A medium and large unmanned aerial vehicle ejection device and ejection method

Abstract

The present invention relates to the field of drone launching technology, and in particular to a medium-to-large drone ejection device and ejection method. A medium-to-large drone ejection device comprises: a support platform provided with a slide rail suitable for the sliding of a pulley; a pulley slidingly arranged on the slide rail; a lifting assembly arranged on one side of the support platform, comprising a lifting drive structure connected to the support platform and a lifting platform connected to the lifting drive structure, the lifting platform being adapted to rise to a first position flush with the pulley under the action of the lifting drive structure, so as to transport the drone onto the pulley, or to descend to a second position flush with the bottom of the support platform; a flipping assembly arranged on one side of the lifting assembly, the flipping assembly being rotatably connected to the lifting assembly, and being adapted to flip the lifting assembly from a third position folded on the support platform to a second position arranged on one side of the support platform under the action of a driving force. The present invention provides a medium-to-large drone ejection device and ejection method.

Description

Technical Field

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

[0002] Due to their advantages, such as high altitude, long flight time, real-time image transmission, low radar cross-section, large payload, and flexible operation, medium and large UAVs are expected to account for a growing proportion of weapon systems in the near future. Therefore, ensuring safe and reliable takeoff for medium and large UAVs is crucial for the deployment of UAV tactics on the battlefield and a hot topic in current research. Currently, commonly used catapult launch methods include rubber band launch, pneumatic launch, rocket-assisted launch, and electromagnetic launch. For small and medium-sized UAVs weighing less than 200 kg, rubber band launch and pneumatic launch are commonly used. For large UAVs weighing over 1000 kg, research and development typically focuses on electromagnetic launch. For medium and large UAVs weighing between 200 kg and 1000 kg, rocket-assisted and electromagnetic launch are primarily used. However, rocket-assisted launch involves the use of pyrotechnics, which carries certain risks. Electromagnetic launch requires complex power systems, resulting in high costs and significant safety assurance requirements. Continuous breakthroughs in motor and electronic control technology have led to mass production, ensuring the economical and reliable use of components, creating opportunities for the development of electric catapults. However, due to structural limitations, existing electric ejection devices can only be used to launch small UAVs, and cannot be used to launch medium and large UAVs with heavier weight. Summary of the Invention

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

[0004] In order to solve the above technical problems, the present invention provides a medium-to-large UAV ejection device, comprising:

[0005] The supporting platform is provided with a slide rail suitable for the sliding of the pulley;

[0006] a pulley slidably disposed on the slide rail;

[0007] a lifting assembly disposed on one side of the support platform, comprising a lifting drive structure connected to the support platform and a lifting platform connected to the lifting drive structure, wherein the lifting platform is adapted to be raised to a first position flush with the pulley under the action of the lifting drive structure to transport the UAV onto the pulley, or to be lowered to a second position flush with the bottom of the support platform;

[0008] A flip assembly is provided on one side of the lifting assembly. The flip assembly is rotatably connected to the lifting assembly and is suitable for flipping the lifting assembly from a third position folded on the support platform to a second position provided on one side of the support platform under the action of a driving force.

[0009] Optionally, the lifting drive structure includes a support column rotatably connected to the flip assembly and a hydraulic cylinder connected to the support column, and one end of the lifting platform is connected to the piston rod of the hydraulic cylinder.

[0010] Optionally, a guide rail is provided on the pillar, and a guide block that slides with the guide rail is provided at one end of the lifting platform.

[0011] Optionally, the flip assembly is a rotary oil cylinder, and the middle portion of the lifting drive structure is rotationally connected to the middle portion of the rotary oil cylinder.

[0012] Optionally, it further includes a first driving structure and a second driving structure provided on the support platform, wherein the first driving structure drives the pulley forward through a first traction member, and the second driving structure drives the pulley to reset through a second traction member.

[0013] Optionally, the first drive structure is a permanent magnet synchronous motor, the second drive structure is a reset motor, the permanent magnet synchronous motor is connected to the pulley through a wheel set, the reset motor is connected to the pulley through a brake, and the permanent magnet synchronous motor, reset motor and brake are all connected to a controller.

[0014] Optionally, the slide rail comprises a plurality of sections connected in a folding manner, and two adjacent sections of the slide rail are connected by a pin when in a folded state, and are fixed by a buckle lock when unfolded.

[0015] Optionally, the supporting platform is a vehicle-mounted chassis.

[0016] A method for launching a medium or large UAV using the launching device is also provided, comprising the following steps:

[0017] The output torque of the first drive structure is increased to a rated value and maintained within a first predetermined time, while the output power of the first drive structure is increased to a maximum power until the UAV reaches a preset speed, and the output torque of the first drive structure is reduced to zero within a second predetermined time, and the UAV takes off;

[0018] increasing the output torque of the second drive structure to a rated value within a third predetermined time, and at the same time increasing the output power of the second drive structure to a maximum power, pulling the pulley back at a constant speed at a constant speed;

[0019] The rated value of the output torque of the first drive structure is the same as the rated value of the output torque of the second drive structure, and the output power of the first drive structure is greater than the output power of the second drive structure.

[0020] Optionally, the first predetermined time is 300 ms, the third predetermined time is 100 ms, and the output power of the first driving structure is three times the output power of the second driving structure.

[0021] The technical solution of the present invention has the following advantages:

[0022] 1. The present invention provides a medium-to-large UAV catapult device. Before the UAV takes off, the flip assembly first drives the lifting assembly to flip from a third position, folded on the support platform, to a second position located on one side of the support platform. The UAV then slides onto the lifting platform. The lifting drive structure drives the lifting platform from the second position, flush with the bottom of the support platform, to the first position, flush with the pulley. The UAV then slides onto the pulley, which, under the action of the driving force, accelerates the UAV forward until it takes off. This allows even a heavy UAV to be smoothly lifted onto the pulley, saving manpower. After launch, the lifting assembly can be folded onto the support platform, reducing space and facilitating transportation.

[0023] 2. The medium and large UAV ejection device provided by the present invention has a guide rail on the pillar that slides with the guide block on the lifting platform to provide support and guidance for the lifting platform, ensuring its smooth lifting.

[0024] 3. The ejection device for medium and large UAVs provided by the present invention has a first drive structure of a permanent magnet synchronous motor and a second drive structure of a reset motor. Compared with pneumatic ejection and electromagnetic ejection, it has lower maintenance costs. Compared with rocket propulsion, it does not cause pollution such as fuel gas and gunpowder residue, and its energy is clean.

[0025] The permanent magnet synchronous motor is connected to the pulley via a wheel assembly, while the reset motor is connected to the pulley via a brake. These motors, reset motor, and brake are all connected to a controller. By controlling the output power and torque of the permanent magnet synchronous motor and reset motor, as well as the braking speed of the brake, the drone can be launched and reset at varying speeds and overloads, achieving enhanced maneuverability.

[0026] 4. The ejection device for medium and large UAVs provided by the present invention has a slide rail comprising multiple sections that are foldably connected, making it easy to store and transport.

[0027] 5. The ejection method 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 power of the first drive structure and the second drive structure, thereby achieving the take-off speed of the UAV matching the preset index while satisfying the adjustable overload of the device, and has the characteristics of convenient operation and strong maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is a schematic diagram of the ejection device for medium to large UAVs provided by the present invention during storage and transportation;

[0030] Figure 2 A schematic diagram of the ejection device for medium to large UAVs provided by the present invention when in operation;

[0031] Figure 3 This is a schematic diagram of the installation of the pulley and the slide rail;

[0032] Figure 4 Schematic diagram of the pulley;

[0033] Figure 5 This is a schematic diagram of the installation of the lifting components and the support platform;

[0034] Figure 6 This is a schematic diagram of the installation of the lifting component and the support platform at another angle;

[0035] Figure 7 is a schematic diagram of the lifting assembly in the second position;

[0036] Figure 8 is a schematic diagram of the lifting assembly in the third position;

[0037] Figure 9 The figure shows the connection diagram of two sections of slide rails.

[0038] Description of reference numerals:

[0039] 1. Support platform; 2. Pulley; 3. Flip assembly; 4. Slide rail; 5. Support column; 6. Pin; 7. Buckle; 8. Limit plate; 9. Roller; 10. Brake; 11. First drive structure; 12. Second drive structure; 13. Hanger; 14. Mounting table; 15. Lifting platform; 16. Pillar; 17. Hydraulic cylinder; 18. Guide block; 19. Diagonal brace; 20. Lug. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] like Figures 1 to 9 The illustrated embodiment of a medium-to-large UAV ejection device, for a medium-to-large UAV weighing 200kg-1000kg, comprises a support platform 1, a pulley 2, a lifting assembly, and a flip assembly 3 mounted on the support platform 1. The support platform 1 in this embodiment is a vehicle-mounted chassis, meaning the entire device is mounted on a vehicle for easy transportation.

[0043] The support platform 1 is flat and has no guardrails, so that the slide rails 4 suitable for the sliding of the trolley 2 can be placed conveniently. A plurality of foldable support columns 5 can be added to the bottom of the support platform 1. The support columns 5 are folded when the vehicle is driving and supported under the support platform 1 when the drone needs to be launched to increase the load-bearing capacity. The slide rails 4 are provided with multiple sections along the width direction of the support platform 1. In this embodiment, there are three sections. The number of slide rails 4 can also be increased or decreased according to the launch requirements. Figure 9 As shown, the two adjacent sections of the slide rail 4 are connected by a pin 6 when folded, and are locked and fixed by a buckle 7 when unfolded. Specifically, a pin seat is provided at each end of the connection between the two adjacent sections of the slide rail 4. The two pin seats are arranged up and down, and the shaft holes are aligned. The pin passes through the shaft holes of the two pin seats in sequence and is fixed by a nut, thereby realizing the rotation connection of the slide rails 4 at both ends. When the two sections of the slide rail 4 are opened to a position where the ends are aligned with each other, the buckle 7 provided at the end of one section of the slide rail 4 is overlapped and fixed in the block groove of the other end of the slide rail 4, thereby realizing the locking of the two sections of the slide rail 4. Of course, the fixing of the two sections of the slide rail 4 can also be achieved by means of snap-on or plug-in, and no specific limitation is made here.

[0044] The pulley 2 is an integrally formed flatbed trolley. A pair of limit slots can be provided on the flatbed trolley to prevent the drone from detaching from the pulley 2 before takeoff. A limit plate 8 can also be provided at the end of the pulley 2. The limit plate 8 is detachably connected to the pulley 2 and slides to the front end of the slide rail 4 when the drone is launched to prevent the pulley 2 from sliding off the front end of the slide rail 4 and causing damage. The pulley 2 is slidably provided on the slide rail 4 via rollers 9 provided at the bottom. Specifically, as shown in FIG. Figure 3 and Figure 4As shown, two troughs are provided at the bottom of the pulley 2, in which rollers 9 are installed. A brake 10 is coaxially installed on the roller 9 through a flange. The pulley 2 can be decelerated by the brake 10. Figure 1 As shown, the bottom of the support platform 1 is provided with a first drive structure 11 and a second drive structure 12, respectively, along the forward direction of the pulley 2. The first drive structure 11 drives the pulley 2 forward via a first traction member, while the second drive structure 12 resets the pulley 2 via a second traction member. Specifically, the first drive structure 11 is a permanent magnet synchronous motor, and the second drive structure 12 is a reset motor. The permanent magnet synchronous motor is connected to the pulley 2 via a wheel set, and the reset motor is connected to the pulley 2 via a brake 10. The permanent magnet synchronous motor, reset motor, and brake are all connected to a controller. A suspension rod 13 is provided between the two troughs. The wheel set is mounted on the output shaft of the permanent magnet synchronous motor. The first traction member is a pull rope wrapped around the wheel set, the other end of which is fixed to the suspension rod 13. This pull rope drives the pulley 2 to slide forward along the slide rail 4, achieving the launch of the drone. The reset motor output shaft is also provided with a wheel set. Another pull rope is wrapped around this wheel set, the other end of which is fixed to the rear end of the pulley 2, thereby driving the pulley 2 to slide backward along the slide rail 4, achieving the reset.

[0045] The controller, located at the bottom of support platform 1, includes a frequency converter, battery, microcontroller, sensors, and a data acquisition unit. The frequency converter controls the output torque and power of the permanent magnet synchronous motor and reset motor via cables. The battery can discharge at different rates according to the output power of the permanent magnet synchronous motor and reset motor to provide power. The microcontroller controls the brake to stop the trolley and sends signals to the frequency converter, lifting assembly, tilting assembly, permanent magnet synchronous motor, and reset motor. This can be encapsulated to form an operating handle, through which operators send commands to control the frequency converter and brake. Sensors collect the drone's speed and overload, and transmit these data to the data acquisition unit, providing closed-loop control for the launch process. The permanent magnet synchronous motor, frequency converter, and battery are liquid-cooled. During the launch process, the coolant flow to these components is increased to prevent overheating and reduce the risk of damage.

[0046] The lifting assembly is located on one side of the support platform 1, i.e., at the rear end of the launch direction of the UAV. A mounting platform 14 is provided at this end of the support platform 1. The upper end surface of the mounting platform 14 is flush with the upper end surface of the pulley 2. A track can be provided on the upper end surface of the mounting platform 14 to guide the UAV. Figure 5 and Figure 6As shown, the lifting assembly includes a lifting drive structure connected to the support platform 1 and a lifting platform 15 connected to the lifting drive structure. The lifting platform 15 is suitable for rising to a first position flush with the pulley 2 under the action of the lifting drive structure to transport the drone to the pulley 2, or descending to a second position flush with the bottom of the support platform 1.

[0047] Specifically, the lifting drive structure includes a support 16 rotatably connected to the tilting assembly 3 and a hydraulic cylinder 17 connected to the support 16. One end of the lifting platform 15 is connected to the piston rod of the hydraulic cylinder 17. The support 16 is positioned higher than the upper end surface of the mounting platform 14 to allow space for the lifting platform 15 to rise. A support 16 is provided on each side of the mounting platform 14, with space reserved for the hydraulic cylinder 17 between the support 16 and the mounting platform 14. Guide rails are provided on the support 16, extending vertically. A guide block 18 is provided at one end of the lifting platform 15, slidingly engaging with the guide rails. The guide block 18 is L-shaped, with one side of the L slidingly connected to the guide rail and the other side fixed to the piston rod end of the hydraulic cylinder 17. The guide block 18 is positioned higher than the lifting platform 15 to increase the contact area with the guide rail and ensure lifting stability. To further enhance lifting stability, a diagonal brace 19 may be provided between the lifting platform 15 and the guide block 18. Of course, the hydraulic cylinder 17 can also be replaced by an air cylinder or a telescopic rod, and the connection method between the lifting platform 15 and the hydraulic cylinder 17 can also be a connection method of a screw and a nut, which is not specifically limited here.

[0048] The flip assembly 3 is provided on one side of the lifting assembly and is directly fixed to the mounting platform 14 by bolts or the like. The flip assembly 3 is rotatably connected to the lifting assembly and is adapted to flip the lifting assembly from the third position folded on the support platform 1 to the second position provided on one side of the support platform 1 under the action of a driving force. Specifically, Figure 7 and Figure 8As shown, the tilting assembly 3 is a rotary cylinder. The middle portion of the lifting drive structure is rotatably connected to the middle portion of the rotary cylinder. A lug 20 is provided in the middle portion of the support 16, with a through hole formed in the lug 20. An exposed rotating shaft is provided in the middle portion of the rotary cylinder, which is inserted and secured in the through hole of the lug 20. When the lifting assembly is in the third position, the support 16 is located in front of the rotary cylinder in the direction of drone takeoff. When the lifting assembly is in the second position, the support 16 is driven by the rotary cylinder to rotate to the rear of the rotary cylinder in the direction of drone takeoff. The rotary oil cylinder includes a vertically arranged cylinder body, a rotating rod arranged inside the cylinder body, and a rotating shaft threadedly connected to the rotating rod. The rotating rod and the rotating shaft are provided with teeth that mesh with each other. The axes of the rotating rod and the rotating shaft are perpendicular to each other. There is a movable space between the rotating rod and the top and bottom of the cylinder body. The upper and lower parts of the cylinder body are provided with oil inlets. By changing the pressure of the two oil inlets, the rotating rod is raised and lowered inside the cylinder body, and the forward and reverse rotation of the rotating shaft can be achieved, thereby achieving the switching of the lifting assembly between the second position and the third position. Of course, the flip assembly 3 can also be other structures that can achieve the switching of the lifting assembly between the second position and the third position, such as a pulley set, etc., which is not specifically limited here.

[0049] Before the drone takes off, the tilting assembly 3 first drives the lifting assembly from its third position, folded on the support platform 1, to its second position, located on one side of the support platform 1. The slide rails 4 and the support columns 5 beneath them are then manually opened in the opposite direction of their folding direction. The ends of two adjacent slide rails 4 are secured by latches 7. Simultaneously, the trolley 2 is slid to the side of the mounting platform 14, and the stop plate 8 is slid to the front end of the slide rails 4. The drone then slides onto the lifting platform 15. The lifting drive mechanism raises the lifting platform 15 from its second position, flush with the bottom of the support platform 1, to its first position, flush with the trolley 2. The drone then slides onto the trolley 2. Driven by the driving force provided by the first drive mechanism 11, the trolley 2 accelerates the drone forward until takeoff. After takeoff, the second drive mechanism 12 drives the trolley 2 back in the opposite direction. After manually pushing the stop plate 8 back to its initial position, the slide rails 4 and support columns 5 are folded and stored on the support platform 1. After the lifting drive structure drives the lifting platform 15 to descend from the first position flush with the pulley 2 to the second position flush with the bottom of the support platform 1, the flipping assembly 3 drives the lifting assembly to rotate in the reverse direction, thereby flipping the lifting assembly to the third position folded on the support platform 1, completing a launch and reset.

[0050] A method for launching a medium or large-sized UAV using the above-mentioned launching device comprises the following steps:

[0051] The output torque of the first drive structure is increased to the rated value and maintained within the first predetermined time through the frequency converter. At the same time, the output power of the first drive structure is linearly increased from zero to the maximum power until the drone reaches the preset speed. The output torque of the first drive structure is reduced to zero within the second predetermined time, and the drone takes off.

[0052] The output torque of the second drive structure is increased to the rated value within the third predetermined time by the frequency converter, and the output power of the second drive structure is linearly increased from zero to the maximum power, so as to pull the pulley back at a constant speed. Among them, the rated value of the output torque of the first drive structure is the same as the rated value of the output torque of the second drive structure, and the output power of the first drive structure is greater than the output power of the second drive structure. Specifically, the first predetermined time is 300ms, the third predetermined time is 100ms, and the output power of the first drive structure is three times the output power of the second drive structure. Under the conditions that the output torque and the pulley tension of the wheel group are the same, according to P=F×v, the reset speed of the pulley is lower than the ejection speed, thereby realizing the low-speed reset of the pulley.

[0053] During the UAV launch process, the speed and overload of the UAV are collected in real time through sensors and data collectors to provide data support for the closed-loop control of the ejection process. That is, the data is transmitted to the frequency converter to control the output torque and output power of the first drive structure. When the speed reaches the target, the microcontroller controls the brake to stop the pulley.

[0054] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A medium to large UAV ejection device, mounted on a vehicle, characterized in that: include: A supporting platform (1) is provided with a slide rail (4) suitable for the sliding of the pulley (2), and the supporting platform is a vehicle-mounted chassis; A pulley (2) is slidably mounted on the slide rail (4); A lifting assembly is provided on one side of the support platform (1), comprising a lifting drive structure connected to the support platform (1) and a lifting platform (15) connected to the lifting drive structure, wherein the lifting platform (15) is adapted to be lifted to a first position flush with the pulley (2) under the action of the lifting drive structure so as to transport the UAV onto the pulley (2), or to be lowered to a second position flush with the bottom of the support platform (1); A flip assembly (3) is provided on one side of the lifting assembly, the flip assembly (3) is rotatably connected to the lifting assembly, and is suitable for flipping the lifting assembly from a third position folded on the support platform (1) to a second position provided on one side of the support platform (1) under the action of a driving force, the flip assembly (3) is a rotary oil cylinder, and the middle part of the lifting drive structure is rotatably connected to the middle part of the rotary oil cylinder; The lifting drive structure comprises a support (16) rotatably connected to the flip assembly (3) and a hydraulic cylinder (17) connected to the support (16); one end of the lifting platform (15) is connected to the piston rod of the hydraulic cylinder (17); a mounting platform (14) is provided at the end of the support platform (1); a support (16) is provided on each side of the mounting platform (14); and a mounting space for the hydraulic cylinder (17) is reserved between the support (16) and the mounting platform (14); The invention also includes a first drive structure (11) and a second drive structure (12) provided on the support platform (1), wherein the first drive structure (11) drives the pulley (2) forward through a first traction member, and the second drive structure (12) drives the pulley (2) to reset through a second traction member; the first drive structure (11) is a permanent magnet synchronous motor, and the second drive structure (12) is a reset motor, the permanent magnet synchronous motor is connected to the pulley (2) through a wheel set, and the reset motor is connected to the pulley (2) through a brake (10), and the permanent magnet synchronous motor, the reset motor and the brake (10) are all connected to a controller; The ejection method using the ejection device for medium and large UAVs comprises the following steps: The frequency converter increases the output torque of the first drive structure to a rated value and maintains it within a first predetermined time, while increasing the output power of the first drive structure to a maximum power until the UAV reaches a preset speed, and then reduces the output torque of the first drive structure to zero within a second predetermined time, and the UAV takes off; The frequency converter increases the output torque of the second drive structure to a rated value within a third predetermined time, and at the same time increases the output power of the second drive structure to a maximum power, so as to pull the pulley back at a constant speed at a constant speed; The rated value of the output torque of the first drive structure is the same as the rated value of the output torque of the second drive structure, and the output power of the first drive structure is greater than the output power of the second drive structure. During the launch process of the UAV, the speed and overload of the UAV are collected in real time by sensors and data collectors, and transmitted to the frequency converter, thereby controlling the output torque and output power of the first drive structure. When the speed reaches the target, the single-chip microcomputer controls the brake to stop the pulley. The first predetermined time is 300 ms, the third predetermined time is 100 ms, and the output power of the first driving structure is three times the output power of the second driving structure.

2. The medium and large UAV ejection device according to claim 1, characterized in that: A guide rail is provided on the pillar (16), and a guide block (18) that is slidably matched with the guide rail is provided at one end of the lifting platform (15).

3. The medium-to-large UAV ejection device according to any one of claims 1-2, characterized in that: The slide rail (4) comprises a plurality of sections connected in a folding manner. Two adjacent sections of the slide rail (4) are connected by a pin (6) when in a folded state, and are locked and fixed by a buckle (7) when unfolded.

4. The medium-to-large UAV ejection device according to any one of claims 1-2, characterized in that: The supporting platform (1) is a vehicle-mounted chassis.

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