Medium and large unmanned aerial vehicle launching reset device and unmanned aerial vehicle launching method

Abstract

The invention relates to the technical field of unmanned aerial vehicle launching, in particular to a medium-large unmanned aerial vehicle launching reset device and a method for launching an unmanned aerial vehicle. The launching reset device comprises a driving structure, a transmission structure and a reset structure, the transmission structure comprises a main shaft connected with the driving structure, a first clutch, a first rotating wheel, a second rotating wheel and a second clutch, the first clutch, the first rotating wheel, the second rotating wheel and the second clutch are arranged on the main shaft, the first clutch and the first rotating wheel are arranged in a linkage mode, and the second clutch and the second rotating wheel are arranged in a linkage mode; the first clutch and the second clutch do not work at the same time; the front end and the rear end of the tackle in the launching direction are connected with the first rotating wheel and the second rotating wheel through a first traction piece and a second traction piece respectively, and a steering structure is arranged on the first traction piece. The invention provides a launching reset device for medium and large unmanned aerial vehicles and a method for launching the unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) launching, and in particular to a medium-to-large-sized UAV launching and resetting device and a method for launching a UAV. Background Art

[0002] Since medium and large UAVs have the advantages of high altitude and long flight time, real-time image transmission, small radar reflection surface, large mission load, and flexible operation and use, their proportion in weapon equipment systems will be higher in the near future. Therefore, achieving safe and reliable takeoff of medium and large UAVs is one of the keys to the UAV tactics on the battlefield, and it is also a hot issue in current research. The key is the motor as the driving force, which controls the on and off of the clutch to complete the acceleration and reset of the UAV. The reset of existing small UAVs is automatically achieved by the pulley under the action of gravity. This process requires the launch track to be tilted, which is only suitable for small UAVs and short tracks, and not for the reset of large and medium-sized UAVs. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the UAV launching device in the prior art is not suitable for medium and large UAVs, thereby providing a medium and large UAV launching and resetting device and a method for launching a UAV.

[0004] In order to solve the above technical problems, the present invention provides a launch and reset device for a medium or large UAV, comprising:

[0005] Drive structure;

[0006] The transmission structure comprises a main shaft connected to the driving structure, and a first clutch, a first rotating wheel, a second rotating wheel and a second clutch arranged on the main shaft, wherein the first clutch is linked with the first rotating wheel, the second clutch is linked with the second rotating wheel, and the first clutch and the second clutch do not work at the same time;

[0007] The front end and the rear end of the pulley along the launching direction are respectively connected to the first rotating wheel and the second rotating wheel through the first traction member and the second traction member, and a steering structure is provided on the first traction member.

[0008] Optionally, the steering structure is a pulley provided at the front end of the pulley along the launching direction, and one end of the first traction member is fixed on the pulley after being wound around the pulley.

[0009] Optionally, the driving structure is transmission-connected to the first clutch and the second clutch via a first connecting structure and a second connecting structure respectively.

[0010] Optionally, the first connecting structure includes a first flange connected to the output end of the driving structure and the first clutch, and a first shaft connecting key arranged between the first flange and the main shaft; the second connecting structure includes a second flange sleeved on the main shaft and connected to the second clutch, and a second shaft connecting key arranged between the second flange and the main shaft.

[0011] Optionally, it further comprises a third flange which is sleeved on the main shaft and connected to the second flange, wherein the third flange is arranged at an end of the main shaft away from the driving structure.

[0012] Optionally, a portion of the first clutch away from the driving structure and a portion of the second clutch close to the driving structure are both arranged with a gap from the main shaft.

[0013] Optionally, the diameter of the first rotating wheel is greater than the diameter of the second rotating wheel.

[0014] Optionally, the driving structure is a permanent magnet synchronous motor.

[0015] A method for launching a UAV using the large and medium-sized UAV launching and resetting device is also provided, comprising the following steps:

[0016] The first clutch is powered on and the second clutch is powered off, increasing the output torque of the drive structure to a rated value within a first predetermined time and maintaining it until the drone reaches a preset speed, then the first clutch is powered off and the output torque of the drive structure is reduced to zero within a second predetermined time, and the drone takes off;

[0017] The second clutch is energized, and the driving structure pulls the pulley back at a constant speed through the second traction member.

[0018] Optionally, the output torque is adjusted by varying the current of the drive structure.

[0019] The technical solution of the present invention has the following advantages:

[0020] 1. The launch and reset device for medium and large UAVs provided by the present invention, when the UAV is launched, the first clutch is energized, the second clutch is de-energized, the drive structure is started, the main shaft drives the first clutch and the first rotating wheel to rotate at high speed, drives the first traction member to pull the front end of the pulley to accelerate forward, and after reaching the take-off speed of the UAV, the first clutch is de-energized, the pulley brakes and decelerates, and the UAV takes off after separating from the pulley; after the UAV takes off, the second clutch is energized, the main shaft drives the second clutch and the second rotating wheel to rotate at high speed, and drives the second traction member to pull the rear end of the pulley to reset. Thus, the launch and reset of medium and large UAVs are stably controlled through a drive structure, and the weight of the entire device is relatively small, which reduces the operating cost and difficulty.

[0021] 2. The launch and reset device for medium and large UAVs provided by the present invention has a pulley arrangement so that flexible switching between the two opposite directions of launch and reset can be achieved by only arranging a driving structure at the rear end of the launch direction of the UAV, thereby simplifying the device structure and reducing costs.

[0022] 3. In the launch and reset device for medium and large UAVs provided by the present invention, the part of the first clutch away from the driving structure and the part of the second clutch close to the driving structure are both set with a gap from the main shaft to ensure that the first roller and the second roller connected to the two parts do not rotate with the main shaft before being attracted and do not bear the torque transmitted by the main shaft, thereby ensuring that the launch and reset of the UAV will not affect each other.

[0023] 4. In the launch and reset device for medium and large UAVs provided by the present invention, the setting of the third flange ensures the working stability of the second clutch and the second roller, and at the same time provides support for the other end of the main shaft to ensure the reliability of the entire device.

[0024] 5. The method for launching a UAV provided by the present invention realizes stable and rapid take-off of the UAV during launch and uniform return during reset by controlling the output torque and rotation speed of the driving structure, realizes that the take-off speed of the UAV matches the preset index, and at the same time satisfies the adjustable overload of the device, and has the characteristics of efficient energy transmission and strong maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of a launch and reset device for a medium or large UAV provided by the present invention;

[0027] Figure 2 A longitudinal cross-sectional schematic diagram of a launch and reset device for a medium-to-large UAV provided by the present invention;

[0028] Figure 3 It is a schematic diagram of the curve of the change of the pulley speed over time during the launch and reset of the UAV;

[0029] Figure 4 This is a schematic diagram of the curve of the motor output power changing with time during the launch and reset process of the drone;

[0030] Figure 5 This is a schematic diagram of the curve of the motor output torque changing with time during the launch and reset process of the drone;

[0031] Figure 6 This is a schematic diagram of the curve of the motor output speed changing with time during the launch and reset of the drone.

[0032] Description of reference numerals:

[0033] 1. Driving structure; 2. Main shaft; 3. First clutch; 4. Second clutch; 5. First traction member; 6. Second traction member; 7. First rotating wheel; 8. Second rotating wheel; 9. Steering structure; 10. Pulley; 11. Connecting key for first shaft; 12. First flange; 13. Second flange; 14. Third flange; 15. Bearing; 16. Bolt; 17. Connecting key for second shaft. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] like Figure 1 to Figure 2 A specific implementation of a launch and reset device for medium-to-large UAVs of 200kg-1000kg is shown. This embodiment is described using a UAV weighing 300kg as an example, and includes a drive structure 1, a transmission structure connected to the drive structure 1, and a pulley 10 connected to the transmission structure, and the UAV is arranged on the pulley.

[0037] The drive structure 1 is a permanent magnet synchronous motor. The output torque of the permanent magnet synchronous motor can be increased from zero to the rated torque within 300ms, and the output power can reach the rated power within 2s. By controlling the output power of the permanent magnet synchronous motor, the speed of the UAV and the trolley 10 can be controlled to achieve fast and stable launch. Of course, the drive structure can also use other types of motors or gas-hydraulic structures.

[0038] The transmission structure includes a main shaft 2 connected to the driving structure and a first clutch 3, a first rotating wheel 7, a second rotating wheel 8 and a second clutch 4 arranged on the main shaft 2. In this embodiment, the first clutch 3, the first rotating wheel 7, the second rotating wheel 8 and the second clutch 4 are arranged in sequence from one end close to the driving structure to the other end away from it, that is, the first clutch 3, the first rotating wheel 7, the second rotating wheel 8 and the second clutch 4 are symmetrically distributed. Of course, the above positions can also be adjusted, as long as the first clutch 3 is linked with the first rotating wheel 7 and the second clutch 4 is linked with the second rotating wheel 8. The first clutch 3 and the second clutch 4 both include a first part and a second part that are connected by suction. When the power is on, the first part and the second part are attracted, and when the power is off, the first part and the second part are separated. The first clutch 3 and the second clutch 4 share a power supply and are controlled to be attracted by the brushes equipped by each. Of course, they can also be connected to a power supply respectively, and no specific restrictions are made here.

[0039] The driving structure is connected to the first clutch and the second clutch through a first connection structure and a second connection structure. Specifically, the first connection structure includes a first flange 12 connected to the output end of the driving structure 1 and the first clutch 3, and a first shaft connection key 11 provided between the first flange 12 and the main shaft 2. The small end of the first flange 12 is clamped with the output end of the driving structure 1, and the large end of the first flange 12 is connected to the first part of the first clutch 3 through a plurality of bolts 16 arranged at circumferential intervals to transmit torque. When the first clutch 3 is energized, the first part of the first clutch 3 is attracted to the second part to drive the second part to rotate. Since the second part is connected to the first runner 7 through the bolts 16, the first runner 7 is driven to rotate. The first runner 7 is supported on the main shaft 2 through a bearing 15. A plurality of first shaft connection keys 11 are provided on the inner wall of the first flange 12 connected to the main shaft 2 to achieve a reliable connection with the main shaft 2.

[0040] The second connection structure includes a second flange 13 sleeved on the main shaft 2 and connected to the second clutch 4, and a second shaft connection key 17 provided between the second flange 13 and the main shaft 2. The second flange 13 is sleeved on the other end of the main shaft 2 away from the driving structure 1, and is supported on the main shaft 2 through a bearing 15. In order to ensure the reliability of the support, a third flange 14 is also provided at the other end of the main shaft 2 away from the driving structure 1, and the third flange 14 is connected to the second flange 13 through a plurality of bolts 16 arranged circumferentially. The second flange 13 is connected to the first part of the second clutch 4 through the bolts 16. When the second clutch 4 is energized, the first part of the second clutch 4 is attracted to the second part, driving the second part to rotate. Since the second part is connected to the second runner 8 through the bolts 16, the second runner 8 is driven to rotate. The second runner 8 is supported on the main shaft 2 through the bearing 15, and a plurality of second shaft connection keys 17 are provided on the inner wall where the second flange 13 is connected to the main shaft 2 to achieve a reliable connection with the main shaft 2. It can be seen from the above that the first clutch 3 and the second clutch 4 do not work at the same time to ensure that the first rotating wheel 7 and the second rotating wheel 8 rotate independently.

[0041] Since the launch speed of the UAV needs to be increased to a preset speed in a very short time when launching, and only a relatively low uniform speed needs to be maintained when resetting, the diameter of the first rotating wheel 7 is set to be larger than the diameter of the second rotating wheel 8. In this embodiment, the preset take-off speed of the UAV is v max =60m / s, acceleration a=30m / s 2 The speed of automatic reset of the pulley is v = 15m / s, the radius of the first runner is R1 = 100mm, and the radius of the second runner is R2 = 50mm.

[0042] The part of the first clutch 3 away from the driving structure 1 and the part of the second clutch 4 close to the driving structure 1 are both set with a gap from the main shaft 2. That is, a certain space is reserved between the second part of the first clutch 3 and the second part of the second clutch 4 and the main shaft 2 to avoid the two rotating due to the friction force before the suction, thereby driving the first rotating wheel 7 and the second rotating wheel 8 to rotate, affecting the launch and reset effects.

[0043] The pulley 10 is a flat trolley made of metal plates, and protective plates can be set on both sides. The size is suitable for completely placing the drone. Mounting holes are respectively provided at the front and rear ends along the launch direction to connect with the first rotating wheel 7 and the second rotating wheel 8 through the first traction member 5 and the second traction member 6. The two mounting holes are staggered to prevent the first traction member 5 and the second traction member 6 from being entangled with each other during the pulling process. In this embodiment, the first traction member 5 and the second traction member 6 are both pull ropes with a certain strength. Of course, steel bars with a certain flexibility can also be selected, and no specific restrictions are made here.

[0044] In order to reduce the number of driving structures 1 used, a steering structure 9 is provided on the first traction member 5. Specifically, the steering structure 9 is a pulley provided at the front end of the pulley 10 along the launching direction, and one end of the first traction member 5 is fixed on the pulley 10 after being wound by the pulley. In this way, the driving force output by the driving motor is transformed into a pulling force for the pulley 10 to move forward after being turned by the steering structure 9, so as to launch the drone. When using a driving structure 1, such as a permanent magnet synchronous motor, although forward and reverse rotation can be achieved by changing the direction of the current in the motor, if only one set of clutches and runners is used, the pulling direction of the pull rope can only be forward or backward, and the launch and reset in the opposite direction cannot be achieved at the same time. Therefore, two sets of clutches and runners are provided in this embodiment, so that the two pull ropes are respectively fixed at different positions of the pulley to achieve the effect of launching and resetting the drone. The steering structure 9 can also be a turning rod or a bogie, which is not specifically limited here, as long as the pulling direction of the pull rope can be changed.

[0045] A method for launching a drone using the large and medium-sized drone launching and resetting device, wherein the preset take-off speed of the drone is v max =60m / s, acceleration a=30m / s 2 , the speed of the automatic reset of the pulley v = 15m / s, the radius of the first roller R1 = 100mm, the radius of the second roller R2 = 50mm, the friction force in the launch stage is 800N, the friction force in the automatic reset stage is 500N, the weight of the pulley is 50kg, and the weight of the drone is 300kg. 0-8s is the drone launch process, and 8-25s is the automatic reset process. Specifically, it includes the following steps:

[0046] The operator gives a transmission signal, the drive structure starts, the first clutch is energized, and the second clutch is de-energized, and the output torque of the drive structure is increased to the rated value within the first predetermined time and kept constant during the acceleration stage of the UAV. Specifically, the output torque can be adjusted by changing the current of the drive structure until the UAV reaches the preset speed. The first clutch is de-energized, and the output torque of the drive structure is reduced to zero within the second predetermined time. The pulley decelerates under the action of its own brake, and the UAV takes off.

[0047] The relationship between the pulley speed v and the motor output speed n during the UAV launch phase is as follows:

[0048] v=2×π×n×R1

[0049] Where R1 is the radius of the first roller.

[0050] v≥v max The drone took off.

[0051] The relationship between the pulley speed v and time t is as follows:

[0052] v=a×t

[0053] Where a is the launch overload.

[0054] The relationship between the traction force F1 of the first traction member and the launch overload a is as follows:

[0055] F1=m0a-f1

[0056] Where m0 is the sum of the sled weight m1 and the drone weight m2, and f1 is the friction force during the launch phase.

[0057] The relationship between the traction force F1 of the first traction member and the motor output torque T in the launch phase is:

[0058] F1=T / R1

[0059] The relationship between the motor power P and the pull rope traction force F1 is as follows:

[0060] P=F1×v

[0061] When the UAV takes off, the second clutch is energized, and the drive structure pulls the pulley back at a constant speed through the second traction member.

[0062] The relationship between the pulley speed v and the motor speed n0 in the automatic reset stage is as follows:

[0063] v=2×π×n0×R2

[0064] Where R2 is the radius of the second pulley.

[0065] The traction force F2 of the second traction member is expressed as follows:

[0066] F2=f2

[0067] f2 is the friction force during the automatic reset stage.

[0068] The relationship between the motor power P and the traction force F2 of the second traction member is as follows:

[0069] P=F2×v

[0070] Depend on Figure 3 It can be seen that during the launch phase of the drone, after the pulley reaches the maximum speed within 2s, the first clutch is powered off, and the pulley begins to decelerate within 2s-8s until it reaches zero; when the drone takes off, the second clutch is energized, and the drive structure pulls the pulley back at a constant speed of 15m / s through the second traction member within 8s-23s. At 23s, the second clutch is powered off, and the pulley stops moving under the action of friction and returns to its initial position.

[0071] Depend on Figures 4 to 6It can be seen that during the launch phase of the drone, the output torque of the motor can reach the rated torque of 1100N.m within 300ms, the output power reaches the rated power within 2s, and the output speed reaches the rated speed within 2s. After that, the output torque maintains the rated power for 3s, until the drone reaches the preset speed of 60m / s, the first clutch is powered off, and the output torque of the motor is reduced to zero within the second preset time of 3s, the motor power is quickly reduced to zero, the motor speed is reduced to zero within 8s, the pulley decelerates under the action of its own brake, and the drone takes off. After the drone takes off, the second clutch is powered on, and the motor is pulled back at a constant speed of 50rad / s, with a smaller output power and output torque through the second traction member.

[0072] When the drone is launched, the first clutch is powered on, the second clutch is powered off, the drive structure is started, and the torque is transmitted to the main shaft through the first flange. The main shaft drives the first clutch and the first rotating wheel to rotate at high speed through the first shaft with a connecting key, and drives the first traction member to pull the front end of the pulley to accelerate forward. After reaching the take-off speed of the drone, the first clutch is powered off, the pulley brakes and decelerates, and the drone takes off after separating from the pulley. After the drone takes off, the second clutch is powered on, the main shaft transmits torque to the main shaft through the second flange, and the main shaft drives the second clutch and the second rotating wheel to rotate at high speed through the second shaft with a connecting key, and drives the second traction member to pull the rear end of the pulley to reset. In the above two processes, only one of the first clutch and the second clutch remains in the engaged state in each process, and the other remains in the disconnected state. After the disconnection, the roller connected to the clutch no longer rotates, ensuring that only the front end or the rear end of the pulley is subjected to traction, which is one of the forward or reset action modes.

[0073] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A medium and large UAV launch and reset device, characterized in that: include: Driving structure (1); The transmission structure comprises a main shaft (2) connected to the driving structure (1), and a first clutch (3), a first rotating wheel (7), a second rotating wheel (8) and a second clutch (4) arranged on the main shaft (2), wherein the first clutch (3) is arranged in linkage with the first rotating wheel (7), the second clutch (4) is arranged in linkage with the second rotating wheel (8), and the first clutch (3) and the second clutch (4) do not work at the same time; The front end and the rear end of the pulley (10) along the launching direction are respectively connected to the first rotating wheel (7) and the second rotating wheel (8) through a first traction member (5) and a second traction member (6), and a steering structure (9) is provided on the first traction member (5).

2. The launch and reset device for medium and large UAV according to claim 1, characterized in that: The steering structure (9) is a pulley arranged at the front end of the pulley (10) along the launching direction, and one end of the first traction member (5) is fixed on the pulley (10) after being wound around the pulley.

3. The launch and reset device for medium and large UAV according to claim 1, characterized in that: The driving structure (1) is transmission-connected to the first clutch (3) and the second clutch (4) via a first connection structure and a second connection structure respectively.

4. The launch and reset device for medium and large UAV according to claim 3 is characterized in that: The first connection structure comprises a first flange (12) connected to the output end of the drive structure (1) and the first clutch (3), and a first shaft connection key (11) provided between the first flange (12) and the main shaft (2); the second connection structure comprises a second flange (13) sleeved on the main shaft (2) and connected to the second clutch (4), and a second shaft connection key (17) provided between the second flange (13) and the main shaft (2).

5. The launch and reset device for medium and large UAV according to claim 4, characterized in that: It also comprises a third flange (14) which is sleeved on the main shaft (2) and connected to the second flange (13); the third flange (14) is arranged at an end of the main shaft (2) away from the driving structure (1).

6. The launch and reset device for medium and large UAV according to any one of claims 1 to 5, characterized in that: The portion of the first clutch (3) away from the driving structure (1) and the portion of the second clutch (4) close to the driving structure (1) are both arranged with a gap from the main shaft (2).

7. The launch and reset device for medium and large UAV according to any one of claims 1 to 5, characterized in that: The diameter of the first rotating wheel (7) is greater than the diameter of the second rotating wheel (8).

8. The launch and reset device for medium and large UAV according to any one of claims 1 to 5, characterized in that: The driving structure (1) is a permanent magnet synchronous motor.

9. A method for launching a UAV using the medium-to-large UAV launching and resetting device according to any one of claims 1 to 8, characterized in that: The following steps are involved: The first clutch (3) is powered on, and the second clutch (4) is powered off, so that the output torque of the drive structure (1) is increased to a rated value within a first predetermined time and maintained until the drone reaches a preset speed, and then the first clutch (3) is powered off, and the output torque of the drive structure (1) is reduced to zero within a second predetermined time, so that the drone takes off; The second clutch (4) is energized, and the driving structure (1) pulls the pulley (10) back at a constant speed through the second traction member (6).

10. The method for launching a UAV according to claim 9, characterized in that: The output torque is adjusted by changing the current of the driving structure (1).

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