CN109808879A

CN109808879A - A kind of parafoil is gone home control device

Info

Publication number: CN109808879A
Application number: CN201910084277.XA
Authority: CN
Inventors: 王松松; 赵敏; 李宇辉; 姚敏; 郭瑞鹏
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2019-01-29
Filing date: 2019-01-29
Publication date: 2019-05-28

Abstract

The invention relates to the field of industrial device design, in particular to a device capable of realizing homing control of a parafoil. The parafoil homing control device of the present invention includes a box body, a box cover and a bottom frame; the box body is of an open-top type; the top end of the box body is closed by the box cover; the box body is arranged on the bottom frame, and the A guiding control rope mechanism is arranged in the box, and the control rope extends from the top of the box cover to the top and is connected with the wing; The parafoil homing control device provided by the present invention brings the load-bearing rope and the control rope of the parafoil close to each other through a simple and easy-to-install mechanical structure, and at the same time allows the control rope to move up and down freely. The parachute rope uses the structure of mutual cooperation up and down to keep the control rope always on both sides of the parafoil, so as to avoid the parafoil from being entangled with each other during the movement of the parafoil.

Description

A kind of parafoil is gone home control device

Technical field

The present invention relates to Industrial Plant Design field, go home the device of control more particularly to a kind of parafoil that can be realized.

Background technique

With the development of national economic strength and aerospace industry, parafoil control system of going home receives more and more passes Note, in military field, has become a kind of important tactics on modern battlefield by the airborne operation of controllable parafoilt, good to parafoil Good control helps soldier to pass through the mountains and rivers river for being difficult to go beyond, so that the motor-driven advantage for surmounting other side is obtained, in addition, utilizing the wing Umbrella also can achieve the effect got twice the result with half the effort to army's supply goods and materials, in aerospace field, the recycling of aircraft just mainly according to Bad controllable parafoilt realizes, efficient control can allow spacecraft reduce while specified position is landed its in landing by The damage arrived, in addition to this, our national territories are vast, with a varied topography, once natural calamity somewhere occurs, utilize parafoil The material supply that air drop relief supplies carry out disaster area can maximize rescue effect, improve the survival rate of masses suffering from disaster；Civilian Field, concern of the paraglider sports events by more and more people, can safely reach to destination also in gliding just seems It is particularly important.

Currently, domestic parafoil is gone home, the development of control technology is not mature enough, for example systematic robustness is not high, control During need frequently to manipulate, the problems such as go home track and parafoil practical flight trajector deviation are larger, involved in this patent A kind of parafoil control device of going home provides a kind of important hardware platform, explores and grinds on this basis for researcher Study carefully, solves the above problems.

Summary of the invention

The present invention provides a kind of parafoil in view of the above deficiencies and goes home control device.

The present invention adopts the following technical scheme:

Parafoil of the present invention is gone home control device, including cabinet, case lid, chassis；The cabinet is open top end Formula；It is closed by case lid on the top of cabinet；Cabinet arrangement is equipped with guidance control wire mechanism, control wire on chassis, in cabinet Top is extended at the top of from case lid and is connected with the umbrella wing；Guide the flexible so as to adjust umbrella wing appearance of control wire mechanism controls manipulation rope State.

Parafoil of the present invention is gone home control device, and driving motor and rotating shaft mechanism are equipped in the cabinet；Driving The drive shaft of motor is equipped with turntable；Control wire is wrapped on turntable, and one end of control wire extends in rotating shaft mechanism, and from turn Axis mechanism yearns for outer extend up to by case lid and is connected with parafoil.

Parafoil of the present invention is gone home control device, and the rotating shaft mechanism is by bottom shaft and two tops being parallel to each other Shaft composition；Control wire is passed through between the top shaft that bottom shaft bottom is parallel to each other from two upwards.

Parafoil of the present invention is gone home control device, and the cabinet lateral wall is equipped with head-rope hasp；Head-rope is taken Buckle fixed head-rope.

Parafoil of the present invention is gone home control device, and the case lid is equipped with rope outlet；Rope outlet is located at case lid Edge；Control wire is upwardly extended from rope outlet；The axis of rolling is equipped with above rope outlet；The axis of rolling is two axis being parallel to each other Body, the control wire that rope outlet extends run through the axis of rolling；Pack frame is equipped between the axis of rolling.

Parafoil of the present invention is gone home control device, and the chassis includes two buffering frame bodies, two buffering frame bodies Between lead to truss be fixed to each other；Two buffering frame bodies are frame structure, and two buffering frame bodies combine composition " ship " shape with truss Structure frame body；The upper end of two buffering frame bodies is respectively equipped with " L " shaped steel frame；Cabinet arrangement is on truss；Cabinet is formed with chassis Triangle disposition structure.

Parafoil of the present invention is gone home control device, and the cabinet and truss branch are provided with shock-proof spring.

Parafoil of the present invention is gone home control device, further includes umbrella rope stop collar；The ring body of umbrella rope stop collar is equipped with Two pairs of limits being parallel to each other are to axis；Dismountable fixing axle is equipped in the middle part of umbrella rope stop collar；Control wire is from limit to wearing in axis A parafoil is connected out.

Parafoil of the present invention is gone home control device, and the head-rope is pierced by and parafoil phase out of umbrella rope stop collar Even.

Beneficial effect

Parafoil provided by the invention is gone home control device, allows the holding of parafoil by a mechanical structure simple, easy to install Rope and control wire are close again, while control wire can be freely moved up and down.

Parafoil provided by the invention is gone home control device, and umbrella rope keeps control wire to begin using upper and lower mutually matched structure Final position avoids its mutual tied up in knots in parafoil motion process in the two sides of parafoil.

Parafoil provided by the invention is gone home control device, if using the length direction of cabinet as front-rear direction, first order shaft Mechanism limits the front and back offset of control wire, while also reducing the frictional force that umbrella rope is subject to, since second level shaft is front and back What direction was placed, it can not just be deviated in the lateral direction by the umbrella rope of the rotating shaft mechanism, while also reducing umbrella rope in movement Suffered frictional force in the process.In this way, the control wire after this two-stage rotating shaft mechanism is in left and right and inclined in the front-back direction Shifting is reduced, also reduce motor power output in lateral component, improve the driving efficiency of motor.

Parafoil provided by the invention is gone home control device, and the buffer unit between box house and chassis and cabinet can To play the role of when chassis hits ground, cabinet and its internal element will not be by excessive impacts.

Parafoil provided by the invention is gone home control device, due to not having buffer unit, thus acceleration transducer on chassis It can be directly installed on chassis, the hollow part that air velocity transducer and near-earth sensor are mounted on chassis can both be made sensor Measurement data is unaffected, while they will receive protection when again whole equipment being landed.

Detailed description of the invention

Fig. 1 is the structural diagram of the present invention；

Fig. 2 is that parafoil is gone home the box portion controlled in equipment；

Fig. 3 is that parafoil is gone home the shock-proof spring controlled in equipment；

Fig. 4 is that parafoil is gone home the lid section controlled in equipment；

Fig. 5 is that parafoil is gone home the chassis part controlled in equipment；

Fig. 6 is that parafoil goes home and controls umbrella rope in equipment and limit loop section；

Fig. 7 is force analysis figure when equipment is manipulated rope tension by unilateral side.

Specific embodiment

To keep purpose and the technical solution of the embodiment of the present invention clearer, below in conjunction with the attached of the embodiment of the present invention Figure, is clearly and completely described the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention A part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, those of ordinary skill in the art Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of being not necessarily to creative work.

Parafoil is gone home control device, including cabinet 1 as shown in Figure 1:, case lid 2, chassis 3；The cabinet 1 is opened for top Put formula；It is closed by case lid 2 on the top of cabinet 1；Cabinet 1 is arranged on chassis 3, and guidance control wire mechanism is equipped in cabinet 1, Control wire extends to top at the top of case lid 2 and is connected with the umbrella wing；Guidance control wire mechanism controls manipulation rope stretches to adjust Whole umbrella wing posture.

It is as shown in Figure 2: driving motor 12 and rotating shaft mechanism 14 are equipped in cabinet 1；The drive shaft of driving motor, which is equipped with, to be turned Disk 13；Control wire is wrapped on turntable 13, and one end of control wire extends in rotating shaft mechanism 14, and from rotating shaft mechanism 14 from case lid 2 yearn for outer extend up to is connected with parafoil.There are the electricity such as mainboard, motor, battery, the data collecting card of entire control system in cabinet Gas element.

It is the hasp 11 for installing parafoil head-rope on four corners of cabinet, wheel is installed on the output shaft of motor 12 There are a big shaft in disc mechanism 13, the lower section of first order rotating shaft mechanism 14, for guiding control wire, top have two groups it is parallel Fixing axle, for limiting the offset of umbrella rope in the longitudinal direction.2 meters of long manipulations can be wound on the wheel disc of motor output shaft Rope, the control wire drawn from big trochal disc can be wrapped around first in the shaft below first order rotating shaft mechanism, subsequent control wire from It is passed through between its two groups of parallel fixing axle in top.Meanwhile there are four shock-absorbing bullets as shown in Figure 3 in lower box installation The one side of spring, shock-proof spring is connected with cabinet, and another side with chassis for being connected.

As shown in Figure 4: case lid 2 is equipped with rope outlet 23；Rope outlet 23 is located at the edge of case lid 2；Control wire is from out Rope mouth 23 upwardly extends；The axis of rolling 22 is equipped with above rope outlet 23；The axis of rolling 22 is two axis bodies being parallel to each other, rope outlet 23 The control wire extended runs through the axis of rolling 22；Pack frame 21 is equipped between the axis of rolling 22

Pack frame 21 is padded by its by two cushion blocks on case lid, and the axis of rolling 22 of 21 two sides of pack frame can be rotated by two Axis composition, the control wire of parafoil stretched out by the gap between two shafts, thus on the whole, from first order shaft The control wire that mechanism goes out can be by drawing, later using the second level rotating shaft mechanism on case lid on rope outlet 23.

Umbrella rope stop collar 4 as shown in FIG. 6；The ring body of umbrella rope stop collar 4 is equipped with two pairs of limits being parallel to each other to axis 41；Dismountable fixing axle 42 is equipped in the middle part of umbrella rope stop collar 4；Control wire is connected from limit to a parafoil is pierced by axis 41.Two Root control wire is by respectively from the limits of umbrella rope stop collar two sides to passing through among axis 41, four head-ropes are tied after shaft It can be passed through from the centre of ring after together, meanwhile, there is a dismountable fixing axle 42 in the centre of umbrella rope stop collar 4, uses Prevent ring from up sliding in being stuck under head-rope section.

As shown in Figure 5: chassis 3 includes two buffering frame bodies 31, leads to truss 32 between two buffering frame bodies 31 and is fixed to each other； Two buffering frame bodies 31 are frame structure, and two buffering frame bodies 31 combine composition " ship " shape and structure frame body with truss 32；Two The upper end of buffering frame body 31 is respectively equipped with " L " shaped steel frame 33；Cabinet 1 is arranged on truss 32；Cabinet 1 and chassis 3 form " product " Character form structure.Each position of triangle disposition chassis will be installed different sensors, and chassis front can install wind speed sensing Device can install near-earth sensor among chassis, other sensings such as acceleration can be installed on two L-shaped channel steels on chassis Device.Cabinet 1 is provided with shock-proof spring with truss 32.

It is as shown in Figure 7: caused by power of the shaking of homing device mainly as equipment by transverse direction, to be limited using umbrella rope The control wire of parafoil and head-rope can be close together by ring, can change the direction of control wire upper pulling force effect in this way, thus Reduce the cross force that equipment is subject to, for the exhibition along parafoil to looking over, the stress condition of whole system, which can simplify, plants institute for Fig. 7 The model shown.

It goes home and controls equipment and indicated in figure with box, in unused umbrella rope stop collar, the control wire of two sides is pulled up Power such as F_a、F_bIt is shown, it is clear that their component horizontally are F_a1、F_b1, quantitative relation therein are as follows:

F_a1=F_a*cos(a) (1)

F_b1=F_b*cos(b) (2)

After umbrella rope stop collar, the direction of pull on control wire changes, by F_aAnd F_bBecome F_AAnd F_B, thus it Also reformed into F in lateral component_A1And F_B1, so that new manipulation rope tension and respective cross force relationship are as follows:

F_A1=F_A*cos(A) (3)

F_B1=F_B*cos(B) (4)

Since the length of parafoil is generally all very big, so that angle A and angle B can be much larger than angle a and angle b, so being limited using umbrella rope Transverse component F on control wire after the ring of position_A1And F_B1Much smaller than F_a1And F_b1, when unilateral control wire when pulled, cross force is with regard to bright It is aobvious to reduce, and really carry out parafoil go home control when, the operation of important change paragliding track is all under unilateral side It draws, so can reduce the shaking of parafoil homing device using umbrella rope stop collar, while efficiency of going home is improved, in actual experiment This point is equally also demonstrated in the process.

The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art, It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims Subject to.

Claims

1. A parafoil homing control device, characterized in that: it comprises a box body (1), a box cover (2), and a bottom frame (3); the box body (1) is of an open-top type; the box body ( The top of 1) is closed by the box cover (2); the box body (1) is arranged on the bottom frame (3), and the box body (1) is provided with a guiding control rope mechanism, and the control rope extends from the top of the box cover (2) to the top The square is connected with the parafoil; the guiding control rope mechanism controls the extension and retraction of the control rope to adjust the attitude of the parafoil.

2. The parafoil homing control device according to claim 1, characterized in that: a drive motor (12) and a rotating shaft mechanism (14) are arranged in the box (1); There is a turntable (13); the control rope is wound on the turntable (13), one end of the control rope extends into the rotating shaft mechanism (14), and extends outward from the rotating shaft mechanism (14) from the box cover (2) until it is connected with the parafoil .

3. The parafoil homing control device according to claim 2, characterized in that: the rotating shaft mechanism (14) is composed of a bottom rotating shaft and two top rotating shafts that are parallel to each other; The roots pass between the top and rotating shafts that are parallel to each other.

4. The parafoil homing control device according to claim 2, characterized in that: the outer side wall of the box body (1) is provided with a load-bearing rope buckle (11); the load-bearing rope buckle (11) is fixed on the load-bearing rope rope.

5. The parafoil homing control device according to claim 1 or 2, characterized in that: the box cover (2) is provided with a rope outlet (23); the rope outlet (23) is located on the box cover At the edge of (2); the control rope extends upward from the rope outlet (23); a rolling shaft (22) is arranged above the rope outlet (23); the rolling shaft (22) is two parallel shafts, and the rope The control rope extended from the mouth (23) runs through the rolling shaft (22); an umbrella frame (21) is arranged between the rolling shafts (22).

6 . The parafoil homing control device according to claim 1 , wherein the base frame ( 3 ) comprises two buffer frame bodies ( 31 ), and a truss is connected between the two buffer frame bodies ( 31 ). 7 . (32) Fixed to each other; the two buffer frame bodies (31) are frame structures, and the two buffer frame bodies (31) are combined with the truss (32) to form a “boat”-shaped structural frame body; the two buffer frame bodies (31) The upper ends are respectively provided with "L"-shaped steel frames (33); the box body (1) is arranged on the truss (32); the box body (1) and the bottom frame (3) form a "pin"-shaped structure.

7 . The parafoil homing control device according to claim 6 , wherein the box body ( 1 ) and the truss ( 32 ) brackets are provided with shock-absorbing springs. 8 .

8. The parafoil homing control device according to claim 1, characterized in that: it further comprises a paracord limiting ring (4); two pairs of parallel to each other are provided on the ring body of the paraglider limiting ring (4). The limit pair shaft (41); the middle part of the paracord limit ring (4) is provided with a detachable fixed shaft (42); the control rope passes through the limit pair shaft (41) and is connected to the parafoil.

9 . The parafoil homing control device according to claim 4 or 8 , wherein the load-bearing rope is passed through the parafoil limit ring ( 4 ) and connected to the parafoil. 10 .