CN114229025B - A receive and release subassembly for fixed wing unmanned aerial vehicle - Google Patents

Abstract

The invention belongs to the field of launch and recovery of vertical take-off and landing fixed-wing UAVs. Specifically, it is a retractable and retractable assembly for fixed-wing UAVs. It is mainly used for the docking of fixed-wing UAVs and the aerial docking platform below to achieve Takeoff and landing of fixed-wing UAV on aerial docking platform. The invention includes a docking rod arranged at the lower end of the drone and a docking slot arranged at the upper end of the docking platform; the lower end of the docking rod is provided with a docking joint, and the docking joint matches the docking groove; the docking joint is provided with There is a fixed groove, and the groove walls on both sides of the docking groove are provided with movable slide blocks that can telescope toward the groove wall. The movable slide blocks match the fixed groove and are used to block the docking head. The invention can undertake both launch tasks and recovery tasks, greatly reducing the structural weight. In addition, the retractable and retractable components do not rely on active control technology, simplifying the circuit and improving reliability.

Description

A retractable assembly for fixed-wing drones

Technical field

The invention belongs to the field of launch and recovery of vertical take-off and landing fixed-wing UAVs. Specifically, it is a retractable and retractable assembly for fixed-wing UAVs. It is mainly used for the docking of fixed-wing UAVs and the aerial docking platform below to achieve Takeoff and landing of fixed-wing UAV on aerial docking platform.

Background technique

General UAV launch methods include rocket boost, hydraulic, pneumatic ejection and ground slide take-off. Large UAVs generally use the ground taxiing method to take off, while small and medium-sized UAVs use the extremely expensive and high-safety ejection method to take off. Traditional hydraulic ejection systems and pneumatic ejection systems usually have problems such as large floor space and difficulty in deployment and retraction. UAV recovery methods can be summarized as wheeled runway landing recovery, net recovery, parachute recovery, skyhook recovery, etc. Among them, wheel landing, parachute recovery, and net recovery are the more typical recovery methods.

The patent with publication number CN112829959A discloses an integrated fixed-wing UAV mobile launch and recovery platform, including a hydraulic lifting launch bow, a launch rail frame, a UAV installation base, a quick disconnector, a launch control device and a traction power cable mechanism. ; The hydraulic lifting launch bow is composed of two connecting ends and a driving end; the driving ends of the hydraulic lifting launching bow are connected to the driving mechanism to provide lifting force and launch angle for the UAV; the launch rail frame One is provided on each left and right side, which is connected to the four connecting ends of the two front and rear hydraulic lifting launch bows; a chute is provided on each launch rail frame for moving and installing the UAV installation base; The quick disconnector is installed on the top of the UAV installation base and is used to fix or detach the UAV; the traction power cable mechanism is used to pull the two UAV installation bases along the launch rail. Move; the launch control device is used to realize the launch control of the UAV. This patented integrated platform can complete the take-off, launch and landing recovery of the UAV, but it requires a hydraulic lifting launch bow configuration drive mechanism to provide the UAV with lifting force and launch angle, and it also needs to be controlled by the launch control device. Relying on main control technology for control requires complex line connections, low reliability, and is easily affected by line interruptions.

Contents of the invention

The purpose of the present invention is to provide a retractable assembly for a fixed-wing UAV, which is mainly used for docking the fixed-wing UAV with the aerial docking platform below, so as to realize the take-off and deployment of the fixed-wing UAV on the aerial docking platform. landing.

In order to solve the above technical problems, this application provides a retractable assembly for a fixed-wing UAV, which includes a docking rod provided at the lower end of the UAV and a docking groove provided at the upper end of the docking platform; the lower end of the docking rod is provided with There is a butt joint, and the butt joint matches the butt groove; the butt joint is provided with a fixed groove, and the groove walls on both sides of the butt groove are provided with movable sliders that can expand and contract in the direction of the groove wall. The moving slide block matches the fixing groove to block the butt joint.

In this application, the retractable assembly achieves the aerial launch and recovery operations of a fixed-wing UAV entirely through pure mechanical control. During launch, the butt joint pushes the moving slider under the action of the UAV's lift. When the UAV When the difference between the lift and gravity reaches a certain value, the docking joint pushes the moving slider to move to both sides, causing the docking joint to separate from the fixed groove. The drone pops out of the fixed groove and breaks away from the docking platform, thus completing the takeoff mission. When retrieving, the docking rod sinks and the docking head moves downward, pushing the moving slider to move to both sides, allowing the docking head to continue to squeeze toward the docking bottom. When the docking head moves downward to contact the docking bottom, the moving slider As the pushing force of the butt joint becomes smaller, it will automatically return to being stuck in the fixed groove, blocking the butt joint, and completing the recovery of the drone. The retractable and retractable component can undertake both launch and recovery tasks, greatly reducing the structural weight. In addition, the retractable and retractable component does not rely on active control technology, which simplifies the circuit and improves reliability.

Preferably, the upper end of the moving slider is provided with a docking limiter, the bottom of the docking groove is provided with a docking bottom, and the docking bottom is provided at the lower end of the moving slider; the side walls on both sides of the docking groove are The moving slider and the docking limiting part are both arranged symmetrically.

Preferably, the end of the moving slider disposed toward the middle of the docking groove has a structure with a convex middle and concave upper and lower ends; the side wall of the docking rod is recessed toward the center of the docking rod.

Preferably, the fixing groove is an annular groove provided around the circumference of the docking rod.

Preferably, one end of the moving slider away from the butt joint is provided with an elastic member; the other end of the elastic member is connected to a limiting platform.

Preferably, the butt joint includes a hemispherical component located at the lower end of the butt groove; the upper end surface of the butt bottom matches the hemispherical component.

Preferably, the end portion of the docking limiting portion disposed toward the docking groove approaches the middle of the docking groove from top to bottom, so that the space between the docking limiting portions on both sides of the docking groove is tapered.

Preferably, the docking groove is provided along the length direction of the docking platform, and the cross section of the open end of the docking groove is rectangular.

Preferably, multiple elastic members are provided along the length direction of the docking groove.

Preferably, there are two docking rods; a limiting pin for limiting the docking rods is provided in the length direction of the docking groove; the limiting pin is located between the two docking rods.

The invention has the following technical effects:

1. The docking groove is formed by a docking bottom, a docking limiter, and a movable slider. The movable slider is arranged between the docking bottom and the docking limiter. Because the butt joint matches the fixed groove, the fixed groove is also located on the opposite side. In the middle of the joint, the diameter of the upper and lower ends of the butt joint is larger than the diameter of the docking groove. When the drone is recovered, the moving slider adapts to the position of the fixed groove on the butt joint, allowing the butt joint to be moved and slid on both sides at the fixed groove. The block is stuck, achieving stability in drone recovery.

2. During the sinking and rising process of the docking joint of the drone, the force exerted on the moving slider is vertically downward or vertically upward. The end of the moving slider facing the middle of the docking groove is convex in the middle, with upper and lower sides. The structure with concave ends, that is, the upper and lower ends of the moving slider itself are inclined planes toward the middle of the docking groove, so that when pushed by the butt joint, the moving slider can be gradually pushed toward both sides along the inclined plane of the moving slider. It can prevent the butt joint from being stuck by the upper and lower ends of the moving slider during the sinking or rising process. The fixed groove is an annular groove provided around the butt rod, and the movable sliders arranged symmetrically on the left and right match the annular groove. , so that the drone can still ensure the range and accuracy of landing on the docking platform even if the drone is at an angle with the docking platform.

3. The end of the moving slider away from the butt joint is provided with an elastic member. The elastic performance of the elastic member can realize that when the moving slider is pushed by the butt joint, it pushes the elastic member to cause the elastic member to compress and move toward both sides. When the pushing amplitude of the joint becomes smaller, the elastic member recovers accordingly, thereby pushing the moving slider to gradually recover. Especially during docking, the elastic member can allow the moving slide blocks to return to the fixed groove to lock the docking joint and achieve the stability of the drone docking.

4. The docking head includes a hemispherical piece located at the lower end of the docking slot. During the docking process of the drone, the docking head is docked toward the docking slot. The structure of the hemispherical piece at the end of the docking head can reduce the friction between the docking head and the side of the docking slot. wall friction. The upper end surface of the docking bottom matches the hemispherical part, which facilitates fitting with the hemispherical part during the docking process to ensure the accuracy of drone docking.

5. The end of the docking stopper that is set toward the docking groove approaches the middle of the docking groove from top to bottom, so that the space between the docking stoppers on both sides of the docking groove is tapered, thereby making the opening of the docking groove larger. It is convenient to increase the docking area and reduce the difficulty of docking.

6. The docking groove is arranged along the length direction of the connected platform, and the cross section of the open end of the docking groove is rectangular. It is equivalent to setting up a runway on the top of the docking platform. The drone can land at any position on the runway, which effectively reduces the difficulty of landing the drone.

7. Multiple elastic members are provided along the length of the docking groove, so that the sliding block can be moved to both sides by the docking joint at all parts of the docking groove, and the driving force is so small that when the driving force is lost, it gradually recovers during the process. The function of returning to the original position facilitates the recovery function of the drone at any position on the docking slot.

8. There are two docking rods, and a limiting pin for limiting the docking rods is provided in the middle of the length direction of the docking groove. The limiting pin is located between the two docking rods. The docking groove can run through the entire docking platform in the length direction of the docking platform. Limit the sliding of the drone in the docking slot and prevent the center of gravity from being too deviated on the docking platform.

Description of the drawings

Figure 1 Overall structural diagram of the retractable component of the drone.

Figure 2 Detailed structural diagram of the retractable component of the drone.

Figure 3 Cross-sectional view of the retractable component of the drone.

Figure 4 Schematic diagram of the recycling of drone retractable components.

Figure 5 Schematic diagram of the ejection of the UAV retractable component.

Among them, 1-drone; 1-1-docking rod; 1-11-docking head; 1-111-fixing slot; 1-112-hemispherical piece; 2-docking platform; 2-1-docking slot; 2 -11-Moving slider; 2-12-Butt limiter; 2-13-Butt bottom; 2-14-Elastic member; 2-15-Limiting platform; 2-16-Limiting pin.

Detailed ways

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that commonly used terms should be construed to have meanings consistent with their meanings in the relevant art and in this disclosure. This disclosure is to be considered as exemplary of the invention and is not intended to limit the invention to specific embodiments.

This embodiment provides a retractable assembly for a fixed-wing UAV, which includes a docking rod 1-1 provided at the lower end of the UAV 1 and a docking slot 2-1 provided at the upper end of the docking platform 2; the docking rod The lower end of 1-1 is provided with a butt joint 1-11, and the butt joint 1-11 matches the butt groove 2-1; the butt joint 1-11 is provided with a fixing groove 1-111, and the butt joint 1-11 is provided with a fixing groove 1-111. The groove walls on both sides of 2-1 are provided with movable slide blocks 2-11 that can telescope in the direction of the groove wall. The movable slide blocks 2-11 match the fixed groove 1-111 to clamp the pair of grooves. Connector 1-11.

In this embodiment, the retractable and retractable components adopt an integrated retractable and retractable arrangement, which can realize the launch of the UAV 1 and the recovery of the UAV 1 . As shown in Figure 1, Figure 2, and Figure 3, the retractable component realizes launch and recovery through the cooperation of the butt joint 1-11 at the lower end of the docking rod 1-1 and the docking slot 2-1. Specifically, when the UAV 1 retracts When placed on the docking platform 2, the moving slider 2-11 is stuck in the fixed groove 1-111 of the docking joint 1-11, that is, the docking joint 1-11 is stuck in the docking groove 2-1. In the absence of upward lifting force, In this case, UAV 1 is closely docked with docking platform 2. During the launch of UAV 1, under the action of the lift of UAV 1, the moving slider 2-11 is pushed upward by the butt joint 1-11 and moves toward both sides, causing the moving slider 2-11 to no longer get stuck. The docking joints 1-11 enable the UAV 1 to eject from the docking platform 2. When the UAV 1 is launched from the docking platform 2, and during the downward landing of the UAV 1, the docking joints 1-11 pair The moving slider 2-11 exerts a downward force, causing the moving slider 2-11 to move toward both sides. Because the butt joint 1-11 is provided with a fixed groove 1-111, the fixed groove 1-111 is located at the butt joint 1-11. The width is smaller, and the driving force for the moving slider 2-11 is also smaller, so that the moving slider 2-11 returns to the direction of the butt joint 1-11 and is stuck in the docking groove 2-1, blocking the butt joint 1-1. 11. Ensure the stability of UAV 1 on docking platform 2 without lift. In this embodiment, the fixed-wing UAV 1 is launched and recovered in the air through pure mechanical control, which can not only reduce the redundant structure and weight, but also improve the take-off and landing efficiency of the UAV 1 .

In this embodiment, as shown in Figure 2 and Figure 3, the upper end of the moving slider 2-11 is provided with a docking limiter 2-12, and the bottom of the docking groove 2-1 is provided with a docking bottom 2-13, so The docking bottom 2-13 is provided at the lower end of the moving slider 2-11; the moving slider 2-11 and the docking limiter 2-12 on both sides of the docking groove 2-1 are symmetrical set up. The symmetrically arranged moving slider 2-11 blocks the butt joint 1-11 from both sides, ensuring the stability of the butt joint 1-11 in the butt slot 2-1. Among them, the fixing groove 1-111 of the butt joint 1-11 is set toward the moving slider 2-11, so that the moving slider 2-11 can be stuck in the fixing groove 1-111, making the recovery of the UAV 1 more stable. In this embodiment, the structure of the fixing groove 1-111 is such that the diameter of the butt joints 1-11 at the upper and lower ends of the fixing groove 1-111 is larger than the diameter of the butt joints 1-11 at the butt groove 2-1, and the moving slider 2-11 is stuck When in the fixing groove 1-111, the butt joint 1-11 is fixed in the docking groove 2-1 without external force, and is limited in the up and down direction to improve the stability of the recovery of the UAV 1. In this embodiment, when the drone 1 is not recovered on the docking platform 2 in the air, the moving slider 2-11 protrudes toward the inside of the docking slot 2-1, and the moving slider 2-11 moves away from the docking platform 2. One end of the joint 1-11 is provided with an elastic member 2-14; the other end of the elastic member 2-14 is connected to a limiting platform 2-15. When the UAV 1 is recovered, as shown in Figure 4, the UAV 1 is aligned with the docking slot 2-1 on the docking platform 2, sinks into the docking slot 2-1, and the lower end of the docking joint 1-11 is aligned with the moving slider 2 -11 exerts a downward pushing force, and under the action of the pushing force, the moving slider 2-11 moves toward both sides. Due to the existence of the elastic member 2-14, the moving slider 2-11 is given the ability to move toward both sides. Features: The moving slider 2-11 moves toward both sides at the same time, so that the elastic member 2-14 is compressed, and the position of the limiting platform 2-15 is fixed, preventing the elastic member 2-14 from also changing its displacement toward both sides, and can only The elastic member 2-14 is compressed and deformed. During the sinking process of the butt joint 1-11, the fixed groove 1-111 also gradually approaches the moving slider 2-11 downwards. The pushing force becomes smaller, so that the squeezing force of the moving slider 2-11 on the elastic member 2-14 becomes smaller, and then the elastic member 2-14 gradually recovers from the compressed state, pushing the moving slider 2-11 toward the fixed groove 1 -111 direction until the butt joint 1-11 sinks to the fixed groove 1-111 and the moving slider 2-11 is in a horizontal position, the moving slider 2-11 is just right under the restoring force of the elastic member 2-14 By being stuck in the fixing slot 1-111, the butt joint 1-11 is stuck in the docking slot 2-1 to realize the recovery of the UAV 1. During the launch of UAV 1, as shown in Figure 5, the docking platform 2 takes UAV 1 to fly horizontally and accelerates, while gradually providing lift to UAV 1. UAV 1 itself also has a certain gravity. When the lift of machine 1 is greater than gravity, the docking joint 1-11 exerts an upward pushing force on the moving slider 2-11 stuck in the docking slot 2-1. As the lift continues to increase, the moving slider 2-11 The pushing force gradually increases, causing the moving slider 2-11 to gradually move toward both sides. When the difference between the lift and gravity of the UAV 1 reaches a certain value, the lower end of the butt joint 1-11 moves and slides from both sides. Block 2-11 detaches in the middle, that is, the UAV 1 detaches from the docking slot 2-1 of the docking platform 2, and pops out of the docking platform 2 to achieve launch and take-off.

In this embodiment, when the butt joint 1-11 sinks during the recovery process of the UAV 1, the butt joint 1-11 exerts a vertical downward force on the moving slider 2-11, and the moving slider 2-11 is in the original position. state protrudes toward the inside of the docking slot 2-1. Similarly, during the launch of the drone 1, the docking joint 1-11 exerts a vertical upward force on the moving slider 2-11, and the moving slider 2-11 is stuck in the fixed position. When inside the slot 1-111, the moving slider 2-11 is also in a state of protruding toward the inside of the docking slot 2-1. In order to ensure that when the joint 1-11 exerts a downward force on the moving slider 2-11 during recovery, or to ensure that when launching, the joint 1-11 exerts an upward force on the moving slider 2-11, the moving slide can be made The block 2-11 moves toward both sides without being restricted by the moving slider 2-11. In this embodiment, the moving slider 2-11 is convex in the middle toward the end of the docking groove 2-1. , a structure with recessed upper and lower ends; the side wall of the docking rod 1-1 is recessed toward the center of the docking rod 1-1. That is, in terms of structure, the portion of the moving slider 2-11 protruding from the inside of the docking groove 2-1 has its upper end surface inclined downward and its lower end surface inclined upward. When the butt joint 1-11 sinks, because the upper end surface of the part of the movable slider 2-11 protruding from the butt groove 2-1 is tilted downward, the force exerted by the butt joint 1-11 on the movable slider 2-11 Acting on the downward-sloping slope, the butt joint 1-11 sinks along the slope, and the component force in the horizontal direction of the force exerted on the slope of the moving slider 2-11 pushes the moving sliders 2-11 on both sides toward Movement on both sides to ensure that the butt joint 1-11 is not restricted by the moving block during the sinking process; similarly, during the launch of the UAV 1, the butt joint 1-11 rises along the moving slider 2-11 Set the lower slope upward and gradually rise, and push the moving slider 2-11 to move toward both sides.

In this embodiment, the fixing groove 1-111 is an annular groove provided around the circumference of the docking rod 1-1. The left and right symmetrical moving sliders 2-11 are all matched with the annular groove. The annular groove allows the left and right symmetrical moving sliders 2-11 to be stuck in the fixed groove 1- even if the UAV 1 and the docking platform 2 are at an angle. Within 111, the stability of UAV 1 during recovery is ensured.

In this embodiment, the distance between the symmetrically arranged docking limiting portions 2 - 12 gradually decreases from top to bottom. The end of the docking limiter 2-12 that is provided toward the docking groove 2-1 approaches from top to bottom toward the middle of the docking groove 2-1, so that the docking on both sides of the docking groove 2-1 The space between the limiting parts 2-12 is tapered. The docking slot 2-1 is made wider, which is convenient for increasing the docking area and reducing the difficulty of docking. At the same time, when the drone 1 is recovered, the docking rod 1-1 of the drone 1 can be guided to move to the docking bottom 2-13, which is convenient for improving Accuracy of recovery. In order to reduce the friction between the docking rod 1-1 and the docking groove 2-1 during the recovery and docking process, the docking joint 1-11 includes a hemispherical member 1-1 located at the lower end of the docking groove 2-1. 112; The upper end surface of the docking bottom 2-13 matches the hemispherical member 1-112. During the sinking process of the docking rod 1-1, the contact area between the hemispherical piece 1-112 at its lower end and the docking groove 2-1 is small, and the friction force is small, which can effectively reduce the time required for the recovery docking process and improve the recovery efficiency. . At the same time, to adapt to the special shape of the hemispherical component 1-112, in this embodiment, the upper end surface of the docking bottom 2-13 is recessed downward, just matching the hemispherical component 1-112, ensuring that the docking rod 1-1 is at the docking bottom 2 -13 docking stability.

In addition, in this embodiment, as shown in Figure 2, the docking groove 2-1 is provided along the length direction of the docking platform 2, and the cross section of the open end of the docking groove 2-1 is rectangular. That is equivalent to setting up a "runway" on the docking platform 2. When the UAV 1 is recovered, it can land and dock with the docking platform 2 at any position along the length of the docking slot 2-1, which greatly reduces the cost of unmanned aerial vehicles. The landing difficulty of aircraft 1 is improved, which improves the docking efficiency. Among them, there are two docking rods 1-1; a limiting pin 2-16 for limiting the docking rod 1-1 is provided in the length direction of the docking groove 2-1; the limiting pin 2-16 is located at between the two docking rods 1-1. The limiting pin 2-16 restricts the sliding of the docking rod 1-1 in the length direction of the docking groove 2-1, so that even if the docking rod 1-1 slides back and forth, it will not have an excessive impact on the center of gravity of the docking platform 2. At the same time, in order to ensure that stable docking can be achieved everywhere along the length direction of the docking groove 2-1, in this embodiment, the elastic member 2-14 is provided with a spring along the length direction of the docking groove 2-1. Multiple.

Although the embodiments of the present invention have been described, those skilled in the art can make various variations or modifications within the scope of the appended claims.

Claims (4)

1. A receive and release subassembly for fixed wing unmanned aerial vehicle, its characterized in that:

the docking mechanism comprises a docking rod arranged at the lower end of the unmanned aerial vehicle and a docking groove arranged at the upper end of a docking platform;

the lower end of the butt joint rod is provided with a butt joint head which is matched with the butt joint groove;

the butt joint is provided with a fixed groove, the groove walls at two sides of the butt joint groove are provided with movable sliding blocks which can stretch towards the groove wall direction, and the movable sliding blocks are matched with the fixed groove and used for clamping the butt joint;

the upper end of the movable slide block is provided with a butt joint limiting part, the bottom of the butt joint groove is provided with a butt joint bottom, and the butt joint bottom is arranged at the lower end of the movable slide block;

the movable sliding blocks and the butt joint limiting parts on the side walls of the two sides of the butt joint groove are symmetrically arranged;

the butt joint rods are two;

the end part of the movable sliding block, which is arranged towards the middle of the butt joint groove, is in a structure with a convex middle part and concave upper and lower ends;

the fixing groove is recessed from the side wall of the butt joint rod towards the center of the butt joint rod;

the fixing groove is an annular groove arranged around the circumference of the docking rod;

an elastic piece is arranged at one end of the movable sliding block, which is far away from the butt joint;

the other end part of the elastic piece is connected with a limiting table;

the butt joint comprises a hemispherical piece arranged at the lower end of the butt joint groove;

the upper end surface of the butt joint bottom is matched with the hemispherical piece;

the end part of the butt joint limiting part, which is arranged towards the butt joint groove, is close to the middle of the butt joint groove from top to bottom, so that the butt joint limiting parts on the two side walls of the butt joint groove are conical.

2. A retraction assembly for a fixed wing unmanned aerial vehicle as claimed in claim 1, wherein:

the butt joint groove is arranged along the length direction of the butt joint platform, and the cross section of the opening end of the butt joint groove is rectangular.

3. A retraction assembly for a fixed wing unmanned aerial vehicle as claimed in claim 1, wherein:

the elastic piece is provided with a plurality of elastic pieces along the length direction of the butt joint groove.

4. A retraction assembly for a fixed wing unmanned aerial vehicle as claimed in claim 1, wherein:

a limiting pin for limiting the butt joint rod is arranged in the length direction of the butt joint groove;

the limiting pin is positioned between the two abutting rods.