Low-cost reconfigurable air carrying platform
By adopting a low-cost reconfigurable air delivery platform, using a modular fast connector and wing folding deployment mechanism, the problem that existing air transportation modes are difficult to achieve high-precision delivery in complex environments is solved, and high-precision small impact landing is achieved and transportation costs are reduced.
Patent Information
- Application Number
- CN202411691406.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-10-28
- Filing Date
- 2024-11-25
- Publication Date
- 2025-03-25
AI Technical Summary
It is difficult to achieve high-precision delivery in complex environments for existing air transport modes, and when traditional transport aircraft and helicopters face powerful air defense systems and complex terrain, the survival rate and delivery accuracy are difficult to take into account, resulting in reduced flight safety and high economic losses.
The low-cost reconfigurable air delivery platform is adopted to quickly replace and reconstruct the main components such as the nose and tail through a modular fast connector, and combine the wing folding and deployment mechanism and rudder surface control to achieve high-precision small impact landing.
It realizes high-precision delivery in complex environments, reduces transportation costs and structural weight, improves the adaptability and handling performance of the aircraft, and reduces economic losses.
Smart Images
Figure CN119683033A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a low-cost reconfigurable aerial carrier platform, belonging to the field of aircraft design. Background Art
[0002] With the development of modern society, the demand for rapid aerial transportation of materials is increasing. In the military field, cargo aircraft can release cluster aircraft and combat submunitions needed for the battlefield by aerial scattering, or accurately land on the ground target area by precision landing to provide rapid material supply for the front battlefield; in the civilian field, in emergency scenarios such as forest fire rescue, earthquake rescue, and emergency disinfection, cargo drones can deliver water, food, fire-fighting equipment, and medicines needed in critical environments. Compared with ground material transportation, they have the advantages of fast speed, high efficiency, and wide coverage. Especially in the wild and disaster areas where the road system is imperfect or damaged, aerial material transportation and delivery play an irreplaceable role.
[0003] In most of the above-mentioned air transport scenarios, it is difficult to find a suitable place for cargo drones to taxi and land. Therefore, the air transport methods in these scenarios are mostly to use manual experience to throw airdrop materials from cargo planes, or to use helicopters to hover for fixed-point delivery. These two methods face the problem of "inaccurate delivery" due to the large airdrop landing range and the problem of "slow delivery" due to helicopter hovering. On the other hand, the delivery methods of traditional transport planes and helicopters cannot take into account both survival rate and delivery accuracy in the face of increasingly powerful air defense systems on the battlefield; in the field of civil disaster relief, facing fire smoke and complex terrain and geomagnetic environment after earthquakes, flights face more environmental uncertainties, which further reduces flight safety. Once an accident occurs, manned aircraft often face the situation of aircraft destruction and death, and drones also carry many high-value equipment. In the event of an accident, they will also bring relatively large economic losses due to high costs.
[0004] Therefore, it is necessary to develop low-cost carrier aircraft, aiming to offset the quality advantage of a single drone with the quantity advantage of a large number of drones. As the air transport missions in battlefield environments and emergency rescue scenarios become more and more complex, traditional fixed-configuration aircraft are difficult to cope with diverse usage requirements, and it is unrealistic in terms of time and cost to develop multiple carrier aircraft for different scenarios. How to carry out module reconstruction based on a basic configuration to achieve multiple functions is also an important issue in the development of low-cost carrier aircraft today. Summary of the invention
[0005] The purpose of the present invention is to provide a low-cost reconfigurable aerial carrier platform, which adopts a modular and reconfigurable design. According to different mission types and requirements, the main components such as the nose and tail can be flexibly replaced as needed through the designed modular quick connectors. Before the carrier platform is delivered, it is placed in a large transport aircraft in a folded form for batch transportation; when in use, it is airdropped in large quantities using a cluster delivery method; the folding wings of the carrier platform can be unfolded in the air and achieve long-distance gliding. During the gliding process, a pair of rudders are used to complete flight control and achieve high-precision low-impact landing.
[0006] The objective of the present invention is achieved through the following technical solutions:
[0007] The invention discloses a low-cost reconfigurable airborne carrier platform, comprising a fuselage assembly, a tail assembly, a nose assembly, a wing assembly and a modular quick connector. The wing assembly is fixedly mounted above the fuselage assembly. The nose assembly and the tail assembly are connected to the front and rear of the fuselage assembly through modular quick connectors, and can be quickly disassembled and replaced through the modular quick connectors.
[0008] The modular quick connector is used for quick connection and separation between the tail assembly, the nose assembly and the fuselage assembly. The modular quick connector includes a tenon block, an upper limit block, a lower limit block, a guide rail A, a guide rod A, a guide rail B, a guide rod B, a toothed slider, a limit tooth A, a limit tooth B, a button, a guide rail C, a spring, a limit through hole, a limit key, an upper guide rod compartment and a lower guide rod compartment.
[0009] Among them, the tenon block is an integrally formed component, and grooves are symmetrically provided on the upper and lower parts for installing the upper limit block and the lower limit block. The upper limit block is a square limit block with a circular hole in the center. The guide rail A passes through its central circular hole, so that the upper limit block can slide up and down. The upper limit block is connected to the upper circular hole of the guide rod A through the tenon and mortise socket. After the two are connected, they can be rotated within a certain range with the center of the circular hole of the guide rod A as the center of the circle. The lower limit block is a square limit block with a circular hole in the center. The guide rail B passes through the central circular hole of the lower limit block, so that the lower limit block can slide up and down. The lower limit block is connected to the lower circular hole of the guide rod B through the tenon and mortise socket. After the two are connected, they can be rotated within a certain range with the center of the circular hole of the guide rod B as the center of the circle.
[0010] The two ends of the guide rod A are respectively connected to the upper limit block and the toothed slider, and the guide rod B is respectively connected to the lower limit block and the toothed slider to realize the involved motion between the limit block and the slider.
[0011] After the limit tooth A passes through the tooth groove slider, it contacts the limit tooth B. The limit tooth B is fixedly connected to the button and protrudes from the surface of the tenon block. One end of the guide rail C is fixedly installed on the inner wall of the tenon block, and the other end is inserted into the limit tooth A. The spring is wound on the guide rail C. The guide rail C, the limit tooth A and the tooth groove slider are placed in the limit through hole as a whole from the inside to the outside. A protrusion, i.e., a limit key, is provided on the inner wall of the limit through hole to restrict the movement of the limit tooth A and the limit tooth B around the central axis of the guide rail C. The tooth groove slider can slide left and right on the limit tooth A, but is restricted by the limit tooth A, and the sliding of the tooth groove slider will not exceed the two ends of the limit tooth A.
[0012] There are two cavities inside the tenon block, namely the upper guide rod compartment and the lower guide rod compartment, to ensure that the movement of the guide rods A and B will not interfere with the guide rod compartment wall.
[0013] The fuselage assembly of the low-cost reconfigurable air carrier platform is composed of a fuselage cover, a cargo hold and a connection buckle, which is the core component of the aircraft and is responsible for connecting with other modules. The fuselage cover and the cargo hold are connected by a connection buckle, and the wing and the fuselage cover are connected by a wing folding and unfolding mechanism. The wing includes a front wing and a rear wing, forming a rectangular wing configuration of a tandem wing layout, and a pair of rudders are arranged on the outer side of the trailing edge of the rear wing. The fuselage assembly does not contain a landing gear design, which can reduce the cost and structural weight;
[0014] The tail assembly is installed at the tail of the fuselage and includes a vertical tail and a tail cabin.
[0015] The nose assembly is a hollow structure used to house the aircraft's guidance and control components and power equipment.
[0016] The wing assembly includes a wing folding and unfolding mechanism, a front wing, a rear wing and a control surface.
[0017] The wing folding and unfolding mechanism includes a rotating lifting module, a hatch shaft, a torsion spring, and a limit cylinder.
[0018] Furthermore, the modular quick connector is connected to the nose and tail components in the following manner: the nose and tail components are provided with mortises on the side walls close to the fuselage, and are connected to the fuselage components through the mortises.
[0019] Furthermore, the fuselage cover of the fuselage assembly is connected to the cargo hold by connecting buckles; the front and rear sides of the fuselage assembly are provided with mortise and tenon grooves matching the mortise and tenon grooves, and the fuselage assembly is connected to the nose and tail assemblies by mortise and tenon joints respectively.
[0020] Furthermore, a groove A is provided on the tenon, and the locking of the head / tail assembly and the fuselage assembly is achieved by cooperating with the upper limit block protruding in the locked state of the modular quick connector; a groove B is provided on the mortise, and the locking of the head / tail assembly and the fuselage assembly is achieved by cooperating with the lower limit block protruding in the locked state of the modular quick connector.
[0021] Furthermore, the wing assembly is mainly composed of a wing folding and unfolding mechanism, a front wing and a rear wing. The wing folding and unfolding mechanism includes a rotating lifting module, a canopy shaft, a torsion spring and a limit cylinder. The rotating lifting modules connecting the two wings are coaxially connected, that is, they are installed on the canopy shaft at the same time. The torsion spring is placed between the two rotating lifting modules to drive the wings to unfold; the limit cylinder is located on the outside of the two wings, and the limit pin can be inserted to fix the wings in the folded state.
[0022] Furthermore, the wingspan of the front wing is 70% of the wingspan of the rear wing, the distance between the leading edge of the front wing and the leading edge of the rear wing is 1.975m, and the height of the center chord line of the rear wing is 0.2m higher than that of the front wing.
[0023] Furthermore, the fuselage, nose and tail components are made of plywood, which can reduce costs.
[0024] The method for transporting cargo using the low-cost reconfigurable aerial carrier platform comprises the following steps:
[0025] Step 1: Task requirement input: According to the actual task, input requirements into the system, including the location of the delivery target point, the type and quantity of delivery materials, and the division of obstacle areas;
[0026] Step 2: Configuration suggestions for low-cost reconfigurable aerial launch platform: The planning software on the ground segment computer provides strategies for the reconfiguration configuration of the low-cost reconfigurable launch platform according to the mission requirements, including: selecting modular cargo compartments of different sizes according to the size and quantity of the cargo to be carried; selecting different modular tails according to the flight range requirements, with two configurations of power-extended range and ordinary gliding to choose from; selecting different modular noses according to the delivery accuracy requirements, with two configurations of with-seeker and without-seeker to choose from;
[0027] Step 3: Configuration verification and parameter generation: According to the configuration suggestions put forward by the planning software, the low-cost reconfigurable airborne launch platform is modularly reconfigured. The fuselage components, nose components, cargo hold, and tail components are connected through a bus to form a "soft reconstruction" connection. The cargo is loaded into the cargo hold and the "hard reconstruction" connection between the components is achieved through the aforementioned modular quick connectors and connection buckles. The main control computer on the low-cost reconfigurable airborne launch platform obtains the type of each component through the interface recognition technology and transmits it to the ground segment computer. The ground segment computer compares the actual configuration with the recommended configuration put forward by the planning software. After confirmation, the aerodynamic parameters and structural parameters of the aircraft under the current configuration are obtained based on the prior database;
[0028] Step 4: Track planning: Based on the aerodynamic parameters and structural parameters of the aircraft obtained in step 3, combined with the target position information and path avoidance data information in step 1, batch generate track point information under different initial release points for track tracking in the subsequent flight process;
[0029] Step 5: Parameter binding: Bind the track point information obtained in step 4 and the mission requirement input information in step 1 to the main control computer of the low-cost reconfigurable airborne carrier platform;
[0030] Step 6: Cluster transportation and delivery: The wings of the low-cost delivery platforms are folded using the aforementioned wing folding method and loaded into a large transport aircraft in batches. After the large transport aircraft flies to the delivery area, the low-cost delivery platforms are delivered in batches in the air. The low-cost delivery platforms use the aforementioned wing unfolding method to open the front and rear wing surfaces in the air, and start flight control after the departure disturbance phase ends.
[0031] Step 7: Flight and landing of the carrier platform: After starting the flight control, the carrier platform begins to track the track points generated in step 4. Due to the low-cost design, the aircraft has only one pair of movable control surfaces, so the lateral maneuver and longitudinal maneuver time-sharing control method is used to control it, and the three-channel instructions are converted into two rudder deviation instructions. If there is a heading deviation between the track points, the PD controller is used to eliminate the deviation. At this time, the rudder surface mainly responds to the roll and yaw instructions, and only plays a stabilizing role on the pitch channel; after the heading deviation is eliminated, the rudder surface mainly responds to the pitch instruction, and the altitude control instrument and the overload control instrument are used to track the longitudinal track. In the terminal landing section, the method of tracking the approximate arc / elliptical trajectory is used to decelerate, so as to reduce the vertical impact during landing and ensure the safety of the cargo. At this point, the work of the low-cost reconfigurable air carrier platform has been completed. If necessary, the aforementioned modular quick connector can be used to quickly disassemble and recycle high-value components such as the nose assembly, thereby further reducing costs.
[0032] Beneficial effects:
[0033] 1. The invention discloses a low-cost reconfigurable airborne carrier platform, which adopts a tandem wing layout to reduce the strength requirements of the fuselage, so that the aircraft shell can be made of low-cost materials such as plywood. The high lift-to-drag ratio aerodynamic shape design increases the flight distance, achieves out-of-area delivery, reduces the performance requirements of the engine, and further reduces costs. The strategy of "disposable use of low-value components and recycling of high-value components" is adopted, the landing gear design is cancelled, and the load-to-weight ratio is improved.
[0034] 2. The present invention discloses a low-cost reconfigurable aerial launch platform, which can realize rapid loading and unloading of components through modular quick connectors, so as to achieve rapid on-demand hardware reconstruction of the entire machine, thereby improving the adaptability of the launch vehicle in the face of complex mission requirements.
[0035] 3. The present invention discloses a low-cost reconfigurable aerial launch platform, which adopts a wing folding and unfolding mechanism that combines torsion spring-aerodynamic drive with mortise and tenon limiters. It can realize variable-plane unfolding and folding of the wing at the lowest possible cost, avoid the additional rolling moment caused by the two wings not being in the same horizontal plane, reduce the rudder resources required for roll stability, and improve the maneuverability.
[0036] 4. The present invention discloses a low-cost reconfigurable aerial launch platform, which adopts the mission planning, reconstruction and application architecture of low-cost launch aircraft to achieve the soft and hard double-layer mission-oriented reconstruction of the low-cost launch aircraft, provide a reconfigurable launch aircraft working method, and expand the application scope of low-cost launch aircraft. BRIEF DESCRIPTION OF THE DRAWINGS
[0037] Figure 1 It is a schematic diagram of the layout of the low-cost reconfigurable carrier platform of the present invention;
[0038] Figure 2 It is a schematic diagram of the structural details of the tenon block of the modular quick connector of the present invention;
[0039] Figure 3 A partial enlarged schematic diagram of the tenon block of the modular quick connector of the present invention Figure 1 ;
[0040] Figure 4 A partial enlarged schematic diagram of the tenon block of the modular quick connector of the present invention Figure 2 ;
[0041] Figure 5 Schematic diagram of the connection between the mortise and the groove of the present invention
[0042] Figure 6 Schematic diagram of the connection between the tongue and groove of the present invention
[0043] Figure 7 A schematic diagram of the folding and unfolding mechanism of a low-cost reconfigurable airborne launch platform;
[0044] Figure 8 This is a schematic diagram of the wing tip limiter of the folding and unfolding mechanism;
[0045] Fig. 9 The mission planning, reconfiguration and application architecture diagram of the low-cost reconfigurable airborne carrier platform of the present invention;
[0046] Fig.10 A schematic diagram of a reconfigurable modular cargo hold of the present invention;
[0047] Fig.11 It is a schematic diagram of the reconfigurable modular tail assembly of the present invention;
[0048] Fig.12It is a schematic diagram of a reconfigurable modular head assembly of the present invention;
[0049] Among them: 1-fuselage assembly, 2-tail assembly, 3-nose assembly, 4-wing assembly, 5-modular quick connector, 6-tenon block, 7-upper limit block, 8-lower limit block, 9-guide rail A, 10-guide rod A, 11-guide rail B, 12-guide rod B, 13-toothed slider, 14-limiting tooth A, 15-limiting tooth B, 16-button, 17-guide rail C, 18-spring, 19-limiting through hole, 20-limiting key, 21-upper guide rod compartment, 22-lower guide rod compartment, 23-connecting buckle, 24-wing folding and unfolding mechanism, 25-rotating lifting module, 26-cabin cover shaft, 27-torsion spring, 28-limiting cylinder, 29-mortise, 30-mortise, 31-groove A, 32-groove B, 33-cargo hold, 34-fuselage cover, 35-vertical tail, 36-control rudder surface. DETAILED DESCRIPTION
[0050] In order to better illustrate the purpose and advantages of the present invention, the invention is further described below with reference to the accompanying drawings and examples.
[0051] like Figure 1 As shown, the embodiment discloses a low-cost reconfigurable airborne carrier platform, including a fuselage assembly 1, a tail assembly 2, a nose assembly 3, a wing assembly 4 and a modular quick connector 5. The fuselage assembly 1 is composed of a fuselage cover 34, a cargo hold 33 and a connection buckle 23, and is a core component of the aircraft, responsible for connecting with the remaining modules. The fuselage cover 34 and the cargo hold 33 are connected by the connection buckle 23, and the wing assembly 4 is connected to the fuselage assembly 1 by a wing folding and unfolding mechanism 24. The fuselage assembly 1 does not contain a landing gear design, which can reduce the cost and structural weight.
[0052] The tail assembly 2 is installed at the tail of the fuselage assembly 1 and includes a vertical tail 35 and a tail cabin.
[0053] The nose assembly 3 is a hollow structure used for arranging aircraft guidance and control components and other equipment.
[0054] The wing assembly 4 comprises a wing folding and unfolding mechanism 24, a front wing, a rear wing and a control rudder surface 18. The rectangular wings of the front wing and the rear wing form a tandem wing layout, and a pair of control rudder surfaces 18 are arranged outside the trailing edge of the rear wing.
[0055] like Figure 2-Figure 4The modular quick connector 5 shown is used for quick connection and separation between the tail assembly 2, the nose assembly 3 and the fuselage assembly 1; the modular quick connector 5 includes a tenon block 6, an upper limit block 7, a lower limit block 8, a guide rail A9, a guide rod A10, a guide rail B11, a guide rod B12, a toothed slider 13, a limit tooth A14, a limit tooth B15, a button 16, a guide rail C17, a spring 18, a limit through hole 19, a limit key 20, an upper guide rod compartment 21, and a lower guide rod compartment 22.
[0056] Among them, the tenon block 6 is an integrally formed component, and grooves are symmetrically provided in the upper and lower parts for installing the upper limit block 7 and the lower limit block 8; the upper limit block 7 is a square limit block with a circular hole in the center, and the guide rail A9 passes through its central circular hole, so that the upper limit block can slide up and down, and the upper limit block 7 is connected to the upper circular hole of the guide rod A10 through the mortise and tenon insertion hole, and the two can be connected to realize rotation within a certain range with the center of the circular hole of the guide rod A10 as the center of the circle; the lower limit block 8 is a square limit block with a circular hole in the center, and the guide rail B11 passes through the central circular hole of the lower limit block, so that the lower limit block 8 can slide up and down, and the lower limit block 8 is connected to the lower circular hole of the guide rod B12 through the mortise and tenon insertion hole, and the two can be connected to realize rotation within a certain range with the center of the circular hole of the guide rod B12 as the center of the circle;
[0057] The two ends of the guide rod A10 are connected to the upper limit block 7 and the toothed slider 13 respectively; the guide rod B12 is connected to the lower limit block 8 and the toothed slider 13 respectively; the upper limit block 7 and the lower limit block 8 and the toothed slider 13 are connected to achieve the involved movement between them.
[0058] After the limit tooth A14 passes through the tooth groove slider 13, it contacts the limit tooth B15. The limit tooth B15 is fixedly connected to the button 16 and protrudes from the surface of the tenon block 6; one end of the guide rail C17 is fixedly installed on the inner wall of the tenon block 6, and the other end is inserted into the limit tooth A14; the spring is wound on the guide rail C17; the guide rail C17, the limit tooth A14 and the tooth groove slider 13 are formed as a whole from the inside to the outside and are placed in the limit through hole 19; a protrusion is provided on the inner wall of the limit through hole 19, namely the limit key 20, which is used to constrain the movement of the limit tooth A13 and the limit tooth B14 around the central axis of the guide rail C17; the tooth groove slider 13 can slide left and right on the limit tooth A14, but is restricted by the limit tooth A14, and the sliding of the tooth groove slider 13 will not exceed the two ends of the limit tooth A14.
[0059] There are two cavities inside the tenon block 6, namely the upper guide rod compartment 21 and the lower guide rod compartment 22, to ensure that the movement of the guide rod A10 and the guide rod B12 will not interfere with the guide rod compartment wall.
[0060] like Figure 5-Figure 6As shown, the modular quick connector 5 is connected to the head assembly 3 and the tail assembly 4 in the following manner: the head assembly 3 and the tail assembly 4 are provided with mortise grooves 29 on the side walls close to the fuselage assembly 1, and are connected to the fuselage assembly 1 through the mortise grooves 29; the front and rear sides of the fuselage assembly 1 are provided with tenon grooves 30 matching the mortise grooves 29, and respectively realize mortise and tenon connection with the head assembly 3 and the tail assembly 4; further, a groove A31 is provided on the tenon groove 30, which can cooperate with the upper limit block 7 protruding in the locked state of the modular quick connector 5 to realize the locking of the head assembly 3, the tail assembly 4 and the fuselage assembly 1; a groove B32 is provided on the mortise groove 29, which can cooperate with the lower limit block 8 protruding in the locked state of the modular quick connector 5 to lock the head assembly 3, the tail assembly 4 and the fuselage assembly 1.
[0061] like Figure 7-Figure 8 As shown, the wing folding and unfolding mechanism 24 includes a rotating lifting module 25 , a canopy shaft 26 , a torsion spring 27 , and a limiting cylinder 28 .
[0062] like Figure 1 As shown, the total length of the fuselage assembly 1, tail assembly 2, nose assembly 3, and wing assembly 4 after connection is about 4.8m, of which the total length of the cargo hold 33 is 2.4m, and the cross-section of the cargo hold 33 is a rectangle of 600×600mm, and the cargo hold 33 is used to place cargo. The fuselage cover 34 is connected to the cargo hold 33 through six connecting buckles 23 evenly distributed on the side walls of the cargo hold, and can be opened and closed as a door assembly to place cargo. The fuselage cover 34 and the cargo hold 33 together constitute the main part of the fuselage assembly 1. The nose assembly 3 is about 1.2m long, and its interior is used to place avionics equipment such as high-precision cameras, altimeters, airspeed meters, flight control boards, and integrated navigation systems; the tail assembly 2 is about 1.2m long, and batteries and other equipment can be arranged inside, which acts as a counterweight together with the nose assembly 3. The tail compartment of the tail assembly 2 is integrally formed with the vertical tail 33, and the vertical tail 33 is a flat plate with a thickness of 20mm and an area of 0.471m 2 The larger area helps to improve the heading stability of the UAV. Considering that the low-cost reconfigurable aerial carrier platform designed by the present invention does not need to perform large lateral maneuvers in the use scenario, the rudder is not arranged on the vertical tail 33, further reducing the cost of the servo mechanism; the nose assembly 3 and the tail assembly 2 are respectively connected to the fuselage assembly 1 through two modular quick connectors 5 at symmetrical positions on the left and right sides.
[0063] like Figure 1 As shown, the low-cost reconfigurable aerial carrier platform, the nose assembly 3 is shaped approximately like a quadrangular pyramid, the surface is a curved surface, and has a rectifying effect; the cargo hold 33 is shaped like a long cube, which is used to stack the goods to be transported; the tail cabin of the tail assembly 2 is shaped like a quadrangular pyramid, which has a certain drag reduction effect.
[0064] like Figure 1 As shown, the walls of the nose assembly 3, the tail assembly 2 and the fuselage assembly 1 are respectively provided with mortises 29 and tenons 30 connected to the modular quick connector 5. The modular quick connector 5 is embedded in the mortises 29 and tenons 30 to achieve rapid connection and separation between aircraft modules.
[0065] like Figure 1 As shown, the wing assembly 4 is a tandem wing layout, including two front and rear lifting surfaces, namely the front wing and the rear wing, which greatly improves the cruising ability and carrying capacity of the UAV while reducing the requirements for structural strength, so that the main structure of the fuselage can be made of low-cost plywood materials. The wingspan of the front wing is 70% of the wingspan of the rear wing, and the aerodynamic center of the whole machine can be arranged in a relatively rear position, which helps to improve the longitudinal stability of the aircraft. The distance between the leading edge of the front wing and the leading edge of the rear wing is 1.975m, and the height of the chord line of the rear wing is 0.2m higher than that of the front wing. The reasonable front and rear wing spacing and height difference effectively reduce the influence of the airflow downwash of the front wing of the tandem wing configuration on the aerodynamic performance of the rear wing. The top-view projection contours of the front wing and the rear wing are both rectangular, without an anhedral angle or a leading edge sweep angle, and are simple to manufacture, which helps to reduce production costs. The wing airfoils are all CLARK Y airfoils with high lift-to-drag ratio and good stall characteristics, with an average aerodynamic chord length of 0.5m, a front wing span of 2.94m, and a rear wing span of 4.2m. The front wing is not provided with a rudder surface to reduce the cost of the servo mechanism, and a pair of aileron-elevator coupling control rudder surfaces 36 are arranged at the trailing edge of the rear wing to complete longitudinal and lateral flight control through reasonable rudder control distribution. The rudder surface 36 is rectangular in shape, with a chord length of 24% of the rear wing chord length, a single-side rudder surface span of 1.155m, accounting for 27.5% of the full span of the rear wing, and the outer side of the rudder surface is 0.105m away from the wing tip.
[0066] As Figure 2-Figure 6 As shown, the method for connecting and disassembling components of a low-cost reconfigurable airborne carrier platform using modular connectors 5 and mortise grooves 29 and tenon grooves 30 is as follows:
[0067] When the modules need to be connected, press button 16 lightly to push limit tooth B15 to slide. At this time, limit tooth A14 and limit tooth B15 are both embedded in limit key 20, so limit tooth B15 pushes limit tooth A14 inward. During this process, tooth groove slider 13 and limit tooth A14 slide simultaneously, driving guide rod A10 and guide rod B12 to push upper limit block 7 and lower limit block 8 to move upward and downward along guide rail A9 and guide rail B10 respectively, and spring 18 is under pressure and contracts inward until the tooth top of limit tooth A14 slides to the innermost end of limit key 20, and limit tooth A14 is separated from limit key 20. The limit key 20 is on the oblique tooth surface of the limit tooth A14, and the elastic force of the spring 18 will push the tooth groove slider 13 and the limit tooth A14 to the left, so that the limit tooth A14 rotates around the main axis of the guide rail C17 until the limit key 20 is stuck at the lowest point of the tooth surface of the limit tooth A14. At this time, the tooth groove slider 13 moves to the far left, and the limit tooth A14 is locked by the spring 18 and the limit key 20, and then the entire device is locked. At this time, the upper limit block 7 and the lower limit block 8 will extend half of their own height to the groove A32 corresponding to the mortise 29 and the groove B31 corresponding to the tenon 30, completing the connection and locking.
[0068] When the connection between modules is cancelled, the button 16 is pressed again to push the limit tooth B15 and the limit tooth A14 to slide to the left until the tooth top surface of the limit tooth A14 slides to the innermost end of the limit key 20 again, and the locking relationship between the limit tooth A14 and the limit key 20 is released. The limit key 20 is on the oblique tooth surface of the limit tooth A14. At this time, the button 16 is released. Due to the elastic force of the spring 18, the limit tooth A14 is forced to rotate around the main axis of the guide rail C17, and the tooth groove slider 13 slides along The limit key 20 moves, and finally the limit key 20 enters the groove of the slender strip of the limit tooth A14. The limit tooth A14 drives the tooth groove slider 13 to move to the far right under the action of the spring 18. In this process, the upper limit block 7 and the lower limit block 8 retract into the tenon block 6, and the two guide rods 10 and 12, the limit tooth B15, and the button 16 return to their positions until the spring 18 returns to its original length and has no elastic force. At this point, the connection between the tenon block 6 and the outside world is released, and it can be taken out and the disassembly of the aircraft module is completed.
[0069] like Figure 7-Figure 8 As shown, the working method of the wings A and B of the low-cost reconfigurable airborne carrier platform when folded by the folding and unfolding mechanism 7 is as follows:
[0070] The initial state is Figure 1As shown, wing A and wing B are located in a horizontal plane. In the ground state, the rotary lifting module 25 on the wing A side moves downward under the action of gravity, releasing the mortise and tenon joint with the rotary lifting module 25 on the wing B side, and further rotates around the canopy shaft 26 under the action of external force, driving wing A to rotate and descend until the bottom of the rotary lifting module 25 on the wing A side contacts the fuselage assembly 1, and the axial movement is restricted. At this time, wing A has rotated 90°, completing the folding process. Subsequently, the rotary lifting module 25 on the wing B side rotates in the horizontal plane, driving wing B to rotate in the same plane until wing B is stacked on top of wing A. At this time, the wingtips of the two wings are located in the same vertical plane, and the limit rods are inserted from top to bottom into the wingtip limit cylinders 28 of the two wings to lock the movement of the wings in the circumferential direction, completing the matching and fixing.
[0071] like Figure 7-Figure 8 As shown, the workflow of the wings A and B of the low-cost reconfigurable airborne carrier platform when unfolded by the folding and unfolding mechanism 7 is as follows:
[0072] After being airdropped from a large transport aircraft, the low-cost reconfigurable air carrier platform uses a micro-explosive explosion to blow up the limit rod fixed in the limit cylinder 28 in the air, release the constraint of the limit cylinder 28, and rely on the potential energy of the torsion spring 27 in the canopy shaft 26. The wing B located above quickly rotates 90° to be perpendicular to the fuselage assembly 1 and is in a fully deployed state. At the same time, the wing A located below quickly rises through the rotating lifting module 25 under the action of external force (such as wing lift). After completing the rotation and rising, it is parallel to the span direction of the wing B. At the same time, the mortise and tenon joints of the rotating lifting module 25 fixedly connected to the two wings are mutually engaged to limit the rotation of the wing. The wing is fully deployed and enters the flight state. At this time, the wing A and the wing B are in the same horizontal plane after being deployed, which can avoid the additional rolling moment caused by the two wings not being in the same horizontal plane, reduce the rudder resources required for rolling stability, and improve the maneuverability. The wings are deployed and fixed by the torsion spring-aerodynamic drive and the mortise and tenon limit method, which has good reliability and stability.
[0073] like Fig. 9 As shown, the low-cost reconfigurable aerial launch platform can be divided into a three-stage architecture of ground segment, delivery segment and flight segment in actual application. Each application step is described in detail below.
[0074] Step 1: Task requirement input: According to the actual task, input requirements into the system, mainly including the location of the delivery target point, the type and quantity of delivery materials, the division of obstacle areas, etc.;
[0075] Step 2: Configuration suggestions for low-cost reconfigurable airborne launch platform: The planning software on the ground segment computer can make suggestions for the reconfiguration configuration of the low-cost reconfigurable launch platform according to the mission requirements, mainly including: selecting modular cargo compartments of different sizes according to the size and quantity of the cargo to be transported, such as Fig.10 As shown in the figure; different modular tails can be selected according to the flight range requirements. There are two configurations to choose from: power-extended-range and ordinary gliding. Fig.11 As shown in the figure, different modular heads can be selected according to the delivery accuracy requirements. There are two configurations to choose from: with a seeker and without a seeker. Fig.12 As shown;
[0076] Step 3: Configuration verification and parameter generation: According to the configuration suggestions put forward by the planning software, the low-cost reconfigurable airborne carrier platform is modularly reconfigured. The fuselage component 1, the tail component 2, and the nose component 3 are connected by a bus to form a "soft reconstruction". The cargo is loaded into the cargo hold 33 and the "hard reconstruction" connection between the components is realized through the aforementioned modular quick connector 5 and the connection buckle 23. The main control computer on the low-cost reconfigurable airborne carrier platform obtains the type of each component through the interface recognition technology and transmits it to the ground segment computer. The ground segment computer compares the actual configuration with the recommended configuration put forward by the planning software. After confirming that it is correct, the aerodynamic parameters and structural parameters of the aircraft under the current configuration are obtained based on the prior database;
[0077] Step 4: Track planning: Based on the aircraft parameters obtained in the previous step, combined with the target position signal data, path avoidance data and other information in step 1, batch generate track point information under different initial release points for track tracking in the subsequent flight process;
[0078] Step 5: Parameter binding: Bind the track point information obtained in the previous step and the related information in step 1 to the main control computer of the low-cost reconfigurable airborne carrier platform;
[0079] Step 6: Cluster transportation and delivery: The wings of the low-cost reconfigurable aerial delivery platform are folded by the aforementioned wing folding method and loaded into a large transport aircraft in batches. After the large transport aircraft flies to the delivery area, the low-cost delivery platform is delivered in batches in the air. The low-cost reconfigurable aerial delivery platform uses the aforementioned wing unfolding method to open the front and rear wing surfaces in the air, and flight control begins after the departure disturbance phase ends.
[0080] Step 7: Flight and landing of the carrier platform: After starting the flight control, the carrier platform begins to track the track points generated in step 4. Due to the low-cost design, the aircraft has only one pair of control rudders 36, so the lateral maneuver and longitudinal maneuver time-sharing control method is used for control, and the three-channel instructions are converted into two rudder deviation instructions. If there is a heading deviation between the track points, the PD controller is used to eliminate the deviation. At this time, the rudder mainly responds to the roll and yaw instructions, and only plays a stabilizing role on the pitch channel; after the heading deviation is eliminated, the rudder mainly responds to the pitch instruction, and the altitude pilot and overload pilot are used to track the longitudinal track. In the terminal landing section, the method of tracking the approximate arc / elliptical trajectory is used to decelerate, so as to reduce the vertical impact during landing and ensure the safety of the cargo. At this point, the work of the low-cost reconfigurable air carrier platform has been completed. If necessary, the aforementioned modular quick connector 5 can be used to quickly disassemble and recycle high-value components such as the nose assembly 3, thereby further reducing costs.
[0081] The specific description above further illustrates the purpose, technical solutions and beneficial effects of the invention in detail. It should be understood that the above is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A low-cost reconfigurable aerial carrier platform, characterized in that: It includes a fuselage assembly, a tail assembly, a nose assembly, a wing assembly and a modular quick connector; the wing assembly is fixedly installed above the fuselage assembly; the nose assembly and the tail assembly are connected to the front and rear of the fuselage assembly through modular quick connectors, and can be quickly disassembled and replaced through modular quick connectors; Modular quick connector, used for quick connection and separation between tail assembly, nose assembly and fuselage assembly; modular quick connector includes tenon block, upper limit block, lower limit block, guide rail A, guide rod A, guide rail B, guide rod B, toothed slider, limit tooth A, limit tooth B, button, guide rail C, spring, limit through hole, limit key, upper guide rod cabin, lower guide rod cabin; Among them, the tenon block is an integrally formed component, and grooves are symmetrically provided up and down for installing the upper limit block and the lower limit block; the upper limit block is a square limit block with a circular hole in the center, and the guide rail A passes through its central circular hole, so that the upper limit block can slide up and down, and the upper limit block is connected to the upper circular hole of the guide rod A through the mortise and tenon insertion hole, and after the two are connected, they can be rotated within a certain range with the center of the circular hole of the guide rod A as the center of the circle; the lower limit block is a square limit block with a circular hole in the center, and the guide rail B passes through the central circular hole of the lower limit block, so that the lower limit block can slide up and down, and the lower limit block is connected to the lower circular hole of the guide rod B through the mortise and tenon insertion hole, and after the two are connected, they can be rotated within a certain range with the center of the circular hole of the guide rod B as the center of the circle; The two ends of the guide rod A are connected to the upper limit block and the toothed slider respectively, and the guide rod B is connected to the lower limit block and the toothed slider respectively; the coupled motion between the limit block and the slider is realized; After the limit tooth A passes through the tooth groove slider, it contacts the limit tooth B. The limit tooth B is fixedly connected to the button and protrudes from the surface of the tenon block; one end of the guide rail C is fixedly installed on the inner wall of the tenon block, and the other end is inserted into the limit tooth A; the spring is wound on the guide rail C; the guide rail C, the limit tooth A and the tooth groove slider are integrally placed in the limit through hole from the inside to the outside; a protrusion is provided on the inner wall of the limit through hole, namely the limit key, which is used to restrict the movement of the limit tooth A and the limit tooth B around the central axis of the guide rail C; the tooth groove slider can slide left and right on the limit tooth A, but is restricted by the limit tooth A, and the sliding of the tooth groove slider will not exceed the two ends of the limit tooth A; There are two cavities inside the tenon block, namely the upper guide rod compartment and the lower guide rod compartment, to ensure that the movement of the guide rods A and B will not interfere with the guide rod compartment wall; The fuselage assembly is composed of a fuselage cover, a cargo hold and a connection buckle, and is the core component of the aircraft, responsible for connecting with the other modules. The fuselage cover is connected to the cargo hold by a connection buckle, and the wing is connected to the fuselage cover by a wing folding and unfolding mechanism. The wing includes a front wing and a rear wing, forming a rectangular wing configuration of a tandem wing layout, and a pair of rudders are arranged on the outer side of the trailing edge of the rear wing. The fuselage assembly does not contain a landing gear design, which can reduce the cost and structural weight; A tail assembly, mounted at the tail of the fuselage, comprising a vertical tail and a tail cabin; The nose assembly is a hollow structure used to house the aircraft guidance and control components and power supply equipment; Wing assembly, including wing folding and unfolding mechanism, front wing, rear wing and control surface; The wing folding and unfolding mechanism includes a rotating lifting module, a hatch shaft, a torsion spring, and a limit cylinder.
2. A low-cost reconfigurable aerial launch platform as claimed in claim 1, characterized in that: The modular quick connector is connected to the nose and tail components in the following way: the nose and tail components are provided with mortises on the side walls close to the fuselage, and are connected to the fuselage components through the mortises.
3. A low-cost reconfigurable aerial launch platform as claimed in claim 1, characterized in that: The fuselage cover plate of the fuselage assembly is connected to the cargo hold through a connecting buckle; the front and rear sides of the fuselage assembly are provided with mortise and tenon grooves matching the mortise and tenon grooves, and the fuselage assembly is respectively connected to the nose and tail assemblies by mortise and tenon joints.
4. A low-cost reconfigurable aerial launch platform as claimed in claim 1, characterized in that: A groove A is provided on the tenon groove, and the locking of the head / tail assembly and the fuselage assembly is achieved by cooperating with the upper limit block protruding in the locked state of the modular quick connector; a groove B is provided on the mortise groove, and the locking of the head / tail assembly and the fuselage assembly is achieved by cooperating with the lower limit block protruding in the locked state of the modular quick connector.
5. A low-cost reconfigurable aerial launch platform as claimed in claim 1, characterized in that: The wing assembly is mainly composed of a wing folding and unfolding mechanism, a front wing and a rear wing; the wing folding and unfolding mechanism includes a rotating lifting module, a canopy shaft, a torsion spring and a limit cylinder; the rotating lifting modules connecting the two wings are coaxially connected, that is, they are installed on the canopy shaft at the same time; the torsion spring is placed between the two rotating lifting modules to drive the wings to unfold; the limit cylinder is located on the outside of the two wings, and the limit pin can be inserted to fix the wings when the wings are folded.
6. A low-cost reconfigurable aerial launch platform as claimed in claim 5, characterized in that: The wingspan of the front wing is 70% of the wingspan of the rear wing, the distance between the leading edge of the front wing and the leading edge of the rear wing is 1.975m, and the chord height of the rear wing is 0.2m higher than that of the front wing.
7. A low-cost reconfigurable aerial launch platform as claimed in claim 1, characterized in that: The fuselage, nose and tail components are made of plywood.
8. A method for transporting cargo using the low-cost reconfigurable aerial carrier platform as claimed in any one of claims 1 to 7, characterized in that: The following steps are included: Step 1: Task requirement input: According to the actual task, input requirements into the system, including the location of the delivery target point, the type and quantity of delivery materials, and the division of obstacle areas; Step 2: Configuration suggestions for low-cost reconfigurable air launch platform: The planning software on the ground segment computer provides strategies for the reconfiguration configuration of the low-cost reconfigurable air launch platform according to the mission requirements, including: selecting modular cargo compartments of different sizes according to the size and quantity of the cargo to be carried; selecting different modular tails according to the flight range requirements, with two configurations of power-extended range and ordinary gliding to choose from; selecting different modular noses according to the delivery accuracy requirements, with two configurations of with-seeker and without-seeker to choose from; Step 3: Configuration verification and parameter generation: According to the configuration suggestions put forward by the planning software, the low-cost reconfigurable airborne carrier platform is modularly reconfigured. The fuselage components, nose components, cargo compartment, and tail components are connected by a bus to form a "soft reconstruction". The cargo is loaded into the cargo compartment and the "hard reconstruction" connection between the components is realized through the aforementioned modular quick connector and connection buckle. The main control computer on the low-cost reconfigurable airborne carrier platform obtains the type of each component through the interface recognition technology and transmits it to the ground segment computer. The ground segment computer compares the actual configuration with the recommended configuration put forward by the planning software. After confirming that there is no error, the aerodynamic parameters and structural parameters of the aircraft under the current configuration are obtained according to the prior database. Step 4: Track planning: Based on the aerodynamic parameters and structural parameters of the aircraft obtained in step 3, combined with the target position information and path avoidance data information in step 1, batch generate track point information under different initial release points for track tracking in the subsequent flight process; Step 5: Parameter binding: Bind the track point information obtained in step 4 and the mission requirement input information in step 1 to the main control computer of the low-cost reconfigurable airborne carrier platform; Step 6: Cluster transportation and delivery: The wings of the low-cost reconfigurable aerial delivery platform are folded by the aforementioned wing folding method and loaded into a large transport aircraft in batches. After the large transport aircraft flies to the delivery area, the low-cost delivery platform is delivered in batches in the air. The low-cost reconfigurable aerial delivery platform uses the aforementioned wing unfolding method to open the front and rear wing surfaces in the air, and flight control begins after the departure disturbance phase ends. Step 7: Flight and landing of low-cost reconfigurable aerial launch platform: After starting flight control, the launch platform begins to track the track points generated in step 4. Due to the low-cost design, the aircraft has only one pair of movable control surfaces, so the lateral maneuver and longitudinal maneuver time-sharing control method is used for control, and the three-channel instructions are converted into two rudder deviation instructions; if there is a heading deviation between the track points, the PD controller is used to eliminate the deviation. At this time, the rudder mainly responds to the roll and yaw instructions, and only plays a stabilizing role on the pitch channel; after the heading deviation is eliminated, the rudder mainly responds to the pitch instruction, and the altitude autopilot and overload autopilot are used to track the longitudinal track; in the terminal landing section, the method of tracking the approximate arc / elliptical trajectory is used to decelerate, so as to reduce the vertical impact during landing and ensure the safety of the cargo; at this point, the work of the low-cost reconfigurable aerial launch platform has been completed. If necessary, the aforementioned modular quick connector can be used to quickly disassemble and recycle the nose assembly, thereby further reducing costs.