A skid-type vertical take-off and landing aircraft sliding pressure rod type landing assisting tether device

Abstract

The present application relates to a kind of sled type vertical take-off and landing aircraft sliding pressure rod type landing aid tether device, the landing aid tether device includes the take-off and landing platform being provided with parking area, at least two tethering compression modules are arranged around parking area on take-off and landing platform, each tethering compression module is used to cooperate with the sled of the two sides of compression aircraft, tethering compression module includes the support shell installed in the bottom of take-off and landing platform, lifting rotary mechanism is installed in support shell, lifting rotary mechanism has lifting rotary output end, pressure rod is provided on lifting rotary output end, base and base drive mechanism are provided on support shell, lifting rotary mechanism is fixedly installed on base to make base drive mechanism drive pressure rod action, long hole or long slot is provided on take-off and landing platform corresponding each tethering compression module to make pressure rod upwardly extend take-off and landing platform, landing aid tether device further includes control structure.The landing aid tether device provided in the present application solves the technical problem that the existing art tethering device is higher in parking precision requirement.

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 discloses a kind of charging take-off and landing platform for tethered unmanned aerial vehicle, which includes unmanned aerial vehicle landing platform, and the landing platform is provided with telescopic pull and pressure piece around the parking area of unmanned aerial vehicle landing platform, when unmanned aerial vehicle lands in the parking area of landing platform, each telescopic pull and pressure piece is contracted and pulls and presses the skid (i.e. landing gear in this patent) of unmanned aerial vehicle to be positioned, so as to complete the tethering of unmanned aerial vehicle. Compared with the positioning type landing platform for tethered unmanned aerial vehicle described above, the charging take-off and landing platform has lower requirements for the landing accuracy of unmanned aerial vehicle, but the skid of unmanned aerial vehicle still needs to be aligned with each telescopic pull and pressure piece when landing. If the skid of unmanned aerial vehicle has a certain deflection angle when landing in the parking area, the telescopic pull and pressure piece may not be able to press the skid of unmanned aerial vehicle tightly when contracting, resulting in tethering failure of unmanned aerial vehicle. SUMMARY

[0005] The purpose of the present application is to provide a skid type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device to solve the technical problem of high landing accuracy requirement of the tethering device in the prior art, which easily leads to tethering failure.

[0006] In the present application, the skid type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device adopts the following technical scheme:

[0007] The skid type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device includes a landing platform, the landing platform is provided with a parking area, and at least two tethering and pressing modules are arranged around the parking area on the landing platform. Each tethering and pressing module is used to press the skids on both sides of the aircraft. The tethering and pressing module includes a support shell installed at the bottom of the landing platform. A lifting and rotating mechanism is installed in the support shell. The lifting and rotating mechanism has a lifting and rotating output end that can be lifted in the up-down direction and can rotate around a vertical axis. A pressure rod is provided on the lifting and rotating output end. The pressure rod is provided with a pressing surface for pressing the skid. A base that can move towards and away from the corresponding skid is provided on the support shell. A base drive mechanism is provided to drive the base to move. The lifting and rotating mechanism is fixedly installed on the base so that the base drive mechanism drives the pressure rod to move towards and away from the corresponding skid. Long holes or long slots are provided on the landing platform corresponding to each tethering and pressing module to allow the pressure rod to extend upwards out of the landing platform. The extension direction of the long hole or long slot is consistent with the sliding direction of the corresponding base. The landing aid tethering device further includes a control structure for controlling the action of the lifting and rotating mechanism and the base drive mechanism to drive the pressure rod to press the corresponding skid.

[0008] Beneficial effects: the sliding pressure rod type landing aid of the skid type VTOL aircraft provided by the present application uses the control structure to control the lifting and rotating mechanism and the base driving mechanism to drive the pressure rod to press the skid of the aircraft after the aircraft lands on the parking area of the landing platform, and the aircraft is tied up, compared with the existing technology, the aircraft needs to be accurately landed on the specified position on the parking area to cooperate with the corresponding tie-up device, the tie-up and pressing module of the tie-up device provided by the present application cooperates the pressure rod with the skid through lifting, rotating and moving, has higher freedom, and has lower landing accuracy requirement for the aircraft; in addition, the long hole or long groove structure is arranged on the landing platform, the tie-up and pressing module is arranged below the landing platform, and the skid of the aircraft does not interfere with the skid of the aircraft when the aircraft lands, only when the tie-up, the extension piece and the pressure rod of the tie-up and pressing module are stretched out from the corresponding long hole or long groove structure to press the skid, which further reduces the landing accuracy requirement for the aircraft. In the landing aid of the present application, the base and the lifting and rotating mechanism can be driven to move, even if the skid falls on the long hole or long groove when the aircraft lands, the base and the lifting and rotating mechanism can be moved to the position not corresponding to the skid by moving as a whole, and then the lifting and rotating mechanism is driven to work to ensure that each tie-up and pressing module can work.

[0009] Further, the support shell is connected with the parts of the landing platform located on both sides of the corresponding long hole or long groove.

[0010] Beneficial effects: the arrangement of the long hole or long groove will reduce the structural strength of the landing platform, and the connection of the support shell with the parts of the landing platform located on both sides of the corresponding long hole or long groove can strengthen the connection of the parts on both sides of the long hole or long groove, thereby improving the structural strength of the landing platform.

[0011] Further, the support shell is a box-shaped structure with an open upper end and a closed periphery, and the upper end of the support shell is connected to the bottom of the landing platform.

[0012] Beneficial effects: the support shell is a box-shaped structure, and the connection part with the landing platform is larger, so the effect of improving the structural strength of the landing platform is more obvious, and the structural strength of the box-shaped structure itself is also larger, which is beneficial to the installation and fixation of the lifting and rotating mechanism, the base and the base driving mechanism.

[0013] Further, the tie-up and pressing module is provided with at least two corresponding each skid.

[0014] Beneficial effects: the tie-up 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.

[0015] Further, the control structure comprises a position sensor for detecting the position of the skid, and the position sensor is arranged on the pressure rod.

[0016] Beneficial effects: the control structure can more accurately determine the position of the aircraft skid by using the position sensor, thereby more accurately controlling the lifting and rotating mechanism and the telescopic member to compress the skid; in addition, the sensor has the characteristics of small size and easy installation, which helps to improve the overall integration of the landing aid retaining device.

[0017] Further, the control structure comprises a pressure sensor arranged on the compression surface, which is used to detect the compression condition between the compression rod and the skid.

[0018] Beneficial effects: the control structure can determine whether the compression surface is compressed with the skid according to the pressure sensor, and then control the lifting and rotating mechanism and the telescopic member to adjust the position of the compression rod, so that the compression rod can better compress the skid.

[0019] Further, the control structure further comprises a pressure sensor at the top of the compression rod, which is used to detect the position of the skid. When the skid falls on the corresponding retaining and compressing module, the pressure sensor at the top of the compression rod is in contact with the skid after the lifting and rotating mechanism drives the compression rod to rise, and the corresponding base driving mechanism is controlled to drive the base to move so that the compression rod avoids the skid.

[0020] Beneficial effects: the compression rod needs to be stretched out upward from the long hole or long slot on the landing platform when compressing the skid. If the skid of the aircraft blocks the long hole or long slot on the landing platform and is located above the compression rod when landing, the controller can control the base driving mechanism to drive the base to slide to make the compression rod avoid the skid according to the feedback of the pressure sensor, so as to ensure that the compression rod can normally stretch out to complete the compression of the skid.

[0021] Further, the lifting and rotating mechanism comprises a support cylinder, which is assembled on the base through a rotating support around a vertical axis. The support cylinder is provided with a lifting driving member, and the lifting driving member is connected with the compression rod. The lifting and rotating output end is located on the lifting driving member.

[0022] Beneficial effects: the lifting and rotating mechanism adopts the cooperation of the rotating support and the lifting driving member to realize the lifting and rotation of the lifting and rotating output end, which has a relatively simple structure and is convenient for processing and assembly.

[0023] Further, the landing aid retaining device further comprises a support base, and the landing platform is rotatably installed on the support base.

[0024] Beneficial effects: the aircraft needs to enter the hangar after landing on the landing platform. By rotating the landing platform, the aircraft can be adjusted to the best entry angle.

[0025] Further, a grating device is installed at the parking area of the landing platform, which is used to cooperate with the fish structure on the aircraft to complete the landing.

[0026] Beneficial effects: the grating device can assist the aircraft to land in cooperation with the harpoon structure on the aircraft, and can temporarily fix the aircraft, facilitating the control mechanism to control the pressing rod to press the skid. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic view of the tethered aircraft of the skid type vertical take-off and landing aircraft sliding pressing rod type landing assisting tethering device provided by the application;

[0028] Figure 2 is Figure 1 a structural schematic view of the pressing and tightening module in the application;

[0029] Figure 3 is Figure 2 a structural schematic view of the lifting driving member and the pressing rod in the application;

[0030] Figure 4 is Figure 3 a schematic view of the pressing end of the pressing rod in the application;

[0031] Figure 5 is a schematic view of the aircraft landing on Figure 1 the skid type vertical take-off and landing aircraft sliding pressing rod type landing assisting tethering device;

[0032] Figure 6 is Figure 1 a schematic view of the skid type vertical take-off and landing aircraft sliding pressing rod type landing assisting tethering device installed on the unmanned aerial vehicle platform surface.

[0033] The names of the corresponding components corresponding to the corresponding reference signs in the drawings are:

[0034] 100, landing platform; 101, long groove; 102, tethering and pressing module; 103, support shell; 104, base; 105, guide rod; 106, transmission motor; 107, screw; 108, first rotary support; 109, first support outer ring; 110, first driving motor; 111, support cylinder; 112, lifting driving member; 113, lifting rotary output end; 114, pressing rod; 115, pressing surface; 116, position sensor; 117, first pressure sensor; 118, second pressure sensor; 119, grating device; 200, support base; 201, second rotary support; 202, second support outer ring; 300, unmanned aerial vehicle platform surface; 301, hangar; 302, in-out hangar guide rail; 400, aircraft; 401, skid; 402, harpoon structure. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and are not intended to limit the present application, i.e., the described embodiments are only a part 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 accompanying drawings can be arranged and designed in various different configurations.

[0036] Therefore, the detailed description of the embodiments of the present application provided below in the accompanying drawings 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 making creative efforts fall within the scope of the present application.

[0037] 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 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 sequence between the entities or operations. Moreover, the terms such as "include", "contain" or any other variants that can 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 can 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 present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" that can appear should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; 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.

[0039] In the description of the present application, unless otherwise explicitly specified and limited, the term "provided with" that can appear should be understood broadly, for example, the object "provided with" can be a 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.

[0040] The application will be further described in detail in connection with the following examples.

[0041] Embodiment 1 of the sled-type VTOL aircraft sliding pressure bar type landing aid tether device in the application:

[0042] The sled-type VTOL aircraft sliding pressure bar type landing aid tether device provided by the embodiment includes a landing platform 100, the landing platform 100 is provided with a parking area for the landing of the aircraft 400, and a plurality of tethering and pressing modules 102 are arranged around the parking area on the landing platform 100, each tethering and pressing module 102 is used to cooperate with the pressing of the sleds 401 on both sides of the aircraft 400, the tethering and pressing module 102 can reciprocate towards and away from the corresponding sled 401, and the landing aid tether device further includes a control structure, after the aircraft 400 lands at the parking area, the control structure controls the tethering and pressing module 102 to move towards the corresponding sled 401 and makes the tethering and pressing module 102 press the sled 401, thereby completing the tethering of the aircraft 400.

[0043] Specifically, as shown in Figure 1 , the landing platform 100 is a circular platform, the central area of the landing platform 100 is the parking area, the tethering and pressing modules 102 are arranged at the bottom of the landing platform 100, the number of the tethering and pressing modules 102 is eight, and the eight tethering and pressing modules 102 are arranged around the parking area at intervals. The structure of the tethering and pressing module 102 is shown in Figure 2 , the tethering and pressing module 102 includes a support shell 103 and a lifting and rotating mechanism installed in the support shell 103, the support shell 103 is a long strip-shaped box-shaped structure with an open upper end and a closed periphery, the upper end of the support shell 103 is fixedly connected with the bottom of the landing platform 100, a guide rod 105 and a base 104 are installed in the support shell 103, the extension direction of the guide rod 105 is consistent with the length direction of the support shell 103, the base 104 is movably assembled on the guide rod 105, and the base 104 can reciprocate towards and away from the corresponding sled 401, a base driving mechanism is further installed in the support shell 103, and the base driving mechanism can drive the base 104 to reciprocate towards and away from the corresponding sled 401. The lifting and rotating mechanism is fixedly assembled on the base 104, and the lifting and rotating mechanism can reciprocate towards and away from the corresponding sled 401 through the base 104.

[0044] In the embodiment, the base driving mechanism is specifically a screw nut transmission mechanism, the screw nut transmission mechanism comprises a lead screw 107, a base 104, guide rods 105 and a transmission motor 106 (not shown in the figure), the extension direction of the lead screw 107 is consistent with the moving direction of the base 104, the base 104 is screw-fitted on the lead screw 107, the guide rods 105 are arranged in two at intervals in the width direction of the support shell 103, the extension directions of the two guide rods 105 are consistent, the guide rods 105 guide the base 104 at the same time and limit the rotation of the base 104 with the lead screw 107, so that the base 104 can only move in the extension direction of the lead screw 107 when the lead screw rotates, the output end of the transmission motor 106 is in transmission connection with the lead screw 107, and the transmission motor 106 drives the lead screw 107 to rotate clockwise and counterclockwise to realize the reciprocating movement of the base 104 in the direction of approaching and moving away from the corresponding slide 401.

[0045] In the embodiment, as shown in Figure 2 , the lifting and rotating mechanism comprises a first rotating support 108, a lifting driving part 112 and a support cylinder 111, the first rotating support 108 comprises a first support inner ring (not shown in the figure) and a first support outer ring 109, the first support inner ring is installed on the base 104, the support cylinder 111 is fixed on the upper side of the first support outer ring 109, the support cylinder 111 is coaxially arranged with the first support outer ring 109, the lower side of the support cylinder 111 is provided with a connecting flange, the connecting flange is provided with a bolt through hole, the upper end face of the first support outer ring 109 is provided with a bolt connection hole, and the support cylinder 111 and the first support outer ring 109 are connected through the bolt. The lifting driving part 112 is fixedly installed on the support cylinder 111, the lifting driving part 112 is coaxially arranged with the support cylinder 111, the lifting driving part 112 is specifically an electric cylinder, the motor of the lifting driving part 112 is installed inside the support cylinder 111, and the output end of the lifting driving part 112 is a lifting and rotating output end 113 of the lifting and rotating mechanism. In addition, the base 104 is also provided with a first driving motor 110, the output end of the first driving motor 110 is provided with a transmission gear, the transmission gear is in meshing transmission with the first support outer ring 109, the first driving motor 110 drives the first support outer ring 109 to rotate around the axis thereof through the transmission gear, the first support outer ring 109 drives the lifting and rotating output end 113 to rotate around the vertical axis at the same time, and the lifting driving part 112 drives the lifting and rotating output end 113 to lift in the up-down direction.

[0046] In the embodiment, as shown in Figure 2 , the lifting and rotating output end 113 is provided with a pressing rod 114, the pressing rod 114 is fixedly assembled with the lifting and rotating output end 113, and the extension direction of the pressing rod 114 is perpendicular to the lifting direction of the lifting and rotating output end 113. As shown in Figure 2 and Figure 3As shown, the end of the pressing rod 114 away from the lifting rotary output end 113 is a pressing end, which is used to directly press the sled 401. The pressing end is provided with two mutually perpendicular pressing surfaces 115, which press the sled 401 downward and horizontally, respectively.

[0047] In this embodiment, as shown in Figure 1 As shown, the landing platform 100 is provided with a long slot 101 corresponding to each tethering and pressing module 102. The long slot 101 is aligned with the upper end opening of the support shell 103 of the tethering and pressing module 102, and the extension direction of the long slot 101 is consistent with the sliding direction of the base 104 of the corresponding tethering and pressing module 102. The size of the long slot 101 is adapted to the sliding distance of the corresponding base 104. Here, the adaptation means that when the base 104 is located in the sliding stroke, the pressing rod 114 of the lifting rotary mechanism on the corresponding base 104 can be extended upward through the long slot 101 to the landing platform 100. In addition, in order to ensure the support strength of the landing platform 100, when the upper end of the support shell 103 is connected with the landing platform 100, the portions on both sides of the long slot 101 are connected through the end edges of the corresponding upper end openings of the support shell 103, so that the support shell 103 can provide upward support for the portions on both sides of the long slot 101.

[0048] In this embodiment, the control structure includes a position sensor 116, as shown in Figure 2 and Figure 3 The position sensor 116 is arranged on the lower surface of the pressing rod 114, and is used to detect the specific position of the sled 401. In addition, the control structure further includes a first pressure sensor 117 and a second pressure sensor 118, as shown in Figure 4 The first pressure sensor 117 is arranged on the two mutually perpendicular pressing surfaces 115, and feeds back a pressure value to the control structure. The control structure judges whether the pressing surfaces 115 are in contact with the sled 401 according to the pressure value, so as to more accurately adjust the position of the pressing rod 114. As shown in Figure 3 The second pressure sensor 118 is arranged at the upper surface of the pressing rod 114. As shown in Figure 5As shown, before the skid 401 is pressed, the pressing rod 114 is located in the long slot 101 on the take-off and landing platform 100, and when the aircraft 400 lands on the take-off and landing platform 100, the pressing rod 114 is extended from the corresponding long slot under the drive of the lifting drive 112. 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 the corresponding pressing rod 114. This makes the corresponding pressing rod 114 unable to normally extend upward. The pressure value fed back by the second pressure sensor 118 can determine which pressing rod 114 cannot normally extend, so as to control the corresponding base 104 to move to avoid the skid 401, so that the pressing rod 114 can normally extend upward to press the skid 401.

[0049] In the embodiment, as shown in the figure, Figure 5 The take-off and landing platform 100 is rotatably installed on the support base 200 around its own axis, and the support base 200 comprises a base (not shown in the figure), a second rotary support 201 and a second drive motor (not shown in the figure). The second rotary support 201 comprises a second support inner ring (not shown in the figure) and a second support outer ring 202, and 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, and the output end of the second drive motor is provided with a transmission gear. The transmission gear is in meshing transmission with the second support outer ring 202. The second drive motor drives the second support outer ring 202 to rotate circumferentially through the transmission gear. The take-off and landing platform 100 is fixedly installed on the upper end face of the second support outer ring 202, and the second drive motor can drive the take-off and landing platform 100 to rotate around its own axis. In the embodiment, as shown in the figure, Figure 6 The take-off and landing platform 100 is installed on the unmanned aerial vehicle platform surface 300 through the support base 200. The unmanned aerial vehicle platform surface 300 is provided with a hangar 301 and an in-out hangar guide rail 302. The support base 200 is assembled on the in-out hangar guide rail 302 through the base and can slide along the in-out hangar guide rail 302. Since the width of the hangar 301 is limited, in order to facilitate the aircraft 400 to enter the hangar 301 after the tethering is completed, the in-out angle of the aircraft 400 can be adjusted by rotating the take-off and landing platform 100.

[0050] In the embodiment, as shown in the figure, Figure 1 and Figure 5As shown, the grid device 119 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. The sliding pressure rod type landing assisting and mooring device of the sled type vertical take-off and landing aircraft provided by the present application is used in the following manner: first, the aircraft 400 completes landing by matching the grid device 119 with the fish structure 402, then the control structure controls the lifting and rotating mechanism of the corresponding mooring and pressure compacting module 102 to act, the lifting drive 112 in the lifting and rotating mechanism drives the pressure rod 114 to extend upwardly out of the take-off and landing platform 100, and then the first rotating support 108 drives the pressure rod 114 on the lifting and rotating output end 113 to rotate, when the extension direction of the pressure rod 114 points to the sled 401, the first rotating support 108 stops rotating, then the control structure controls the base drive mechanism to drive the base 104 to move towards the direction of the sled 401, so that the pressure rod 114 compacts the sled 401, during the compacting process, the vertical compacting surface 115 is first compacted on the sled 401, and then the lifting drive 112 drives the pressure rod 114 to move downwardly, so that the horizontal compacting surface 115 is compacted on the sled 401, and the mooring of the aircraft 400 is completed. When the aircraft 400 needs to take off, the control structure controls the base 104 to move away from the direction of the sled 401, so that the pressure rod 114 releases the compacting of the sled 401, and then the lifting and rotating mechanism drives the pressure rod 114 to fall into the corresponding long slot 101, at this time, the aircraft 400 can take off normally.

[0051] It should be noted that, in order to ensure the compacting effect on the sled 401, each sled 401 corresponds to at least two mooring and pressure compacting modules 102. Preferably, the mooring and pressure compacting module 102 is six, as shown in Figure 1 As shown, each sled 401 corresponds to three mooring and pressure compacting modules 102. As shown in Figure 1 As shown, the long slot not connected with the grid device 119 directly penetrates the take-off and landing platform 100.

[0052] In other embodiments, the number of mooring and pressure compacting modules 102 corresponding to each sled 401 can be increased, and the mooring and pressure compacting module 102 can be eight, and each sled 401 corresponds to four mooring and pressure compacting modules 102.

[0053] Embodiment 2 of the sliding pressure rod type landing assisting and mooring device of the sled type vertical take-off and landing aircraft in the present application:

[0054] The difference between this embodiment and embodiment 1 is that, in embodiment 1, six mooring and pressure compacting modules are arranged on the take-off and landing platform. In this embodiment, only two mooring and pressure compacting modules are arranged on the take-off and landing platform, and correspondingly, two long slots are provided on the take-off and landing platform corresponding to the two mooring and pressure compacting modules, and the two mooring and pressure compacting modules correspond to the sleds on one side of the aircraft respectively, in order to ensure the compacting effect on the sleds, the pressure rod in the mooring and pressure compacting module in this embodiment adopts a larger area pressure rod.

[0055] Embodiment 3 of the sled-type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device in the application:

[0056] The difference between this embodiment and embodiment 1 is that, in embodiment 1, a long slot is arranged on the landing platform corresponding to each tethering and pressing module. In this embodiment, a long hole is arranged on the landing platform corresponding to each tethering and pressing module, the extension direction of the long hole is consistent with the sliding direction of the corresponding base, and the size of the long hole is adapted to the size of the pressure rod so that the pressure rod can normally extend.

[0057] Embodiment 4 of the sled-type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device in the application:

[0058] The difference between this embodiment and embodiment 1 is that, in embodiment 1, the pressure rod is fixed on the lifting rotary output end and the extension direction of the pressure rod is perpendicular to the lifting direction of the lifting rotary output end. In this embodiment, the pressure rod is hingedly installed on the lifting rotary output end through a horizontal hinge shaft, the pressure rod can swing around the horizontal hinge shaft, and a motor for driving the pressure rod to swing is arranged between the lifting rotary output end and the pressure rod. When pressing the sled, the control structure controls the angle of the pressure rod with the horizontal direction by controlling the motor, so as to adjust the pressing angle of the pressure rod when pressing the sled.

[0059] Embodiment 5 of the sled-type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device in the application:

[0060] The difference between this embodiment and embodiment 1 is that, in embodiment 1, the base driving mechanism is a screw nut transmission mechanism. In this embodiment, the bottom of the base is provided with a roller, the base moves back and forth along the direction towards and away from the corresponding sled through the roller, and the base driving mechanism is an electric motor. The electric motor and the roller are in transmission connection, and the electric motor can drive the roller to rotate, so that the roller drives the base to move back and forth along the direction towards and away from the corresponding sled.

[0061] Embodiment 6 of the sled-type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device in the application:

[0062] The difference between this embodiment and embodiment 1 is that, in embodiment 1, the lifting driving part is arranged above the first rotary support through a support cylinder. In this embodiment, the lifting driving part is arranged on the base, a support plate is installed on the output end of the lifting 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 pressure rod is fixedly installed on the upper end of the first support outer ring.

[0063] Embodiment 7 of the sled-type vertical take-off and landing aircraft sliding pressure rod type landing aid tethering device in the application:

[0064] The difference between the embodiment and the embodiment 1 is that the lifting driving part is an electric cylinder in the embodiment 1.

[0065] Embodiment 8 of the sliding pressure rod type landing assisting and retaining device for the sled type vertical take-off and landing aircraft in the application:

[0066] The difference between the embodiment and the embodiment 1 is that the landing platform is rotatably installed on the support base in the embodiment 1, 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.

[0067] Embodiment 9 of the sliding pressure rod type landing assisting and retaining device for the sled type vertical take-off and landing aircraft in the application:

[0068] The difference between the embodiment and the embodiment 1 is that the support shell is a box-shaped structure with an open upper end in the embodiment 1; 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 landing platform, the support plate is provided with a guide sliding rail, the base is guide-fitted on the guide sliding rail, and the base can reciprocate on the guide sliding rail in the direction towards and away from the corresponding sled.

[0069] Embodiment 10 of the sliding pressure rod type landing assisting and retaining device for the sled type vertical take-off and landing aircraft in the application:

[0070] The difference between the embodiment and the embodiment 1 is that the pressure rod is provided with two perpendicular pressure surfaces in the embodiment 1; in the embodiment, the pressure surface on the pressure rod is an arc surface, the arc surface can be adapted to the outer peripheral surface of the sled, and the arc-shaped pressure surface can simultaneously press the sled downward and in the horizontal direction when the sled is pressed.

[0071] Embodiment 11 of the sliding pressure rod type landing assisting and retaining device for the sled type vertical take-off and landing aircraft in the application:

[0072] The difference between the embodiment and the embodiment 1 is that the control structure comprises the position sensor and the first and second pressure sensors in the embodiment 1; in the embodiment, the control structure only comprises the position sensor, the control structure detects the position of the sled through the position sensor and controls the retaining and pressing module to press the sled. In other embodiments, the control structure comprises a photographing system and an image processing module, the photographing system photographs the sled of the aircraft after the aircraft lands on the landing platform, transmits the image information to the image processing module, the image processing module obtains the position of the sled according to the image information processing, the control structure calculates the movement track of the lifting rotating mechanism and the base according to the position information of the sled, and then controls the lifting rotating mechanism and the base to move to drive the pressure rod to press the sled.

[0073] The above merely describes preferred embodiments of the present application and is not used to limit the present application, and the patent protection scope of the present application is subject to the claims, and any equivalent structural changes made according to the content of the specification and drawings of the present application should also be included in the protection scope of the present application.

Claims

1. A skid vertical take-off and landing aircraft sliding pressure bar assisted landing tethering device comprising a take-off and landing platform (100) provided with a parking area, characterized in that, The at least two mooring and pressing modules (102) are arranged around the parking area on the landing platform (100), each of the mooring and pressing modules (102) is used for cooperating with the skids (401) on both sides of the airplane (400), the mooring and pressing module (102) comprises a supporting shell (103) installed on the bottom of the landing platform (100), a lifting and rotating mechanism is installed in the supporting shell (103), the lifting and rotating mechanism has a lifting and rotating output end (113) which can be lifted in the up-down direction and can rotate around a vertical axis, a pressing rod (114) is arranged on the lifting and rotating output end (113), a pressing surface (115) for pressing the skid (401) is arranged on the pressing rod (114), a base (104) which can reciprocate in the direction towards and away from the corresponding skid (401) is arranged on the supporting shell (103), a base driving mechanism is arranged for driving the base (104) to move, the lifting and rotating mechanism is fixedly installed on the base (104) so that the base driving mechanism drives the pressing rod (114) to move towards and away from the corresponding skid (401), a long hole or long slot (101) is arranged on the landing platform (100) corresponding to each of the mooring and pressing modules (102) to allow the pressing rod (114) to extend upwards out of the landing platform (100), the extension direction of the long hole or long slot (101) is consistent with the sliding direction of the corresponding base (104), the landing aid mooring device further comprises a control structure for controlling the actions of the lifting and rotating mechanism and the base driving mechanism to drive the pressing rod (114) to press the corresponding skid (401), the control structure comprises a position sensor (116) arranged on the pressing rod (114) for detecting the position of the skid (401).

2. The sled Vtol aircraft sliding compression strut tethered landing aid of claim 1 wherein, The control structure comprises a pressure sensor arranged on the pressing surface (115), the pressure sensor on the pressing surface (115) is used for detecting the pressing condition between the pressing rod (114) and the skid (401).

3. The sled Vtol aircraft sliding compression strut tethered landing aid of claim 1 wherein, The control structure further comprises a pressure sensor arranged on the top of the pressing rod (114), the pressure sensor on the top of the pressing rod (114) is used for detecting the position of the skid (401), when the skid (401) falls on the corresponding mooring and pressing module (102), the pressure sensor on the top of the pressing rod (114) contacts the skid (401) after the lifting and rotating mechanism drives the pressing rod (114) to rise, and the corresponding base driving mechanism is controlled to drive the base (104) to move so that the pressing rod (114) avoids the skid (401).

4. The sled Vtol aircraft sliding compression strut tethered landing aid of claim 1 wherein, The mooring and pressing module (102) is provided with at least two corresponding skids (401).

5. The sled Vtol aircraft sliding compression strut tethering device of any one of claims 1-4, wherein, The lifting and rotating mechanism comprises a supporting cylinder (111) which is assembled on the base (104) by rotating support around a vertical axis, a lifting driving part (112) is arranged on the supporting cylinder (111), the lifting driving part (112) is connected with the pressing rod (114), and the lifting and rotating output end (113) is located on the lifting driving part (112).

6. The sled Vtol aircraft sliding compression strut tethering device of any one of claims 1-4, wherein, The landing platform (100) is provided with a grid device (119) at a parking area, which is used to cooperate with a fish structure (402) on the airplane (400) to complete landing.

7. The skid fin VTOL aircraft sliding compression strut tethered landing aid of any one of claims 1-4, wherein, The support shell (103) is connected with the part of the landing platform (100) located on both sides of the corresponding long hole or long slot (101).

8. The sled Vtol aircraft sliding compression strut tethered landing aid of claim 7 wherein, The support shell (103) is a box-shaped structure with an open upper end and a closed periphery, and the upper end of the support shell (103) is connected to the bottom of the landing platform (100).

9. The skid fin VTOL aircraft sliding compression strut tethered landing aid of any one of claims 1-4, wherein, The landing assisting tethering device further comprises a support base (200), and the landing platform (100) is rotatably installed on the support base (200).

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