Constant-pressure pneumatic pulley block traction type special-shaped unmanned aerial vehicle vertical cold launching system

Abstract

The invention discloses a constant-pressure pneumatic pulley block traction type special-shaped unmanned aerial vehicle vertical cold launching system which comprises a carrier, an air source system, a loading and unloading system, a plurality of ejection systems, an energy storage system and a control system, the air source system is connected with the energy storage system, and the energy storage system is connected with each ejection system. And a box body is arranged outside each ejection system. The unmanned aerial vehicle launcher has secret transportation and parallel deployment capabilities, supports continuous multi-time launching, can vertically launch special-shaped unmanned aerial vehicles, and can cover multiple types of unmanned aerial vehicles such as reconnaissance unmanned aerial vehicles, attack unmanned aerial vehicles and multi-purpose unmanned aerial vehicles. The design is compact, the occupied space is small, the load is located in the box body in the whole launching process, and stable output of constant thrust can be ensured through control of a launching system.

Description

Technical Field

[0001] The invention relates to the field of ejection technology, and in particular to a constant-pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system. Background Art

[0002] With the rapid development of UAV swarm warfare, the integration, automation and adaptability of the ejection system with UAV as the payload have received extensive attention. The ejection system needs to accurately detect the ejection conditions, comprehensively monitor the system status, intelligently protect the electromechanical equipment, process signals at high speed, optimize decision-making, and achieve rapid response of conventional automatic launch and emergency manual control.

[0003] Existing pneumatic ejection technologies mostly rely on forming high-pressure airflow in the launch tube to directly push the payload for launch, but this requires high sealing and has strict restrictions on the shape of the payload, making it impossible to launch special-shaped payloads. During the launch process, the payload of the existing horizontal or inclined orbital launch system is exposed to the external environment, and the structure is not compact enough, occupies a large space, and takes a long time to deploy. Summary of the invention

[0004] In order to solve the problems that the existing payload launching technology cannot launch special-shaped payloads, occupies a large space and takes a long time to deploy, the present invention proposes a constant-pressure pneumatic pulley group towing special-shaped UAV vertical cold launch system to solve the above problems.

[0005] The present application discloses a constant-pressure pneumatic pulley-driven special-shaped UAV vertical cold launch system, comprising a carrier, an air source system, a loading and unloading system, a plurality of ejection systems, an energy storage system and a control system, wherein the air source system is connected to the energy storage system, the energy storage system is connected to each ejection system, and a box is arranged outside each ejection system.

[0006] Preferably, the ejection system includes a frame, the ejection system is arranged symmetrically about the central plane of the frame in the width direction, a first fixed pulley is arranged at the upper end of the inner wall of the rear side of the frame, a guide rail and two adjacent second fixed pulleys are arranged on both sides of the first fixed pulley, four second fixed pulleys on both sides of the first fixed pulley are connected by a deceleration cable, sleeve devices are connected at both ends of the deceleration cable, a third fixed pulley is arranged below the first fixed pulley, and a fourth fixed pulley is arranged on the right side of the third fixed pulley. The guide rail is used to fix the push splint so that it moves along the track, the deceleration cable is used to intercept the push splint, and the sleeve device is used to absorb the kinetic energy of the push splint.

[0007] Preferably, the ejection system also includes a push cylinder, a movable pulley, a transmission cable and a push clamp. The push cylinder is fixed to the frame through a fixed plate. The upper end of the push cylinder is connected to the movable pulley. One end of the transmission cable is fixed to the rear side of the frame and passes through the movable pulley, the fourth fixed pulley, the third fixed pulley and the first fixed pulley on the rear side of the frame in sequence. Then, it passes through the bottom of the push clamp and passes through the first fixed pulley, the third fixed pulley, the fourth fixed pulley and the movable pulley on the front side of the frame, and is finally fixed to the front side of the frame. The movable pulley adopts a double-linked pulley for synchronously transmitting power to ensure the uniform distribution of the thrust of the push cylinder. The fixed pulley is used to change the routing direction of the transmission cable and assist in transmission. The pulley block composed of the fixed pulley and the movable pulley can optimize the power transmission and reduce the vibration during movement, thereby improving the performance and reliability of the ejection system.

[0008] Preferably, the sleeve device includes a first sleeve, a second sleeve and a third sleeve, the second sleeve is nested outside the first sleeve, the third sleeve is nested in the first sleeve, the first sleeve and the second sleeve, and the first sleeve and the third sleeve can slide linearly, the deceleration cable passes through the first sleeve and is connected to the bottom of the third sleeve, the first spring is nested above the second sleeve, and the second spring is nested below the second sleeve.

[0009] Preferably, the push clamp includes a bearing platform, a linear sliding bearing is arranged at the bottom of the bearing platform, a connecting plate is arranged on the side of the bearing platform, a deceleration hook is arranged through the side wall of the bearing platform, a third sleeve is arranged above the bearing platform, and a clamp is arranged on the third sleeve. The clamp is used to clamp the load, and different clamps can be matched according to different loads.

[0010] Preferably, the box body includes a shell, a box cover is fixedly connected to the top of the shell through a pin shaft, a fixed tripod is arranged on the side of the shell, the box body is fixed on the carrier through the fixed tripod, the box body is connected to a speed gear, and the speed gear is connected to a motor. The motor and the speed gear cooperate to realize the maximum opening and closing of the box cover by 180 degrees. When launching, the motor drives the speed gear to open the box cover, and the motor is reversed when the box cover is closed.

[0011] Preferably, the energy storage system includes multiple gas cylinders, the number of which is the same as the number of ejection systems, a pressure sensor is provided at the bottom of each gas cylinder, a second solenoid valve is provided at the mouth of each gas cylinder, each second solenoid valve is connected to one end of a regulating valve through a pipeline, the other end of the regulating valve is connected to multiple first solenoid valves through a pipeline, each first solenoid valve is connected to a push cylinder of an ejection system, and the regulating valve and the first solenoid valve are arranged on a bracket.

[0012] Preferably, the gas source system includes an air compressor, a safety valve and a bursting disc. The air compressor is divided into three paths through a pipeline, one path is connected to the gas cylinder through the second solenoid valve, one path is connected to the safety valve, and one path is connected to the bursting disc. The safety valve and the bursting disc are connected in parallel. The air compressor is used to replenish high-pressure gas to the gas cylinder. The second solenoid valve can automatically open and close according to the set opening pressure. When the pressure exceeds the preset pressure value, the safety valve opens to release the pressure. When an abnormal working condition occurs and the pressure in the pressure vessel rises rapidly, and a larger discharge area is required, the bursting disc works and starts to release the pressure quickly.

[0013] Preferably, the loading and unloading system includes a folding arm crane and a remote controller. The load is loaded into a designated position of the box through the loading and unloading system. The folding arm crane is foldable and retractable in three stages, and adopts a full-cylinder telescopic boom.

[0014] Preferably, it includes a master control system, and a launch control system, a communication control system, a loading and unloading control system, an energy storage control system and an air source control system connected to the master control system.

[0015] Beneficial effects of the present invention: (1) The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system of the present invention has parallel deployment capability, supports multiple consecutive launches, and can vertically launch special-shaped payloads, covering a variety of UAV models.

[0016] (2) The present invention has a compact design and occupies a small space. During the launch process, the load is located in the box throughout the entire process. The launch system control can ensure the stable output of constant thrust. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a vertical cold launch system for a special-shaped UAV towed by a constant-pressure pneumatic pulley block according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the ejection system according to an embodiment of the present invention; Figure 3 A schematic diagram of the working principle of the ejection system according to an embodiment of the present invention; Figure 4 A schematic diagram of the sleeve structure of an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of a push splint according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the box structure of an embodiment of the present invention; Figure 7 A schematic diagram of connecting the gas source system according to an embodiment of the present invention; Figure 8 It is a flow chart of automatic constant voltage launch and manual emergency launch according to an embodiment of the present invention; Fig. 9A self-check control logic diagram of an ejection control system according to an embodiment of the present invention; Fig.10 A logic control diagram of an ejection control system according to an embodiment of the present invention; Fig.11 A control flow chart of an energy storage control system according to an embodiment of the present invention; Fig.12 A control logic diagram of a gas source control system according to an embodiment of the present invention; Fig.13 A detection logic diagram of the gas source control system according to an embodiment of the present invention; Fig.14 The figure is a flowchart of the operation of the master control system according to an embodiment of the present invention.

[0018] The reference numerals are as follows: 1-carrier, 2-air source system, 3-loading and unloading system, 4-ejection system, 5-energy storage system, 6-box, 201-air compressor, 202-safety valve, 203-bursting disc, 401-frame, 402-first fixed pulley, 403-guide rail, 404-second fixed pulley, 405-deceleration cable, 406-third fixed pulley, 407-fourth fixed pulley, 408-push cylinder, 409-movable pulley, 410-transmission cable, 411-fixed plate, 412-first sleeve, 413 -second sleeve, 414-third sleeve, 415-first spring, 416-second spring, 417-bearing platform, 418-connecting plate, 419-linear sliding bearing, 420-reduction hook, 421-third sleeve, 422-clamp, 501-gas cylinder, 502-pipeline, 503-regulating valve, 504-solenoid valve, 505-bracket, 506-pressure sensor, 507-second solenoid valve, 601-housing, 602-box cover, 603-speed gear, 604-motor. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0020] The embodiment of the present application discloses a constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system. The system proposed in the present application is modularly designed, including multiple subsystems, which can be increased or decreased according to needs. In this embodiment, two ejection systems are used as an example. Figure 1 As shown, it includes a carrier 1, an air source system 2, a loading and unloading system 3, two ejection systems 4, an energy storage system 5 and a control system. The air source system 2 is connected to the energy storage system 5, and the energy storage system 5 is connected to each ejection system 4. A box 6 is provided outside each ejection system 4.

[0021] The ejection system 4 includes a frame 401 for fixing a guide rail 403, a push cylinder 408 and a pulley, and the ejection system 4 is arranged symmetrically about the central plane of the width direction of the frame 4. The ejection system 4 includes a plurality of fixed pulleys, all of which are fixedly connected to the frame 401 through a pin shaft, ensuring the stability and safety of the fixed pulleys during high-speed operation. The ejection system 4 is symmetrical in structure front and back, taking the structure on the rear side of the frame 401 as an example. A first fixed pulley 402 is arranged at the upper end of the inner wall on the rear side of the frame 401, and a guide rail 403 and two adjacent second fixed pulleys 404 are arranged on both sides of the first fixed pulley 402. The four second fixed pulleys 404 on both sides of the first fixed pulley 402 are connected by a deceleration cable 405, and sleeve devices are connected at both ends of the deceleration cable 405. A third fixed pulley 406 is arranged below the first fixed pulley 402, and a fourth fixed pulley 407 is arranged on the right side of the third fixed pulley 406. The guide rail 403 is used to fix the push splint so that it moves along the track, the deceleration cable 405 is used to intercept the push splint, and the sleeve device is used to absorb the kinetic energy of the push splint.

[0022] The ejection system 4 also includes a push cylinder 408, a movable pulley 409, a transmission cable 410 and a push clamp. The push cylinder 408 is fixed to the frame 401 through a fixed plate 411, and the upper end of the push cylinder 408 is connected to the movable pulley 409. In this embodiment, the movable pulley 409 adopts a double linkage pulley for synchronously transmitting power to ensure the uniform distribution of the thrust of the push cylinder 408, and the fixed pulley is used to change the routing direction of the deceleration cable 405 to assist in transmission. The pulley group composed of the fixed pulley and the movable pulley can optimize the power transmission and reduce the vibration during movement, thereby improving the performance and reliability of the ejection system 4. The transmission cable 410 is made of a whole alloy steel material, one end of which is fixed to the rear side of the frame 401 with a lock, and passes through the movable pulley 409, the fourth fixed pulley 407, the third fixed pulley 406 and the first fixed pulley 402 on the rear side of the frame 401 in sequence, then passes through the linear sliding bearing 419 at the bottom of the push clamp, and passes through the first fixed pulley 402, the third fixed pulley 406, the fourth fixed pulley 407 and the movable pulley 409 on the front side of the frame 401, and is finally fixed to the front side of the frame 401 with a lock.

[0023] like Figure 4 As shown, the sleeve device includes a first sleeve 412, a second sleeve 413 and a third sleeve 414. The second sleeve 413 is nested outside the first sleeve 412, and the third sleeve 414 is nested in the first sleeve 412. The first sleeve 412 and the second sleeve 413, and the first sleeve 412 and the third sleeve 414 can slide linearly. The deceleration cable 405 passes through the first sleeve 412 and is connected to the bottom of the third sleeve 414, so that the deceleration cable 405 pulls the third sleeve 414 when it moves and compresses the spring. The spring includes a first spring 415 nested above the second sleeve 413 and a second spring 416 nested below the second sleeve 413.

[0024] like Figure 5 As shown, the push clamp includes a bearing platform 417, and a linear sliding bearing 419 is provided at the bottom of the bearing platform 417 so that the transmission cable 410 can pass through. A connecting plate 418 is provided on the side of the bearing platform 417, and the number and position of the connecting plate 418 correspond to the guide rail 403, and the push clamp is connected to the guide rail 403 through the connecting plate 418. A deceleration hook 420 is provided through the side wall of the bearing platform 417, and a third sleeve 421 is provided above the bearing platform 417, and a clamp 422 is provided on the third sleeve 421. The clamp 422 is used to clamp the load, and different clamps 422 can be matched according to different loads. The clamp 422 in this embodiment is provided for a thin plate load as an example.

[0025] In order to ensure that the push splint will not be damaged by high-speed movement after ejection, the present embodiment reduces the speed of the push splint by two-stage deceleration to prevent excessive ejection of the push splint. Before deceleration, the deceleration cable 405 is kept horizontally tight. At the end of the push splint stroke, the deceleration hook 420 grabs the deceleration cable 405, starts deceleration, compresses the spring, and completes the first stage of deceleration. After the first stage of deceleration, the push splint still has residual speed. At this time, the push splint will collide with the first fixed pulley 402, triggering the second stage of deceleration to ensure complete stop.

[0026] Ejection system 4 working process reference Figure 3 , high-pressure gas is injected into the push cylinder 408, and the push rod of the push cylinder 408 is pushed out under the action of gas pressure, so that the movable pulley 409 pushes the cable transmission cable 410, and the transmission cable 410 passes through the fourth fixed pulley 407, the third fixed pulley 406 and the first fixed pulley 402 on the frame 401, pulls the push clamp, drives the load clamped on the push clamp clamp 422 to move, and accelerates the load to the end of the guide rail 403 and ejects it. The deceleration hook 420 on the push clamp is hooked to the deceleration cable 405 at the end of the stroke, and the deceleration cable 405 is connected to the sleeve device. Through the buffering effect of the spring in the sleeve device, the speed of the push clamp is reduced, and the push clamp continues to move until it stops completely at the first fixed pulley 402.

[0027] like Figure 6 As shown, the box body 6 includes a shell 601, a box cover 602 is fixedly connected to the top of the shell 601 through a pin shaft, a fixed tripod 605 is arranged on the side of the shell 601, the box body 6 is fixed on the carrier 1 through the fixed tripod 605, the box body 6 is connected to a speed change gear 603, and the speed change gear 603 is connected to a motor 604. The motor 604 cooperates with the speed change gear 603 to realize the maximum opening and closing of the box cover 602 by 180 degrees. When launching, the motor 604 drives the speed change gear 603 to open the box cover 602, and the motor 604 is reversed when the box cover 602 is closed.

[0028] The energy storage system 5 includes a plurality of gas cylinders 501 for storing high-pressure gas. The number of gas cylinders 501 is the same as that of the ejection system 4. In this embodiment, there are two gas cylinders, and the model is Xingyi CYYZ16A. A pressure sensor 506 is provided at the bottom of each gas cylinder 501, and a second solenoid valve 507 is provided at the mouth of each gas cylinder 504. Each second solenoid valve 507 is connected to one end of a regulating valve 503 through a pipeline 502, and the other end of the regulating valve 503 is connected to a plurality of first solenoid valves 504 through a pipeline 502. Each first solenoid valve 504 is connected to a push cylinder 408 of the ejection system 4, and the regulating valve 503 and the first solenoid valve 504 are arranged on a bracket 505. In this embodiment, the first solenoid valve 504 adopts Walbos HM809-DN8, and the second solenoid valve adopts Dunming solenoid valve DN8 (1 / 4-3 / 8) 30MP.

[0029] like Figure 7 As shown, the gas source system 2 includes an air compressor 201, a safety valve 202 and a bursting disc 203. The air compressor 201 is divided into three paths through a pipeline 502, one path is connected to the gas cylinder 501 through a second solenoid valve 507, one path is connected to the safety valve 202, and one path is connected to the bursting disc 203. The safety valve 202 and the bursting disc 203 are connected in parallel. The air compressor 201 is used to replenish high-pressure gas for the gas cylinder 501. The second solenoid valve 507 can automatically open and close according to the set opening pressure. When the pressure exceeds the preset pressure value, the safety valve 202 opens to release the pressure. When an abnormal working condition occurs and the pressure in the pressure vessel rises rapidly, and a larger release area is required, the bursting disc 203 works and starts to release the pressure quickly.

[0030] The loading and unloading system 3 includes a folding arm crane 301 and a remote controller 302. The load is loaded into the designated position of the box through the loading and unloading system 3. The folding arm crane 301 is folded and stored, three-stage telescopic, and adopts a full-cylinder telescopic boom. The folding arm crane 301 is characterized by cyclic and intermittent operation. It lifts the load from the storage point, moves horizontally to the opening of the box 6, and is placed in the ejection system 4. After completion, it returns to the origin and prepares for the next cycle. The folding arm crane 301 optimizes the installation and use space, saves operation and storage space, and adapts to small installation environments. In this embodiment, the model of the folding arm crane 301 is DRFZZBD0 of Jining Dongrun Fengzhi Heavy Industry Machinery Co., Ltd., and the remote controller 302 is attached to the folding arm crane.

[0031] The control system adopts the existing system, including the master control system, and the ejection control system, communication control system, loading and unloading control system, energy storage control system and air source control system connected to the master control system.

[0032] The ejection control system performs data acquisition, control logic execution, communication management, and system monitoring on the pressure sensor 506 to realize automatic control of the ejection system 4. In this embodiment, the ejection control system provides two launch modes: automatic constant pressure launch and manual emergency launch. The automatic constant pressure launch mode intelligently adjusts the launch pressure according to different load masses to ensure that the load is safely launched at a consistent initial velocity. The manual mode is an emergency alternative to provide additional protection for the load launch. The control process is as follows: Figure 8 As shown. In the manual emergency launch mode, the operator can skip the constant pressure controller and directly manually operate the air switch to achieve direct control of the high-frequency solenoid valve group (the solenoid valve group includes all the first solenoid valves 504). Once the high-frequency solenoid valve group is activated, the launch action is immediately triggered, and the launch process of the payload is successfully completed.

[0033] Figure 8 The operation process of automatic launch and manual launch is elaborated in detail. In the automatic constant pressure launch mode, the analog-to-digital converter (AD) sampling module continuously monitors the pipeline pressure and captures the pipeline pressure data in real time. The real-time pressure data is compared with the preset pressure expectation value to calculate the pressure difference or deviation. In order to improve the performance and response speed of the system, the system adopts direct memory access (DMA) technology. The application of this technology enables data to be directly transferred from the AD sampling module to the random access memory (RAM), eliminating the intermediate processing link of the CPU. This optimization measure significantly reduces the workload of the CPU and improves the efficiency and real-time performance of data transmission. After further processing, the data in the RAM is output to the PID controller by the analog-to-digital converter. Based on the instructions of the PID controller, the lower-level microcontroller generates pulse width modulation (PWM) waves or digital output (DO) waves with different duty cycles. These waveform signals effectively drive the solenoid valve group and ensure that the load is launched with constant acceleration by accurately adjusting the opening and closing time of the first solenoid valve 504. The model of the microcontroller used in this implementation is M48Z-M3STM32F103C8T6.

[0034] Automatic constant pressure launch uses PID control algorithm combined with closed-loop feedback system to control the current of high-frequency solenoid valve group, so as to maintain constant air pressure during launch, thus ensuring that the load can be launched with constant acceleration. Manual emergency launch can directly control the high-frequency solenoid valve group to trigger the load launch process.

[0035] System self-check control logic Fig. 9As shown, before launching, the system performs a self-check procedure to ensure that the ejection, energy storage and master control systems meet the launch standards before allowing the operator to select the launch mode. When the UAV is installed in place, the pressure of the gas cylinder 501 is normal, the pressure of the pipeline 502 is normal, the first solenoid valve 504 is closed, the angle of the launch device is normal, the line temperature is normal, and the emergency stop button is not pressed, press the self-check button, and when the master control start button is pressed, the indicator light prompts that the launch is allowed, and the launch mode is selected.

[0036] The transmission logic is as follows Fig.10 As shown, the system works according to the following process: the task starts, the vehicle is started, and the main control system is powered on. When the circuit and the first solenoid valve 504 are abnormal, the damaged components are replaced. When the circuit and the first solenoid valve 504 are normal, the gas cylinder 501 and the first solenoid valve 504 are opened, and the air compressor 201 is turned on. When the load is not installed in place, the loading and unloading system 3 is used to adjust the load. After the load is installed in place, it is determined whether the pressure of the gas cylinder 501 reaches the preset value. If it does not reach the preset value, the air compressor 201 continues to work. When the predicted value is reached, the air compressor 201 is turned off. It is determined whether the longitudinal and inclination angles of the carrier are qualified. If it is unqualified, Adjust the position of the carrier, and when appropriate, allow the launch indicator light to light up, and start selecting the launch mode. When the automatic launch mode is selected, press the launch button, the box cover 602 opens, the launch pressure is constant under the action of the controller, the first solenoid valve 504 opens, the loading and unloading system 3 loads the load, and then starts from judging whether the line and the first solenoid valve 504 are normal, and repeats the above process; when the manual launch mode is selected, press the manual launch button, the box cover 602 opens, the high-voltage protection is activated, the first solenoid valve 504 opens, the loading and unloading system 3 loads the load, and then starts from judging whether the line and the first solenoid valve 504 are normal, and repeats the above process.

[0037] For the communication control system, the master control host computer configures and communicates with the first solenoid valve 504 controller through the CAN bus network to achieve precise control of multiple first solenoid valves 504 to ensure that the load is ejected in a predetermined order and speed; by precisely controlling the opening of the first solenoid valve 504, precise control of the gas is achieved to ensure the realization of constant pressure emission.

[0038] In the loading and unloading control system, CAN bus communication technology and portable remote control are integrated to achieve connection with the lifting equipment through a wireless remote control to provide remote wireless control.

[0039] The energy storage control system is based on the STM32 microcontroller and communicates with the outside world through the CAN bus. It monitors the status of the air compressor 201, the pressure and volume of the gas cylinder 501 in real time, and tracks the number of times of filling and discharging and the operating time. The system has automatic interlocking control, automatically inflates or alarms according to the preset threshold, and the second solenoid valve 507 realizes the automatic operation of the gas cylinder 501. The control process is as follows: Fig.11The energy storage control system collects the pressure of the gas cylinder 501, the number of working times of the gas cylinder 501, the speed of the air compressor 201, and the exhaust temperature of the air compressor 201 in real time through the pressure sensor 506, and stores the data in the memory of the single-chip microcomputer. The single-chip microcomputer determines whether the pressure of the gas cylinder 501 reaches the preset value based on the data. If it exceeds, the second solenoid valve 507 is opened for deflation. If it does not reach, the second solenoid valve 507 is controlled to inflate.

[0040] In order to monitor the gas source system 2 in real time, the gas source control system of this embodiment uses an STM32 microcontroller to build a monitoring control module, integrates speed, pressure, and temperature sensors, and comprehensively monitors the compressor status, speed, pressure, temperature, and operating time. The STM32 core processor receives and processes sensor data, and transmits it to the master control display module efficiently and stably through CAN communication, ensuring that the information is timely and accurate. The control logic is as follows: Fig.12 As shown, when the power supply voltage and current are normal, the temperature inside the air compressor 201 is normal, the pressure inside the air compressor 201 is normal, there is no debris in the air inlet of the air compressor 201, the pressure inside the gas cylinder 501 is normal, the pressure inside the pipeline 502 is normal, and the first solenoid valve 504 of the gas cylinder 501 is opened and the start standby indication is started, the air compressor 201 is started when the start button is pressed. The detection logic is as follows Fig.13 As shown, the air compressor 201 will be shut down in the following three situations: as long as any one of the power supply voltage, current, internal temperature of the air compressor 201, internal pressure of the air compressor 201, air inlet of the air compressor 201, and pressure of the pipeline 502 is abnormal, the alarm will sound and close the pipeline 502; when the pressure in the gas cylinder 501 is abnormal or the pressure in the gas cylinder 501 reaches a preset value, the first solenoid valve 504 is closed and the air compressor 201 is shut down; when the emergency stop button is pressed, the air compressor 201 is shut down.

[0041] The core of the master control system is the control module, which is responsible for the key operations of payload launch. The module has two launch modes: automatic constant pressure and manual emergency. The operator can quickly adapt to different needs by switching the toggle switch. The automatic constant pressure mode ensures stable launch, and the manual emergency mode provides a quick response in emergency situations to ensure that the mission is unimpeded. Workflow: Before launch, the system performs a precise self-check, checking components, modules and the entire system one by one to ensure that all details meet the standards. The operation process is as follows Fig.14As shown. After turning on the switch of the master control system, the air compressor 201 starts, the gas cylinder 501 starts to inflate, and the pressure of the gas cylinder 501 is detected. When the pressure of the gas cylinder 501 is insufficient, the gas continues to be inflated. When the pressure reaches the standard, the system self-check is started to determine whether the ejection system 4 and the energy storage system 5 are normal and have been loaded with a load. If not, an alarm is issued and the ejection system 4 is disabled. If so, the launch is allowed and the launch mode is selected. When the manual launch button is pressed, the high-voltage protection is started, the solenoid valve group is started, the load is launched and ready to be launched again; when automatic launch is selected, AD sampling is performed, the data is stored in the single-chip memory, and the signal is output to the PID controller through the digital-to-analog converter to control the PWM / DO driver, drive the first solenoid valve 504, launch the load and prepare to launch again, and at the same time, the pressure sensor 506 collects data, processes the data, and feeds it back to the AD sampling.

[0042] The action sequence of the launch system in this embodiment is as follows: after the user inputs the load launch command, the launch system starts to perform a self-check of the launch conditions; after the launch conditions are met, the system starts the launch button, opens the first solenoid valve 504, and opens the box cover 602; after opening the first solenoid valve 504 and the box cover 602, the system detects the launch conditions: whether the pressure sensor 506 reaches the preset pressure value (20 MPa in this embodiment) and whether the box cover 602 is fully opened; after the detection is completed and the conditions are met, the first solenoid valve 504 is opened to complete the load ejection. The main working principle of the launch system in this embodiment is based on a pneumatic ejection system. First, before the ejection process begins, the air compressor 201 presses high-pressure air into the gas cylinder 501 for energy storage. The load is mounted and fixed on the ejection system 4 in the box body 6 and locked, and the guide rail 403 ensures that the load remains stable during the ejection process. When ejection begins, the high-pressure gas in the gas cylinder 501 enters the push cylinder 408 through the pneumatic pipeline 502, and the high-pressure gas pushes the piston in the push cylinder 408 to move at high speed. The piston pushes the pulley block, and the transmission cable 410 drives the push clamp to eject the load.

[0043] In a specific embodiment, it is necessary to launch a reconnaissance drone and an attack drone at the same time, and form a joint team to perform a reconnaissance and attack mission. The specific implementation steps include: Deployment: According to the on-site conditions, deploy the constant pressure pneumatic pulley block towing special-shaped UAV vertical cold launch system at a suitable location.

[0044] Energy storage: Start the air compressor 201 and pressurize high-pressure air into the gas cylinder 501 to store energy.

[0045] Install and fix the drone: install the reconnaissance drone and the attack drone on the ejection system 4 in the box 6 and lock them with a push clamp.

[0046] Ejection preparation: Check whether the gas cylinder 501, pipeline 502, push cylinder 408, pulley block, steel cable and other components are normal, and ensure that the guide rail 403 is smooth and unobstructed.

[0047] Ejection: Press the launch button, and the high-pressure gas in the gas cylinder 501 quickly enters the push cylinder 408 through the pipeline 502, pushing the piston to move at high speed.

[0048] UAV ejection: The piston pushes the pulley block, and the steel cable drives the push plate, so that the reconnaissance UAV and the attack UAV are ejected from the box 6 in turn.

[0049] The UAVs are jointly formed into a team to perform the mission: After the UAVs are ejected, the flight control system intervenes to control the UAVs and perform the mission according to the predetermined plan.

[0050] Clean up the site: After the ejection is completed, reset the launch system, clean up the site, and prepare for the next launch.

[0051] Through the above implementation methods, drones can be secretly transported, quickly deployed, and continuously launched to form a drone cluster scale, give full play to the advantages of cluster combat, and efficiently perform tasks.

[0052] The launch system disclosed in this application has the ability of secret transportation and parallel deployment, supports continuous multiple launches, and can vertically launch special-shaped drones, covering various types of drones such as reconnaissance drones, attack drones, and multi-purpose drones. Its design is compact, occupies a small space, and the load is located in the box throughout the launch process. The launch system control can ensure the stable output of constant thrust.

[0053] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system, characterized in that: The invention comprises a carrier (1), an air source system (2), a loading and unloading system (3), a plurality of ejection systems (4), an energy storage system (5) and a control system, wherein the air source system (2) is connected to the energy storage system (5), the energy storage system (5) is connected to each ejection system (4), and each ejection system (4) is provided with a box (6) outside.

2. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 1 is characterized in that: The ejection system (4) comprises a frame (401), the ejection system (4) is arranged symmetrically with respect to the central plane of the frame (4) in the width direction, a first fixed pulley (402) is arranged at the upper end of the inner wall of the rear side of the frame (401), guide rails (403) and two adjacent second fixed pulleys (404) are arranged on both sides of the first fixed pulley (402), four second fixed pulleys (404) on both sides of the first fixed pulley (402) are connected by a deceleration steel cable (405), both ends of the deceleration steel cable (405) are connected to a sleeve device, a third fixed pulley (406) is arranged below the first fixed pulley (402), and a fourth fixed pulley (407) is arranged on the right side of the third fixed pulley (406).

3. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 2 is characterized in that: The ejection system (4) further comprises a push cylinder (408), a movable pulley (409), a transmission steel cable (410) and a push clamp plate. The push cylinder (408) is fixed to the frame (401) via a fixing plate (411). The upper end of the push cylinder (408) is connected to the movable pulley (409). One end of the transmission steel cable (410) is fixed to the rear side of the frame (401) and passes through the movable pulley (409), the fourth fixed pulley (407), the third fixed pulley (406) and the first fixed pulley (402) on the rear side of the frame (401) in sequence, then passes through the bottom of the push clamp plate and passes through the first fixed pulley (402), the third fixed pulley (406), the fourth fixed pulley (407) and the movable pulley (409) on the front side of the frame (401), and finally is fixed to the front side of the frame (401).

4. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 3 is characterized in that: The sleeve device comprises a first sleeve (412), a second sleeve (413) and a third sleeve (414); the second sleeve (413) is nested outside the first sleeve (412); the third sleeve (414) is nested in the first sleeve (412); the first sleeve (412) and the second sleeve (413) as well as the first sleeve (412) and the third sleeve (414) can slide linearly; the deceleration cable (405) passes through the first sleeve (412) and is connected to the bottom of the third sleeve (414); a first spring (415) is nested above the second sleeve (413); and a second spring (416) is nested below the second sleeve (413).

5. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 4 is characterized in that: The push clamp plate comprises a bearing platform (417), a linear sliding bearing (419) is arranged at the bottom of the bearing platform (417), a connecting plate (418) is arranged on the side of the bearing platform (417), a deceleration hook (420) is arranged through the side wall of the bearing platform (417), a third sleeve (421) is arranged above the bearing platform (417), and a clamp (422) is arranged on the third sleeve (421).

6. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 5 is characterized in that: The box body (6) comprises a shell (601), a box cover (602) is fixedly connected to the top of the shell (601) via a pin shaft, a fixed stand (605) is arranged on the side of the shell (601), the box body (6) is fixed to the carrier (1) via the fixed stand (605), the box body (6) is connected to a speed change gear (603), and the speed change gear (603) is connected to a motor (604).

7. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 6 is characterized in that: The energy storage system (5) comprises a plurality of gas cylinders (501), the number of gas cylinders (501) being the same as the number of ejection systems (4), a pressure sensor (506) being arranged at the bottom of each gas cylinder (504), a second solenoid valve (507) being arranged at the mouth of each gas cylinder (504), each second solenoid valve (507) being connected to one end of a regulating valve (503) via a pipeline (502), the other end of the regulating valve (503) being connected to a plurality of first solenoid valves (504) via the pipeline (502), each first solenoid valve (504) being connected to a push cylinder (408) of the ejection system (4), and the regulating valve (503) and the first solenoid valve (504) being arranged on a bracket (505).

8. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 7 is characterized in that: The gas source system (2) comprises an air compressor (201), a safety valve (202) and a bursting disc (203); the air compressor (201) is divided into three paths through a pipeline (502); one path is connected to the gas cylinder (501) via a second solenoid valve (507); one path is connected to the safety valve (202); and one path is connected to the bursting disc (203); the safety valve (202) and the bursting disc (203) are connected in parallel.

9. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 8 is characterized in that: The loading and unloading system (3) comprises a folding arm crane (301) and a remote controller (302).

10. The constant pressure pneumatic pulley block traction type special-shaped UAV vertical cold launch system according to claim 3 is characterized in that: It includes a master control system, as well as a launch control system, a communication control system, a loading and unloading control system, an energy storage control system and an air source control system connected to the master control system.

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