A skid-type vertical take-off and landing aircraft multi-point compression rod type landing assisting tether device

Abstract

The present application relates to a kind of sled type vertical take-off and landing aircraft multi-point compression rod type assisted landing tethering device, including take-off and landing platform, take-off and landing platform is equipped with parking area and through passage, assisted landing tethering device further include corresponding tethering compression module with through passage, each tethering compression module is used to cooperate the compression of the sled of both sides of aircraft, tethering compression module includes support shell and lifting rotary mechanism, lifting rotary mechanism is equipped with telescopic piece on lifting rotary output end, telescopic piece is equipped with compression rod on output end, telescopic piece is used to drive the telescopic action of compression rod towards and away from corresponding sled, compression rod is equipped with compression surface to be used for compression sled, lifting rotary mechanism is used to control telescopic piece and compression rod to be stretched out through passage and fall into through passage, assisted landing tethering device further include the control structure for controlling the action of lifting rotary mechanism and telescopic piece.The assisted landing tethering device provided in the present application solves the technical problem that the tethering device in the prior art requires higher parking precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ground or deck devices associated with an aircraft, in particular to a mooring device for an aircraft. BACKGROUND

[0002] At present, a VTOL aircraft generally uses a landing aid device to assist the aircraft in landing. The mainstream helicopter landing aid systems in the world include French "harpoon", Canadian "bear trap", Russian "fishing net", etc. The domestic harpoon type helicopter landing aid system technology is also relatively mature, but the harpoon landing aid system can only assist the landing of a helicopter and cannot solve the mooring problem of the helicopter, and the aircraft still needs to be fixed on the take-off and landing platform by manually operating a mooring cable. A UAV is a pilotless aircraft controlled by a wireless remote control device, a network communication device and a self-provided program control device. It is widely used in tasks such as reconnaissance, relay, geological exploration and rescue due to its high mobility and strong survivability. However, for a UAV platform, it is impossible to manually operate a mooring cable to moor the UAV, so an automatic mooring device is needed to ensure that the aircraft can still be fixed on the take-off and landing platform after landing under unmanned conditions.

[0003] For example, the Chinese utility model patent with the publication number CN209814316U discloses a positioning type take-off and landing platform suitable for mooring a UAV. The take-off and landing platform includes a UAV take-off and landing platform, a fixed plate and a fixed column. The fixed plate is provided with a honeycomb hole for inserting the fixed column. The fixed column is provided with an expandable umbrella-shaped positioning structure around the circumference. The fixed columns are evenly distributed at the parking area of the UAV take-off and landing platform. The fixed plate is fixed at the bottom of the skid (i.e. the landing gear in the patent) of the UAV. When the UAV lands on the take-off and landing platform, the honeycomb holes on the fixed plate need to be aligned with the fixed columns. After the fixed columns pass through the corresponding honeycomb holes, the umbrella-shaped positioning structures on the fixed columns are extended to form a anti-disengagement fit with the honeycomb holes, thereby completing the mooring of the UAV. However, the positioning type take-off and landing platform has a problem. The UAV needs to ensure that each honeycomb hole on the fixed plate is aligned with the corresponding fixed column when landing. This requires a high landing precision of the UAV. If the honeycomb holes cannot be aligned with the fixed columns, the mooring will fail.

[0004] In addition, the Chinese utility model patent with the publication number CN210592476U discloses a charging take-off and landing platform for a tethered unmanned aerial vehicle, the take-off and landing platform comprises an unmanned aerial vehicle take-off and landing platform, and a telescopic tensioning and pressing piece is arranged around the parking area of the unmanned aerial vehicle take-off and landing platform; when the unmanned aerial vehicle lands at the parking area of the take-off and landing platform, each telescopic tensioning and pressing piece is retracted and presses the skid (i.e. the landing gear in the patent) of the unmanned aerial vehicle to position the unmanned aerial vehicle, thereby completing the tethering of the unmanned aerial vehicle. Compared with the positioning type take-off and landing platform for the tethered unmanned aerial vehicle described above, the charging take-off and landing platform has a lower requirement for the landing precision of the unmanned aerial vehicle, but the skid of the unmanned aerial vehicle still needs to be aligned with each telescopic tensioning and pressing piece when the unmanned aerial vehicle lands; if the skid of the unmanned aerial vehicle has a certain deflection angle when the unmanned aerial vehicle lands at the parking area, the telescopic tensioning and pressing piece may not be able to press the skid of the unmanned aerial vehicle when it is retracted, thereby failing to tether the unmanned aerial vehicle. SUMMARY

[0005] The purpose of the present application is to provide a skid type vertical take-off and landing aircraft multi-point pressure rod type landing aid tethering device to solve the technical problem that the tethering device in the prior art has a high requirement for landing precision and is prone to tethering failure.

[0006] The skid type vertical take-off and landing aircraft multi-point pressure rod type landing aid tethering device in the present application adopts the following technical scheme:

[0007] The skid type vertical take-off and landing aircraft multi-point pressure rod type landing aid tethering device comprises a take-off and landing platform, the take-off and landing platform is provided with a parking area, the take-off and landing platform is provided with through channels, at least two through channels are arranged around the parking area, the landing aid tethering device further comprises a tethering and pressing module, the tethering and pressing module corresponds to the through channels one by one, each tethering and pressing module is used for cooperating with the skids on both sides of the aircraft, the tethering and pressing module comprises a supporting shell installed at the bottom of the take-off and landing platform, a lifting and rotating mechanism is installed on the supporting shell, the lifting and rotating mechanism has a lifting and rotating output end, the lifting and rotating output end can be lifted in the up-down direction and can rotate around a vertical axis, a telescopic piece is arranged on the lifting and rotating output end, a pressure rod is arranged on the output end of the telescopic piece, the telescopic piece is used for driving the telescopic action of the pressure rod towards and away from the corresponding skid, a pressing surface is arranged on the pressure rod for pressing the skid, the lifting and rotating mechanism is used for controlling the telescopic piece and the pressure rod to extend upwards into the corresponding through channel and fall downwards into the corresponding through channel, the landing aid tethering device further comprises a control structure for controlling the action of the lifting and rotating mechanism and the telescopic piece to drive the pressure rod to press the corresponding skid.

[0008] Beneficial effects: the landing aid and mooring device provided by the present application uses a multi-point pressure rod type mooring device for a sled VTOL aircraft, after the aircraft lands on the parking area of the landing platform, the control structure controls the lifting and rotating mechanism and the telescopic part to drive the pressure rod to press the sled of the aircraft, completing the mooring of the aircraft, compared with the prior art, the aircraft needs to be accurately landed on the specified position on the parking area to cooperate with the corresponding mooring device, the mooring and pressing module of the mooring device provided by the present application completes the cooperation of the pressure rod and the sled through lifting, rotating and telescoping, with higher freedom and lower requirement for the landing accuracy of the aircraft; in addition, a through passage is arranged on the landing platform, and the mooring and pressing module is arranged below the landing platform, which will not interfere with the sled of the aircraft when the aircraft lands, only when mooring, the telescopic part and the pressure rod of the mooring and pressing module extend upward from the through passage to press the sled, further reducing the requirement for the landing accuracy of the aircraft.

[0009] Further, the lifting and rotating mechanism comprises a support cylinder, the support cylinder is assembled on the support shell through a rotating support around a vertical axis, a lifting drive is arranged on the support cylinder, the lifting drive is connected with the telescopic part, and the lifting and rotating output end is located on the lifting drive.

[0010] Beneficial effects: the lifting and rotating mechanism adopts the cooperation of the rotating support and the lifting drive to realize the lifting and rotation of the lifting and rotating output end, and the structure is relatively simple and convenient for machining and assembly.

[0011] Further, the control structure comprises a position sensor for detecting the position of the sled, and the position sensor is arranged on the telescopic part.

[0012] Beneficial effects: the control structure can more accurately determine the position of the aircraft sled by using the position sensor, so as to more accurately control the telescopic part and the lifting and rotating mechanism to press the sled; in addition, the sensor has the characteristics of small size and convenient installation, which helps to improve the integration of the whole landing aid and mooring device.

[0013] Further, a pressure sensor is arranged on the pressing surface, and the pressure sensor on the pressing surface is used to detect the pressing condition between the pressure rod and the sled.

[0014] Beneficial effects: the control structure can determine whether the pressing surface is pressed against the sled according to the pressure sensor, and then control the lifting and rotating mechanism and the telescopic part to adjust the position of the pressure rod, so that the pressure rod can better press the sled.

[0015] Further, the control structure further comprises a pressure sensor on the telescopic part, the pressure sensor on the telescopic part is used to detect the position of the sled, when the sled falls on the corresponding mooring and pressing module, the pressure sensor on the telescopic part is in contact with the sled after the lifting and rotating mechanism drives the telescopic part to rise, and the corresponding lifting and rotating mechanism is controlled to stop working.

[0016] Beneficial effect: the telescopic part needs to be stretched out upward from the through channel when the skid is pressed, if the skid of the airplane is blocked above the through channel during landing, the control can be controlled according to the pressure sensor to make the corresponding telescopic part not work, so as to avoid collision with the skid and ensure the safety of the mooring device.

[0017] Further, the through channel is a long hole.

[0018] Beneficial effect: the through channel adopts a long hole structure to avoid the through channel being designed too large and affecting the structural strength of the support platform.

[0019] Further, the mooring and pressing module is provided with at least two corresponding each skid.

[0020] Beneficial effect: the mooring and pressing module is provided with at least two corresponding each skid, the stress of the skid in the extension direction is more balanced, and the pressing effect is better.

[0021] Further, the landing aid mooring device further comprises a support base, and the take-off and landing platform is rotatably installed on the support base.

[0022] Beneficial effect: the airplane needs to enter the hangar after landing on the take-off and landing platform, and the airplane can be adjusted to the best storage angle by rotating the take-off and landing platform.

[0023] Further, a grating device is installed at the parking area of the take-off and landing platform, and the grating device is used to cooperate with the fish structure on the airplane to complete landing.

[0024] Beneficial effect: the grating device can cooperate with the fish structure on the airplane to assist the airplane in landing, and can temporarily fix the airplane to facilitate the control mechanism to control the pressing rod to press the skid.

[0025] Further, the telescopic part is fixed on the lifting rotary output end, and the telescopic direction of the telescopic part is perpendicular to the lifting direction of the lifting rotary output end.

[0026] Beneficial effect: the telescopic part is fixed on the lifting rotary output end, the installation method is simple, the telescopic direction of the telescopic part is perpendicular to the lifting direction of the lifting rotary output end, and through the lifting, rotation of the lifting rotary output end and the telescoping of the telescopic part, the pressing surface on the pressing rod can be adapted to the skid for pressing. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic view of a skid type vertical take-off and landing airplane multi-point pressing rod type landing aid mooring device provided by the application;

[0028] Figure 2 is Figure 1Structure diagram of the tensioning and pressing module;

[0029] Figure 3 is Figure 2 Structure diagram of the pressure rod;

[0030] Figure 4 is Figure 1 Schematic diagram of the multi-point pressure rod type landing assisting and tethering device of the sled type VTOL aircraft tethering the aircraft;

[0031] Figure 5 is Figure 1 Schematic diagram of the multi-point pressure rod type landing assisting and tethering device of the sled type VTOL aircraft installed on the UAV platform surface.

[0032] The names of the components corresponding to the corresponding reference numerals in the drawings are as follows:

[0033] 100, landing platform; 101, through passage; 102, tensioning and pressing module; 103, support shell; 104, connecting flange; 105, support plate; 106, first rotary support; 107, first support outer ring; 108, support cylinder; 109, lifting driving member; 110, telescopic member; 111, pressing surface; 112, position sensor; 113, first pressure sensor; 114, second pressure sensor; 115, grating device; 116, lifting rotary output end; 117, first driving motor; 118, pressure rod; 200, support base; 201, second rotary support; 202, second support outer ring; 203, second driving motor; 300, UAV platform surface; 301, hangar; 302, in-out hangar guide rail; 400, aircraft; 401, sled; 402, harpoon structure. DETAILED DESCRIPTION

[0034] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings can be arranged and designed in various different configurations.

[0035] Therefore, the detailed description of the embodiments of the present application provided in the drawings below is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0036] It should be noted that in the specific embodiments of the present application, the relationship terms such as "first" and "second" and the like that can occur are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any actual relationship or order between the entities or operations. Moreover, the terms such as "include", "contain" or any other variants that can occur are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. The limiting elements that can occur, such as "including a", do not exclude the presence of other identical elements in the process, method, article or device including the elements, without more limitations.

[0037] In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" that can occur should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In the description of the present application, unless otherwise explicitly specified and limited, the term "provided with" that can occur should be understood broadly, for example, the object "provided with" can be part of the body, or arranged separately from the body and connected to the body, and the connection can be detachable connection, or non-detachable connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] The present application is further described in detail below in combination with the embodiments.

[0040] Embodiment 1 of the sled-type vertical take-off and landing aircraft multi-point compression rod type landing aid retaining device in the present application:

[0041] As Figure 1 and Figure 4As shown, the sled type vertical take-off and landing aircraft multi-point pressure rod type landing aid tethering device provided by the embodiment includes a landing platform 100, the landing platform 100 is provided with through passages 101, the through passages 101 are arranged around the circumference of the parking area of the landing platform 100, the landing aid tethering device further includes a control structure and a tethering compression module 102, the tethering compression module 102 is arranged at the bottom of the landing platform 100 and corresponds to the through passages 101 one by one, after the aircraft 400 lands at the parking area, the control structure controls the tethering compression module 102 to extend through the through passages 101 to compress the sled 401 of the aircraft 400, thereby completing the tethering of the aircraft 400.

[0042] Specifically, as Figure 1 shown, the landing platform 100 is a circular platform, the middle area of the landing platform 100 is a parking area, eight through passages 101 are arranged on the circumference of the parking area at intervals, the through passages 101 are uniformly distributed at intervals, and correspondingly, the bottom of the support platform is fixedly installed with eight tethering compression modules 102, the tethering compression modules 102 correspond to the through passages 101 one by one. The structure of the tethering compression module 102 is as shown in Figure 2 shown, the tethering compression module 102 includes a support shell 103 and a lifting and rotating mechanism, the support shell 103 is a cylindrical structure, the bottom of the support shell 103 is a support plate 105 for installing the lifting and rotating mechanism, the lifting and rotating mechanism is installed inside the support shell 103 through the support plate 105, the top of the support shell 103 is provided with an opening for the lifting and rotating mechanism to extend out, the opening of the support shell 103 is provided with a connecting flange 104, the connecting flange 104 is provided with a bolt connection hole, the connecting flange 104 is connected with the support platform through bolts, the opening at the top of the support shell 103 is aligned with the corresponding through passage 101, so that the telescopic part 110 on the lifting and rotating mechanism can smoothly extend out of the through passage 101. It should be noted that, in order to ensure the structural strength of the support platform, the through passage 101 adopts a long hole structure, the size of the long hole is matched with the size of the tethering compression module 102 to ensure that the tethering compression module 102 can normally extend out. Here, the matching means that the length and width of the long hole need to be greater than the tethering compression module 102, so as to ensure that the tethering compression module 102 can extend upward.

[0043] In the embodiment, as Figure 2As shown, the lifting-rotating mechanism comprises a first rotating support 106, a lifting driving element 109 and a support cylinder 108, the first rotating support 106 comprises a first support inner ring (not shown in the figure) and a first support outer ring 107, the first support inner ring is supported and installed on the support flat plate 105, the support cylinder 108 is fixed on the upper side of the first support outer ring 107, the support cylinder 108 is coaxially arranged with the first support outer ring 107, the connecting flange is arranged on the lower side of the support cylinder 108, the bolt through hole is arranged on the connecting flange, the bolt connecting hole is arranged on the upper end surface of the first support outer ring 107, and the support cylinder 108 and the first support outer ring 107 are connected through the bolt. The lifting driving element 109 is fixedly installed on the support cylinder 108, the lifting driving element 109 is coaxially arranged with the support cylinder 108, the lifting driving element 109 is specifically an electric cylinder, the motor of the lifting driving element 109 is installed inside the support cylinder 108, and the output end of the lifting driving element 109 is the lifting-rotating output end 116 of the lifting-rotating mechanism. In addition, the first driving motor 117 is also arranged on the support flat plate 105, the output end of the first driving motor 117 is provided with a transmission gear, the transmission gear is in meshing transmission with the first support outer ring 107, the first driving motor 117 drives the first support outer ring 107 to rotate around the axis thereof through the transmission gear, the first support outer ring 107 drives the lifting-rotating output end 116 to rotate around the vertical axis while rotating, and the lifting driving element 109 drives the lifting-rotating output end 116 to lift in the up-down direction.

[0044] In the embodiment, as shown in Figure 2 , the lifting-rotating output end 116 is provided with a telescopic element 110, the output end of the telescopic element 110 is provided with a pressing rod 118, the telescopic element 110 can drive the pressing rod 118 to extend and retract towards and away from the corresponding sliding sledge 401, the telescopic element 110 is specifically an electric cylinder, the telescopic element 110 is fixedly connected with the lifting-rotating output end 116, and the telescopic direction of the telescopic element 110 is perpendicular to the lifting direction of the lifting-rotating output end 116. As shown in Figure 2 and Figure 3 , one end of the pressing rod 118 away from the telescopic element 110 is a pressing end, the pressing end is used for directly pressing the sliding sledge 401, and the pressing end is provided with two mutually perpendicular pressing surfaces 111, and the two pressing surfaces 111 are respectively used for pressing the sliding sledge 401 downward and in the horizontal direction.

[0045] In the embodiment, the control structure comprises a position sensor 112, as shown in Figure 2 , the position sensor 112 is arranged on the lower surface of the telescopic element 110, and the position sensor 112 is used for detecting the specific position of the sliding sledge 401. The control structure further comprises a first pressure sensor 113 and a second pressure sensor 114, as shown in Figure 3As shown, the first pressure sensor 113 is arranged on the two mutually perpendicular pressing surfaces 111, and the first pressure sensor 113 feeds back the pressure value to the control structure, and the control structure judges whether the pressing surface 111 is in contact with the skid 401 according to the pressure value, so that the position of the pressing rod 118 can be adjusted more accurately. The second pressure sensor 114 is arranged at the upper surface of the telescopic part 110, because the telescopic part 110 is located in the through passage 101 of the take-off and landing platform 100 before the skid 401 is pressed, and the telescopic part 110 is driven by the lifting driving part 109 to extend out of the corresponding through passage 101 when the aircraft 400 lands on the take-off and landing platform 100. Since the landing accuracy of the aircraft 400 is difficult to guarantee, when the aircraft 400 lands on the take-off and landing platform 100, the skid 401 of the aircraft 400 may block some of the through passages 101, which makes the telescopic part 110 in the corresponding through passage 101 unable to extend normally. The pressure value fed back by the second pressure sensor 114 judges which telescopic parts 110 cannot extend normally, so that the telescopic parts 110 that can extend normally are controlled to extend out of the through passage 101 to complete the pressing of the skid 401.

[0046] As shown in the embodiment, Figure 1 The take-off and landing platform 100 is rotatably installed on the support base 200 around its own axis, the support base 200 comprises a base (not shown in the figure), a second rotary support 201 and a second driving motor 203, the second rotary support 201 comprises a second support inner ring (not shown in the figure) and a second support outer ring 202, the second support inner ring and the second support outer ring 202 are coaxially rotatably assembled, the second support inner ring is fixedly installed on the base, the output end of the second driving motor 203 is provided with a transmission gear, the transmission gear is in meshing transmission with the second support outer ring 202, the second driving motor 203 drives the second support outer ring 202 to rotate circumferentially through the transmission gear, and the take-off and landing platform 100 is fixedly installed on the upper end face of the second support outer ring 202 and can be driven by the second driving motor 203 to rotate around its own axis. Figure 5 As shown in the embodiment,

[0047] As shown in the embodiment, Figure 4As shown, the grid device 115 is installed at the parking area of the take-off and landing platform 100, which can cooperate with the fish structure 402 on the aircraft 400 to assist the landing of the aircraft 400. When the multi-point pressure rod type landing assisting and retaining device of the sled type vertical take-off and landing aircraft provided by the present application is used, the aircraft 400 first completes the landing by cooperating the grid device 115 with the fish structure 402, then the control structure controls the lifting and rotating mechanism of the corresponding retaining pressure module 102 to act, the lifting driving part 109 in the lifting and rotating mechanism drives the lifting and rotating output end 116 to extend upward through the passage 101, and then the first rotating support 106 drives the telescopic part 110 on the lifting and rotating output end 116 to rotate, when the telescopic part 110 is directed to the sled 401, the first rotating support 106 stops rotating, the output end of the telescopic part 110 is extended to drive the pressure rod 118 to move towards the sled 401, and the position of the pressure rod 118 is adjusted by the lifting driving part 109 and the telescopic part 110, so that the pressure rod 118 completes the pressure on the sled 401. When the unmanned aerial vehicle needs to take off, the control structure controls the telescopic part 110 to contract, the telescopic part 110 drives the pressure rod 118 to move away from the sled 401, and then the telescopic part 110 and the pressure rod 118 are lowered into the corresponding through passage 101 through the lifting and rotating mechanism, at this time, the aircraft 400 can take off normally.

[0048] It should be noted that, in order to ensure the pressure on the sled 401, each sled 401 corresponds to at least two retaining pressure modules 102. Preferably, as shown in the figure, Figure 4 The retaining pressure module 102 has eight, and each sled 401 corresponds to three retaining pressure modules 102, and the end of the two rows of sleds 401 also has a retaining pressure module 102 for pressure. In other embodiments, the number of retaining pressure modules 102 can be increased.

[0049] Embodiment 2 of the multi-point pressure rod type landing assisting and retaining device of the sled type vertical take-off and landing aircraft in the present application:

[0050] The difference between this embodiment and embodiment 1 is that in embodiment 1, eight through passages are arranged on the take-off and landing platform. In this embodiment, only two through passages are arranged on the take-off and landing platform, and correspondingly, two retaining pressure modules are arranged on the take-off and landing platform corresponding to the two through passages, and the two retaining pressure modules correspond to the sleds on one side of the aircraft respectively. In order to ensure the pressure on the sled, the pressure rod in the retaining pressure module in this embodiment adopts a larger pressure surface.

[0051] Embodiment 3 of the multi-point pressure rod type landing assisting and retaining device of the sled type vertical take-off and landing aircraft in the present application:

[0052] The difference between this embodiment and embodiment 1 is that in embodiment 1, the through passage is a long hole structure. In this embodiment, the through passage is a long slot extending to the edge position of the take-off and landing platform.

[0053] Embodiment 4 of the sled type vertical take-off and landing aircraft multi-point pressure rod type landing aid retaining device in the application:

[0054] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the telescopic part is fixed on the lifting rotary output end and the telescopic direction of the telescopic part is perpendicular to the lifting direction of the lifting rotary output end. In the embodiment, the telescopic part is hingedly installed on the lifting rotary output end through a horizontal hinge shaft, the telescopic part can swing around the horizontal hinge shaft, and a motor for driving the telescopic part to swing is arranged between the lifting rotary output end and the telescopic part. When the sled is compressed, the control structure controls the angle of the telescopic part with the horizontal direction by controlling the motor, so as to adjust the compression angle of the pressure rod when the sled is compressed.

[0055] Embodiment 5 of the sled type vertical take-off and landing aircraft multi-point pressure rod type landing aid retaining device in the application:

[0056] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the lifting driving part is arranged above the first rotary support through the support cylinder. In the embodiment, the lifting driving part is arranged on the support flat plate of the support shell, a support plate is installed on the output end of the telescopic driving part, and the first rotary support is installed on the support plate. At this time, the rotating end of the first rotary support (i.e. the upper end of the first support outer ring) is the lifting rotary output end, and the telescopic part is fixedly installed on the upper end of the first support outer ring.

[0057] Embodiment 6 of the sled type vertical take-off and landing aircraft multi-point pressure rod type landing aid retaining device in the application:

[0058] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the telescopic part and the lifting driving part are both electric cylinders. In the embodiment, one of the telescopic part and the lifting driving part is a hydraulic cylinder, and the other is an electric cylinder. In other embodiments, the telescopic part and the lifting driving part are both hydraulic cylinders.

[0059] Embodiment 7 of the sled type vertical take-off and landing aircraft multi-point pressure rod type landing aid retaining device in the application:

[0060] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the landing platform is rotatably installed on the support base, and the landing platform can rotate around its own axis. In the embodiment, the landing platform is fixedly installed on the support base, and the landing platform cannot rotate around its own axis.

[0061] Embodiment 8 of the sled type vertical take-off and landing aircraft multi-point pressure rod type landing aid retaining device in the application:

[0062] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the control structure comprises the position sensor and the first and second pressure sensors. In the embodiment, the control structure only comprises the position sensor, the control structure detects the position of the skid through the position sensor, and controls the pressurizing module to press the skid. In other embodiments, the control structure comprises a photographing system and an image processing module, after the aircraft lands on the take-off and landing platform, the photographing system photographs the skid of the aircraft and transmits the image information to the image processing module, the image processing module obtains the position of the skid according to the image information processing, the control structure calculates the action track of the lifting rotary mechanism and the telescopic member according to the position information of the skid, and then controls the lifting rotary mechanism and the telescopic member to act to drive the pressurizing rod to press the skid.

[0063] Embodiment 9 of the multi-point pressurizing rod type landing assisting tethering device for the skid type vertical take-off and landing aircraft in the application:

[0064] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the support shell is a cylindrical structure. In the embodiment, the support shell is a plate-shaped structure with an L-shaped cross section, the support shell comprises a connecting plate extending in the up-down direction and a support plate extending in the horizontal direction, the connecting plate is connected with the bottom surface of the take-off and landing platform, and the lifting rotary mechanism is installed on the support plate.

[0065] Embodiment 10 of the multi-point pressurizing rod type landing assisting tethering device for the skid type vertical take-off and landing aircraft in the application:

[0066] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the pressurizing rod is provided with two perpendicular pressurizing surfaces. In the embodiment, the pressurizing surface on the pressurizing rod is an arc surface, the arc surface can be adapted to the outer circumferential surface of the skid, and the arc pressurizing surface can press the skid downward and in the horizontal direction at the same time when the skid is pressed.

[0067] The above is only a preferred embodiment of the application, and is not used to limit the application, the patent protection scope of the application is subject to the claims, any equivalent structural changes made according to the content of the specification and drawings of the application should also be included in the protection scope of the application.

Claims

1. A skid vertical take-off and landing aircraft multi-point compression strut assisted take-off tethering device comprising a take-off and landing platform (100) having a parking area thereon, characterised in that, The landing platform (100) is provided with through passages (101), and the through passages (101) are arranged at least two around the parking area; the landing assisting and tethering device further comprises a tethering and pressing module (102) corresponding to the through passages (101), each tethering and pressing module (102) is used for cooperating with pressing skids (401) on both sides of the airplane (400); the tethering and pressing module (102) comprises a supporting shell (103) installed at the bottom of the landing platform (100), a lifting and rotating mechanism is installed on the supporting shell (103), the lifting and rotating mechanism has a lifting and rotating output end (116), the lifting and rotating output end (116) can be lifted in the up-down direction and can rotate around a vertical axis, an extension piece (110) is arranged on the lifting and rotating output end (116), a pressing rod (118) is arranged on the output end of the extension piece (110), the extension piece (110) is used for driving the pressing rod (118) to perform extension and retraction actions towards and away from the corresponding skid (401), a pressing surface (111) is arranged on the pressing rod (118) and used for pressing the skid (401), the lifting and rotating mechanism is used for controlling the extension piece (110) and the pressing rod (118) to extend out of the corresponding through passage (101) and fall into the corresponding through passage (101), the landing assisting and tethering device further comprises a control structure used for controlling the lifting and rotating mechanism and the extension piece (110) to drive the pressing rod (118) to press the corresponding skid (401), and the control structure comprises a position sensor (112) used for detecting the position of the skid (401) and arranged on the extension piece (110).

2. The sled VTOL aircraft multi-point compression strut tethered takeoff assist device of claim 1 wherein, The pressing surface (111) is provided with a pressure sensor, and the pressure sensor on the pressing surface (111) is used for detecting the pressing condition between the pressing rod (118) and the skid (401).

3. The sled VTOL aircraft multi-point compression strut tethered takeoff assist device of claim 1 wherein, The control structure further comprises a pressure sensor on the extension piece (110), the pressure sensor on the extension piece (110) is used for detecting the position of the skid (401), when the skid (401) falls on the corresponding tethering and pressing module (102), the pressure sensor on the extension piece (110) is in contact with the skid (401) after the extension piece (110) is lifted by the lifting and rotating mechanism, and the corresponding lifting and rotating mechanism is controlled to stop working.

4. The sled VTOL aircraft multi-point compression strut tether of claim 1, wherein, The lifting and rotating mechanism comprises a supporting cylinder (108), the supporting cylinder (108) is assembled on the supporting shell (103) through rotary support around a vertical axis, the supporting cylinder (108) is provided with a lifting driving piece (109), the lifting driving piece (109) is connected with the extension piece (110), and the lifting and rotating output end (116) is located on the lifting driving piece (109).

5. The sled VTOL aircraft multi-point compression strut tether of claims 1-4, wherein, The through passage (101) is a long hole.

6. The sled VTOL aircraft multi-point compression strut tether of claims 1-4, wherein, The tethering and pressing module (102) is provided with at least two corresponding to each skid (401).

7. The sled VTOL aircraft multi-point compression strut tether of claims 1-4, wherein, The telescopic part (110) is fixed on the lifting and rotating output end (116), and the telescopic direction of the telescopic part (110) is perpendicular to the lifting direction of the lifting and rotating output end (116).

8. The sled VTOL aircraft multi-point compression strut tether of claims 1-4, wherein, The landing platform (100) is provided with a grating device (115) at a parking area, and the grating device (115) is used for cooperating with a fish structure (402) on the aircraft (400) to complete landing.

9. The sled VTOL aircraft multi-point compression strut tether of claims 1-4, wherein, The landing assisting tethering device further comprises a supporting base (200), and the landing platform (100) is rotatably installed on the supporting base (200).

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