CN115610661A - Aircraft air recovery system and method, carrier aircraft and recovery aircraft - Google Patents
Aircraft air recovery system and method, carrier aircraft and recovery aircraft Download PDFInfo
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- CN115610661A CN115610661A CN202211339521.0A CN202211339521A CN115610661A CN 115610661 A CN115610661 A CN 115610661A CN 202211339521 A CN202211339521 A CN 202211339521A CN 115610661 A CN115610661 A CN 115610661A
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- 238000011084 recovery Methods 0.000 title claims abstract description 352
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 8
- 210000001015 abdomen Anatomy 0.000 claims description 10
- 238000004064 recycling Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 21
- 230000033001 locomotion Effects 0.000 description 15
- 238000003032 molecular docking Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 210000001503 joint Anatomy 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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Abstract
The invention discloses an aerial recovery system of an aircraft, which comprises an active mounting part, an active recovery part, a passive mounting part and a passive recovery part; in active mounts and passive mounts: one for mounting on a carrier vehicle and the other for mounting on a recovery vehicle; the active recovery piece is movably arranged on the active installation piece, and the abutting part of the active recovery piece can be operated to move to the abutting part of the passive recovery piece; the passive recovery part is arranged on the passive mounting part; one of the driving recovery piece and the driven recovery piece is a strip-shaped piece extending in the left-right direction, and the other one of the driving recovery piece and the driven recovery piece is provided with a lock hole, and the lock hole is located on the side of the support. The problem that the recovery effect of the aerial vehicle is not good can be effectively solved. The invention also discloses a carrying aircraft, a recovery aircraft, an aircraft air recovery system simultaneously comprising the carrying aircraft and the recovery aircraft, and an aircraft air recovery method.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an aircraft air recovery system, a carrier aircraft, a recovery aircraft, an aircraft air recovery system comprising the carrier aircraft and the recovery aircraft, and an aircraft air recovery method.
Background
The unmanned aerial vehicle industry is developed vigorously, and the current unmanned aerial vehicle develops towards cluster distribution. But the general voyage of cluster unmanned aerial vehicle or loyalty wing aircraft is limited, consequently solves the aerial recovery problem, can improve unmanned aerial vehicle's actual voyage shorter problem comprehensively for unmanned aerial vehicle can carry the transmission through the carrier, accomplishes the aerial recovery after the task simultaneously and takes back to the base, realizes low-cost used repeatedly. At present, the air recovery technology for small aircrafts such as unmanned aerial vehicles does not exist, the air recovery is carried out, the distance between the carrying aircraft and the recovery aircraft is uncontrollable, the error range is large, and the effective recovery is difficult to carry out.
In summary, how to effectively solve the problem that the aircraft cannot realize aerial recovery is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide an aircraft aerial recovery system, which can effectively solve the problem that the aircraft cannot achieve aerial recovery;
a second object of the invention is to provide a vehicle;
a third object of the invention is to provide a recovery aircraft;
a fourth object of the invention is to provide an aircraft air recovery system comprising the above-mentioned carrier aircraft, recovery aircraft;
a fifth object of the invention is to provide an aircraft airborne recovery method.
In order to achieve the first object, the present invention provides the following technical solutions:
an aerial recovery system for an aircraft, comprising an active mount, an active recovery element, a passive mount, and a passive recovery element; in the active mount and the passive mount: one for mounting on a carrier vehicle and the other for mounting on a recovery vehicle; the active recovery member is movably mounted on the active mounting member, and the abutting part of the active recovery member can be operated to move towards the abutting part of the passive recovery member; the passive recovery piece is arranged on the passive mounting piece; the active recovery piece and the passive recovery piece are arranged opposite to each other in abutting side when in abutting joint, one abutting part is a strip-shaped piece extending in the left-right direction, the other abutting part is provided with a lock hole, and the lock port of the lock hole is located on the abutting side and used for leading in the strip-shaped piece.
In use, one of the active mount and the passive mount is mounted on a carrier vehicle and the other is mounted on a recovery vehicle. Then the recovery aircraft and the carrier aircraft fly synchronously, and the relative positions of the abutting part of the active recovery member and the abutting part of the passive recovery member are in a waiting abutting state. Then, the abutting part of the active recovering piece is actively operated to move towards the abutting part of the passive recovering piece, namely, the relative movement is carried out until the strip-shaped piece enters the lock hole from the lock opening, so that the buckling is completed. In the aircraft airborne recovery system, the active recovery unit can be actively operated to perform activities without docking by a speed differential between the recovery aircraft and the carrier aircraft. When the active recovery piece and the passive recovery piece are butted and collided with each other, the collision force between the active recovery piece and the passive recovery piece is controllable, namely the collision force is the operating force on the active recovery piece, and the overlarge collision force is avoided, so that the recovery effect is ensured. To sum up, this aerial recovery system of aircraft can solve the problem that aerial aircraft recovery effect is not good effectively.
Preferably, between the active retriever and the active mount, and between the passive retriever and the passive mount: one group of the two is connected with each other through rotating around the axis parallel to the strip-shaped piece, and the other group of the two is connected with each other through rotating around the axis parallel to the strip-shaped piece or connected with each other in a sliding mode along the abutting direction.
Preferably, one end of the active recovery member is rotatably connected with the active mounting member; and when the rotation axis is in a horizontal state and the locking piece between the active recovery piece and the active installation piece is unlocked, the abutting part of the active recovery piece can actively release forward and backward swinging along the flight direction under the action of gravity.
Preferably, the connecting end at one end of the passive recovery part is rotatably connected with the passive mounting part, and when the rotation axis is in a horizontal state, the abutting part at the other end of the passive recovery part can swing backwards; a torsion spring is arranged between the passive recovery member and the passive mounting member to prevent the abutting part of the passive recovery member from rotating backwards.
Preferably, the passive recovery member is provided with a plurality of the abutting portions in sequence along the extending direction; each of the abutting portions is provided with the lock hole.
Preferably, passive recovery piece includes down tube, pole setting and sets up in the horizontal pole of butt joint department, down tube one end butt joint horizontal pole, the other end are connected the pole setting, just the down tube rotate connect in the pole setting just directly is provided with the lockhole torsional spring to can inwards rotate in order to open and form the fore shaft.
Preferably, the active recycling part comprises a hinged seat, the strip-shaped part and two connecting rods, the two connecting rods are respectively connected with two ends of the strip-shaped part, and the two connecting rods are both connected to the hinged seat; the strip-shaped piece is a rope body.
In order to achieve the second object, the invention further provides a carrier aircraft, which comprises a carrier body, an active mounting part and an active recovery part, wherein one end of the active mounting part is connected to the belly of the carrier body, the other end of the active mounting part is rotatably connected with the active recovery part, and the active recovery part is provided with a strip-shaped part extending in the left-right direction; the active recovery member is operated to rotate to enable the bar to swing back and forth. The same carrier vehicle is like the above-described aircraft air recovery system, wherein the active recovery member can be operated to rotate, and the above-described aircraft air recovery system has the above-described technical effects, and the carrier vehicle should also have corresponding technical effects.
The carrier comprises a carrier body and is characterized by further comprising an active mounting part and an active recovery part, wherein one end of the active mounting part is connected to the belly of the carrier body, the other end of the active mounting part is rotatably connected with the active recovery part, and the active recovery part is provided with a strip-shaped part extending in the left-right direction; the active recovery member is operated to rotate to enable the strip to oscillate back and forth.
Preferably, when the axis of rotation of the active recovery member is horizontal and the locking member between the active recovery member and the active mounting member is unlocked, the strip of the active recovery member is able to actively release the forward and backward swinging movement in the flight direction under the action of gravity.
Preferably, the lifting device further comprises a lifting driver, the driving mounting part is rotatably connected to the belly of the carrier body, and the lifting driver is used for driving the driving mounting part to rotate so as to enable the driving recovery part to move close to the belly of the carrier body.
Preferably, the active recycling part comprises a hinged seat, the strip-shaped part and two connecting rods, the two connecting rods are respectively connected with two ends of the strip-shaped part, and the two connecting rods are both connected with the hinged seat; the strip-shaped piece is a rope body.
In order to achieve the third object, the invention further provides a recovery aircraft, which comprises a recovery machine body, and is characterized by further comprising a passive installation part and a passive recovery part, wherein the passive installation part is installed at the back of the recovery machine body, the connection end at one end of the passive recovery part is rotatably connected with the passive installation part, when the rotation axis is in a horizontal state, the abutting part at the other end of the passive recovery part can swing backwards, the abutting part is provided with a lock hole, and the lock opening of the lock hole is positioned on the abutting side so as to be matched with the strip-shaped part of the carrier aircraft in any one of the embodiments. Since the above-mentioned carrier vehicle has the above-mentioned technical effects, the recovery vehicle should also have corresponding technical effects.
Preferably, an obstructing torsion spring is provided between the passive retriever and the passive mount to inhibit rearward rotation of the abutment of the passive retriever.
Preferably, passive recovery piece includes the pole setting and sets up in the horizontal pole of butt portion department, still includes the down tube, the butt joint of down tube one end the horizontal pole, the other end are connected the pole setting, just the down tube rotate connect in the pole setting just directly is provided with the lockhole torsional spring to can inwards rotate in order to open and form the fore shaft.
Preferably, the recovery device further comprises a releasable locking device, wherein the locking device locks the position of the passive recovery member when the passive recovery member rotates to abut against the back of the recovery device body, and enables the passive recovery member to rotate to stand on the back of the recovery device body under the action of the blocking torsion spring when the locking device is released.
In order to achieve the fourth object, the invention further provides an aircraft aerial recovery system, which includes any one of the carrier aircraft and any one of the recovery aircraft, wherein the strip of the carrier aircraft can be operated to move towards the abutting part of the passive recovery piece of the recovery aircraft, can continuously swing backwards and upwards after abutting against the passive recovery piece of the recovery aircraft, and when the passive recovery piece is pushed to rotate backwards, the strip of the carrier aircraft can enter into the locking notch of the passive recovery piece along the guide surface on the passive recovery piece. Since the above-mentioned carrier vehicle has the above-mentioned technical effects, the aircraft air recovery system should also have corresponding technical effects.
In order to achieve the fifth object, the present invention further provides an aircraft airborne recycling method, including the steps of: flying the carrier aircraft to the upper part of the recovery aircraft and keeping synchronous flight; the active recovery piece on the carrier aircraft is operated to move towards the passive recovery piece abutting part of the recovery aircraft, so that the strip-shaped piece on the active recovery piece swings backwards and rotates backwards, and in the backward rotation process, the strip-shaped piece continues to swing backwards and upwards after the active recovery piece abuts against the passive recovery piece abutting part of the recovery aircraft, so that when the passive recovery piece is pushed to rotate backwards, the strip-shaped piece moves along the upper guide surface of the passive recovery piece to enter the lock opening. Because the aircraft air recovery system has the technical effects, the aircraft air recovery method recovered in the same way also has the corresponding technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic pre-docking structural view of an aircraft aerial recovery system provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of an aircraft airborne recovery system provided in accordance with an embodiment of the present invention in docking;
fig. 3 is a schematic diagram of a docking structure of an active recovery unit and a passive recovery unit according to an embodiment of the present invention;
fig. 4 is a schematic partial structure diagram of a passive recovery unit according to an embodiment of the present invention;
fig. 5 is a schematic view of a connection structure between a passive recovery unit and a passive mounting unit according to an embodiment of the present invention.
The drawings are numbered as follows:
active installed part 1, active receipt 2, bar 3, passive receipt 4, lockhole 5, passive installed part 6, hinder torsional spring 7, lockhole torsional spring 8, down tube 9, pole setting 10, horizontal pole 11.
Detailed Description
The embodiment of the invention discloses an aerial recovery system of an aircraft, which aims to effectively solve the problem that the aircraft cannot be recovered in the air.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, fig. 1 is a schematic diagram illustrating a structure of an aircraft air recovery system according to an embodiment of the present invention before docking; FIG. 2 is a schematic structural diagram of an aircraft airborne recovery system provided in accordance with an embodiment of the present invention in docking; fig. 3 is a schematic diagram of a docking structure of an active retriever and a passive retriever according to an embodiment of the present invention; fig. 4 is a schematic partial structure diagram of a passive recovery unit according to an embodiment of the present invention; fig. 5 is a schematic view of a connection structure between a passive recovery part and a passive mounting part according to an embodiment of the present invention.
In some embodiments, the present embodiments provide an aerial recovery system for aircraft, which is primarily intended to enable recovery of one aircraft from another. For convenience of explanation, the recovered aircraft is a recovery aircraft, generally a small unmanned aerial vehicle; the aircraft that performs the recovery operation on the recovery aircraft is called a carrier aircraft, and is generally a large unmanned aerial vehicle. Of course, the size of the recovery aircraft and the size of the carrier aircraft can be equal, if the aircraft with the same specification is adopted, the recovery aircraft can be larger than the carrier aircraft, and specifically, the recovery aircraft and the carrier aircraft can be correspondingly arranged according to actual recovery requirements.
The aerial recovery system of the aircraft mainly comprises an active mounting part 1, an active recovery part 2, a passive mounting part 6 and a passive recovery part 4, wherein the active recovery part 2 is mounted on the active mounting part 1, and the passive recovery part 4 is mounted on the passive mounting part 6. Wherein in the active mount 1 and the passive mount 6: one for mounting on a carrier vehicle and the other for mounting on a recovery vehicle. When the recovery is carried out, the active recovery member 2 moves towards the passive recovery member 4 so as to be worthy of forming a buckling relation after the active recovery member 2 and the passive recovery member 4 are abutted, and thus, the recovery acting force can be transmitted between the active recovery member and the passive recovery member. After the fastening is completed, the carrier vehicle can transmit the acting force to the recovery vehicle through the fastening connection between the active recovery member 2 and the passive recovery member 4 so as to drive the recovery vehicle to fly back.
Wherein the active recovery member 2 is movably mounted to the active mount 1 so as to be movable relative to the active mount 1. And the movable installation is used for realizing the movement of the abutting part of the active recovery member 2 to the abutting part of the passive recovery member 4, and the buckling connection between the abutting part of the active recovery member 2 and the abutting part of the passive recovery member 4 is completed by moving to the abutting part of the passive recovery member 4. Wherein the movable installation: such as a sliding connection, a rotating connection, or other connection.
The abutment of the active recovery member 2 can be operated to act against the abutment of the passive recovery member 4. Wherein can be operated to: the control operation can be realized by a driving mechanism, for example, the driving mechanism is controlled to be started so as to apply driving force to the active recovery member 2 and drive the abutting part of the active recovery member 2 to move towards the abutting part of the passive recovery member 4, and the driving mechanism is a telescopic mechanism, a rotation driving mechanism and the like, namely a telescopic cylinder, a motor and the like; the control operation may also be achieved by a release mechanism, typically a locking mechanism, such as an electric latch, a hydraulic latch, etc., which when released, the active recovery member 2 may drive the active recovery member 2 to move by a pre-compressed elastic means, or by an accumulated potential energy, such as a high potential energy. That is, the abutting portion of the active recovery member 2 can be operated to perform active movement, that is, the fastening operation can be performed actively.
The active recovery piece 2 and the passive recovery piece 4 are abutted to form a buckling relation, wherein the buckling is generally realized through the strip-shaped piece 3 and the matched lock hole 5, one side of the lock hole 5 is provided with a lock opening, the lock opening can be automatically or passively opened so that the strip-shaped piece 3 can transversely move into the lock hole 5, and then a closed door body at the lock opening automatically or passively moves so that the lock opening is closed to maintain a buckling state.
Specifically, when the active recovery member 2 and the passive recovery member 4 are butted, the butted sides are arranged oppositely, one of the butted sides is the strip 3 extending in the left-right direction, the other butted side is provided with a lock hole 5, and the lock hole 5 is located on the butted side to be used for guiding in the strip 3. As shown in the drawings, the bar 3 is arranged on the active recovery member 2 as the abutting part of the active recovery member 2, and the lock hole 5 is arranged on the abutting part of the passive recovery member 4; of course, the opposite arrangement is also possible. Wherein the strip 3 is for example a rod, a stretched rope or the like. The structural form of the locking notch can refer to the side opening of the safety catch, and other structures can be adopted.
In use, one of the active mount 1 and the passive mount 6 is mounted on a carrier vehicle and the other is mounted on a recovery vehicle. Then the recovery aircraft and the carrier aircraft are flown synchronously and the abutment of the active recovery member 2 and the abutment of the passive recovery member 4 are put in a waiting abutment relative position. The abutment of the active return 2 is then actively operated to move, i.e. to move relative to the abutment of the passive return 4, until the bar 3 passes from the mouth into the locking hole 5 to complete the snap-fit. In this aircraft airborne recovery system, the active recovery member 2 can be actively operated to perform activities without docking by a speed differential between the recovery aircraft and the carrier aircraft. So that when the active recovery member 2 and the passive recovery member 4 are butted and collided with each other, the collision force between the two members is controllable, namely the collision force is the operating force on the active recovery member 2, and the overlarge collision force is avoided, so that the recovery effect is ensured. To sum up, this aerial recovery system of aircraft can solve the problem that aerial aircraft recovery effect is not good effectively.
In some embodiments, the distance between the carrier vehicle and the recovery vehicle is not controllable during recovery, and the relative distance range is relatively large. On this basis, it is possible to have between the active recovery member 2 and the active mount 1, and between the passive recovery member 4 and the passive mount 6: one group of the two is connected with each other by rotating around the axis parallel to the strip-shaped member 3, and the other group of the two is connected with each other by rotating around the axis parallel to the strip-shaped member 3 or connected with each other in a sliding way along the abutting direction. Since one of the active and passive receivers 2, 4 has a bar 3 and the other has a keyhole 5, the axis of rotation of the receiver with the bar 3 can be referenced to the bar 3, while the axis of rotation of the receiver with the keyhole 5 can be referenced to the direction of extension of the aperture of the keyhole 5 cooperating with the bar 3. It should be noted that, in which the abutment direction is generally perpendicular to the extension direction of the strip 3, one solution is shown in the attached drawings, the abutment direction is the front-back direction, and the extension direction of the strip 3 is the left-right direction, in which case the recovery aircraft and the carrier aircraft are arranged up and down. Of course, the recovery craft and the delivery craft can also be arranged side to side, while the abutment direction can be the up-down direction, while the extension direction of the strip 3 is the front-back direction.
In one version, it is possible that the direction of extension, the direction of abutment and the direction of juxtaposition of the strips 3, which refers to the direction of juxtaposition between the carrier vehicle and the recovery vehicle, are all mutually perpendicular.
As described above, one of the receiving members is rotated about an axis parallel to the strip 3, and the end thereof after the abutment is moved, and because of the rotation, there is not only a relative movement in the abutment direction but also a partial movement in a direction perpendicular to the abutment direction and perpendicular to the strip 3, so that the two receiving members are moved relatively in the direction, and during the relative movement, the strip 3 can be moved to be offset with respect to the fore-shaft.
Wherein active receipt 2 is for rotating, and passive receipt 4 can be the slip, and active receipt 2 begins to rotate, until active receipt 2 and passive receipt 4 looks butt, if the fore shaft is staggered with strip 3 this moment, especially stagger direction, for the fore shaft compare strip 3 lean on the pivot to active receipt 2. At this time, the active receiving member 2 continues to rotate, and while rotating, the passive receiving member 4 is pushed to slide along the abutting direction so as to self-adjust the positions of each other in the abutting direction, and because of the rotation, the active receiving member 2 can also have a split movement perpendicular to the abutting direction, so that the strip 3 and the fore shaft have a relative movement in a direction perpendicular to the abutting direction and perpendicular to the extending direction of the strip 3 until the strip 3 and the fore shaft are staggered to coincide in the direction, and when the strip 3 and the fore shaft coincide, the strip 3 enters the lock hole 5 from the fore shaft, and the locking is completed, that is, the abutting is completed.
Of course, the passive recovery member 4 is rotated, while the active recovery member 2 is slid as described above, and the movement pattern is similar. Similarly, the docking operation is similar when both the passive recovery member 4 and the active recovery member 2 are rotated.
The final aim is that when one of them is rotated, the other slides or slides correspondingly so that the abutment direction remains synchronized, while in the direction perpendicular to the abutment direction and to the direction in which the strip 3 extends (up and down in the figure), a relative movement is formed so that the strip 3 and the locking notch overlap from offset to overlapping, completing the butt joint when they overlap. Because of the rotation, the rotation can be relatively rotated to overlap within a certain range and staggered.
In some embodiments, a rotational connection between one hinged end of the active recovery member 2 and the active mount 1 may be made such that the motion released by the active recovery member 2 is a rotation. Wherein rotate and to realize through the motor, if set up the motor between initiative installed part 1 and initiative receipt 2 to drive initiative receipt 2 and rotate, and the rotation degree can detect whether the lock joint is accomplished through the detector, whether stop rotating with the judgement, if judge the locking lever switching state of fore shaft department, if detect opening, close in succession, then explain to have accomplished the butt joint, can be with the control motor stop drive.
In some embodiments, it is possible to make the abutment of the active recovery member 2 able to actively release the forward and backward oscillations in the direction of flight under the effect of gravity when the axis of rotation between the active mount 1 and the active recovery member 2 is horizontal, when the locking between the active recovery member 2 and the active mount 1 is unlocked, to complete the abutment with the abutment of the passive recovery member 4 during the backward oscillation. Before unlocking, the center of gravity of the active recovery member 2 needs to be higher as much as possible, so that after the active recovery member is rotated to be in a vertical state, the amplitude of continuous backward swinging is larger, the allowable staggering is better ensured to be larger to the greatest extent, and the larger fault-tolerant space is obtained. Wherein the active recovery member 2 may be provided with a center pendant to control the position of the center of gravity.
In some embodiments, the connection end at one end of the passive recovery member 4 and the passive mounting member 6 can be rotatably connected, and when the rotation axes of the connection end and the passive mounting member are in a horizontal state, the abutting part at the other end of the passive recovery member 4 can be swung backwards to adapt to the backward swinging of the active recovery member 2, namely, the rotation axes of the passive recovery member 4 and the passive mounting member 6 are also extended leftwards and rightwards.
In some embodiments, an obstructing torsion spring 7 may be provided between the passive retriever 4 and the passive mount 6 therein to prevent the abutment of the passive retriever 4 from rotating backwards. With setting through hindering torsional spring 7 for rotate at initiative addressee 2, when the passive addressee 4 is abutted in the collision, the collision force effect is on passive addressee 4 this moment, and passive addressee 4 will be on power will be transmitted to hindering torsional spring 7, makes hindering torsional spring 7 take place to warp, so that passive addressee 4 can take place the adaptability and warp. Certainly, the passive recovery member 4 is not directly bounced off by the collision force under the action of the blocking torsion spring 7, and keeps in contact with the active recovery member 2, so as to ensure that the fastening is completed in the later relative movement process. The elastic coefficient of the blocking torsion spring 7 is not suitable to be too small, the too small torsion spring can still be bounced off, and the too large torsion spring is not suitable to be too large, so that the rotation kinetic energy of the active recovery member 2 is rapidly released, and the relative movement degree is not large.
In some embodiments, other damping means, such as friction pairs or damping means in general, may be provided between the passive recovery member 4 and the passive mounting 6 to prevent the passive recovery member 4 from being bounced off in the event of a collision.
In some embodiments, to avoid the passive recovery member 4 being in a protruding state all the time, a locking device may be used between the passive mounting member 6 and the passive recovery member 4 to place the passive recovery member 4 in a lying position before docking, where the passive recovery member 4 is prevented from standing by a locking device, such as a latch. When docking is required, the locking means is then released and the passive recovery member 4 can be brought into the above-described erected condition, against the action of the torsion spring 7, in preparation for docking with the active recovery member 2.
In some embodiments, in order to increase the fault-tolerant space, a plurality of abutting portions may be sequentially disposed on the passive recovery part 4 along the extending direction, each abutting portion is provided with a locking hole 5, and each locking hole 5 is correspondingly provided with a locking notch.
It is noted that the passive recovery member 4 is in the direction of extension, i.e. perpendicular to the direction of abutment and perpendicular to the direction of the axis of rotation of the passive recovery member 4.
By providing a plurality of abutments in this direction, more fault-tolerant space is made in this direction, i.e. between the carrier vehicle and the recovery vehicle.
In some embodiments, regarding the arrangement of the locking hole 5, the passive retriever 4 may specifically include a slant rod 9, an upright rod 10 and a cross rod 11 disposed at the abutting portion, wherein the slant rod 9, the upright rod 10 and the cross rod 11 define a locking hole 5 structure therebetween, and wherein the slant rod 9 is fully or partially rotatably connected to the upright rod 10 or the cross rod 11, and a locking hole torsion spring 8 is disposed therebetween to prevent the slant rod 9 from rotating, so that the slant rod 9 is kept in a closed state, and when the strip 3 is abutted, the abutting force between the strip 3 and the slant rod 9 may push the slant rod 9 to rotate toward the locking hole 5, so that the slant rod 9 is opened, i.e., rotated inward, to form a locking hole, and the strip 3 enters the locking hole 5 from the locking hole.
The inclined rod 9 is provided with a guide surface, so that when the offset abutment is performed, the strip 3 abuts against the guide surface and moves along the guide surface to enter the locking notch to complete the fastening.
When a plurality of abutting parts are arranged, cross rods 11 can be arranged at a plurality of positions of the vertical rod 10, and inclined rods 9 are correspondingly arranged at the positions of the cross rods 11 so as to form a plurality of lock holes 5 in a combined manner.
In some embodiments, active recovery element 2 may be made to include an articulated seat, bar 3 and two connecting rods, two of which connecting rods connect the two ends of bar 3 respectively, and both connecting rods are connected to the articulated seat, so that bar 3 and two connecting rods are combined into a triangle, wherein the distance between bar 3 and the articulated seat determines the size of the fault-tolerant space. Likewise, the length of strip 3 in the direction of extension determines the tolerance space in this direction. Wherein strip 3 can be the member, also can be the rope body, and preferred strip 3 here is the rope body to pneumatic fine buffering effect can avoid effectively, leads to passive receipt 4 to be opened by the bullet because of strip 3 and the collision of passive receipt 4.
In some embodiments, a carrier aircraft is provided, which includes a carrier body, and further includes any one of the above active mounting components 1 and any one of the above active recovery components 2, wherein one end of the active mounting component 1 is connected to a belly of the carrier body, and the other end is rotatably connected with the active recovery component 2, and the active recovery component 2 has a strip 3 extending in a left-right direction; and the active recovery member 2 can be operated to rotate so that the strip 3 can oscillate back and forth.
The manner in which the active recovery member 2 is operated to rotate can be referred to the above-described embodiment, whereas the rotational connection between the active mount 1 and the active recovery member 2, i.e. the rotational connection is realized about an axis extending from side to side of the carrier body, wherein the strip 3 extends in the left-right direction. When initiative receipt 2 rotated, strip 3 appeared the fore-and-aft swing, when the distance of swing between strip 3 and the carrier body was the biggest, strip 3 continued the backward swing. The strip 3, which may be called a catch, then catches, when rotating, a corresponding part on the recovery aircraft, such as a hook, a projection or the above-mentioned passive recovery element 4, the above-mentioned passive recovery element 4 being such as a keyhole 5 with a locking notch. The active recovery part 2 can be actively operated to rotate, can actively complete recovery, and avoids relative movement of the two bodies to complete recovery.
In some embodiments, in a vehicle, it is possible to have the axis of rotation of the active recovery member 2 horizontal, and when the active recovery member 2 is unlocked from the active mount 1, the strip 3 of the active recovery member 2 can actively release the forward and backward oscillation in the flight direction under the effect of gravity. That is, the setting of the active reply unit 2 as described above, will not be repeated herein.
In some embodiments, the active mount 1 may sag when the return is complete, i.e., when the active and passive recovery members 2, 4 are mated, i.e., when fastening is complete, and is not conducive to flight. For this reason, it is preferable to further include a lift-up driver, wherein the active mount 1 is rotatably connected to the belly of the carrier body, and wherein the lift-up driver is configured to drive the active mount 1 to rotate so as to move the active recovery member 2 in a direction approaching the belly of the carrier body. Wherein the lifting driving mechanism drives a hydraulic driving cylinder, a motor and the like.
In some embodiments, in particular as described above, the active recovery element 2 of the carrier vehicle may comprise an articulated seat, a strip 3 and two connecting rods, which connect the two ends of the strip 3 respectively and both connect to the articulated seat.
In some embodiments, in particular as described above, strip 3 is a rope.
In some embodiments, still provide a retrieve aircraft, including retrieving the organism, like above-mentioned embodiment, still include passive installed part 6 and passive receipts 4, wherein passive installed part 6 is installed in retrieving the organism back, and wherein rotate between passive receipts 4 one end link and the passive installed part 6 and be connected, and when the axis of rotation between passive receipts 4 and the passive installed part 6 is in the horizontality, can make the butt portion of passive receipts 4 other end can swing backward, and corresponding butt portion is provided with lockhole 5 and the fore shaft of lockhole 5 is located the butt side to catch in the structure of catching on conveniently carrying the aircraft.
In some embodiments, in particular as described above, it is also possible to provide an obstructing torsion spring 7 between the passive recovery member 4 and said passive mounting 6 to prevent the abutment of the passive recovery member 4 from rotating backwards.
In some embodiments, as described above in particular, the passive recovery member 4 may include a vertical rod 10 and a cross rod 11 disposed at the abutting portion, and further include a diagonal rod 9, one end of the diagonal rod 9 abuts against the cross rod 11, and the other end of the diagonal rod 9 is connected to the vertical rod 10, and the diagonal rod 9 is rotatably connected to the vertical rod 10 and directly provided with a lock hole torsion spring 8 so as to be capable of rotating inward to open to form a lock hole.
In some embodiments, it also comprises releasable locking means which lock the passive recovery member 4 when the passive recovery member 4 is rotated to abut against the back of the recovery body and, when released, enable the passive recovery member 4 to rotate to stand on the back of the recovery body against the action of the torsion spring 7.
In some embodiments, there is also provided an aircraft airborne recovery system, characterized in that: including any of the carrier vehicles described above and any of the recovery vehicles described above. Wherein strip 3 of carrier vehicle is operated to the butt portion activity of passive recovery piece 4, can continue to swing to the back upper place after butt recovery aircraft's passive recovery piece 4 to when pushing passive recovery piece 4 and rotate backward, in the fore-aft along the spigot surface on passive recovery piece 4 entering into the fore-aft of passive recovery piece 4.
In some embodiments, an aircraft airborne recycling method is further provided, which specifically includes the following steps:
step 100: and flying the carrier aircraft to the upper part of the recovery aircraft and keeping synchronous flight.
During operation, the carrier aircraft and the recovery aircraft are kept flying at the same speed through control operation, namely synchronous flight, and at the moment, the carrier aircraft and the recovery aircraft are relatively static.
Step 200: the method comprises the steps that an active recovery piece 2 on a carrier aircraft is operated to move towards an abutting part of a passive recovery piece 4 of the recovery aircraft, so that a strip 3 on the active recovery piece 2 swings backwards and rotates backwards, in the backward rotation process, the strip 2 continues to swing backwards and upwards after abutting against the abutting part of the passive recovery piece 4 of the recovery aircraft, and when the passive recovery piece 4 is pushed to rotate backwards, the strip 3 moves along a guide surface on the passive recovery piece 4 to enter a lock notch.
By means of the active recovery member 2 on the carrier vehicle being operated to act against the passive recovery member 4 of the recovery vehicle, so that the active recovery member 2 is actively moved. How to operate in detail, reference may be made to the above-described embodiments. After activity to butt, the fore shaft staggers with strip 3 this moment, and the relative fore shaft of strip 3 sets up on the lower side, and passive receipt 4 rotates backward under the effect of initiative receipt 2, and butt portion rotates to the rear below, and initiative receipt 2 rotates to the rear upper direction to in the upper direction pivoted of rear, relative passive receipt 4 upwards rotates, so that the relative fore shaft of strip 3 upwards moves, until strip 3 enters into in the fore shaft.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (17)
1. An aerial recovery system for an aircraft, comprising an active mount, an active recovery member, a passive mount and a passive recovery member; in the active mount and the passive mount: one for mounting on a carrier vehicle and the other for mounting on a recovery vehicle; the active recovery member is movably mounted on the active mounting member, and the abutting part of the active recovery member can be operated to move towards the abutting part of the passive recovery member; the passive recovery part is arranged on the passive mounting part; the active recovery piece and the passive recovery piece are arranged opposite to each other in abutting side when in abutting joint, one abutting part is a strip-shaped piece extending in the left-right direction, the other abutting part is provided with a lock hole, and the lock port of the lock hole is located on the abutting side and used for leading in the strip-shaped piece.
2. The aircraft airborne recovery system of claim 1, wherein between the active recovery member and the active mount, and between the passive recovery member and the passive mount: one group of the two is connected with each other through rotating around the axis parallel to the strip-shaped piece, and the other group of the two is connected with each other through rotating around the axis parallel to the strip-shaped piece or connected with each other in a sliding mode along the abutting direction.
3. The aircraft airborne recovery system of claim 1, wherein there is a rotational connection between one hinged end of the active recovery member and the active mount; and when the rotation axis is in a horizontal state and the locking piece between the active recovery piece and the active installation piece is unlocked, the abutting part of the active recovery piece can actively release forward and backward swinging along the flight direction under the action of gravity.
4. The aircraft airborne recovery system of claim 3, wherein the one end connecting end of the passive recovery member is rotatably connected with the passive mounting member, and when the rotation axis is in a horizontal state, the abutting part at the other end of the passive recovery member can swing backwards; an obstructing torsion spring is arranged between the passive recovery member and the passive mounting member to prevent the abutting part of the passive recovery member from rotating backwards.
5. The aircraft airborne recovery system of claim 4, wherein said passive recovery element is provided with a plurality of said abutments in succession in the direction of extension; each of the abutting portions is provided with the lock hole.
6. The aerial recovery system of claim 5, wherein the passive recovery member comprises a diagonal rod, a vertical rod and a cross rod arranged at the abutting portion, one end of the diagonal rod is abutted to the cross rod, the other end of the diagonal rod is connected to the vertical rod, and the diagonal rod is rotatably connected to the vertical rod and directly provided with a lock hole torsion spring so as to be capable of rotating inwards to open to form a lock opening.
7. The aircraft airborne recovery system of claim 6, wherein said active recovery element comprises a hinged seat, said strip and two connecting rods, said two connecting rods being connected to respective ends of said strip and both connecting rods being connected to said hinged seat; the strip-shaped piece is a rope body.
8. A carrier aircraft comprises a carrier body and is characterized by further comprising an active mounting part and an active recovery part, wherein one end of the active mounting part is connected to the belly of the carrier body, the other end of the active mounting part is rotatably connected with the active recovery part, and the active recovery part is provided with a strip-shaped part extending in the left-right direction; the active recovery member is operated to rotate to enable the bar to swing back and forth.
9. The vehicle according to claim 8, characterized in that, when the axis of rotation of the active recovery element is horizontal and the locking between the active recovery element and the active mount is unlocked, the strip of the active recovery element is actively released by gravity to oscillate back and forth in the direction of flight.
10. The vehicle of claim 9, further comprising a lift drive, wherein the drive mount is rotatably coupled to the belly of the vehicle body, and wherein the lift drive is configured to drive the drive mount to rotate to move the drive receiver toward the belly of the vehicle body.
11. The vehicle according to claim 10, wherein the active recovery element comprises a hinged seat, the bar and two connecting rods, the two connecting rods are respectively connected to two ends of the bar, and both connecting rods are connected to the hinged seat; the strip-shaped piece is a rope body.
12. The recycling aircraft comprises a recycling machine body and is characterized by further comprising a passive mounting part and a passive recycling part, wherein the passive mounting part is mounted at the back of the recycling machine body, one end connecting end of the passive recycling part is rotatably connected with the passive mounting part, when the rotating axis is in a horizontal state, the abutting part at the other end of the passive recycling part can swing backwards, the abutting part is provided with a lock hole, and a lock opening of the lock hole is positioned on the abutting side so as to be matched with the strip-shaped part of the carrying aircraft according to any one of claims 8-11.
13. The recovery aircraft of claim 12 wherein an obstructing torsion spring is provided between the passive recovery member and the passive mount to prevent rearward rotation of the abutment of the passive recovery member.
14. The recovery aircraft of claim 13, wherein the passive recovery part comprises a vertical rod and a cross rod arranged at the abutting part, and further comprises a diagonal rod, one end of the diagonal rod is abutted to the cross rod, the other end of the diagonal rod is connected to the vertical rod, and the diagonal rod is rotatably connected to the vertical rod and directly provided with a lock hole torsion spring so as to be capable of rotating inwards to open to form a lock opening.
15. The recovery aircraft of claim 14, further comprising a releasable locking device that locks the passive recovery member in position when the passive recovery member is rotated against the back of the recovery body and when released enables the passive recovery member to rotate under the action of the torsion spring to stand on the back of the recovery body.
16. An aircraft airborne recovery system, comprising a carrier vehicle according to any one of claims 8 to 11 and a recovery vehicle according to any one of claims 12 to 15, the strip of the carrier vehicle being operable to move towards a passive recovery member abutment of the recovery vehicle, being able to continue to swing upwards and rearwards after abutting the passive recovery member of the recovery vehicle and to follow a guide surface on the passive recovery member into a locking notch of the passive recovery member as the passive recovery member is pushed to rotate rearwards.
17. An aerial recovery method for an aircraft, comprising the steps of:
flying the carrier aircraft to the upper part of the recovery aircraft and keeping synchronous flight;
the active recovery piece on the carrier aircraft is operated to move towards the passive recovery piece abutting part of the recovery aircraft, so that the strip-shaped piece on the active recovery piece swings backwards and rotates backwards, and in the backward rotation process, the strip-shaped piece continues to swing backwards and upwards after the active recovery piece abuts against the passive recovery piece abutting part of the recovery aircraft, so that when the passive recovery piece is pushed to rotate backwards, the strip-shaped piece moves along the upper guide surface of the passive recovery piece to enter the lock opening.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211339521.0A CN115610661A (en) | 2022-10-26 | 2022-10-26 | Aircraft air recovery system and method, carrier aircraft and recovery aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211339521.0A CN115610661A (en) | 2022-10-26 | 2022-10-26 | Aircraft air recovery system and method, carrier aircraft and recovery aircraft |
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| EP2186728A1 (en) * | 2008-11-14 | 2010-05-19 | The Boeing Company | Unmanned air vehicle recovery system |
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