A landing arresting device for a skid-type vertical take-off and landing aircraft

Abstract

The application provides a landing and holding device for a sled-type vertical take-off and landing aircraft, which comprises a landing platform and a supporting base, the landing platform is rotatably arranged on the supporting base, and the landing and holding device further comprises a landing platform rotation driving mechanism; the landing and holding device further comprises guide rail supporting bodies located on opposite sides of the landing platform, guide rails are arranged in the guide rail supporting bodies, a holding and pressing module and a module driving mechanism are arranged on each guide rail; the holding and pressing module comprises a base and a rotation mechanism, the rotation mechanism has a rotation output end, an extension piece is arranged on the rotation output end, and a pressing rod for pressing the sled is arranged on the extension piece; the guide rail is arranged on the guide rail supporting body and is provided with a guide rail lifting mechanism, and / or the rotation mechanism is a lifting and rotating mechanism, and the landing and holding device comprises a control structure for controlling the actions of each mechanism. The landing and holding device provided by the application effectively solves the technical problem in the prior art that the landing and holding device has a high requirement for parking precision and is prone to failure.

Description

TECHNICAL FIELD

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

[0002] At present, the vertical take-off and landing aircraft generally first passes through the landing aid device to assist the aircraft landing, the mainstream helicopter landing aid system in the world has France "harpoon", Canada "bear trap", Russia "fishing net", etc., and the domestic harpoon type helicopter landing aid system technology is also relatively mature, but the harpoon landing aid system can assist the landing of the helicopter, and cannot solve the mooring problem of the helicopter, and still needs to be manually operated by a mooring cable to fix the aircraft on the take-off and landing platform. The unmanned aerial vehicle is a non-personnel aircraft controlled by a wireless remote control device, a network communication device and a self-provided program control device, and is widely used in tasks such as investigation, relay, geological exploration and rescue due to its high mobility and strong survival ability, but the take-off and landing platform of the unmanned aerial vehicle does not need to be manually controlled, 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 authorized announcement number CN209814316U discloses a positioning type take-off and landing platform suitable for mooring unmanned aerial vehicles, which comprises an unmanned aerial vehicle 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 periphery of the fixed column is provided with an expandable umbrella-shaped positioning structure, wherein the fixed columns are uniformly distributed at the parking area of the unmanned aerial vehicle take-off and landing platform, the fixed plate is fixed at the bottom of the skid (i.e. the landing gear in the patent), when the unmanned aerial vehicle lands on the take-off and landing platform, the honeycomb hole on the fixed plate needs to be aligned with the fixed column, after each fixed column passes through the corresponding honeycomb hole, the umbrella-shaped positioning structure on each fixed column is extended to form a anti-disengagement cooperation with the honeycomb hole, thereby completing the mooring of the unmanned aerial vehicle. However, the problem of the positioning type take-off and landing platform is that the unmanned aerial vehicle needs to ensure that each honeycomb hole on the fixed plate is aligned with the corresponding fixed column when landing, which has a very high requirement for the parking accuracy of the unmanned aerial vehicle, and once the honeycomb hole cannot be aligned with the fixed column, the mooring will fail.

[0004] In addition, the utility model patent with the publication number CN210592476U discloses a charging take-off and landing platform for a tethered unmanned aerial vehicle, which comprises an unmanned aerial vehicle take-off and landing platform, and telescopic pull and pressure components are 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, the telescopic pull and pressure components are retracted and pull and press 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 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 parking precision of the unmanned aerial vehicle, but the skid of the unmanned aerial vehicle still needs to be aligned with the telescopic pull and pressure components 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 pull and pressure components may not be able to press the skid of the unmanned aerial vehicle tightly when 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 landing aid tethering device to solve the technical problem that the tethering device in the prior art has a high requirement for parking precision and is prone to tethering failure.

[0006] The skid-type vertical take-off and landing aircraft landing aid tethering device provided by the present application has the technical scheme

[0007] The landing assisting and holding device of the sled-type vertical take-off and landing aircraft comprises a landing platform, the holding device further comprises a supporting base, the landing platform is rotatably arranged on the supporting base around a vertical axis, the holding device further comprises a landing platform rotating drive mechanism for driving the landing platform to rotate to adjust the posture of the aircraft; the holding device further comprises guide rail supports fixedly arranged relative to the supporting base and located on opposite sides of the landing platform, the top surface of the guide rail supports is flush with or below the top surface of the landing platform; the guide rail supports are provided with guide rails, the guide rails in the oppositely arranged guide rail supports extend in parallel, and in use, the guide rails extend in parallel with the sleds of the aircraft after the posture is adjusted; the holding device is further provided with holding and pressing modules movably arranged on the guide rails, the guide rail supports are further provided with module drive mechanisms for driving the holding and pressing modules to reciprocally move along the corresponding guide rails, and the module drive mechanisms are fixedly arranged relative to the guide rails; the holding and pressing module comprises a base slidably arranged on the guide rail and a rotating mechanism mounted on the base, the rotating mechanism has a rotating output end rotating around a vertical axis, and the rotating output end is provided with an extension piece, the extension piece is used for driving the pressing rod to extend towards and away from the corresponding sled, the extension piece is provided with a pressing rod, and the pressing rod has a pressing surface for pressing the sled; the guide rails are vertically and movably arranged on the guide rail supports and are provided with guide rail drive mechanisms for driving the guide rails to move up and down, and / or the rotating mechanism is a lifting rotating mechanism so that the rotating output end is a lifting rotating output end, the guide rail drive mechanisms and / or the lifting rotating mechanism are used for driving the pressing rod to retract into the guide rail supports and extend out of the guide rail supports and press on the sleds, and the holding device further comprises a control structure for controlling the actions of the mechanisms.

[0008] The landing assisting and holding device of the sled-type vertical take-off and landing aircraft comprises a landing platform, the holding device further comprises a supporting base, the landing platform is rotatably arranged on the supporting base around a vertical axis, the holding device further comprises a landing platform rotating drive mechanism for driving the landing platform to rotate to adjust the posture of the aircraft; the holding device further comprises guide rail supports fixedly arranged relative to the supporting base and located on opposite sides of the landing platform, the top surface of the guide rail supports is flush with or below the top surface of the landing platform; the guide rail supports are provided with guide rails, the guide rails in the oppositely arranged guide rail supports extend in parallel, and in use, the guide rails extend in parallel with the sleds of the aircraft after the posture is adjusted; the holding device is further provided with holding and pressing modules movably arranged on the guide rails, the guide rail supports are further provided with module drive mechanisms for driving the holding and pressing modules to reciprocally move along the corresponding guide rails, and the module drive mechanisms are fixedly arranged relative to the guide rails; the holding and pressing module comprises a base slidably arranged on the guide rail and a rotating mechanism mounted on the base, the rotating mechanism has a rotating output end rotating around a vertical axis, and the rotating output end is provided with an extension piece, the extension piece is used for driving the pressing rod to extend towards and away from the corresponding sled, the extension piece is provided with a pressing rod, and the pressing rod has a pressing surface for pressing the sled; the guide rails are vertically and movably arranged on the guide rail supports and are provided with guide rail drive mechanisms for driving the guide rails to move up and down, and / or the rotating mechanism is a lifting rotating mechanism so that the rotating output end is a lifting rotating output end, the guide rail drive mechanisms and / or the lifting rotating mechanism are used for driving the pressing rod to retract into the guide rail supports and extend out of the guide rail supports and press on the sleds, and the holding device further comprises a control structure for controlling the actions of the mechanisms.

[0009] Further, the guide rail support body is provided with a guide rail mounting rack, the guide rail mounting rack is vertically and liftably assembled on the guide rail support body, the guide rail and the module driving mechanism are both arranged on the guide rail mounting rack, and the guide rail driving mechanism is used to drive the guide rail mounting rack to move up and down.

[0010] Beneficial effects: The module driving mechanism needs to move synchronously with the guide rail when the guide rail moves up and down. Arranging the guide rail mounting rack on the guide rail support body and arranging the module driving mechanism on the guide rail mounting rack can make the guide rail driving mechanism drive the guide rail and the module driving mechanism to move up and down, so that the synchronism of the module driving mechanism and the guide rail is better, and the movement is more stable.

[0011] Further, the guide rail mounting rack is rotationally assembled on the guide rail support body, the guide rail driving mechanism comprises a screw rod, a screw sleeve and a motor, the screw sleeve is fixedly arranged on the guide rail mounting rack, the motor is arranged on the guide rail support body, one end of the screw rod is screwed into the screw sleeve, and the other end is in transmission connection with the output end of the motor. The motor drives the screw sleeve to move up and down through the screw column to drive the guide rail mounting rack to move up and down.

[0012] Beneficial effects: The guide rail driving mechanism is actually a screw nut mechanism, which has the advantages of strong self-locking ability, convenient control and small space occupation.

[0013] Further, the lifting and rotating mechanism comprises a support cylinder, the support cylinder is rotationally assembled on the base through a rotating support around a vertical axis, the support cylinder is provided with a lifting driving part, the lifting driving part is connected with the telescopic part, and the lifting and rotating output end is located on the lifting driving part.

[0014] Beneficial effects: The lifting and rotating mechanism adopts the cooperation of the rotating support and the lifting driving part to realize the lifting and rotation of the lifting and rotating output end, and has a relatively simple structure and is convenient for processing and assembly.

[0015] Further, the control structure comprises a pressure sensor arranged on the pressing surface, and the pressure sensor on the pressing surface is used to detect the pressing condition between the pressing rod and the skid.

[0016] Beneficial effects: The control structure can determine whether the pressing surface is pressed against the skid according to the pressure sensor, and then control the lifting and rotating mechanism and the telescopic part to adjust the position of the pressing rod, so that the pressing rod can better press the skid.

[0017] Further, the at least two tethering and pressing modules are movably arranged on the same guide rail, and the module driving mechanism is a screw nut transmission mechanism, which comprises a screw and a transmission motor, the screw is threaded through the bases of the at least two tethering and pressing modules and is in transmission connection with the transmission motor, and the transmission motor drives the corresponding tethering and pressing module to move along the corresponding guide rail back and forth by rotating the screw.

[0018] Beneficial effects: the screw nut transmission mechanism has the characteristics of stable transmission and simple structure; and the screw nut transmission mechanism can drive multiple tethering and pressing modules at the same time, and the driving efficiency is higher.

[0019] Further, the telescopic member is hingedly connected to the rotary output end about a horizontal axis, and a rotary motor is arranged on the rotary mechanism to drive the telescopic member to swing about the horizontal axis.

[0020] Beneficial effects: the telescopic member is swingingly arranged on the support platform through the horizontal hinge shaft, the rotary motor is controlled to control the telescopic member to swing about the horizontal hinge shaft, and the angle of the telescopic member with the horizontal direction is controlled, so that the telescopic member has higher freedom when driving the pressing rod to press the skid.

[0021] Further, at least two tethering and pressing modules are arranged on each guide rail.

[0022] Beneficial effects: the tethering and pressing modules corresponding to each skid are provided with at least two, and the stress of the skid in the extension direction is more balanced, and the pressing effect is better.

[0023] Further, the control structure comprises a position sensor arranged on the pressing rod for detecting the position of the skid.

[0024] Beneficial effects: the control structure can more accurately determine the position of the skid of the aircraft by using the position sensor, so as to more accurately control the tethering and pressing modules to press the skid; in addition, the sensor has the characteristics of small volume and convenient installation, which helps to improve the integration of the whole landing aid tethering device.

[0025] Further, the guide rails in the guide rail support bodies located on opposite sides of the vertical take-off and landing platform are arranged in parallel.

[0026] Beneficial effects: when the guide rails are arranged in parallel, the skid of the aircraft after adjusting the attitude is parallel to the guide rails, and all the tethering and pressing modules on the guide rails only need to be rotated by the same angle to make the telescopic end of the telescopic member point to the skid, which facilitates the adjustment of the control structure. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic view of the landing aid tethering device of the skid type vertical take-off and landing aircraft provided by the application in use;

[0028] Figure 2 is Figure 1 is a schematic view of an unmanned aerial vehicle landing on a landing and tethering device of a sled-type vertical take-off and landing aircraft;

[0029] Figure 3 is Figure 1 is a partially enlarged schematic view;

[0030] Figure 4 is a schematic view of installation of a tethering and pressing module in a guide rail mounting frame;

[0031] Figure 5 is a schematic view of a structure of a tethering and pressing module;

[0032] Figure 6 is a schematic view of installation of a landing and tethering device of a sled-type vertical take-off and landing aircraft provided by the present application on a platform surface of an unmanned aerial vehicle.

[0033] The names of the components corresponding to the respective reference numerals in the drawings are as follows:

[0034] 100, landing platform; 101, support base; 102, first rotary support; 103, first support outer ring; 104, pressing rod; 105, first drive motor; 106, guide rail support body; 107, guide rail mounting frame; 108, screw rod; 109, screw sleeve; 110, lifting motor; 111, guide rod; 112, lead screw; 113, transmission motor; 114, tethering and pressing module; 115, base; 116, second rotary support; 117, second support outer ring; 118, support cylinder; 119, second drive motor; 120, lifting driving member; 121, telescopic member; 122, pressing surface; 123, pressure sensor; 124, grating device; 125, rotary motor; 126, position sensor; 200, platform surface of unmanned aerial vehicle; 201, hangar; 202, hangar access guide rail; 300, vertical take-off and landing aircraft; 301, sled; 302, harpoon structure. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer and more comprehensible, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the present application, i.e., the described examples are only a part of the examples of the present application, but not all the examples. The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations.

[0036] The following detailed description of embodiments of the application in the drawings provided is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based upon the embodiments of the application, all other embodiments that would be obtained by one skilled in the art without having to make inventive efforts fall within the scope of the application.

[0037] It should be noted that in the detailed description of the application, the relationship terms such as "first" and "second" and the like that may appear are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the terms such as "include", "contain" or any other variants that may appear 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 may appear, such as "including a", do not exclude the presence of other identical elements in the process, method, article or device including the elements, unless more limited.

[0038] In the description of the application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" that may appear should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0039] In the description of the application, unless otherwise explicitly specified and limited, the term "provided with" that may appear should be understood broadly, for example, the object "provided with" can be part of the body, or it can be arranged separately from the body and connected to the body, and the connection can be detachable or non-detachable. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0040] The application will be further described in detail below in combination with the embodiments.

[0041] Embodiment 1 of the landing aid device of the sled-type vertical take-off and landing aircraft in the application:

[0042] As Figure 1 and Figure 2As shown, the landing assisting and tethering device of the sled-type VTOL aircraft provided in the embodiment comprises a landing platform 100 and a support base 101, and the landing platform 100 is rotatably arranged on the support base 101. The landing assisting and tethering device further comprises guide rail support bodies 106 arranged on opposite sides of the landing platform 100, and the guide rail support bodies 106 are provided with guide rails, and the tethering and pressing modules 114 are movably arranged on the guide rails. After the VTOL aircraft 300 lands on the parking area of the landing platform 100, the control structure first controls the landing platform 100 to rotate, so that the sleds 301 on the opposite sides of the VTOL aircraft 300 on the landing platform 100 extend in parallel with the corresponding guide rails, and then controls the tethering and pressing modules 114 on the guide rails to press the sleds 301 on the opposite sides of the VTOL aircraft 300, so as to complete the tethering of the VTOL aircraft 300.

[0043] Specifically, as shown in the drawings, Figure 1 The landing platform 100 is a circular platform, and the middle area of the landing platform 100 is a parking area. The landing platform 100 is rotatably arranged on the support base 101 about a vertical axis, wherein the support base 101 is fixed on a trailer of an access guide rail in use, and a landing platform rotation driving mechanism is arranged between the landing platform 100 and the support base 101. The landing platform rotation mechanism can drive the landing platform 100 to rotate to adjust the attitude of the VTOL aircraft 300 on the landing platform 100. After the attitude is adjusted, the sleds 301 of the VTOL aircraft 300 are parallel to the guide rails in the guide rail support bodies 106 on opposite sides of the landing platform 100. In the embodiment, the landing platform rotation driving mechanism is a first rotation support 102, which comprises a first support inner ring (not shown in the drawings), a first support outer ring 103 and a first driving motor 105. The first support inner ring and the first support outer ring 103 are coaxially rotatably arranged, and the first support inner ring and the first driving motor 105 are fixedly installed on the support base 101. The output end of the first driving motor 105 is provided with a transmission gear, and the transmission gear is in meshing transmission with the first support outer ring 103. The first driving motor 105 drives the first support outer ring 103 to rotate about its own axis through the transmission gear. The landing platform 100 is fixedly installed on the upper end face of the first support outer ring 103, and the landing platform 100 can be driven to rotate about the vertical axis by the first driving motor 105.

[0044] In the embodiment, as shown in the drawings, Figure 1 and Figure 2As shown, two guide rail support bodies 106 are arranged on opposite sides of the take-off and landing platform 100, and are fixedly connected to the support base 101. The guide rail support bodies 106 are box-shaped structures with open upper ends and closed peripheries. The top surfaces of the guide rail support bodies 106 are below the top surface of the take-off and landing platform 100 to avoid interference with the vertical take-off and landing aircraft 300 when the vertical take-off and landing aircraft 300 lands. The two guide rail support bodies 106 are parallel to each other. A guide rail mounting frame 107 is mounted in each of the two guide rail support bodies 106. The guide rail mounting frame 107 is also square-shaped and can be relatively rotationally fixed to the guide rail support body 106. The guide rail mounting frame 107 is vertically and movably assembled in the corresponding guide rail support body 106. A guide rail driving mechanism is arranged between the guide rail mounting frame 107 and the guide rail support body 106. The guide rail driving mechanism can drive the guide rail mounting frame 107 to move up and down. In this embodiment, the guide rail driving mechanism includes a screw rod 108, a screw sleeve 109, and a lifting motor 110. The lifting motor 110 is fixed to the bottom of the guide rail support body 106. The screw sleeve 109 is fixed to the guide rail mounting frame 107. The screw sleeve 109 extends in the upward and downward directions. The upper end of the screw rod 108 is screwed into the screw sleeve 109. The lower end of the screw rod 108 is in transmission connection with the output end of the lifting motor 110. The lifting motor 110 drives the screw rod 108 to rotate to drive the screw sleeve 109 to move up and down, thereby driving the guide rail mounting frame 107 to move up and down. Of course, in actual use, since the guide rail support body 106 and the guide rail mounting frame 107 have a certain extension length, in order to ensure that the guide rail mounting frame 107 can be reliably driven to move up and down, two or more guide rail driving mechanisms can be arranged between the guide rail mounting frame 107 and the guide rail support body 106.

[0045] In this embodiment, a guide rail is assembled on the guide rail mounting frame 107. The guide rail extends in the same direction as the guide rail support body 106. The two guide rails extend in parallel to each other. A tethering and pressing module 114 is movably assembled on the two guide rails. In addition, a module driving mechanism is arranged on the guide rail mounting frame 107. The module driving mechanism is fixed relative to the guide rail. The module driving mechanism can drive the tethering and pressing module 114 to reciprocally move along the corresponding guide rail.

[0046] In this embodiment, the guide rail is a guide rod 111. A base 115 of the tethering and pressing module 114 is movably assembled on the guide rod 111. The module driving mechanism is a lead screw and nut transmission mechanism. The lead screw and nut transmission mechanism includes a lead screw 112 and a transmission motor 113. A threaded hole is formed in the base 115. The lead screw 112 passes through the base 115 of the tethering and pressing module 114. The lead screw 112 and the base 115 cooperatively form a lead screw and nut transmission structure. The output end of the transmission motor 113 is in transmission connection with the lead screw 112. The transmission motor 113 drives the lead screw 112 to rotate to drive the base 115 to reciprocally move along the guide rail. In this way, the tethering and pressing module 114 corresponding to the base 115 reciprocally moves along the guide rail. Figure 4As shown, two tie-down modules 114 are mounted on a guide rail mounting bracket 107. The screw 108 in the screw-nut transmission mechanism passes through the base 115 of the two tie-down modules 114 at the same time, so that the screw-nut mechanism can drive the two tie-down modules 114 to reciprocate along the guide rail at the same time.

[0047] In this embodiment, the tethered clamping module 114 further includes a lifting and rotating mechanism, a telescopic component 121, and a pressure rod 104. The lifting and rotating mechanism includes a second rotating support 116, a lifting drive component 120, and a support cylinder 118. The second rotating support 116 includes a second inner support ring (not shown in the figure) and a second outer support ring 117. The second inner support ring is mounted on the base 115. The support cylinder 118 is fixed on the upper side of the second outer support ring 117. The support cylinder 118 and the second outer support ring 117 are arranged coaxially. The lower side of the support cylinder 118 is provided with a connecting flange, and the connecting flange is provided with bolt through holes. The upper end face of the second outer support ring 117 is provided with bolt connection holes. The support cylinder 118 and the second outer support ring 117 are connected by bolts. A lifting drive component 120 is fixedly installed on the support cylinder 118. The lifting drive component 120 is coaxially arranged with the support cylinder 118. Specifically, the lifting drive component 120 is an electric cylinder. The motor of the lifting drive component 120 is installed inside the support cylinder 118, and the output end of the lifting drive component 120 can lift and lower. A second drive motor 119 is also installed on the base 115. The output end of the second drive motor 119 is provided with a transmission gear. The transmission gear meshes with the second support outer ring 117. The second drive motor 119 drives the second support outer ring 117 to rotate circumferentially around its own axis through the transmission gear. While the second support outer ring 117 rotates, it drives the lifting drive component 120, so that the output end of the lifting drive component 120 can not only lift and lower but also rotate, thus forming the lifting and rotating output end of the lifting and rotating mechanism.

[0048] like Figure 5 As shown, the telescopic component 121 is located on the lifting and rotating output end. A pressure rod 104 is provided on the output end of the telescopic component 121. The telescopic component 121 can drive the pressure rod 104 to extend or retract towards and away from the corresponding skid 301. Specifically, the telescopic component 121 is an electric cylinder. The telescopic component 121 is hinged to the lifting and rotating output end. The telescopic component 121 can swing relative to the lifting drive component 120 around a horizontal axis. A rotary motor 125 is mounted on the lifting drive component 120. The rotary motor 125 can drive the telescopic component 121 to swing around a horizontal hinge axis to change the angle between the pressure rod 104 and the horizontal direction. Figure 5 As shown, the end of the pressure rod 104 away from the telescopic member 121 is the pressing end. The pressing end is used to directly press the slide 301. The pressing end is provided with a pressing surface 122. The pressing surface 122 here is an arc-shaped surface. The arc-shaped surface matches the outer peripheral surface of the slide 301 to press the slide 301 downward and in the horizontal direction.

[0049] In this embodiment, the control structure comprises a position sensor 126, as shown in Figure 5 The position sensor 126 is arranged on the lower surface of the pressing rod 104, and is used to detect the specific position of the skid 301. In addition, the control structure comprises a pressure sensor 123, as shown in Figure 3 The pressure sensor 123 is arranged on the pressing surface 122, and feeds back the pressure value. The control structure determines whether the pressing surface 122 is in contact with the skid 301 according to the pressure value, so as to more accurately adjust the position of the pressing rod 104. The control structure further comprises a collection module, which can collect the information of the aircraft inertial navigation device. The aircraft inertial navigation device can determine the landing direction of the vertical take-off and landing aircraft 300. The control structure controls the rotation driving mechanism of the take-off and landing platform to drive the take-off and landing platform 100 to rotate according to the feedback of the aircraft inertial navigation device, so that the skids 301 on both sides of the vertical take-off and landing aircraft 300 are respectively parallel to the guide rails on the opposite sides of the take-off and landing platform 100.

[0050] As shown in Figure 6 The support base 101 is installed on the unmanned aerial vehicle platform surface 200. The unmanned aerial vehicle platform surface 200 is provided with a hangar 201 and an access guide rail 202. The support base 101 is slidingly assembled on the access guide rail 202. In this embodiment, as shown in Figure 1 The landing area of the take-off and landing platform 100 is provided with a grating device 124. The grating device 124 can cooperate with the harpoon structure 302 on the vertical take-off and landing aircraft 300 to assist the vertical take-off and landing aircraft 300 to land.

[0051] The landing assisting and tethering device of the sled type vertical take-off and landing aircraft provided by the present application, when in use, after the vertical take-off and landing aircraft 300 completes the task execution, receives the landing instruction of the unmanned platform intelligent system, the vertical take-off and landing aircraft 300 identifies the aircraft deck mark, adjusts the aircraft attitude, the vertical take-off and landing aircraft 300 extends the harpoon structure 302 and inserts it into the grid device 124, the vertical take-off and landing aircraft 300 starts to land on the take-off and landing platform 100, the inertial navigation device of the vertical take-off and landing aircraft 300 feeds back the landing direction, the control structure controls the take-off and landing platform rotation driving mechanism to drive the take-off and landing platform 100 to rotate, so that the two sleds 301 on both sides of the vertical take-off and landing aircraft 300 are parallel to the guide rails on both sides of the take-off and landing platform 100. At the same time, the control structure controls the guide rail driving mechanism to drive the guide rail mounting frame 107 to rise to a certain height, then the control module driving mechanism drives the two tethering and pressing modules 114 on the guide rails to move to the set position, so that the tethering and pressing modules 114 are opposite to the corresponding side of the sled 301, then the control structure controls the lifting and rotating mechanism of the corresponding tethering and pressing module 114 to act, the lifting and rotating output end is driven by the lifting driving part 120 in the lifting and rotating mechanism to extend upward to a certain height, at this time, the lifting and rotating output end is higher than the take-off and landing platform 100, the control structure judges the accurate position of the sled 301 according to the position sensor 126, controls the first rotating support 102 to rotate 90 degrees to the side where the sled 301 is located, so that the extension and retraction direction of the extension and retraction part 121 on the lifting and rotating output end is directed to the side where the sled 301 is located, then the control rotates the motor 125 to adjust the angle between the extension and retraction part 121 and the horizontal direction, so that the extension and retraction direction of the extension and retraction part 121 on the lifting and rotating output end points to the direction where the sled 301 is located, controls the extension and retraction part 121 to extend until the pressing surface 122 contacts the sled 301, adjusts the lifting and rotating mechanism through the feedback data of the pressure sensor 123 on the pressing surface 122, and completes the pressing of the sled 301 by the pressing rod 104. When the vertical take-off and landing aircraft 300 needs to take off, the control structure controls the extension and retraction part 121 to retract, the extension and retraction part 121 drives the pressing rod 104 to move away from the sled 301, the guide rail driving mechanism drives the guide rail mounting frame 107 to descend into the guide rail support body 106, then the extension and retraction part 121 and the pressing rod 104 are driven by the lifting and rotating mechanism to fall into the guide rail support body 106, at this time, the vertical take-off and landing aircraft 300 can take off normally.

[0052] It should be noted that, in order to ensure the pressing effect of the sled 301, each sled 301 corresponds to at least two tethering and pressing modules 114. Preferably, as shown in Figure 4 each guide rail is movably provided with two tethering and pressing modules 114, and the two tethering and pressing modules 114 on each guide rail correspond to one sled 301. In other embodiments, when the size of the pressing rod 104 in the tethering and pressing module 114 is large, only one tethering and pressing module 114 corresponding to the same sled 301 can be provided.

[0053] In the embodiment, both the lifting driving member 120 and the telescopic member 121 are electric push rods, in other embodiments, only one of them is an electric push rod, and the other is a hydraulic cylinder, or in other embodiments, both of them are hydraulic cylinders.

[0054] Embodiment 2 of the landing assisting and tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0055] The difference between the embodiment and embodiment 1 is that, in embodiment 1, the tethering and pressing module comprises a lifting and rotating mechanism, the lifting and rotating mechanism has a lifting and rotating output end that rotates around a vertical axis and can be lifted in the up-down direction, and the guide rail is assembled in the guide rail support body in a liftable manner. In the embodiment, the tethering and pressing module comprises a rotating mechanism, the rotating mechanism has a rotating output end that rotates around a vertical axis, and the guide rail is assembled in the guide rail support body in a liftable manner. The guide rail drives the rotating output end of the corresponding tethering and pressing module to lift in the up-down direction. In other embodiments, the tethering and pressing module comprises a lifting and rotating mechanism, the lifting and rotating mechanism has a lifting and rotating output end that rotates around a vertical axis and can be lifted in the up-down direction, and the guide rail is assembled in the guide rail support body in a fixed manner. At this time, the guide rail driving mechanism can be omitted.

[0056] Embodiment 3 of the landing assisting and tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0057] The difference between the embodiment and embodiment 1 is that, in embodiment 1, the guide rail is assembled on the guide rail support body in a liftable manner through the guide rail mounting frame. In the embodiment, the guide rail is directly assembled in the guide rail support body, and the guide rail driving mechanism is arranged between the guide rail and the guide rail support body. The guide rail driving mechanism is used to drive the guide rail to extend out of the guide rail support body and retract into the guide rail support body, so that when the guide rail moves upward, the pressing rod on the guide rail extends out of the guide rail support body to press the corresponding sled, and when the guide rail moves downward, the pressing rod on the guide rail retracts into the guide rail support body.

[0058] Embodiment 4 of the landing assisting and tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0059] The difference between the embodiment and embodiment 1 is that, in embodiment 1, the guide rail is a guide rod. In the embodiment, the guide rail is a long strip-shaped guide block, the extension direction of the guide block is consistent with the extension direction of the guide rail support body, the guide block is provided with a T-shaped guide protrusion, and the base is provided with a guide groove matched with the T-shaped guide protrusion.

[0060] Embodiment 5 of the landing assisting and tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0061] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the guide rail driving mechanism comprises a screw rod, a screw sleeve and a motor, while in the embodiment, the guide rail driving mechanism is a hydraulic cylinder, the hydraulic cylinder is fixed on the guide rail support body, the guide rail mounting frame is connected with the telescopic end of the hydraulic cylinder, and the guide rail mounting frame is driven by the hydraulic cylinder to realize the lifting in the up-down direction.

[0062] Embodiment 6 of the landing assisting tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0063] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the module driving mechanism is a screw nut transmission mechanism, while in the embodiment, the base of the tethering and pressing module is provided with a roller, the module driving mechanism is a motor, the motor is in transmission connection with the roller on the base of the tethering and pressing module, and the tethering and pressing module is driven by the motor to move along the guide rail reciprocatingly.

[0064] Embodiment 7 of the landing assisting tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0065] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the lifting driving part is arranged above the second rotary support through the supporting cylinder, while in the embodiment, the lifting driving part is arranged on the base, the output end of the telescopic driving part is provided with a supporting plate, and the second rotary support is installed on the supporting plate, at this time, the rotary end (i.e. the upper end of the second support outer ring) of the second rotary support is a lifting rotary output end, and the telescopic part is installed on the upper end of the second support outer ring.

[0066] Embodiment 8 of the landing assisting tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0067] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the telescopic part is hinged on the lifting rotary output end through the horizontal hinge shaft, and the rotary motor is arranged on the lifting rotary output end to drive the telescopic part to swing around the horizontal hinge shaft, while in the embodiment, 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.

[0068] Embodiment 9 of the landing assisting tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0069] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the guide rails in the guide rail support bodies located on the opposite sides of the landing platform are arranged in parallel, while in the embodiment, the guide rails in the guide rail support bodies located on the opposite sides of the landing platform only extend in parallel, but the two guide rails are not parallel, but the extension directions remain basically the same.

[0070] Embodiment 10 of the landing assisting tethering device of the sled-type vertical take-off and landing aircraft in the application:

[0071] The embodiment is different from the embodiment 1 in that, in the embodiment 1, the control structure comprises the collector of the aircraft inertial navigation device and the pressure sensor, but in the embodiment, the control structure comprises the photographing system and the image processing module, after the aircraft lands on the take-off and landing platform, the photographing system photographs the skid of the aircraft and then 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 controls the take-off and landing platform rotary drive mechanism to drive the take-off and landing platform to rotate to adjust the aircraft attitude, and then controls the tethering and pressing module to press the skid. The control structure can also comprise the position sensor, the control structure obtains the position of the skid according to the feedback of the position sensor, the control structure controls the take-off and landing platform rotary drive mechanism to drive the take-off and landing platform to rotate to adjust the aircraft attitude, and then controls the tethering and pressing module to press the skid.

[0072] The embodiment 11 of the landing assisting and tethering device for the skid-type vertical take-off and landing aircraft in the application:

[0073] The embodiment is different from the embodiment 1 in that, in the embodiment 1, the top surface of the guide rail support body is below the top surface of the take-off and landing platform, but in the embodiment, the top surface of the guide rail support body is flush with the top surface of the take-off and landing platform.

[0074] The embodiment 12 of the landing assisting and tethering device for the skid-type vertical take-off and landing aircraft in the application:

[0075] The embodiment is different from the embodiment 1 in that, in the embodiment 1, the control structure comprises the position sensor and the pressure sensor, but 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 tethering and pressing module to press the skid. In other embodiments, the control structure comprises the photographing system and the image processing module, after the lifting and rotating output end rises upward, the photographing system photographs the skid of the aircraft and then 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 rotation angle of the rotating motor according to the position information of the skid, then controls the rotating motor to rotate, so that the extension and retraction direction of the extension and retraction member on the lifting and rotating output end points to the direction where the skid is located, and then controls the extension and retraction member to extend to drive the pressing rod to press the skid.

[0076] The above is only the 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 landing arresting device for a skid-type vertical take-off and landing aircraft, comprising a landing platform (100), characterized in that, The mooring device further comprises a support base (101), the take-off platform (100) is rotatably assembled on the support base (101) around a vertical axis, the mooring device further comprises a take-off platform slewing driving mechanism for driving the take-off platform (100) to rotate to adjust the attitude of the aircraft; the mooring device further comprises guide rail supports (106) fixedly arranged relative to the support base (101) and located on opposite sides of the take-off platform (100), the top surface of the guide rail support (106) is flush with or below the top surface of the take-off platform (100); the guide rail support (106) is arranged with guide rails, the guide rails in the oppositely arranged two guide rail supports (106) extend in parallel and, in use, extend in parallel with the skids (301) of the aircraft after the attitude is adjusted; the mooring and pressing module (114) is movably assembled on each guide rail, the guide rail support (106) is further provided with a module driving mechanism for driving the mooring and pressing module (114) to reciprocally move along the corresponding guide rail, the module driving mechanism is fixedly arranged relative to the guide rail; the mooring and pressing module (114) comprises a base (115) slidably assembled on the guide rail and a slewing mechanism mounted on the base (115), the slewing mechanism has a slewing output end that rotates around a vertical axis, the slewing output end is provided with an extension piece (121), the extension piece (121) is used to drive the pressing rod (104) to perform extension and retraction actions towards and away from the corresponding skid (301), the extension piece (121) is provided with a pressing rod (104), the pressing rod (104) has a pressing surface (122) for pressing the skid (301); the guide rail is vertically and liftably assembled on the guide rail support (106) and is provided with a guide rail driving mechanism for driving the guide rail to lift, and / or the slewing mechanism is a lifting slewing mechanism so that the slewing output end is a lifting slewing output end, the guide rail driving mechanism and / or the lifting slewing mechanism are used to drive the pressing rod (104) to retract into the guide rail support (106) and extend upwards out of the guide rail support (106) and press on the skid (301); the mooring device further comprises a control structure for controlling the actions of each mechanism.

2. The landing assisting tethering device for a skid-type VTOL aircraft according to claim 1, characterized by, The guide rail support (106) is provided with a guide rail mounting rack (107), the guide rail mounting rack (107) is vertically and liftably assembled on the guide rail support (106), the guide rail and the module driving mechanism are arranged on the guide rail mounting rack (107), and the guide rail driving mechanism is used to drive the guide rail mounting rack (107) to liftably move.

3. A landing assist tether for a skid-type VTOL aircraft as set forth in claim 2, characterized in that, The guide rail mounting rack (107) is rotationally assembled on the guide rail support (106), the guide rail driving mechanism comprises a screw rod (108), a screw sleeve (109) and a motor, the screw sleeve (109) is fixedly arranged on the guide rail mounting rack (107), the motor is arranged on the guide rail support (106), one end of the screw rod (108) is screwed into the screw sleeve (109), and the other end is in transmission connection with the output end of the motor, and the motor drives the screw sleeve (109) to liftably move to drive the guide rail mounting rack (107) to liftably move.

4. A landing arresting gear for a ski-jump VSTOL aircraft according to any one of claims 1-3, characterised in that, The lifting rotary mechanism comprises a support cylinder (118) which is assembled on the base (115) by rotary support around a vertical axis, and a lifting driving element (120) is arranged on the support cylinder (118), the lifting driving element (120) is connected with the telescopic element (121), and the lifting rotary output end is located on the lifting driving element (120).

5. A landing arresting gear for a ski-jump VSTOL aircraft according to any one of claims 1-3, characterised in that, The control structure comprises a pressure sensor (123) arranged on the pressing surface (122), and the pressure sensor (123) on the pressing surface (122) is used for detecting the pressing condition between the pressing rod (104) and the sliding plate (301).

6. A landing assist tether for a skid vertical take-off and landing aircraft as claimed in any one of claims 1 to 3, characterised in that, At least two of the mooring and pressing modules (114) are movably arranged on the same guide rail, the module driving mechanism is a lead screw nut transmission mechanism, the lead screw nut transmission mechanism comprises a lead screw (112) and a transmission motor (113), the lead screw (112) is threaded through the bases (115) of the at least two mooring and pressing modules (114) and is in transmission connection with the transmission motor (113), and the transmission motor (113) drives the corresponding mooring and pressing module (114) corresponding to the base (115) to move back and forth along the corresponding guide rail by rotating the lead screw (112).

7. The landing assist tether of a skid-type VTOL aircraft according to any one of claims 1-3, wherein, The telescopic element (121) is hinged on the rotary output end around a horizontal axis, and a rotary motor (125) is arranged on the rotary mechanism to drive the telescopic element (121) to swing around the horizontal axis.

8. The landing assist tether of a skid-type VTOL aircraft according to any one of claims 1-3, wherein, At least two mooring and pressing modules (114) are arranged on each guide rail.

9. The landing assist tether of a skid-type VTOL aircraft according to any one of claims 1-3, wherein, The control structure comprises a position sensor (126) which is arranged on the pressing rod (104) and is used for detecting the position of the sliding plate (301).

10. The landing assist tether of a skid-type VTOL aircraft according to any one of claims 1-3, wherein, The guide rails in the guide rail support bodies (106) located on opposite sides of the taking-off and landing platform (100) are arranged in parallel. The lifting rotary mechanism comprises a support cylinder (118) which is assembled on the base (115) by rotary support around a vertical axis, and a lifting driving element (120) is arranged on the support cylinder (118), the lifting driving element (120) is connected with the telescopic element (121), and the lifting rotary output end is located on the lifting driving element (120).

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