CN114180039B - Gravity center adjusting system and method for unmanned helicopter for transportation - Google Patents

Abstract

The invention discloses a gravity center adjusting system of a transport unmanned helicopter, which comprises the unmanned helicopter, a fuel oil adjusting unit, a nacelle assembly, a sliding rail structure and a gravity center adjusting device. The invention also discloses a gravity center adjusting method of the unmanned helicopter, which comprises the following steps: firstly, carrying cargoes in a nacelle assembly by an unmanned helicopter, and taking off to execute a flight task; then, after the unmanned helicopter falls off in different places, fuel oil is supplemented through a fuel oil adjusting unit; then, the gravity center adjusting device senses the change and displays the gravity center position in real time; finally, the center of gravity of the whole structure of the unmanned helicopter is trimmed through adjusting the sliding rail structure or the cargoes in the nacelle assembly. The invention can utilize fuel oil and cargo loading to adjust the gravity center of the unmanned helicopter, solves the problem that fuel oil can not be supplemented due to environmental condition limitation during off-site take-off, realizes more reasonable weight distribution and use of the aircraft, and greatly improves the cruising capacity and cargo carrying capacity.

Description

A center of gravity adjustment system and method for unmanned transport helicopters

Technical field

The invention belongs to the field of mechanical devices and transportation technology, and in particular relates to a system and method for adjusting the center of gravity of a transportation unmanned helicopter.

Background technique

Unmanned transport helicopters have the ability to take off and land vertically and hover in the air. For some conditions with complex terrain and harsh environments, this form of point-to-point air transportation is extremely advantageous. Due to the limitations of the transportation environment, off-site refueling cannot be achieved, so it is difficult to meet the requirements for long-distance transportation and round-trip transportation of goods, making its shortcomings of low endurance due to lack of fuel more prominent. Due to its structural layout characteristics, unmanned transport helicopters require counterweight design at the front end of the aircraft to adjust the aircraft's center of gravity. At present, the main form of counterweight is to install a counterweight block at the front end of the aircraft body to adjust the center of gravity of the aircraft. This structural form requires sacrificing part of the weight for center of gravity adjustment, which has the disadvantages of increasing fuel consumption and reducing load capacity.

Therefore, designing a new type of unmanned transport helicopter structure with adjustable center of gravity to realize center of gravity adjustment and enhance endurance is of great engineering significance to solve the above-mentioned problems existing in the existing technology.

Contents of the invention

The purpose of the present invention is to solve the problems in the prior art that unmanned helicopters need to install counterweights, which results in sacrificing part of the weight for center of gravity adjustment, increasing fuel consumption and reducing load-carrying capacity.

In order to achieve the purpose of the present invention, the present invention provides a center of gravity adjustment system for an unmanned transport helicopter, which is characterized in that it includes an unmanned helicopter, a fuel adjustment unit, a pod assembly, a slide rail structure, and a center of gravity adjustment device; the bottom of the unmanned helicopter is provided with The body frame is equipped with a landing gear on the lower side of the body frame; the fuel adjustment unit is set inside the unmanned helicopter, which is used to store and supply oil, and serves as a counterweight and leveling structure for the aircraft; the slide rail structure is set at the bottom of the body frame. It is used to hoist, move and fix the pod components; the pod components are set on the lower side of the slide rail structure and used to load cargo; the center of gravity adjustment device is set between the body frame and the landing gear to adjust the center of gravity of the unmanned helicopter;

When the unmanned helicopter takes off, the position of the pod assembly is adjusted through the slide rail structure so that the center of gravity of the unmanned helicopter is in a balanced state; when the unmanned helicopter lands in a different place, the fuel adjustment unit is used to supply fuel to the unmanned helicopter to improve the efficiency of the unmanned helicopter. Endurance; at this time, due to the consumption of fuel in the fuel adjustment unit, the center of gravity of the unmanned helicopter changes. After sensing this change, the center of gravity adjustment device displays the change in the center of gravity in real time on the telemetry interface of the measurement and control vehicle, so that the operator can adjust the pod components. Adjust the position to achieve smooth flight of the unmanned helicopter.

Further, the fuel adjustment unit includes a counterweight auxiliary fuel tank, a fuel pipe, a fuel pump, and a main fuel tank; the counterweight auxiliary fuel tank and the main fuel tank are both installed inside the unmanned helicopter, and the counterweight auxiliary fuel tank and the main fuel tank are connected through a fuel pipe. A fuel pump is provided to transfer fuel from the counterweighted auxiliary fuel tank to the main fuel tank.

Further, the pod assembly includes a hook, a pod pendant, and a pod frame; the hook is arranged on the top of the pod pendant, and the pod frame is fixedly installed at the lower end of the pod pendant, and the pod frame is used for loading cargo.

Further, the slide rail structure includes V-shaped slide rails, V-shaped slide blocks, hexagon socket bolts, and lifting rings; the V-shaped slide rails are installed below the body frame, and the V-shaped slide blocks are slidably installed inside the V-shaped slide rails. It is locked on the V-shaped slide rail through hexagon socket bolts, and the lifting ring is set at the lower end of the V-shaped slider; the lifting ring is used to lift the pod components and can move along the slide rail to the designated position together with the V-shaped slider.

Further, the center of gravity adjustment device is a plurality of center of gravity sensors, and the measurement signals of the center of gravity sensors are transmitted to the ground measurement and control vehicle through the flight control and management computer and the airborne link, and are displayed on the telemetry interface.

Furthermore, multiple pod assemblies are suspended from the lower end of the slide rail structure. By adjusting the number of pod assemblies, the position of the pod assemblies, and the weight of the cargo in the pod assemblies, the flight center of gravity of the unmanned helicopter can be adjusted.

Further, a pod frame is fixedly provided at the lower end of the pod pendant, and the pod pendant and the pod frame are fixed and locked by hexagonal head screws.

In order to achieve the purpose of the present invention, the present invention also discloses a method for adjusting the center of gravity of an unmanned transport helicopter. The method is based on a center of gravity adjustment system for an unmanned transport helicopter and includes the following steps:

Step 1. The unmanned helicopter carries the cargo in the pod assembly and takes off to perform the flight mission;

Step 2. After the unmanned helicopter lands in a different place, replenish fuel through the fuel adjustment unit;

Step 3. Due to the consumption of fuel in the fuel adjustment unit, the flight center of gravity of the unmanned helicopter changes. The center of gravity adjustment device senses the change and displays the center of gravity position in real time;

Step 4. Adjust the center of gravity of the overall structure of the unmanned helicopter by adjusting the slide rail structure or the cargo in the pod assembly.

Compared with the existing technology, the significant progress of the present invention is: 1) The present invention can use fuel and cargo loading to adjust the center of gravity of the unmanned transport helicopter, achieving more reasonable weight distribution and use of the aircraft, while maintaining endurance and cargo carrying capacity. has been greatly improved; 2) An auxiliary fuel tank is designed at the front end of the aircraft to store fuel and replace the original counterweight structure to achieve the dual functions of counterweight and oil storage, improve endurance, and solve the problem of being unable to replenish due to conditions during off-site takeoff and landing. Fuel problem; 3) Several movable pod components are designed at the lower end of the aircraft frame, using visual center of gravity sensors to achieve reasonable distribution of cargo weight and location, maximizing transportation capacity; through this structure, counterweights can be used more effectively Weight, adjust the counterweight more conveniently, and improve the load capacity and endurance of the unmanned transport helicopter.

In order to explain the functional characteristics and structural parameters of the present invention more clearly, further description is given below in conjunction with the accompanying drawings and specific implementation modes.

Description of the drawings

The drawings described here are used to provide a further understanding of the present invention and constitute a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached picture:

Figure 1 is a schematic diagram of the overall structure of the center of gravity adjustment system of an unmanned transport helicopter;

Figure 2 is a schematic diagram of the fuel adjustment unit of the center of gravity adjustment system of the transport unmanned helicopter;

Figure 3 is a schematic structural diagram of the slide rail of the center of gravity adjustment system for transporting an unmanned helicopter;

Figure 4 is a structural diagram of the pod assembly of the transport unmanned helicopter's center of gravity adjustment system;

Figure 5 is a structural diagram of the center of gravity adjustment device of the transport unmanned helicopter's center of gravity adjustment system;

Figure 6 is a schematic flow chart of a method for adjusting the center of gravity of a transport unmanned helicopter;

Numbers in the figure: 1. Unmanned helicopter; 2. Fuel adjustment unit; 3. Pod assembly; 4. Slide rail structure; 5. Center of gravity adjustment device; 6. Counterweight auxiliary fuel tank; 7. Fuel pipe; 8. Fuel pump; 9. Main fuel tank; 10. V-shaped slide rail; 11. V-shaped slide block; 12. Hexagon socket bolt; 13. Lifting eye; 14. Hook; 15. pod hanger; 16. Hexagonal head screw; 17. Lifting ring Cabin frame; 18. Body frame; 19. Center of gravity sensor; 20. Landing gear.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them; based on The embodiments of the present invention and all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

As shown in Figures 1 and 5, in this embodiment, the unmanned helicopter 1 is provided with a body frame 18 at the bottom, and a landing gear 20 is provided on the lower side of the body frame 18; the fuel adjustment unit 2 is provided inside the unmanned helicopter 1 for It stores and supplies oil, and serves as a counterweight and leveling structure for the aircraft; the slide rail structure 4 is provided at the bottom of the body frame 18 and is used for hoisting, moving and fixing the pod assembly 3; the pod assembly 3 is provided on the slide rail structure 4 The lower side is used for loading cargo; the center of gravity adjustment device 5 is a plurality of center of gravity sensors 19, which are arranged between the body frame 18 and the landing gear 20 and are used to adjust the center of gravity of the unmanned helicopter 1. The center of gravity sensor 19 can reflect the weight and center of gravity distribution in real time. Based on the feedback results, the fuel amount adjustment, cargo weight and position adjustment can be realized. When the unmanned helicopter 1 takes off, the position of the pod assembly 3 is adjusted through the slide rail structure 4 so that the center of gravity of the unmanned helicopter 1 is in a balanced state; when the unmanned helicopter 1 lands in a different place, the fuel adjustment unit 2 is used to Helicopter 1 supplies fuel to improve endurance; at this time, due to the consumption of fuel in the fuel adjustment unit 2, the center of gravity of the unmanned helicopter 1 changes. The center of gravity adjustment device 5 senses this change and displays the center of gravity in real time on the telemetry interface of the measurement and control vehicle. changes, the operator adjusts the position of the pod assembly 3 to achieve a smooth flight of the unmanned helicopter 1.

Specifically, in this embodiment, multiple pod assemblies 3 are suspended from the lower end of the slide rail structure 4. By adjusting the number of pod assemblies 3, the position of the pod assemblies 3, and the weight of the cargo in the pod assemblies 3, The flight center of gravity of the unmanned helicopter 1 can be adjusted. The number and location distribution of the pod components 3 can be adjusted accordingly according to cargo transportation requirements and center of gravity adjustment requirements. For short-distance transportation, in order to increase the load, in addition to installing a pod frame 17 under the center of gravity axis, a pod frame 17 can also be installed directly below the counterweight auxiliary fuel tank 6 to assist in trimming; for long-distance two-way transportation of cargo, a pod frame 17 can be installed on the aircraft. When going out, the pod frame 17 is installed below the center of gravity axis, and the counterweight auxiliary fuel tank 6 is installed at the front end of the aircraft for trimming. When returning, fuel from the counterweight auxiliary fuel tank 6 is input into the main fuel tank 9, and all heavy objects are moved to the counterweight mount below the counterweight auxiliary fuel tank 6. .

As shown in Figure 2, in this embodiment, the fuel adjustment unit 2 includes a counterweight auxiliary fuel tank 6, a fuel pipe 7, a fuel pump 8, and a main fuel tank 9; the counterweight auxiliary fuel tank 6 and the main fuel tank 9 are both installed inside the unmanned helicopter 1 , the counterweight auxiliary fuel tank 6 and the main fuel tank 9 are connected through a fuel pipe 7. The fuel pipe 7 is provided with a fuel pump 8 for transporting fuel in the counterweight auxiliary tank 6 to the main fuel tank 9. After the aircraft reaches its destination, the fuel in the counterweight auxiliary fuel tank 6 is input into the main fuel tank 9 through the fuel pipe 7 through the fuel pump 8 to improve the endurance of the return trip.

As shown in Figure 3, in this embodiment, the pod assembly 3 includes a hook 14, a pod pendant 15, and a pod frame 17; the hook 14 is provided on the top of the pod pendant 15, and the lower end of the pod pendant 15 is fixedly installed. There is a pod frame 17, which is used to load cargo. The cargo is installed in the pod frame 17 and locked and fixed to prevent movement during flight. The reduction in the weight of the counterweight auxiliary fuel tank 6 can be compensated by the loading and position adjustment of the return cargo to realize the readjustment of the center of gravity.

Specifically, in this embodiment, a pod frame 17 is fixedly provided at the lower end of the pod pendant 3 , and the pod pendant 15 and the pod frame 17 are fixed and locked by hexagonal head screws 16 .

As shown in Figure 4, in this embodiment, the slide rail structure includes V-shaped slide rails 10, V-shaped slide blocks 11, hexagon socket bolts 12, and lifting rings 13; the V-shaped slide rails 10 are installed below the body frame 18. The slider 11 is slidably installed inside the V-shaped slide rail 10. The V-shaped slider 11 is locked on the V-shaped slide rail 10 through hexagon socket bolts 12. The lifting ring 13 is provided at the lower end of the V-shaped slider 11; the lifting ring 13 is used for hoisting. The cabin assembly 3 can move to a designated position along the slide rail together with the V-shaped slider 11.

Specifically, in this embodiment, before the V-shaped slider 11 slides, loosen the hexagonal socket bolts 12 to ensure smooth sliding; after the V-shaped slider 11 reaches the designated position, tighten the hexagonal socket bolts 12 to ensure fixation.

As shown in Figures 1, 3, and 4, in this embodiment, the pod assembly 3 and the slide rail structure 4 are connected to the lifting ring 13 through the hook 14 to ensure the convenience of loading and unloading.

As shown in Figure 6, in this embodiment, the unmanned helicopter's center of gravity adjustment method is: first, the unmanned helicopter carries the cargo in the pod assembly and takes off to perform the flight mission; then, after the unmanned helicopter lands in a different place, the unmanned helicopter adjusts the center of gravity through fuel adjustment. The unit replenishes fuel; then, due to the consumption of fuel in the fuel adjustment unit, the unmanned helicopter's flight center of gravity changes, and the center of gravity adjustment device senses the change and displays the center of gravity position in real time; finally, by adjusting the slide rail structure or the cargo in the pod assembly , trim the center of gravity of the overall structure of the unmanned helicopter.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (4)

1. The gravity center adjusting system of the unmanned helicopter for transportation is characterized by comprising the unmanned helicopter (1), a fuel oil adjusting unit (2), a nacelle assembly (3), a sliding rail structure (4) and a gravity center adjusting device (5);

the bottom of the unmanned helicopter is provided with a machine body frame (18), and the lower side of the machine body frame (18) is provided with a landing gear (20); the fuel oil adjusting unit (2) is arranged in the unmanned helicopter (1) and is used for storing and supplying oil and is used as a counterweight and leveling structure of the aircraft; the sliding rail structure (4) is arranged at the bottom of the machine body frame (18) and is used for hoisting, moving and fixing the nacelle assembly (3); the nacelle assembly (3) is arranged at the lower side of the sliding rail structure (4) and is used for loading cargoes; the gravity center adjusting device (5) is arranged between the machine body frame (18) and the landing gear (20) and is used for adjusting the gravity center of the unmanned helicopter in real time;

when the unmanned helicopter (1) takes off, the position of the nacelle assembly (3) is adjusted through the sliding rail structure (4), so that the gravity center of the unmanned helicopter (1) is in a balanced state; when the unmanned helicopter (1) falls off in different places, the fuel oil adjusting unit (2) is used for supplying fuel oil to the unmanned helicopter (1) so as to improve the cruising ability; at the moment, due to the consumption of fuel in the fuel oil adjusting unit (2), the gravity center of the unmanned helicopter (1) changes, the gravity center adjusting device (5) displays the gravity center change on a measurement and control vehicle telemetry interface in real time after sensing the change, and an operator adjusts the position of the nacelle assembly (3) to realize the stable flight of the unmanned helicopter (1);

the fuel oil adjusting unit (2) comprises a counterweight auxiliary fuel tank (6), a fuel pipe (7), a fuel pump (8) and a main fuel tank (9); the auxiliary fuel tank (6) and the main fuel tank (9) are arranged inside the unmanned helicopter (1), the auxiliary fuel tank (6) and the main fuel tank (9) are connected through a fuel pipe (7), and a fuel pump (8) is arranged on the fuel pipe (7) and used for conveying fuel in the auxiliary fuel tank (6) to the main fuel tank (9);

the nacelle assembly (3) comprises a lifting hook (14), a nacelle hanging piece (15) and a nacelle frame (17); the lifting hook (14) is arranged at the top of the nacelle hanging part (15), a nacelle frame (17) is fixedly arranged at the lower end of the nacelle hanging part (15), and the nacelle frame (17) is used for loading cargoes;

the sliding rail structure (4) comprises a V-shaped sliding rail (10), a V-shaped sliding block (11), an inner hexagonal bolt (12) and a hanging ring (13); the V-shaped sliding rail (10) is arranged below the machine body frame (18), the V-shaped sliding block (11) is arranged inside the V-shaped sliding rail (10) in a sliding mode, and the V-shaped sliding block (11) is locked on the V-shaped sliding rail (10) through an inner hexagon bolt (12); the lifting ring (13) is arranged at the lower end of the V-shaped sliding block (11), and the lifting ring (13) is used for lifting the nacelle assembly (3) and can move to a designated position along a sliding rail together with the V-shaped sliding block (11);

the gravity center adjusting device (5) is provided with a plurality of gravity center sensors (19), and measurement signals of the gravity center sensors (19) are transmitted to the ground measurement and control vehicle through a flight control and management computer and an onboard link and displayed on a telemetry interface.

2. A system for adjusting the centre of gravity of a transport unmanned helicopter according to claim 1 characterized in that the lower end of said skid structure (4) is suspended with a plurality of nacelle assemblies (3), the centre of gravity of the unmanned helicopter (1) being adjustable by adjusting the number of nacelle assemblies (3), the position of the nacelle assemblies (3) and the weight of the cargo in the nacelle assemblies (3).

3. The gravity center adjusting system of the unmanned helicopter for transportation according to claim 1, wherein a nacelle frame (17) is fixedly arranged at the lower end of the nacelle hanging piece (15), and the nacelle hanging piece (15) and the nacelle frame (17) are fixedly locked through a hexagon head screw (16).

4. A method of adjusting the centre of gravity of an unmanned helicopter for transportation, said method being based on the unmanned helicopter for transportation centre of gravity adjustment system according to any of claims 1 to 3, comprising the steps of:

step 1, carrying cargoes in a nacelle assembly by an unmanned helicopter, and taking off to execute a flight task;

step 2, after the unmanned helicopter falls off in different places, supplementing fuel through a fuel adjusting unit;

step 3, as the fuel oil in the fuel oil adjusting unit is consumed, the flying gravity center of the unmanned helicopter changes, and the gravity center adjusting device senses the change and displays the gravity center position;

and 4, balancing the gravity center of the whole structure of the unmanned helicopter through adjusting the sliding rail structure or the cargoes in the nacelle assembly.