for industrialized batch manufacturing.
  • the technical solution of the present invention is: a launcher orbit device of a launcher, which includes a base and a track located on the base.
  • the track can be assembled from one or several tracks, and several tracks can be realized on the track by articulation.
  • the plane is folded sidewise or vertically and folded and retracted; a cable pulley is arranged at the hinged part of the track.
  • the track is formed by inserting upper, lower, left, and right plates and assisting welding.
  • the upper, lower, left, and right plates are provided with perforations and edge protrusions for splicing.
  • the perforations and protrusions are positioned. Assembly and auxiliary welding and fixing through projections and perforations;
  • the rails also include ribs, which are arranged vertically or obliquely between the above plates, and the ribs are also connected with The surrounding plates are plugged together and assisted in welding and fixing; slide rails are provided at the upper ends of the left and right plates, and the slides are also plugged together with the left and right plates through perforations and side protrusions and assist in welding and fixing;
  • the rails can be installed separately on the upper ends of the left and right plates, or the slides as a whole can be installed on the upper ends of the left and right plates.
  • the left and right plates are arranged in parallel, the upper and lower plates are arranged in parallel or non-parallel, the rib plates are arranged perpendicularly or diagonally to the surrounding plates; the upper, lower, left, right plates and rib plates are all arranged There are weight reduction holes; at least one pulley is provided at each of the front and rear ends of the track, and the pulley is used for setting a traction cable;
  • the rear part of the track is mounted on the base by means of articulation.
  • a pair of balanced hydraulic cylinders are coaxially hinged on both sides of the front part of the track.
  • the other ends of the pair of balanced hydraulic cylinders are also coaxially hinged on both sides of the base.
  • the hydraulic cylinders have the same structure and are symmetrically arranged left and right.
  • the oil cylinders of a pair of balanced hydraulic cylinders communicate with each other through hydraulic pipes.
  • a closed oil path is formed between the pair of balanced hydraulic cylinders.
  • the lifting hydraulic cylinder also includes a lifting hydraulic cylinder.
  • the lifting hydraulic cylinder is located between a pair of balanced hydraulic cylinders.
  • the two ends of the lifting hydraulic cylinder are hinged on the track and the base respectively.
  • the lifting hydraulic cylinder itself maintains a rigid vertical hinge with the hinge shaft.
  • the hinge shaft of the lifting hydraulic cylinder can Coaxial or parallel to the hinge axis of a pair of balanced hydraulic cylinders.
  • the perforations and side protrusions on the track for welding are fixed by spot welding and short welding, and the welding parts are isolated from each other.
  • an upper middle plate and a lower middle plate are installed between the upper plate and the lower plate of the track; the upper middle plate and the lower middle plate are perpendicular to the left plate and the right plate, and are arranged in the direction of the upper and lower plates;
  • the upper middle layer board and the lower middle layer board are also plugged together with the edge protrusions and the surrounding boards through perforations and assist welding and fixing.
  • the rib plate is disposed between the upper, lower, left, and right plates and is perpendicular to each plate, and the rib plate is also disposed between the left and right plates and is perpendicular to the left and right plates.
  • ribs are also provided between the upper plate, the upper middle plate, the left plate, and the right plate, and the ribs are perpendicular to the surrounding plates; ribs are also provided between the lower middle plate, the lower plate, the left plate, and the right plate. Plates, ribs are perpendicular to the surrounding plates.
  • rib plates are also provided between the left plate, the right plate, the lower middle layer plate, and the lower plate, and the rib plates are perpendicular to the left and right plates, and are diagonally inserted and welded with the lower middle layer plate and the lower plate.
  • ribs that make up the track, of varying sizes, evenly spaced apart at a certain distance, and can also be separately arranged between the left and right plates.
  • the track may be a main track, may be a main track, a sub track 1, and / or a sub track 2, and may be a main track, a sub track 1, and / or a sub track 2, a sub track 3, and / or a sub track Track 4;
  • the above-mentioned sub-tracks 1 and 2 are hinged to the front and back ends of the main track, respectively, so that the sub-tracks 1 and 2 are folded sideways in the plane of the main track;
  • the four sub-tracks are articulated on the second sub-track to achieve the vertical folding and unfolding of the four tracks around the hinge point.
  • the track is composed of a main track, a sub track 1, and a sub track 2.
  • the sub track 1 and the sub track 2 located at the front and rear ends of the main track can be folded and retracted in the left and right directions of the main track plane through hinges.
  • the rear part of the main track located in the middle is hinged on the base, and the front part of the main track is hinged on the base by a pair of balance hydraulic cylinders and lifting hydraulic cylinders.
  • the hinge points of the main track, the auxiliary track 1 and the auxiliary track 2 are arranged smoothly. Cable pulley.
  • the cable-pulling pulley includes upper and lower cable-pulling pulleys.
  • the upper and lower cable-pulling pulleys are a group, and a group of cable-pulling pulleys are respectively vertically arranged at the hinge position of the main track, the auxiliary track 1, and the auxiliary track 2; At least one pulley is arranged at each end of the track, and a traction cable is arranged between the pulleys.
  • a pair of balanced hydraulic cylinders or cylinder extension parts are hinged at the left and right positions of the base, and a pair of piston rods at the upper end of the balanced hydraulic cylinders are hinged at the left and right sides of the track;
  • the tube extension is hinged at the middle position of the base, and the piston rod at the upper end of the lifting hydraulic cylinder is rigidly hinged on the track.
  • the pair of balanced hydraulic cylinders are double-outlet hydraulic cylinders with equal bores.
  • the piston diameters of the two cylinders and the diameters of the piston rods before and after the piston are the same.
  • the upper and lower parts of the pair of balanced hydraulic cylinders have oil inlet and outlet holes, and the lower parts of the two oil cylinders.
  • the oil holes are connected with the oil holes in the upper part of the opposing oil cylinder through hydraulic pipes to form a closed oil path, and a pair of balanced hydraulic cylinders move synchronously.
  • a sensor is provided on the track.
  • the sensor is preferably a rotary digital encoder, and the encoder's rotating shaft is synchronized with the pulley at the rear of the track, or a pulley is additionally synchronized with the traction cable at the rear of the track.
  • the upper, lower, left, right plates, and ribs are assembled by plugging and positioning, and are welded and fixed at the perforated part of the plug.
  • Each plate forms a self-positioning and self-setting overall structure that supports and restricts each other. During the welding process, the position of the thin plate structure will not move, which can ensure the accuracy of the shape and position of the track structure and facilitate the realization of rapid and mass production.
  • the plates support each other rigidly and rigidly, and the spot welding and short welding processes are adopted to ensure that the track structure can achieve the minimum amount of deformation and good linearity.
  • Multi-layer, multi-angle thin plate structural parts are inserted and assembled. Because each plate has weight-reducing structural features such as prefabricated holes, and the welding part is in the perforated area, the combined track is not only easy to weld construction, but also has a high overall rigidity. And to achieve the maximum weight reduction of the structure.
  • the front pulley is mainly used to pull the trolley to form ejection acceleration during the ejection process
  • the rear pulley is mainly used to slow down and reset the trolley.
  • the balance cylinder stabilization system has a simple and lightweight structure, large overall rigidity, simple use and maintenance, and anti-sway stability capability is not affected by the height to ensure the stability of the entire device.
  • the invention has a scientific and reasonable design, light weight, large structural rigidity, convenient operation, advanced technology, easy measurement and control, stability and reliability, and convenient industrialized batch manufacturing. It is a technological revolution in the field, a great progress in the field, and has great significance. .
  • FIG. 1 is a schematic structural diagram of an ejection orbit device of a launcher according to the present invention
  • FIG. 2 is a schematic diagram of a traction cable of a catapult track device of a launcher according to the present invention
  • FIG. 3 is a schematic diagram of the assembly structure of the upper plate 21, the lower plate 22, the left plate 23, the right plate 24, and the rib plate 27 in the track 2 of the present invention;
  • FIG. 4 is a partially enlarged schematic view of A in FIG. 3;
  • FIG. 5 is a partially enlarged schematic view of B in FIG. 3;
  • FIG. 6 is a schematic diagram of a rib 27 installation structure in a track b or c of the present invention.
  • FIG. 7 is a schematic diagram of a rib 27 installation structure in the track a of the present invention.
  • FIG. 8 is a schematic diagram of a mounting structure of a cable pulley 3 in a track a of the present invention.
  • FIG. 9 is a schematic diagram of a lateral hinge structure in an ejection orbit device of the present invention.
  • FIG. 10 is a partially enlarged schematic view of A in FIG. 9; FIG.
  • FIG. 11 is a schematic diagram of a pair of balanced hydraulic cylinders 5 and a lifting hydraulic cylinder 6 coaxially articulated;
  • FIG. 12 is a schematic structural diagram of a slide rail 25 in the ejection orbit device of the present invention.
  • FIG. 13 is a schematic structural diagram of a base 1 of the present invention.
  • FIG. 14 is a schematic diagram of oil pipe communication of a pair of balanced hydraulic cylinders 5 according to the present invention.
  • FIG. 15 is a schematic structural diagram of an ejection orbit device of another launcher according to the present invention.
  • a launcher orbit device for a launcher includes a base 1 and a track 2 on the base 1.
  • the track 2 in this embodiment includes three sections of track, which are a sub track 1b and a main track. a.
  • the secondary track two c, the rear end of the secondary track 1 b and the front end of the main track a are connected together in an articulated manner.
  • the right rear end of the secondary track 1b and the right front end of the main track a are connected by hinges.
  • the above structure realizes that the secondary track 1b can be bent and folded to the right, and the folding effect is the secondary track 1b Parallel to the main track a, to achieve the purpose of retracting.
  • the left rear end of the main track a and the left front end of the sub track two c are connected by hinges, so that the sub track two c is bent to the left and folded on the left side of the main track a. put.
  • the traction trolley will perform reciprocating motion on the above-mentioned track 2.
  • the traction trolley 26 is reciprocated by being pulled by the front and rear traction cables 28.
  • the cable pulleys 3 are provided at the hinged positions of the above-mentioned auxiliary track 1b, main track a, and auxiliary track 2c.
  • the cable-pulley 3 includes an upper cable-pulley 31, a lower cable-pulley 32, an upper cable-pulley 31, and a lower cable-pulley 32 as a group, which are respectively used to protect the traction cable running back and forth through the pulley.
  • the cable pulley 3 is installed at the left rear and right front of the main track a, the right rear of the secondary track 1b, and the left front of the secondary track 2c, that is, the cable pulley 3 is installed at the main track a, the secondary track 1b, and the secondary track.
  • the traction cable 28 for hauling the trolley will also bend with the structural change.
  • the hinge joints are smooth.
  • the cable pulley 3 supports and holds the traction cable 28 to avoid contact with the track itself. Even under a certain tension of the traction cable, the traction cable 28 is allowed to be pulled back and forth, thereby protecting the traction cable.
  • pulleys 4 are provided at the front and rear ends of the track 2, specifically 41-front pulleys and 42-rear pulleys.
  • a traction cable 28 can be installed in the pulley 4, the traction trolley is connected and fixed on the traction cable 28, and the traction cable 28 is externally connected with a power device.
  • the traction cable is configured to accelerate the catapult through the front pulley 41 during the ejection process, and the traction cable 28 decelerates and parks the cart and resets it backward through the rear pulley 42.
  • the invention changes the traditional damping and buffering device and avoids the impact damage to the front part of the launcher due to the impact of the trolley at the end of the launch stroke. Furthermore, the traction trolley 26 is buffered and stopped by the traction cable 28 and the rear pulley 42 to facilitate the absorption and adaptive adjustment of different impact energy of the traction trolley. The traction cable 28 can also realize the traction reset of the traction trolley 26 through the rear pulley 42.
  • the track 2 is formed by splicing the upper plate 21, the lower plate 22, the left plate 23, and the right plate 24 and assisting welding.
  • the upper plate 21, the lower plate 22, the left plate 23, and the right plate 24 are provided with a plurality of edge protrusions and perforations for splicing, and these protrusions and perforations are positioned.
  • the above boards are accurately positioned, shaped and structurally supported by the insertion of the protrusions and perforations of each other.
  • the boards are welded to each other through the positioning connection of the holes and the protrusions, and the welding points are reinforced at other connection locations. All welding uses spot welding and short welding, and the welding parts are isolated from each other.
  • the left plate 23 and the right plate 24 are arranged in parallel, and the upper plate 21 and the lower plate 22 are also arranged in parallel.
  • Slides 25 are installed on the upper ends of the left and right plates 23 and 24, respectively.
  • the slides 25 are also spliced together with the left and right plates 23 and 24 through protrusions and perforations to assist welding and fixing.
  • the slides 25 are used for carrying and guiding. And to limit the movement of the traction trolley 26.
  • An upper middle plate 211 and a lower middle plate 212 are also installed between the upper plate 21 and the lower plate 22 of the main track a.
  • the upper middle plate 211 and the lower middle plate 212 are perpendicular to the left plate 23 and the right plate 24, The plate 21 and the lower plate 22 are arranged in the direction.
  • the upper middle plate 211 and the lower middle plate 212 are parallel to the upper plate 21 or the lower plate 22.
  • the upper middle layer plate 211 and the lower middle layer plate 212 are also spliced together through protrusions and perforations and the surrounding plates to assist welding and fixing.
  • ribs 27 are also provided between the upper plate 21, the lower plate 22, the left plate 23, and the right plate 24.
  • the ribs 27 are also spliced together with the surrounding plates through protrusions and perforations and assist welding and fixing.
  • the ribs 27 are arranged perpendicularly or crosswise to the surrounding plates.
  • the rib 27 is also divided into two cases in the embodiment.
  • the first case: the ribs inside the main track a include upper ribs b1 and lower ribs b2. These two ribs are installed up and down, with the lower edge of the upper rib b1 protruding and the upper edge of the lower rib b2.
  • the protrusions pass through the prefabricated openings of the upper middle layer plate 211 and the lower middle layer plate 212 and are fixed by welding.
  • a plurality of rib plates 27 are directly provided between the upper plate 21, the lower plate 22, the left plate 23, and the right plate 24.
  • the rib plate 27, the upper rib plate b1, and the lower rib plate b2 are all arranged at a certain distance.
  • An oblique rib is also provided between the left plate 23 and the right plate 24.
  • the oblique rib is perpendicular to the left plate 23 and the right plate 24 but not perpendicular to the upper plate 21 and the lower plate 22.
  • the diagonal rib plate is also spliced together with the left plate 23 and the right plate 24 through protrusions and perforations and assists in welding and fixing.
  • the upper plate 21, the lower plate 22, the left plate 23, the right plate 24, and the rib plate 27 are also provided with weight reduction holes, screw rods, screw holes, connectors, etc.
  • the weight reduction holes 8 are evenly spaced at a certain distance. Different opening shapes and sizes are set according to different parts and bearing requirements. Screw rods, screw holes, and connectors are used for subsequent component installation.
  • the base 1 is specifically arranged in parallel by two elongated structural members 11 of the same length.
  • a rear transverse structural member 12 is provided at the rear end of the elongated structural member 11.
  • the front section is provided with a base transverse structural member two 13.
  • a post 14 is provided at the rear end of the elongated structural member 11, and the posts 14 are respectively disposed at the ends of the two elongated structural members 11, and between the post 14 and the base elongated structural member 11 and the lateral structural member 12
  • a reinforcement 15 is provided for reinforcement.
  • a stable support frame 16 in which the track returns to a flat state is provided to play a role of supporting the track.
  • the installation method of the track 2 is as follows:
  • the track 2 includes a sub track 1b, a main track a, and a sub track 2c.
  • the rear part of the main track a is hingedly installed on the pillar 14 of the base.
  • the track a can be rotated around the hinge point. The movement finally makes the front part of the track a rotate up and down.
  • a pair of balanced hydraulic cylinders 5 are coaxially hinged on both sides of the front part of the main rail a, and the other ends of the pair of balanced hydraulic cylinders 5 are hinged to the left and right positions of the horizontal structure member 13 and 13, respectively.
  • the hydraulic cylinder 5 and the hinge shaft above the balance hydraulic cylinder form an isosceles trapezoidal structure.
  • the cylinder barrels of the pair of balanced hydraulic cylinders 5 are hinged on the left and right sides of the base transverse structural member 2 13, and the piston rods at the upper ends of the pair of balanced hydraulic cylinders 5 are hinged on the left and right sides of the track a.
  • the structure of a pair of balanced hydraulic cylinders 5 is consistent and symmetrically arranged.
  • the pair of balanced hydraulic cylinders 5 are double-rod hydraulic cylinders with equal bores.
  • the diameters of the two cylinders and the diameters of the piston rods before and after the piston are the same.
  • the upper and lower parts of the balancing hydraulic cylinder 5 are provided with oil inlet and outlet holes.
  • the oil hole in the lower part of each cylinder is connected with the oil hole in the upper part of the other cylinder through a hydraulic pipe.
  • a closed circulating oil path is formed between the two cylinders.
  • the hydraulic cylinder 5 realizes synchronous movement.
  • the black bold line is the connection diagram of the hydraulic pipe line 51.
  • a lifting hydraulic cylinder 6 is also provided between a pair of balancing hydraulic cylinders 5, and a piston rod at the upper end of the lifting hydraulic cylinder 6 is hinged at the front of the track a.
  • the upper end of the lifting hydraulic cylinder 6 is coaxial with the hinge shaft of the upper end of a pair of balanced hydraulic cylinders 5, as shown in FIG. 11.
  • the cylinder tube of the lifting hydraulic cylinder 6 is hinged at the middle position of the cross beam two 13.
  • the piston rod of the lifting hydraulic cylinder 6 and the upper hinge shaft both maintain rigid vertical hinges.
  • a pair of balancing hydraulic cylinders 5 move along with the lifting hydraulic cylinder 6 and the rail 2. Because the length and the amount of expansion and contraction of the pair of balanced hydraulic cylinders 5 are kept the same, and they are equilaterally trapezoidal on the left and right sides. Even a slight left-to-right sway of the track 2 will cause a large angle change between the pair of balanced hydraulic cylinders 5 on the equilateral trapezoid and the hinge axis of the track 2, thereby driving the track 2 to undergo a large-angle lateral twist. Finally, along with the upper coaxial or parallel hinge axis of the lifting hydraulic cylinder 6, a large-angle swing in the upper-left, lower-right, or lower-left-right manner occurs.
  • the lifting hydraulic cylinder 6 and the articulation axis of the track 2 maintain vertical articulation and have sufficient rigidity, the large-angle twist of the track 2 and the reverse large-angle swing of the left and right ends of the upper coaxial or parallel hinge axis of the lifting cylinder 6 It can be formed only when the lifting cylinder 6 cylinder or the piston rod allows a large flexible bending.
  • the rigidity of the cylinder block of the lifting hydraulic cylinder 6 and the piston rod itself is sufficient to resist the above-mentioned bending. Therefore, under the action of a pair of balancing hydraulic cylinder 5 and lifting hydraulic cylinder 6, the rail 2 has a balance anti-sway function.
  • the stability system of a pair of balanced hydraulic cylinders 5 has a simple and lightweight structure, a large overall rigidity, and simple maintenance, and the anti-swaying stability capability is not highly affected.
  • the track is raised to a predetermined angle by the lifting hydraulic cylinder 5, and the auxiliary track 1b and the auxiliary track 2c in the track are unfolded to the left or right to form a long track 2 connected end to end.
  • the traction cable 28 can be in a tensioned state by the pulley 4 and the cable pulley 3, and is not subject to scratches and abrasion on the edge of the track.
  • a traction trolley 26 is installed on the track 2, and a traction cable 28 is installed on the front and rear pulleys 4.
  • the traction trolley is connected to the traction cable 28.
  • the traction cable 28 drags the traction trolley on the track 2 to make a linear movement back and forth along the slide 25.
  • the aforementioned traction cable is powered by an external power unit.
  • the lifting hydraulic cylinder 6 can be adjusted so that the front of the track 2 rotates up and down around the rear hinge point to ensure that the track 2 has a proper ejection elevation angle.
  • the above balancing hydraulic cylinder 5 moves synchronously with the lifting hydraulic cylinder, and guarantees the balance stability of the entire ejection device at any time during the adjustment process.
  • the traction cable When ejection take-off of the drone is needed, the traction cable is powered by the power unit.
  • the traction cable hauls the cart through the front pulley, and the drone loaded on the traction cart runs with the cart.
  • the traction cable When the traction trolley runs to the end of the front of the track, the traction cable reversely tractions the trolley through the pulleys at the rear of the track, so as to buffer and stop the trolley. Under the action of inertia and engine power, the drone forwards Break away. Finally, through the power unit, the traction cable resets the traction trolley through the pulley at the rear of the track.
  • sensors may be provided on the rear of the main track a, the second track c, or the fourth track e, and a rotary digital encoder is preferred.
  • the rotation axis of the encoder is synchronized with the rear pulley 42 at the rear of the main track a, the secondary track two c, or the rear track 42e of the secondary track e.
  • a special pulley is arranged at the rear of the track to synchronize with the traction cable at the rear of the traction trolley, specifically the pulley 7 connected to the encoder shaft.
  • the rotary encoder as a sensor can accurately detect and output various motion parameters of the cart moving forward and backward through its own rotation direction, rotation speed, and the rate of change of the rotation speed.
  • the additional measurement and control system collects and calculates these motion parameters. , Analysis, can very conveniently and quickly provide various movement data and curves during the ejection process of the aircraft.
  • this detection method can easily and accurately obtain all the motion parameters of the aircraft during the catapult takeoff and takeoff process, which is both economical and fast.
  • Track 2 includes main track a, auxiliary track 1b, auxiliary track 2c, auxiliary track 3d, auxiliary track 4e, auxiliary track 1b, auxiliary track 2c are hinged to the front and rear ends of main track a, respectively, to realize the auxiliary track 1b.
  • the secondary track 2c is folded and retracted sideways on the plane of the main track a; the secondary track 3d is hinged on the secondary track 1b, so that the secondary track 3d is vertically rotated and folded around the hinge axis.
  • the auxiliary track four e is hinged on the auxiliary track two c, so that the auxiliary track four e is vertically rotated, folded and retracted relative to the auxiliary track two c about the hinge axis.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)
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Abstract

一种发射器的弹射轨道装置，包括底座（1）以及位于底座（1）上的轨道（2），轨道（2）可为一节轨道或者若干节轨道（a、b、c、d、e）组装而成，若干节轨道（a、b、c、d、e）首尾通过铰接方式在轨道平面的侧向或竖向折叠收放；轨道（2）主要由上、下、左、右板（21、22、23、24）及之间的筋板（27）对位插接并辅助焊接；轨道（2）的后部铰接在底座（1）上，轨道（2）前部的两侧共轴铰接有一对平衡液压缸（5），一对平衡液压缸（5）另一端同样共轴铰接在底座（1）的两侧上；还包括升降液压缸（6），升降液压缸（6）两端分别铰接在轨道（2）和底座（1）上，升降液压缸（6）的铰轴可以与平衡液压缸（5）的铰轴共轴或平行；该发射器的弹射轨道装置设计科学合理、装配、制造精度高、重量轻、强度大、稳定性好、建造成本低，易于批量制造。

Description

一种发射器的弹射轨道装置 技术领域
本发明涉及无人飞行器发射领域，具体涉及一种发射器的弹射轨道装置。
背景技术
无人飞行器起飞方式众多，有滑跑、车载、空投、手抛、火箭助推、弹射起飞等方式。而弹射起飞是目前国内外研究的主流。弹射起飞不受环境、跑道等因素限制，随时随地可起飞，具有广泛的适用性。
目前，对于大型弹射装置，由于轨道长度较大，发射速度较高，受风力、震动等因素影响，即便是轻度摇摆也可能会导致飞行器离轨动作变形失衡，严重摇摆对飞行器产生的干涉可能会造成飞行、作业事故。而且，飞行器发射作业过程中，自身的冲击震动会引起发射轨道摇摆，承载底盘、载车存在加剧摇摆动作的可能性。因此，抗摇摆稳定性能对于弹射轨道极为重要。
为提高抗摇摆性能，现行的弹射轨道稳定措施是采用在承载底盘上设置对向开口、向上延伸的两只具有“C”型截面的平行轨道，而在轨道下方设置平行滑动框架***下方安装于承载底盘上的“C”型轨道，通过“C”型轨道对平行滑动框架的左右限位和上下滑动加强轨道的稳定性。以上结构比较笨重，并且随着起竖高度的加大，抗摇摆能力大大降低。
另一方面，现行发射架仅在轨道前部设置滑轮，用于通过牵引缆牵引小车做向前的弹射运动，并在轨道前部设置液压阻尼缓冲装置或弹性阻尼缆，用于弹射行程末端对小车实施缓冲住停。这种缓冲住停方式不可避免的导致小车在发射行程末端对轨道、发射***产生强力冲击，由冲击而产生的角速度以及由此造成的干涉对飞行器离轨具有危害性。而且，现行缓冲阻尼方式不具有调整、 适应功能，稳定性、可靠性相对较低，仅适合用于重量轻、末端冲击能量比较低的小型、低速发射***。另外，牵引小车也需要加挂绞盘或采用人工向后牵拉实现复位。
此外，由于现行的弹射轨道装置不带有测量机构，因此，为获得弹射过程中小车及无人飞行器的运动数据，只能采用高速摄像机、无线传感器等附加设备进行测控，***成本高昂，操作复杂。
发明内容
本发明要解决的技术问题是如何克服现有技术存在的不足，提供一种发射器的弹射轨道装置，具有重量轻、结构刚度大、耐冲击、使用操作方便、技术先进、易于测控、稳定可靠、便于工业化批量制造的特点。
本发明的技术解决方案是：一种发射器的弹射轨道装置，包括底座以及位于底座上的轨道，轨道可为一节轨道或者若干节轨道组装而成，若干节轨道首尾通过铰接方式实现在轨道平面的侧向或竖向折叠收放；在轨道的铰接部位设置有顺缆滑轮。
所述轨道由上、下、左、右板插接并辅助焊接而成，上、下、左、右板上设有用于拼接的穿孔和边部凸起，穿孔和凸起定位设置，各板通过凸起和穿孔插接组装并辅助焊接固定；所述轨道还包括筋板，所述筋板竖向或斜向设置在上述板之间，所述筋板同样通过穿孔和边部凸起与周围各板插接在一起并辅助焊接固定；在上述左、右板的上端设置有滑道，滑道同样通过穿孔与边部凸起与左、右板插接在一起并辅助焊接固定；滑道可以分别单独安装在左、右板的上端，或者滑道作为一个整体安装在左、右板的上端。
所述左、右板平行设置，上、下板平行或者不平行设置，所述筋板与周边各板垂直或斜向交叉设置；所述上、下、左、右板以及筋板上均设有减重孔；所 述轨道的前后两端各设有至少一个滑轮，滑轮用于设置牵引缆；
所述轨道的后部通过铰接方式安装在底座上，轨道前部的两侧共轴铰接有一对平衡液压缸，一对平衡液压缸另一端同样共轴铰接在底座的两侧上，一对平衡液压缸结构一致且左右对称设置，一对平衡液压缸的油缸通过液压管相通，一对平衡液压缸之间构成封闭的油路；
还包括升降液压缸，升降液压缸位于一对平衡液压缸之间，升降液压缸两端分别铰接在轨道和底座上，升降液压缸本身与铰轴保持刚性垂直铰接，升降液压缸的铰轴可以与一对平衡液压缸的铰轴共轴或者平行。
进一步的，所述轨道上用于插接的穿孔和边部凸起采用点焊及短焊方式焊接连接固定，焊接部位彼此隔离。
进一步的，轨道的上板与下板之间还安装有上中层板、下中层板；所述上中层板、下中层板与左板、右板垂直，沿上、下板方向设置；所述上中层板、下中层板同样通过穿孔与边部凸起和周围各板插接在一起并辅助焊接固定。
进一步的，筋板设置在上、下、左、右板之间并与各板垂直，筋板还设置在左、右板之间并与左、右板垂直。
进一步的，在上板、上中层板、左板、右板之间也设置了筋板，筋板与周围各板垂直；在下中层板、下板、左板、右板之间也设置了筋板，筋板与周围各板垂直。
进一步的，在左板、右板、下中层板、下板之间也设置了筋板，筋板与左右板垂直，与下中层板、下板斜向交插焊接连接。
进一步的，组成轨道的筋板有若干个，大小不等，间隔一定距离均匀排列，还可单独设置在左、右板之间。
进一步的，所述轨道可以为一节主轨道，可以是主轨道、副轨道一和/或副 轨道二，可以是主轨道、副轨道一和/或副轨道二、副轨道三和/或副轨道四；上述副轨道一、副轨道二分别铰接与主轨道的前后两端，实现副轨道一、副轨道二在主轨道平面的侧向折叠收放；上述副轨道三铰接于副轨道一上，实现副轨道三绕铰接点竖向折叠收放；副轨道四铰接于副轨道二上，实现副轨道四绕铰接点竖向折叠收放。
进一步的，所述轨道由主轨道、副轨道一以及副轨道二组成，位于主轨道前后两端的副轨道一、副轨道二可通过铰接实现在主轨道平面的左、右反向折叠收放，位于中间的主轨道后部铰接在底座上，主轨道的前部通过一对平衡液压缸、升降液压缸铰接在底座上，在所述主轨道、副轨道一以及副轨道二彼此铰接点设置顺缆滑轮。
进一步的，顺缆滑轮包括上、下顺缆滑轮，上、下顺缆滑轮为一组，一组顺缆滑轮分别竖向设置在主轨道、副轨道一、副轨道二的铰接处部位；在轨道的两端各设置至少一个滑轮，滑轮之间设置牵引缆。
进一步的，一对平衡液压缸的缸筒或缸筒加长部件铰接在底座的左、右位置，一对平衡液压缸上端的活塞杆铰接在轨道的左右两侧；升降液压缸的缸筒或缸筒加长部件铰接在底座的中间位置，升降液压缸上端的活塞杆刚性铰接在轨道上。
一对平衡液压缸均为双出杆液压缸，缸径相等，两缸活塞直径、活塞前后的活塞杆直径均为一致，一对平衡液压缸的上下部位均留有进出油孔，两个油缸下部的油孔均与对向油缸上部的油孔通过液压管连接，构成封闭油路，一对平衡液压缸做同步运动。
进一步的，在轨道上设置传感器，传感器优选旋转式数字编码器，编码器旋转轴与轨道后部的滑轮同步联动，或通过在轨道后部另外设置滑轮与牵引缆同步联动。
本发明优点在于：
(1)上、下、左、右板以及筋板通过插接对位组装，并在插接的穿孔部位焊接连接固定，各板之间形成相互支撑、相互限制的自定位、自定型整体结构，在焊接过程中不会发生薄板结构件位置移动，能够确保轨道结构的形位精度，便于实现快速、批量生产制造。
各板之间相互刚性支撑、刚性限位，采取点焊、短焊的焊接工艺，保证轨道结构可以实现最小的变形量，具有良好的直线性。
采用多层次、多角度薄板结构件插接组装，由于各板均具有预制孔等减重结构特征，并且焊接部位在穿孔区域，因此组合后的轨道不仅易于焊接施工，并且具有极高的整体刚度，并最大限度上实现了结构的的轻量化。
(2)在轨道的前后设置滑轮，为前滑轮和后滑轮，前滑轮主要用于在弹射过程中牵引小车形成弹射加速，后滑轮主要用于牵引小车进行减速驻停以及复位。
(3)平衡缸稳定***结构简单轻巧、整体刚度大，使用维护简单，抗摇摆稳定能力不受高度影响，保证整个装置的稳定性。
(4)通过在轨道内部设置数据传感器-编码器，方便的解决了无人飞行器运动参数的测控问题，极大的降低了测控成本。
本发明设计科学合理、重量轻、结构刚度大、使用操作方便、技术先进、易于测控、稳定可靠、便于工业化批量制造，是对本领域的技术革命，是本领域的一大进步，具有重要的意义。
附图说明
下面结合附图和实施例对本发明作进一步说明。
图1为本发明一种发射器的弹射轨道装置结构示意图；
图2为本发明一种发射器的弹射轨道装置牵引缆原理图；
图3为本发明轨道2中上板21、下板22、左板23、右板24、筋板27拼接组装结构示意图；
图4为图3中A的局部放大示意图；
图5为图3中B的局部放大示意图；
图6为本发明轨道b或c中筋板27安装结构示意图；
图7为本发明轨道a中筋板27安装结构示意图；
图8为本发明轨道a中顺缆滑轮3安装结构示意图；
图9为本发明弹射轨道装置中横向铰接结构示意图；
图10为图9中A的局部放大示意图；
图11为一对平衡液压缸5、升降液压缸6共轴铰接示意图；
图12为本发明弹射轨道装置中滑道25结构示意图；
图13为本发明底座1结构示意图；
图14为本发明一对平衡液压缸5油管连通示意图；
图15为本发明另一种发射器的弹射轨道装置结构示意图；
图中，1-底座，2-轨道，3-顺缆滑轮，31-上顺缆滑轮，32-下顺缆滑轮，4-滑轮，41-前滑轮，42-后滑轮，5-一对平衡液压缸，51-液压连接管线，6-升降液压缸，b-副轨道一，a-主轨道，c-副轨道二，d-副轨道三，e-副轨道四，21-上板，22-下板，23-左板，24-右板,211-上中层板，212-下中层板，25-滑道，26-牵引小车，27-筋板，28-牵引缆,b1-上筋板，b2-下筋板，11-长形结构件，12-底座横向结构件一，13-底座横向结构件二，14-立柱，15-加固件，16-稳定支撑架，7-与编码器转轴连接的滑轮，8-减重孔。
具体实施方式
以下参照附图，详细说明本发明发射器的弹射轨道装置。
如1-14图所示，一种发射器的弹射轨道装置，包括底座1以及位于底座1上的轨道2，本实施例中的轨道2包括三节轨道组成，分别是副轨道一b、主轨道a、副轨道二c，副轨道一b的后端与主轨道a的前端通过铰接方式连接在一起。
更为具体的是：副轨道一b的右后端与主轨道a的右前端通过铰接方式连接在一起，以上结构实现了副轨道一b可向右侧弯曲折叠，折叠效果是副轨道一b与主轨道a并行，实现收放目的。主轨道a的左后端与副轨道二c的左前端通过铰接方式连接在一起，实现副轨道二c向左侧弯曲折叠在主轨道a的左侧并行设置，实现了副轨道二c的收放。
牵引小车会在上述轨道2上做往复运动，在本发明中牵引小车26通过前后牵引缆28牵拉进行往复运动。为了保证在上述折叠过程中，保护牵引缆28不被轨道2的结构件割伤或磨损，在上述副轨道一b、主轨道a、副轨道二c的铰接部位均设有顺缆滑轮3。具体的，顺缆滑轮3包括上顺缆滑轮31、下顺缆滑轮32，上顺缆滑轮31、下顺缆滑轮32为一组，分别用于保护经过滑轮运行的牵引缆往返两段。顺缆滑轮3分别安装在主轨道a左后端和右前端、副轨道一b右后端、副轨道二c左前端，即顺缆滑轮3安装在主轨道a、副轨道一b、副轨道二c的各个铰接连接部位。当上述的副轨道一b、副轨道二c进行侧向折叠时，用于牵引小车用的牵引缆28也会随结构变化实现弯曲，为防止弯曲时的割伤或磨损，铰接处的顺缆滑轮3撑托起牵引缆28，避免接触轨道本身，即便是在牵引缆存在一定张紧力的情况下，也允许对牵引缆28进行前后拉动，从而起到对牵引缆的保护作用。
为了保证上述的牵引小车做往复运动，在轨道2的前后两端均设置了滑轮4， 具体为41-前滑轮，42-后滑轮。具体安装在副轨道一b、副轨道二c的俩端头，滑轮4内可以安装牵引缆28，牵引小车连接固定在牵引缆28上，牵引缆28外接动力装置。本发明设置牵引缆通过前滑轮41在弹射过程中牵引小车形成弹射加速，牵引缆28通过后滑轮42对小车进行减速驻停以及向后复位。
本发明改变了传统的阻尼缓冲装置，避免了发射行程末端由于小车冲击对发射架前部造成的冲击损坏。再者，通过牵引缆28和后滑轮42对牵引小车26进行缓冲住停，便于实现对牵引小车不同冲击能量的吸收与适应性调整。牵引缆28通过后滑轮42还可实现牵引小车26的牵引复位。
如图3-5所示，下面对轨道2的具体结构进一步说明公开
轨道2由上板21、下板22、左板23、右板24拼接并辅助焊接而成。其具体是在上板21、下板22、左板23、右板24上设了若干个用于拼接的边部凸起和穿孔，这些凸起和穿孔是定位设置的。以上各板通过彼此的凸起与穿孔的插接进行准确定位、定型与结构支撑，各板之间在互相通过穿孔与凸起的定位连接处焊接连接，并在其他连接部位补充焊点加固，所有焊接采用点焊及短焊方式，各处焊接部位彼此隔离。左板23、右板24、平行设置，上板21、下板22同样也是平行设置。在上述左板23、右板24的上端分别安装滑道25，滑道25同样通过凸起和穿孔与左板23、右板24拼接在一起并辅助焊接固定，滑道25用于承载、引导和限定牵引小车26的运动。
在主轨道a的上板21与下板22之间还安装有上中层板211、下中层板212，所述上中层板211、下中层板212与左板23、右板24垂直，沿上板21、下板22方向设置。所述上中层板211、下中层板212与上板21或者下板22平行。上中层板211、下中层板212同样通过凸起与穿孔和周围的各个板拼接在一起并辅助焊接固定。
另外，在上板21、下板22、左板23、右板24中间还设有若干个筋板27，筋板27同样通过凸起和穿孔与周围各板拼接在一起并辅助焊接固定。更甚，筋板27与周边各板垂直或交叉设置。如图6-7所示，在实施例中筋板27也分两种情况。第一种情况：在主轨道a内部的筋板包括上筋板b1、下筋板b2，这两个筋板上下对应安装，上筋板b1的下缘凸起和下筋板b2的上缘凸起由上中层板211、下中层板212预制开孔部位穿过且焊接固定。第二种情况，是在副轨道一b和副轨道二c中，上板21、下板22、左板23、右板24之间直接设置若干筋板27。筋板27、上筋板b1、下筋板b2均间隔一定距离设置。在左板23、右板24之间也设置了斜向筋板，斜向筋板垂直于左板23、右板24，但与上板21、下板22不垂直。斜向筋板同样通过凸起和穿孔与左板23、右板24拼接在一起并辅助焊接固定。
在上述的上板21、下板22、左板23、右板24、筋板27上还设置了减重孔、丝杆、丝孔、连接件等，减重孔8间隔一定距离均匀排列，并根据不同的部位及承力要求设置不同的开孔形状及大小。丝杆、丝孔、连接件是用于后续部件安装。
针对于上述轨道2与底座1的安装连接，下面进行详细说明。
在本实施例中，底座1具体是由两根一样长度的长形结构件11并行排列，在长形结构件11的后端头设置底座横向结构件一12，在长形结构件11的中前段设置底座横向结构件二13。同时在长形结构件11的后端头设置立柱14，立柱14分别设置在两根长形结构件11的端头，在立柱14与底座长形结构件11、横向结构件一12之间还设置了加固件15进行加固。在长形结构件11的另一端，设置了轨道回平状态的稳定支撑架16，起到支撑轨道的作用。
针对上述的底座1，轨道2的安装方式如下：
本实施例轨道2包括了副轨道一b、主轨道a、副轨道二c，其中的主轨道a的后部通过铰接方式安装在底座的立柱14上，轨道a可以以铰接点为中心做旋转运动，最后使得轨道a的前部上下旋转运动。
主轨道a前部的两侧共轴铰接有一对平衡液压缸5，一对平衡液压缸5的另一端分别铰接在底座横向结构件二13左右位置上，底座横向结构件二13、一对平衡液压缸5以及位于平衡液压缸上方的铰轴形成等腰梯形结构。具体的，一对平衡液压缸5的缸筒铰接在底座横向结构件二13的左右两侧，一对平衡液压缸5的上端的活塞杆铰接在轨道a的左右两侧。
重点说明：一对平衡液压缸5的结构一致且左右对称设置，一对平衡液压缸5均为双出杆液压缸，缸径相等，两缸活塞直径、活塞前后的活塞杆直径均为一致，一对平衡液压缸5的上下部位均留有进出油孔，其中每个油缸下部的油孔与另一个油缸上部的油孔通过液压管连接，两缸之间构成封闭的循环油路，一对平衡液压缸5实现同步运动，如图10所示，黑色加粗线为液压管管线51连接示意。
为实现轨道2的上升和下降过程，在一对平衡液压缸5之间还设置了升降液压缸6，升降液压缸6上端的活塞杆铰接在轨道a前部。升降液压缸6上端与一对平衡液压缸5上端的铰轴共轴，如图11所示。升降液压缸6的缸筒铰接在横梁二13的中间位置。升降液压缸6活塞杆与上铰轴均保持刚性垂直铰接。
上述采用平衡液压缸的原理是：
当升降液压缸6做升降动作过程时，一对平衡液压缸5随同升降液压缸6、轨轨道2一同动作。因一对平衡液压缸5的长度及伸缩量同步保持一致，而且在左右两侧呈等边梯形设置。即使轨道2发生轻度的左右摇摆，也会导致作为等边梯形上短边的一对平衡液压缸5与轨道2的铰接轴产生大角度变化，由此 带动轨道2发生大角度侧向扭转。最后，连同升降液压缸6的上部共轴或平行铰轴发生左上右下或左下右上方式的大角度摆动。
但是，由于升降液压缸6与轨道2的铰接轴保持垂直铰接并具有足够的刚度，轨道2的大角度扭转以及升降液压缸6上部共轴或平行铰轴的左端与右端的反向大角度摇摆只有在升降液压缸6缸筒或活塞杆允许发生大幅度柔性弯曲的情况下才可以形成。在本实施例中，升降液压缸6的缸体以及活塞杆本身所具有的刚度足以抵抗以上的这种弯曲。因此，在一对平衡液压缸5与升降液压缸6共同作用下，轨道2产生了平衡抗摇摆功能。而且，一对平衡液压缸5的稳定***结构简单轻巧、整体刚度大、维护简单，抗摇摆稳定能力不受高度影响。
工作原理过程：
本发明在使用时，通过升降液压缸5将轨道升起到预定角度，轨道中的副轨道一b、副轨道二c向左或向右展开到位，构成首尾连接的长轨道2。
在上述轨道展开过程中，牵引缆28可以通过滑轮4、顺缆滑轮3处于张紧状态，并且不受轨道边缘的刮损、磨损。
在轨道2上安装有牵引小车26，在前后的滑轮4上安装有牵引缆28，牵引小车连接牵引缆28，牵引缆28拖动牵引小车在轨道2上沿滑道25做前后往复直线运动。上述的牵引缆通过外设动力装置提供动力。
为得到合适的弹射角度，可以通过调节升降液压缸6，使得轨道2的前部绕后部铰接点上下旋转运动，保证轨道2得到合适的弹射仰角。以上的平衡液压缸5随同升降液压缸同步动作，并在调整过程中随时保证整个弹射装置的平衡稳定性。
当需要进行无人机的弹射起飞时，由动力装置对牵引缆提供动力，牵引缆 通过前部滑轮牵引小车，装载于牵引小车上的无人机随同小车运行。当牵引小车运行至轨道前部接近末端时，由牵引缆通过轨道后部的滑轮对小车进行反向牵引，从而实现小车的缓冲住停，无人机在惯性和发动机的动力作用下，前冲脱离。最后，通过动力装置，牵引缆通过轨道后部的滑轮对牵引小车进行复位。
结合图1、图7、图15，在主轨道a后部、副轨道二c、或副轨道四e上可以设置传感器，优选旋转式数字编码器。编码器旋转轴与主轨道a后部、副轨道二c、或副轨道四e后部的后滑轮42同步联动。或通过在轨道后部设置专门的滑轮与牵引小车后部的牵引缆同步联动，具体是与编码器转轴连接的滑轮7。因此，无论是做向前弹射的运行，或者是做减速住停的运行，或者做向后复位的运行，在牵引缆的张力作用下，旋转编码器、牵引小车、后部的牵引缆、轨道2后部的滑轮42或专门设置的滑轮7随时保持同步运行。因此，作为传感器的旋转编码器可以通过自身的旋转方向、旋转速度、以及旋转速度的变化率准确检测并输出小车前后移动的各项运动参数，附加的测控***通过对这些运动参数进行采集、计算、分析，能够非常方便、快捷的提供出飞行器弹射期间全过程的各项运动数据、曲线。由于无人飞行器在弹射起飞离轨之前，其运动是与小车完全同步、一致的，因此，通过这种检测方式能够简单而又准确的获取飞行器弹射起飞过程的全部运动参数，既经济又快捷。
如图15所示，为本发明另外一种方案
轨道2包括主轨道a、副轨道一b、副轨道二c、副轨道三d、副轨道四e，副轨道一b、副轨道二c分别铰接与主轨道a的前后两端，实现副轨道一b、副轨道二c在主轨道a平面的侧向折叠收放；上述副轨道三d铰接于副轨道一b上，实现副轨道三d绕铰接轴竖向向上旋转折叠收放。副轨道四e铰接于副轨道二c上，实现副轨道四e绕铰接轴相对于副轨道二c竖向向上旋转折叠收放。
上述实施例只是为了说明本发明的技术构思及特点，其目的是在于让本领域内的普通技术人员能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡是根据本发明内容的实质所做出的等效的变化或修饰，都应涵盖在本发明的保护范围内。

Claims (10)

  1. 一种发射器的弹射轨道装置，包括底座以及位于底座上的轨道，其特征在于：轨道可为一节轨道或者若干节轨道组装而成，若干节轨道首尾通过铰接方式实现在轨道平面的侧向或竖向折叠收放；在轨道的铰接部位设置有顺缆滑轮；
    所述轨道由上、下、左、右板插接并辅助焊接而成，上、下、左、右板上设有用于拼接的穿孔和边部凸起，穿孔和凸起定位设置，各板通过凸起和穿孔插接组装并辅助焊接固定；所述轨道还包括筋板，所述筋板竖向或斜向设置在上述板之间，所述筋板同样通过穿孔和边部凸起与周围各板插接在一起并辅助焊接固定；在上述左、右板的上端设置有滑道，滑道同样通过穿孔与边部凸起与左、右板插接在一起并辅助焊接固定；
    所述左、右板平行设置，上、下板平行或者不平行设置，所述筋板与周边各板垂直或斜向交叉设置；所述上、下、左、右板以及筋板上均设有减重孔；所述轨道的前后两端各设有至少一个滑轮，滑轮用于设置牵引缆；
    所述轨道的后部通过铰接方式安装在底座上，轨道前部的两侧共轴铰接有一对平衡液压缸，一对平衡液压缸另一端同样共轴铰接在底座的两侧上，一对平衡液压缸结构一致且左右对称设置，一对平衡液压缸的油缸通过液压管相通，一对平衡液压缸之间构成封闭的油路；
    还包括升降液压缸，升降液压缸位于一对平衡液压缸之间，升降液压缸两端分别铰接在轨道和底座上，升降液压缸本身与铰轴保持刚性垂直铰接，升降液压缸的铰轴可以与一对平衡液压缸的铰轴共轴或者平行。
  2. 根据权利要求1所述的一种发射器的弹射轨道装置，其特征在于：所述轨道在用于插接的边部凸起和穿孔部位采用点焊及短焊方式，在穿孔区域将插接的板与穿孔的板焊接，焊接部位彼此隔离。
  3. 根据权利要求1所述的一种发射器的弹射轨道装置，其特征在于：轨道的上板与下板之间还安装有上中层板、下中层板；所述上中层板、下中层板与左板、右板垂直，沿上、下板方向设置；所述上中层板、下中层板同样通过穿孔与边部凸起和周围各板拼接在一起并辅助焊接固定。
  4. 根据权利要求1所述的一种发射器的弹射轨道装置，其特征在于：筋板设置在上、下、左、右板之间并与各板垂直，筋板还设置在左、右板之间并与左、右板垂直。
  5. 根据权利要求3所述的一种发射器的弹射轨道装置，其特征在于：在上板、上中层板、左板、右板之间也设置了筋板，筋板与周围各板垂直；在下中层板、下板、左板、右板之间也设置了筋板，筋板与周围各板垂直；在左板、右板、下中层板、下板之间也设置了筋板，筋板与左右板垂直，与下中层板、下板斜向交插焊接连接。
  6. 根据权利要求1所述的一种发射器的弹射轨道装置，其特征在于：所述轨道可以为一节主轨道，可以是主轨道、副轨道一和/或副轨道二，可以是主轨道、副轨道一和/或副轨道二、副轨道三和/或副轨道四；上述副轨道一、副轨道二分别铰接连接于主轨道的前后两端，实现副轨道一、副轨道二在主轨道平面的侧向折叠收放；上述副轨道三铰接于副轨道一上，实现副轨道三绕铰接点竖向折叠收放；副轨道四铰接于副轨道二上，实现副轨道四绕铰接点竖向折叠收放。
  7. 根据权利要求6所述的一种发射器的弹射轨道装置，其特征在于：所述轨道由主轨道、副轨道一以及副轨道二组成，位于主轨道前后两端的副轨道一、副轨道二可通过铰接实现在主轨道平面的左、右反向折叠收放，位于中间的主轨道后部铰接在底座上，主轨道的前部通过一对平衡液压缸、升降液压缸铰接 在底座上，在所述主轨道、副轨道一以及副轨道二彼此铰接点设置顺缆滑轮。
  8. 根据权利要求7述的一种发射器的弹射轨道装置，其特征在于：顺缆滑轮包括上、下顺缆滑轮，上、下顺缆滑轮为一组，一组顺缆滑轮分别竖向设置在主轨道、副轨道一、副轨道二的铰接处部位；在轨道的两端各设置至少一个滑轮，滑轮之间设置牵引缆。
  9. 根据权利要求1所述的一种发射器的弹射轨道装置，其特征在于：一对平衡液压缸的缸筒或缸筒加长部件铰接在底座的左、右位置，一对平衡液压缸上端的活塞杆铰接在轨道的左右两侧；升降液压缸的缸筒或缸筒加长部件铰接在底座的中间位置，升降液压缸上端的活塞杆刚性铰接在轨道上；
    一对平衡液压缸均为双出杆液压缸，缸径相等，两缸活塞直径、活塞前后的活塞杆直径均为一致，一对平衡液压缸的缸筒上下部位均留有进出油孔，两个油缸下部的油孔均与对向油缸上部的油孔通过液压管连接，构成封闭油路，一对平衡液压缸做同步运动。
  10. 根据权利要求1或6或7所述的一种发射器的弹射轨道装置，其特征在于：在轨道上设置传感器，传感器优选旋转式数字编码器，编码器旋转轴与轨道后部的滑轮同步联动，或通过在轨道后部另外设置滑轮与牵引缆同步联动。
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JP7158076B2 (ja) 2022-10-21
EP3822174A4 (en) 2022-04-13
JP2021536391A (ja) 2021-12-27
RU2761311C1 (ru) 2021-12-07
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