技术领域technical field
本发明涉及无人机弹射器技术领域，具体涉及一种基于气动肌腱的无人机弹射系统。The invention relates to the technical field of unmanned aerial vehicle catapults, in particular to an unmanned aerial vehicle ejection system based on an aerodynamic muscle.
背景技术Background technique
固定翼无人机短距起飞所用的弹射系统，根据能量转换形式的不同可分为：蒸汽式弹射、电磁式弹射、液压式弹射以及压缩空气式楔型弹射。但蒸汽式弹射设备庞大，技术复杂，在固定翼无人机短距起飞中很少使用；电磁式弹射是用于替代蒸汽式弹射而研发的，但受限于电子设备、蓄能设备，须为之匹配足够容量的发电机组，且存在强磁场干扰；液压式弹射系统的液压缸输出速度低，液压马达排量小，发射架长度超过10米，占地大，使用不便；压缩空气式楔型弹射系统，其用气缸作为致动器，气缸动态响应过程中，其弹射力下降明显，一定时间后弹射力往往不能提供给无人机有效的加速度，造成无效加速，浪费跑道长度，而且弹射力具有剧烈波动，致使无人机的加速度有明显的波动(如图1所示)，导致无人机受力不均、滑行时不稳定，对无人机和弹射架的强度要求较高。The ejection systems used for short-distance take-off of fixed-wing UAVs can be divided into steam ejection, electromagnetic ejection, hydraulic ejection and compressed air wedge ejection according to different forms of energy conversion. However, the steam ejection equipment is huge and the technology is complicated, so it is rarely used in the short-distance take-off of fixed-wing UAVs; the electromagnetic ejection is developed to replace the steam ejection, but it is limited by electronic equipment and energy storage equipment, so it must To match it with a generator set with sufficient capacity, and there is strong magnetic field interference; the output speed of the hydraulic cylinder of the hydraulic ejection system is low, the displacement of the hydraulic motor is small, and the length of the launch frame exceeds 10 meters, which occupies a large area and is inconvenient to use; the compressed air wedge Type ejection system, which uses the cylinder as the actuator. During the dynamic response of the cylinder, its ejection force drops significantly. After a certain period of time, the ejection force often cannot provide effective acceleration for the UAV, resulting in invalid acceleration, wasting the length of the runway, and ejection The force fluctuates violently, resulting in obvious fluctuations in the acceleration of the UAV (as shown in Figure 1), resulting in uneven force on the UAV and instability during taxiing, which requires high strength for the UAV and the ejection frame.
发明内容Contents of the invention
本发明的目的在于提供一种基于气动肌腱的无人机弹射系统，用以解决现有楔型弹射系统的弹射力下降明显、波动剧烈的问题。The purpose of the present invention is to provide a UAV ejection system based on pneumatic muscles, which is used to solve the problems of the existing wedge-shaped ejection system that the ejection force drops significantly and fluctuates violently.
为实现上述目的，本发明提供了一种基于气动肌腱的无人机弹射系统，其包括第一框架、上滑道、上溜板、下滑道、下溜板、第一支腿、第二框架、第二支腿、气动肌腱以及缆绳，所述第一框架的前侧面竖直方向的长度小于所述第一框架的后侧面竖直方向的长度，所述第一框架的上表面与所述第一框架的下表面之间的夹角为8-15°，沿所述第一框架的上表面从后向前方向设有所述上滑道，所述上溜板可滑动地设置于所述上滑道，在所述上溜板的两端设有第一滑轮和第三滑轮，沿所述第一框架的下表面从后向前设有所述下滑道，所述下溜板可滑动地设置于所述下滑道，在所述下溜板的中部设有第二滑轮，所述第一支腿固定于所述第一框架的后侧面，所述第二框架的后侧面固定于所述第一框架的前侧面，所述第二支腿固定于所述第二框架的前侧面，在所述第二支腿的顶部和中部分别设有第四滑轮和第五滑轮，所述气动肌腱的固定端固定于所述第一支腿的下部，所述缆绳的固定端固定于所述第一支腿的中部，所述缆绳的绳身依次绕过所述第一滑轮、所述第二滑轮、所述第三滑轮、所述第四滑轮以及所述第五滑轮，所述缆绳的自由端与所述气动肌腱的自由端连接。In order to achieve the above object, the present invention provides a UAV ejection system based on pneumatic muscles, which includes a first frame, an upper slide, an upper slide, a glide slide, a lower slide, a first leg, and a second frame , the second outrigger, the pneumatic muscle and the cable, the length of the vertical direction of the front side of the first frame is less than the vertical length of the rear side of the first frame, the upper surface of the first frame and the The included angle between the lower surfaces of the first frame is 8-15°, and the upper slideway is provided along the upper surface of the first frame from back to front, and the upper slide plate is slidably arranged on the The above-mentioned upper slideway is provided with a first pulley and a third pulley at both ends of the upper slide plate, and the slideway is provided from back to front along the lower surface of the first frame, and the lower slide plate can be Slidingly arranged on the slideway, a second pulley is provided in the middle of the lower slide plate, the first leg is fixed on the rear side of the first frame, and the rear side of the second frame is fixed on the The front side of the first frame, the second leg is fixed on the front side of the second frame, the top and middle of the second leg are respectively provided with a fourth pulley and a fifth pulley, the The fixed end of the pneumatic muscle is fixed on the lower part of the first leg, the fixed end of the cable is fixed on the middle part of the first leg, and the rope body of the cable goes around the first pulley, the For the second pulley, the third pulley, the fourth pulley and the fifth pulley, the free end of the cable is connected to the free end of the pneumatic muscle.
其中，所述第一框架与所述第二框架一体成型。Wherein, the first frame and the second frame are integrally formed.
其中，所述基于气动肌腱的无人机弹射系统还包括第一减速滑道，所述第一减速滑道设置在所述第二框架的上表面，所述第一减速滑道的首部与上滑道的尾部连接，所述第一减速滑道用于对所述上溜板减速。Wherein, the UAV ejection system based on the aerodynamic muscle also includes a first deceleration slide, the first deceleration slide is arranged on the upper surface of the second frame, and the head of the first deceleration slide is connected to the upper surface of the second frame. The tail of the slideway is connected, and the first deceleration slideway is used to decelerate the upper slide.
其中，所述基于气动肌腱的无人机弹射系统还包括第二减速滑道，所述第二减速滑道设置在所述第二框架的下表面，所述第二减速滑道的首部与下滑道的尾部连接，所述第二减速滑道用于对所述下溜板减速。Wherein, the UAV ejection system based on the aerodynamic muscle also includes a second deceleration slide, the second deceleration slide is arranged on the lower surface of the second frame, and the head of the second deceleration slide is in line with the The tail end of the road is connected, and the second deceleration slide is used to decelerate the lower slide.
其中，所述基于气动肌腱的无人机弹射系统还包括第六滑轮和绞盘，所述第六滑轮固定于所述第一支腿的上部，所述绞盘固定于所述第一支腿的中部，所述缆绳的固定端绕过所述第六滑轮并且固定于所述绞盘，所述绞盘用于预紧所述缆绳以使所述气动肌腱的长度拉伸5％。Wherein, the UAV ejection system based on pneumatic muscle also includes a sixth pulley and a winch, the sixth pulley is fixed on the upper part of the first leg, and the winch is fixed on the middle part of the first leg , the fixed end of the cable passed around the sixth pulley and was fixed to the capstan, and the capstan was used to pretension the cable so that the length of the aerodynamic muscle was stretched by 5%.
其中，所述基于气动肌腱的无人机弹射系统还包括角度调节支架和角度锁定机构，所述角度调节支架的固定端铰接于所述第二支腿的上部且位于所述第四滑轮的下方，所述角度调节支架的长度大于所述第二支腿的长度，所述角度调节支架用于调节所述上滑道与水平面的夹角，所述角度锁定机构固定于所述第二支腿的上部且与所述角度调节支架的固定端的位置平齐，所述角度锁定机构用于锁定所述角度调节支架与所述第二支腿之间的角度。Wherein, the UAV ejection system based on the pneumatic muscle also includes an angle adjustment bracket and an angle locking mechanism, the fixed end of the angle adjustment bracket is hinged on the upper part of the second leg and is located below the fourth pulley , the length of the angle adjustment bracket is greater than the length of the second leg, the angle adjustment bracket is used to adjust the angle between the upper slideway and the horizontal plane, and the angle locking mechanism is fixed on the second leg The upper part is flush with the position of the fixed end of the angle adjustment bracket, and the angle locking mechanism is used to lock the angle between the angle adjustment bracket and the second leg.
其中，所述气动肌腱设有多根，多根所述气动肌腱并联设置。Wherein, there are multiple pneumatic muscles, and multiple pneumatic muscles are arranged in parallel.
优选地，所述气动肌腱设有3根。Preferably, there are three pneumatic muscles.
其中，所述基于气动肌腱的无人机弹射系统还包括第一气动肌腱同步器和第二气动肌腱同步器，所述第一气动肌腱同步器固定于所述第一支腿的下部，多根所述气动肌腱的固定端均固定于所述第一气动肌腱同步器，多根所述气动肌腱的自由端均固定于所述第二气动肌腱同步器，所述缆绳的自由端固定于所述第二气动肌腱同步器。Wherein, the UAV ejection system based on the aerodynamic muscle also includes a first aerodynamic muscle synchronizer and a second aerodynamic muscle synchronizer, the first aerodynamic muscle synchronizer is fixed on the lower part of the first leg, and a plurality of The fixed ends of the pneumatic muscles are all fixed to the first pneumatic muscle synchronizer, the free ends of the plurality of pneumatic muscles are all fixed to the second pneumatic muscle synchronizer, and the free ends of the cables are fixed to the Secondary Muscle Synchronizer.
其中，所述缆绳为孚泰纤维缆绳或尼龙缆绳。Wherein, the cable is Futai fiber cable or nylon cable.
本发明具有如下优点：The present invention has the following advantages:
本发明提供了一种基于气动肌腱的无人机弹射系统，其采用气动肌腱作为动力源，上滑道与下滑道之间的轨道夹角为8-15°，分别配备有上溜板与下溜板，气动肌腱做功，其自由端收缩，使得缆绳绷紧，上溜板在缆绳的作用下在上滑道上向前滑动，滑动一段距离后，下溜板在缆绳作用下自动平衡在下滑道的某个位置，此过程中，下溜板向前滑动，下溜板被迫寻找平衡位置的过程中，上溜板一直不停地向前滑行，即上溜板向前滑动和下溜板自动平衡的过程是持续且同时进行的，在轨道夹角(8-15°)的作用下，下溜板的滑动是变加速运动，且下溜板的加速度相对于上溜板的加速度是滞后的，上溜板受到下溜板滞后的阻力(通过两者间的缆绳提供)和气动肌腱的拉力(通过缆绳提供)，在气动肌腱的拉力降低的过程中，由于轨道夹角的存在，使得上溜板受到的向前的合力(此合力即为弹射系统的弹射力)在较小范围内波动，且无明显的下降趋势，避免弹射系统的弹射力及加速度迅速下降，能够长时间提供无人机有效的加速度，减少了弹射系统上滑道的长度，弹射力在较小范围内波动能有效缓解无人机加速度的剧烈波动，改善了无人机和弹射架的受力情况，避免无人机受力不均、滑行不稳造成的损坏。The invention provides a UAV ejection system based on aerodynamic muscle, which adopts aerodynamic muscle as a power source, the angle between the upper slide and the lower slide is 8-15°, and is equipped with an upper slide and a lower slide respectively. For the slide, the pneumatic muscle does work, and its free end contracts, making the cable tight. The upper slide slides forward on the upper slide under the action of the cable. After sliding for a certain distance, the lower slide automatically balances on the slide under the action of the cable. During this process, the down slide slides forward, and the down slide is forced to find a balance position, the up slide keeps sliding forward, that is, the up slide slides forward and the down slide The process of automatic balancing is continuous and simultaneous. Under the action of the track angle (8-15°), the sliding of the lower slide is a variable acceleration movement, and the acceleration of the lower slide is lagging behind that of the upper slide. Yes, the upper slide is subject to the hysteresis resistance of the lower slide (provided by the cable between them) and the tension of the aerodynamic muscle (provided by the cable). The forward resultant force (this resultant force is the ejection force of the ejection system) received by the upper slide plate fluctuates within a small range, and there is no obvious downward trend, so as to avoid the rapid decline of the ejection force and acceleration of the ejection system, and provide long-term The effective acceleration of the man-machine reduces the length of the slideway on the ejection system, and the ejection force fluctuates within a small range, which can effectively alleviate the drastic fluctuations in the acceleration of the UAV, improve the stress on the UAV and the ejection frame, and avoid unnecessary Damage caused by uneven force on the man-machine and unstable sliding.
附图说明Description of drawings
图1是背景技术中压缩空气式楔型弹射系统的无人机加速度曲线图。Fig. 1 is the UAV acceleration curve diagram of the compressed air wedge ejection system in the background technology.
图2是实施例1-3提供的基于气动肌腱的无人机弹射系统的结构示意图。Fig. 2 is a structural schematic diagram of the UAV ejection system based on the aerodynamic muscle provided by Embodiment 1-3.
图3是实施例1中无人机弹射起飞过程的加速度曲线图。Fig. 3 is the acceleration curve diagram of UAV ejection take-off process in embodiment 1.
图中：1-第一框架，2-上滑道，3-上溜板，4-下滑道，5-下溜板，6-第一支腿，7-第二框架，8-第二支腿，9-气动肌腱，10-缆绳，11-第一滑轮，12-第二滑轮，13-第三滑轮，14-第四滑轮，15-第五滑轮，16-第六滑轮，17-绞盘，18-角度调节支架，19-第一减速滑道，20-第二减速滑道，21-第一气动肌腱同步器，22-第二气动肌腱同步器，23-无人机。In the figure: 1-the first frame, 2-the upper slide, 3-the upper slide, 4-the slide, 5-the lower slide, 6-the first leg, 7-the second frame, 8-the second branch Leg, 9-Pneumatic Muscle, 10-Cable, 11-First pulley, 12-Second pulley, 13-Third pulley, 14-Fourth pulley, 15-Fifth pulley, 16-Sixth pulley, 17-Winch , 18-angle adjustment bracket, 19-first deceleration slide, 20-second deceleration slide, 21-first aerodynamic muscle synchronizer, 22-second aerodynamic muscle synchronizer, 23-drone.
具体实施方式Detailed ways
以下实施例用于说明本发明，但不用来限制本发明的范围。The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
本申请的描述中，需要说明的是，方位词“前”指的是无人机弹射起飞的方向，其他方位词“后”、“左”、“上”、“下”等均是以“前”所示的方位为基础所对应的方向，而这些方位词仅是为了便于描述申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。In the description of this application, it should be noted that the orientation word "front" refers to the direction in which the UAV ejects and takes off, and other orientation words "rear", "left", "upper" and "lower" all start with " The orientation shown in "before" is the direction corresponding to the basis, and these orientation words are only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed in a specific orientation and operation and therefore should not be construed as limiting the application.
实施例1Example 1
如图2所示，实施例1提供了一种基于气动肌腱的无人机弹射系统，其包括第一框架1、上滑道2、上溜板3、下滑道4、下溜板5、第一支腿6、第二框架7、第二支腿8、气动肌腱9以及缆绳10，第一框架1的前侧面竖直方向的长度小于第一框架1的后侧面竖直方向的长度，第一框架1的上表面与第一框架1的下表面之间的夹角为8-15°，沿第一框架1的上表面从后向前方向设有上滑道2，上溜板3可滑动地设置于上滑道2，在上溜板3的两端设有第一滑轮11和第三滑轮13，沿第一框架1的下表面从后向前设有下滑道4，即下滑道4与上滑道2呈8-15°的夹角，下溜板5可滑动地设置于下滑道4，在下溜板5的中部设有第二滑轮12，由于下溜板5仅设有一个滑轮，而上溜板3设有两个滑轮，所以下溜板5与第二滑轮12总重量小于上溜板3与第一滑轮11和第三滑轮13的总重量，第一支腿6固定于第一框架1的后侧面，第二框架7的后侧面固定于第一框架1的前侧面，第一框架1与第二框架7一体成型，第二支腿8固定于第二框架7的前侧面，在第二支腿8的顶部和中部分别设有第四滑轮14和第五滑轮15，气动肌腱9的固定端固定于第一支腿6的下部，气动肌腱9具有功率/重量比和功率/体积比高的特点，同缸径气缸供气条件下能产生10倍于气缸致动器的拉伸力，且气动肌腱9的耗气量仅为气缸致动器的40％，使得基于气动肌腱的无人机弹射系统的体积小、质量轻、能量高，缆绳10为孚泰纤维缆绳或尼龙缆绳，缆绳10的固定端固定于第一支腿6的中部，缆绳10的绳身依次穿过第一滑轮11、第二滑轮12、第三滑轮13、第四滑轮14以及第五滑轮15，缆绳10的自由端与气动肌腱9的自由端连接。As shown in Figure 2, Embodiment 1 provides a UAV ejection system based on pneumatic muscles, which includes a first frame 1, an upper slide 2, an upper slide 3, a glide 4, a lower slide 5, a first slide One leg 6, the second frame 7, the second leg 8, the pneumatic muscle 9 and the cable 10, the length of the vertical direction of the front side of the first frame 1 is less than the length of the vertical direction of the rear side of the first frame 1, the second The angle between the upper surface of a frame 1 and the lower surface of the first frame 1 is 8-15 °, and the upper surface of the first frame 1 is provided with an upper slideway 2 from the back to the front direction, and the upper slide plate 3 can be Slidingly arranged on the upper slideway 2, a first pulley 11 and a third pulley 13 are provided at both ends of the upper slide plate 3, and a slideway 4 is provided from the back to the front along the lower surface of the first frame 1, that is, the slideway 4 and the upper slideway 2 form an angle of 8-15°, the lower slide plate 5 is slidably arranged on the slideway 4, and a second pulley 12 is provided in the middle of the lower slide plate 5, since the lower slide plate 5 is only provided with one pulley, and the upper slide 3 is provided with two pulleys, so the total weight of the lower slide 5 and the second pulley 12 is less than the total weight of the upper slide 3 and the first pulley 11 and the third pulley 13, and the first leg 6 is fixed On the rear side of the first frame 1, the rear side of the second frame 7 is fixed on the front side of the first frame 1, the first frame 1 and the second frame 7 are integrally formed, and the second leg 8 is fixed on the side of the second frame 7 On the front side, a fourth pulley 14 and a fifth pulley 15 are respectively provided at the top and middle of the second leg 8, and the fixed end of the pneumatic muscle 9 is fixed to the bottom of the first leg 6, and the pneumatic muscle 9 has a power/weight ratio With the characteristics of high power/volume ratio, it can generate 10 times the tensile force of the cylinder actuator under the same bore cylinder air supply condition, and the air consumption of the pneumatic muscle 9 is only 40% of the cylinder actuator. The UAV ejection system of the tendon is small in size, light in weight and high in energy. The cable 10 is a Futai fiber cable or a nylon cable. Through the first pulley 11 , the second pulley 12 , the third pulley 13 , the fourth pulley 14 and the fifth pulley 15 , the free end of the cable 10 is connected to the free end of the pneumatic muscle 9 .
当无人机弹射起飞前，将无人机23固定在上溜板3上，使其一起运动，无人机23弹射过程中，气动肌腱9充气做功，其自由端收缩，牵动缆绳10绷紧，上溜板3在缆绳10的作用下在上滑道上向前滑动，滑动一段距离后，由于下轨道4与上轨道2之间的夹角为8-15°，下溜板5在缆绳10的作用下自动平衡在下滑道4的某个位置，此过程中，下溜板5需向前滑动，在下溜板5被迫寻找平衡位置的过程中，上溜板3一直不停地向前滑行，即上溜板3向前滑动和下溜板5自动平衡的过程是持续且同时进行的，由于下溜板5与第二滑轮12总重量小于上溜板3与第一滑轮11和第三滑轮13的总重量，下溜板5在自动平衡的过程中，所消耗的气动肌腱9的能量的占比少，使得气动肌腱9作用在上溜板3及无人机23上的能量占比多，提供的加速度大，在轨道夹角(8-15°)的作用下，下溜板5的滑动是变加速运动，且下溜板5的加速度相对于上溜板3的加速度是滞后的，上溜板3受到下溜板5滞后的阻力(通过上溜板3与下溜板5之间的缆绳10提供)和气动肌腱9的拉力(通过上溜板3与气动肌腱9之间的缆绳10提供)，在气动肌腱9的拉力降低的过程中，由于轨道夹角的存在，使得上溜板3受到的向前的合力(此合力即为弹射系统的弹射力)在较小范围内波动，且无明显的下降趋势，即上溜板3的加速度以及无人机23的加速度会保持在较小范围内波动，无人机23的加速度的数值如图3所示，避免了弹射系统的弹射力及加速度迅速下降，使得无人机23所受的弹射力下降缓慢(波动阶段在总体上呈水平线)，能够长时间提供无人机23有效的加速度，减少了弹射系统上滑道2的长度，且弹射力在较小范围内波动，有效地缓解了无人机23加速度的剧烈波动，改善了无人机23和弹射架的受力情况，避免无人机23受力不均、滑行不稳造成的损坏。Before the unmanned aerial vehicle takes off, fix the unmanned aerial vehicle 23 on the upper slide plate 3 to make it move together. During the ejection process of the unmanned aerial vehicle 23, the aerodynamic muscle 9 is inflated to do work, and its free end shrinks, which affects the tension of the cable 10. , the upper slide plate 3 slides forward on the upper slideway under the action of the cable 10, and after sliding for a certain distance, because the angle between the lower track 4 and the upper track 2 is 8-15°, the lower slide plate 5 is under the action of the cable 10 Under the action, the automatic balance is at a certain position on the glideway 4. During this process, the lower slide 5 needs to slide forward. When the lower slide 5 is forced to find a balance position, the upper slide 3 keeps sliding forward. , that is, the process of the upper slide 3 sliding forward and the lower slide 5 automatically balancing is continuous and carried out at the same time, because the total weight of the lower slide 5 and the second pulley 12 is less than that of the upper slide 3 and the first pulley 11 and the third pulley. The total weight of the pulley 13 and the energy ratio of the pneumatic muscle 9 consumed by the lower slide 5 during the automatic balancing process is small, so that the energy proportion of the pneumatic muscle 9 acting on the upper slide 3 and the UAV 23 More, the acceleration provided is large, under the action of the track angle (8-15°), the sliding of the lower slide 5 is a variable acceleration movement, and the acceleration of the lower slide 5 is lagging behind the acceleration of the upper slide 3 , the upper slide 3 is subjected to the hysteresis resistance of the lower slide 5 (provided by the cable 10 between the upper slide 3 and the lower slide 5) and the tension of the pneumatic muscle 9 (through the upper slide 3 and the pneumatic muscle 9 cable 10), in the process of reducing the tension of the pneumatic muscle 9, due to the existence of the track angle, the forward resultant force on the upper slide 3 (this resultant force is the ejection force of the ejection system) is within a small range fluctuation, and no obvious downward trend, that is, the acceleration of the upper slide 3 and the acceleration of the UAV 23 will keep fluctuating within a small range. The value of the acceleration of the UAV 23 is shown in Figure 3, which avoids the ejection system The ejection force and acceleration drop rapidly, so that the ejection force suffered by the unmanned aerial vehicle 23 drops slowly (the fluctuation stage is generally horizontal), which can provide effective acceleration for the unmanned aerial vehicle 23 for a long time, reducing the slideway 2 on the ejection system. length, and the ejection force fluctuates within a small range, which effectively alleviates the violent fluctuation of the acceleration of the UAV 23, improves the stress situation of the UAV 23 and the ejection frame, and avoids uneven force on the UAV 23, Damage caused by unsteady skid.
在本实施例中，基于气动肌腱的无人机弹射系统还包括第六滑轮16和绞盘17，第六滑轮16固定于第一支腿6的上部，绞盘17固定于第一支腿6的中部，缆绳10的固定端绕过第六滑轮16并且固定于绞盘17，绞盘17用于预紧缆绳10以使气动肌腱9的长度拉伸5％，一方面增加气动肌腱9存储的能量，有效增加缆绳10的拉力；另一方面增加气动肌腱9的做功长度，使得加速度平稳，波动小。In this embodiment, the UAV ejection system based on aerodynamic muscles also includes a sixth pulley 16 and a winch 17, the sixth pulley 16 is fixed on the upper part of the first leg 6, and the winch 17 is fixed on the middle part of the first leg 6 , the fixed end of the cable 10 goes around the sixth pulley 16 and is fixed to the capstan 17, the capstan 17 is used to pre-tighten the cable 10 so that the length of the aerodynamic muscle 9 is stretched by 5%. The pulling force of the cable 10; on the other hand, the working length of the pneumatic muscle 9 is increased, so that the acceleration is stable and the fluctuation is small.
在本实施例中，基于气动肌腱的无人机弹射系统还包括上溜板锁定装置(图中未示出)，上溜板锁定装置固定于第一框架1的左侧面且靠近第一框架1的上侧面，上溜板锁定装置用于锁定上溜板3，避免在非弹射时，上溜板3在缆绳10的预紧力作用下向前移动，导致上滑道2的有效长度缩短。In this embodiment, the UAV ejection system based on Aerodynamic Muscle also includes an upper slide locking device (not shown in the figure), and the upper slide locking device is fixed on the left side of the first frame 1 and is close to the first frame On the upper side of 1, the upper slide locking device is used to lock the upper slide 3 to prevent the upper slide 3 from moving forward under the pre-tightening force of the cable 10 when it is not ejected, resulting in the shortening of the effective length of the upper slide 2 .
在本实施例中，基于气动肌腱的无人机弹射系统还包括角度调节支架18和角度锁定机构(图中未示出)，角度调节支架18的固定端铰接于第二支腿8的上部且位于第四滑轮14的下方，角度调节支架18的长度大于第二支腿8的长度，角度调节支架18用于调节上滑道2与水平面的夹角(弹射起飞角)，角度锁定机构固定于第二支腿8的上部且与角度调节支架18的固定端的位置平齐，角度锁定机构用于锁定角度调节支架18与第二支腿8之间的角度。在无人机23弹射起飞的准备阶段，由于角度调节支架18的长度大于第二支腿8的长度，调节角度调节支架18与第二支腿8之间的夹角，随着角度调节支架18与第二支腿8之间的夹角地缩小，使得第二支腿8离开地面，第二支腿8离开地面造成上滑道2的末端被动提高，即弹射起飞角随着调节角度调节支架18与第二支腿8之间夹角地缩小而增大，调节到合适的弹射起飞角后，用角度锁定机构锁定调节角度调节支架18与第二支腿8之间的夹角，使弹射起飞角保持不变。In this embodiment, the UAV ejection system based on Pneumatic Muscle also includes an angle adjustment bracket 18 and an angle locking mechanism (not shown in the figure), the fixed end of the angle adjustment bracket 18 is hinged on the upper part of the second leg 8 and Below the fourth pulley 14, the length of the angle adjustment bracket 18 is greater than the length of the second leg 8, and the angle adjustment bracket 18 is used to adjust the angle (ejection take-off angle) between the upper slideway 2 and the horizontal plane, and the angle locking mechanism is fixed on The upper part of the second leg 8 is flush with the fixed end of the angle adjusting bracket 18 , and the angle locking mechanism is used to lock the angle between the angle adjusting bracket 18 and the second leg 8 . In the preparatory stage for unmanned aerial vehicle 23 ejection take-off, because the length of angle adjustment bracket 18 is greater than the length of second leg 8, adjust the angle between angle adjustment bracket 18 and second leg 8, along with angle adjustment bracket 18 The angle between the second outrigger 8 and the second outrigger 8 is gradually reduced, so that the second outrigger 8 leaves the ground, and the second outrigger 8 leaves the ground so that the end of the upper slideway 2 is passively raised, that is, the ejection take-off angle is adjusted according to the angle adjustment bracket The included angle between 18 and the second supporting leg 8 decreases and increases. After adjusting to a suitable ejection take-off angle, use the angle locking mechanism to lock and adjust the included angle between the angle adjustment bracket 18 and the second supporting leg 8, so that the ejection The takeoff angle remains the same.
实施例2Example 2
如图2所示，实施例2提供的基于气动肌腱的无人机弹射系统还包括第一减速滑道19，第一减速滑道19设置在第二框架7的上表面，第一减速滑道19的首部与上滑道2的尾部连接，第一减速滑道19用于对上溜板3减速，上溜板3减速后，飞机脱离上溜板3，弹射起飞完成，同时避免上溜板3撞在第四滑轮14上，造成零件损坏。在本实施例中，第一减速滑道19为直线型轨道，其与上滑道组成的夹角呈钝角。As shown in Figure 2, the UAV ejection system based on aerodynamic muscle provided by Embodiment 2 also includes a first deceleration slide 19, the first deceleration slide 19 is arranged on the upper surface of the second frame 7, the first deceleration slide 19 The head of 19 is connected with the tail of the upper slideway 2, the first deceleration slideway 19 is used to decelerate the upper slideway 3, after the upper slideway 3 decelerates, the aircraft breaks away from the upper slideway 3, and the ejection and take-off is completed, while avoiding the upper slideway 3 hits on the fourth pulley 14, causing parts to be damaged. In this embodiment, the first deceleration slideway 19 is a straight track, and the angle formed between it and the upper slideway is an obtuse angle.
在本实施例中，基于气动肌腱的无人机弹射系统还包括第二减速滑道20，第二减速滑道20设置在第二框架7的下表面，第二减速滑道20的首部与下滑道4的尾部连接，第二减速滑道20用于对下溜板5减速，下溜板5减速后，避免下溜板5撞击在第二支腿7上造成下溜板5的损坏。在本实施例中，第二减速滑道20为弧形轨道，该弧形轨道的首部与下滑道4的尾部相切。In this embodiment, the UAV ejection system based on aerodynamic muscle also includes a second deceleration slide 20, the second deceleration slide 20 is arranged on the lower surface of the second frame 7, and the head of the second deceleration slide 20 and the The afterbody of road 4 is connected, and the second deceleration slideway 20 is used to decelerate the lower slide plate 5, and after the lower slide plate 5 decelerates, avoid the damage of the lower slide plate 5 caused by the impact of the lower slide plate 5 on the second leg 7. In this embodiment, the second deceleration slide 20 is an arc track, and the head of the arc track is tangent to the tail of the glide track 4 .
实施例3Example 3
如图2所示，实施例2提供的基于气动肌腱的无人机弹射系统，其气动肌腱9设有多根，多根气动肌腱9并联设置。在本实施例的一个优选方案中，气动肌腱9设有3根。As shown in Fig. 2, the UAV ejection system based on the pneumatic muscle provided by the embodiment 2 has multiple pneumatic muscles 9, and the multiple pneumatic muscles 9 are arranged in parallel. In a preferred solution of this embodiment, there are three pneumatic muscles 9 .
在本实施例中，基于气动肌腱的无人机弹射系统还包括第一气动肌腱同步器21和第二气动肌腱同步器22，第一气动肌腱同步器21固定于第一支腿6的下部，多根气动肌腱9的固定端均固定于第一气动肌腱同步器21，多根气动肌腱9的自由端均固定于第二气动肌腱同步器22，缆绳10的自由端固定于第二气动肌腱同步器22。In this embodiment, the UAV ejection system based on the aerodynamic muscle also includes a first aerodynamic muscle synchronizer 21 and a second aerodynamic muscle synchronizer 22, the first aerodynamic muscle synchronizer 21 is fixed on the lower part of the first leg 6, The fixed ends of the multiple air muscles 9 are all fixed to the first air muscle synchronizer 21, the free ends of the multiple air muscles 9 are all fixed to the second air muscle synchronizer 22, and the free ends of the cables 10 are fixed to the second air muscle synchronizer. Device 22.
虽然，上文中已经用一般性说明及具体实施例对本发明作了详尽的描述，但在本发明基础上，可以对之作一些修改或改进，这对本领域技术人员而言是显而易见的。因此，在不偏离本发明精神的基础上所做的这些修改或改进，均属于本发明要求保护的范围。Although the present invention has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810490927.6ACN108482701A (en) | 2018-05-21 | 2018-05-21 | A kind of unmanned aerial vehicle ejecting system based on pneumatic muscle |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810490927.6ACN108482701A (en) | 2018-05-21 | 2018-05-21 | A kind of unmanned aerial vehicle ejecting system based on pneumatic muscle |
| Publication Number | Publication Date |
|---|---|
| CN108482701Atrue CN108482701A (en) | 2018-09-04 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810490927.6APendingCN108482701A (en) | 2018-05-21 | 2018-05-21 | A kind of unmanned aerial vehicle ejecting system based on pneumatic muscle |
| Country | Link |
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| CN (1) | CN108482701A (en) |
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