阅读说明：本技术 基于机械压缩式变体积控高的浮空器及其定高方法 (Aerostat based on mechanical compression type variable volume height control and height setting method thereof ) 是由 李珺 凌霖雨 罗世彬 廖俊 吕骞 陈铮 陈森林 于 2021-03-26 设计创作，主要内容包括：本发明公开了一种基于机械压缩式变体积控高的浮空器及其定高方法,浮空器包括气囊、调径装置和载荷仓；调径装置包括牵引绳和收放机构,调径装置设置于气囊轴向中心,牵引绳的上端绕过收放机构后与气囊的顶部相连、下端绕过收放机构后与气囊的底部相连；载荷舱通过连接绳系于气囊下。投入使用后通过调径装置调节气囊的体积。调节时,需减小体积,则收放机构张紧牵引绳,对拉气囊即可。需增大体积,则控制收放机构松放牵引绳,膨胀气囊即可。调节过程中气囊磨损小,也能避免应力集中,可进行无限次数的体积调节,调节过程中,可逐级分步调节,避免一次调节到位所产生的大量热量,降低对于气囊蒙皮的要求,也利于保证浮空器的可靠性和寿命。(The invention discloses an aerostat for controlling height based on mechanical compression type variable volume and a height setting method thereof, wherein the aerostat comprises an air bag, a diameter adjusting device and a load bin; the diameter adjusting device comprises a traction rope and a retracting and releasing mechanism, the diameter adjusting device is arranged in the axial center of the air bag, the upper end of the traction rope bypasses the retracting and releasing mechanism and then is connected with the top of the air bag, and the lower end of the traction rope bypasses the retracting and releasing mechanism and then is connected with the bottom of the air bag; the load cabin is tied under the air bag through a connecting rope. After the air bag is put into use, the volume of the air bag is adjusted through the diameter adjusting device. When the air bag is adjusted, the size needs to be reduced, and the retraction mechanism tensions the traction rope to pull the air bag oppositely. And (5) controlling the retraction mechanism to release the traction rope to expand the air bag when the volume needs to be increased. The air bag has small abrasion in the adjusting process, can avoid stress concentration, can carry out volume adjustment for infinite times, can be adjusted step by step in the adjusting process, avoids a large amount of heat generated by once adjustment in place, reduces the requirement on the air bag skin, and is also favorable for ensuring the reliability and the service life of the aerostat.)

1. The utility model provides an aerostatics of volume accuse height based on mechanical compression formula becomes which characterized in that: the device comprises an air bag, a diameter adjusting device and a load bin;

the diameter adjusting device comprises a traction rope and a retracting and releasing mechanism, the diameter adjusting device is arranged in the axial center of the air bag, the upper end of the traction rope bypasses the retracting and releasing mechanism and then is connected with the top of the air bag, and the lower end of the traction rope bypasses the retracting and releasing mechanism and then is connected with the bottom of the air bag;

the load cabin is tied under the air bag through a connecting rope.

2. The aerostat for controlling height according to claim 1, based on mechanical compression type variable volume, wherein: the air bag is a pumpkin-shaped air bag and comprises a plurality of air bag valves which are sequentially arranged along the circumferential direction.

3. The aerostat for controlling height according to claim 2, based on mechanical compression type variable volume, wherein: the air sac flap is an euler elastic equal-radius sac flap or an euler elastic equal-angle sac flap.

4. The aerostat for controlling height according to claim 2, based on mechanical compression type variable volume, wherein: the retraction mechanism comprises a power supply, a motor, a transmission mechanism and a winding drum; the power supply provides power for the motor, an output shaft of the motor is connected with an input end of the transmission mechanism, and the output power of the transmission mechanism drives the winding drum to rotate.

5. The aerostat for controlling height according to claim 4, based on mechanical compression type variable volume, wherein: the motor is a stepping motor, and the transmission mechanism comprises an input gear, a transmission gear, a worm and a turbine; the gear shaft of the input gear is connected with the output shaft of the motor, the gear ring of the input gear is meshed with the gear ring of the transmission gear, the transmission gear is fixedly connected with the worm, the worm is meshed with the worm wheel, and the worm wheel is coaxially and fixedly connected with the winding drum.

6. The aerostat for controlling height according to claim 4, based on mechanical compression type variable volume, wherein: the power supply is a storage battery; and a solar cell panel is tied on a connecting rope between the air bag and the load bin, and the solar cell panel charges a power supply.

7. The aerostat for controlling height according to claim 1, based on mechanical compression type variable volume, wherein: the hauling cable is connected with the air bag through a connecting flange.

8. The aerostat for controlling height according to claim 1, based on mechanical compression type variable volume, wherein: the inner and outer bag walls of the air bag are respectively provided with a pressure sensor; and a safety valve is arranged at the top of the air bag.

9. A height setting method of an aerostat based on mechanical compression type variable-volume height control is characterized by comprising the following steps:

s.1, determining the target height H₀；

S.2, determining the external atmospheric pressure P according to the target height₀；

S.3, flying the aerostat, and enabling the pressure values P and P of the current external sensor of the aerostat₀In comparison, the method has the advantages that,

s.3.1, if P is less than P₀The diameter adjusting device works, the hauling rope is pulled oppositely, the air bag is compressed in volume, the aerostat goes downwards and hovers after going downwards, and the pressure value of the sensor outside the air bag is P₁，

If P₁Less than P₀Then the hauling rope is continuously pulled oppositely to compress the volume of the air bag,

repeating the step, and regulating step by step until P_i-P₀Is less than or equal to 10Pa,

s.3.2 if P is greater than P₀The diameter adjusting device works, the traction rope is released, the air bag expands in volume, the aerostat ascends, and after the aerostat ascends, the pressure value of the sensor outside the air bag is P₁，

If P₁Greater than P₀The traction rope is continuously released, the air bag expands in volume,

repeating the step, and regulating step by step until the pressure value of the sensor outside the air bag reaches P₀The pressure difference therebetween is within 10 Pa.

10. The height setting method according to claim 9, wherein in step s.3, if the pressure difference between the inside and the outside of the air bag is too large, the air is exhausted and depressurized through a safety valve at the top of the air bag.

Technical Field

The invention belongs to the technical field of aerostats, and particularly relates to an aerostat based on mechanical compression type variable volume height control and a height setting method thereof.

Background

The high-altitude balloon is an unpowered propulsion device, is not restricted by a mooring rope, is an aerostat which can float freely under the action of buoyancy and wind power, and has the advantages of high flying height, long stagnation time, low cost and the like.

The high-altitude balloon is high in flying height, thin in air and limited in power provided by the propeller, so that the high-altitude balloon generally floats with wind without power. The characteristics that quasi-zero layering exists in the adjacent space and a weft wind conversion layer which is large in space range and stable in time exists between an east wind zone and a west wind zone near the quasi-zero wind zone are generally utilized. The high-altitude balloon trajectory control can be realized by changing the altitude to utilize the wind layers with different wind directions and consuming less energy, so that the regional residence or maneuvering flight to a certain degree is realized.

The high-altitude balloon mainly comprises three height adjusting modes of ballast throwing/air releasing, auxiliary air bag adjusting and volume changing. The method of adjusting the altitude of the high-altitude balloon by ballast throwing/buoyancy gas discharging requires consumption of ballast and buoyancy gas, and cannot be replenished in high altitude, so that the number of times of adjustment is limited and long-term operation is impossible. The method for adjusting the auxiliary air bag requires an air compressor to pump overpressure air into the auxiliary air bag, however, the efficiency of the air compressor is greatly reduced under the condition of high altitude and thin air, and the energy consumption is greatly improved. The height of the air bag is adjusted by changing the buoyancy, the number of times of height adjustment is not limited theoretically, the deformable rigid skeleton is adopted to control the volume change of the high-altitude balloon in the current height adjustment mode for changing the volume, the air bag is easy to concentrate in stress and generate unnecessary abrasion, the reliability is poor, the adjustment process is continuous and uninterrupted, the volume is changed in place once, a large amount of heat is generated, and the requirement on an air bag skin is too high.

Disclosure of Invention

The invention aims to provide a mechanical compression type variable-volume height control-based aerostat for reducing abrasion and stress concentration during volume change and a height determining method thereof aiming at the defects of the prior art.

The aerostat provided by the invention comprises an air bag, a diameter adjusting device and a load bin; the diameter adjusting device comprises a traction rope and a retracting and releasing mechanism, the diameter adjusting device is arranged in the axial center of the air bag, the upper end of the traction rope bypasses the retracting and releasing mechanism and then is connected with the top of the air bag, and the lower end of the traction rope bypasses the retracting and releasing mechanism and then is connected with the bottom of the air bag; the load cabin is tied under the air bag through a connecting rope.

The air bag is a pumpkin-shaped air bag and comprises a plurality of air bag valves which are sequentially arranged along the circumferential direction.

The air sac flap is an euler elastic equal-radius sac flap or an euler elastic equal-angle sac flap.

The retraction mechanism comprises a power supply, a motor, a transmission mechanism and a winding drum; the power supply provides power for the motor, an output shaft of the motor is connected with an input end of the transmission mechanism, and the output power of the transmission mechanism drives the winding drum to rotate.

The motor is a stepping motor, and the transmission mechanism comprises an input gear, a transmission gear, a worm and a turbine; the gear shaft of the input gear is connected with the output shaft of the motor, the gear ring of the input gear is meshed with the gear ring of the transmission gear, the transmission gear is fixedly connected with the worm, the worm is meshed with the worm wheel, and the worm wheel is coaxially and fixedly connected with the winding drum.

The power supply is a storage battery; and a solar cell panel is tied on a connecting rope between the air bag and the load bin, and the solar cell panel charges a power supply.

The hauling cable is connected with the air bag through a connecting flange.

The inner and outer bag walls of the air bag are respectively provided with a pressure sensor; and a safety valve is arranged at the top of the air bag.

The invention also provides a height fixing method of the aerostat, which comprises the following steps:

s.1, determining the target height H₀；

S.2, determining the external atmospheric pressure P according to the target height₀；

S.3, flying the aerostat, and enabling the pressure values P and P of the current external sensor of the aerostat₀In comparison, the method has the advantages that,

s.3.1, if P is less than P₀The diameter adjusting device works, the hauling rope is pulled oppositely, the air bag is compressed in volume, the aerostat goes downwards and hovers after going downwards, and the pressure value of the sensor outside the air bag is P₁，

If P₁Less than P₀Then the hauling rope is continuously pulled oppositely to compress the volume of the air bag,

repeating the step, and regulating step by step until P_i-P₀Is less than or equal to 10Pa,

s.3.2 if P is greater than P₀The diameter adjusting device works, the traction rope is released, the air bag expands in volume, the aerostat ascends, and after the aerostat ascends, the pressure value of the sensor outside the air bag is P₁，

If P₁Greater than P₀The traction rope is continuously released, the air bag expands in volume,

repeating the step, and regulating step by step until the pressure value of the sensor outside the air bag reaches P₀The pressure difference therebetween is within 10 Pa.

In step s.3, if the pressure difference between the inside and the outside of the airbag is too large, the airbag is exhausted through a safety valve at the top of the airbag to reduce the pressure.

The invention adjusts the volume of the air bag through the diameter adjusting device after being put into use. When the air bag is adjusted, the size needs to be reduced, and the retraction mechanism tensions the traction rope to pull the air bag oppositely. And (5) controlling the retraction mechanism to release the traction rope to expand the air bag when the volume needs to be increased. The air bag has small abrasion in the adjusting process, can avoid stress concentration, can carry out volume adjustment for infinite times, can be adjusted step by step in the adjusting process, avoids a large amount of heat generated by once adjustment in place, reduces the requirement on the air bag skin, and is also favorable for ensuring the reliability and the service life of the aerostat.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.

Fig. 2 is a perspective enlarged schematic view of the air bag in the preferred embodiment.

Fig. 3 is an enlarged perspective view of the balloon valve in the preferred embodiment.

Fig. 4 is an enlarged schematic view of various cross-sections of the balloon valve of fig. 3.

Fig. 5 is a perspective enlarged schematic view of the diameter adjusting device in the preferred embodiment.

Fig. 6 is a schematic diagram of the volume-changing process of the preferred embodiment.

Sequence numbers of the drawings:

1-balloon, 11-balloon flap;

2-a diameter-adjusting device is arranged,

21-a traction rope is arranged on the rope,

22-a winding and unwinding mechanism, 221-a power supply, 222-a motor, 223-a transmission mechanism and 224-a winding drum;

3-a loading bin;

4, connecting ropes;

5, connecting a flange;

6, a safety valve;

7-a pressure sensor;

8, a solar panel.

Detailed Description

As shown in fig. 1, the aerostat disclosed in the present embodiment includes an airbag 1, a diameter adjusting device 2, and a load compartment 3. The diameter adjusting device is arranged at the axial center of the air bag; the load cabin is tied under the air bag through the connecting rope 4 and is positioned right below the center of the air bag, and gravity acts on the upper end and the lower end of the pumpkin ball at the same time so as to improve the distribution condition of the acting force of the air bag.

As shown in fig. 2, the airbag 1 is a pumpkin-shaped airbag, and is formed by connecting a plurality of airbag flaps 11 which are sequentially arranged along the circumferential direction. As shown in fig. 3 and 4, the balloon flap 11 is a euler elastic constant radius flap, that is, the cross-sectional radii of the points in the longitudinal direction of the balloon flap 11 are equal. The air bag valves are connected together in an overlapping mode, namely, a small part of the joint of the air bag valves is overlapped and connected, and the joint is welded together by a high-frequency hot melting means and a special film connecting belt and an adhesive.

The Euler sphere is a closed sphere generated by rotation of an Euler bus around a central axis (the generatrix equation G.I.Tay l or is derived from the assumption that the circumferential stress is zero when a parachute is researched in 1919), the circumferential stress of the Euler sphere is zero, the radial stress at the equatorial plane is minimum, and stress singularities occur at the top and bottom of the sphere under an overpressure state. Each spherical membrane can be made into a bulge to form a pumpkin shape by changing the structure of the spherical membrane, so that the stress of the spherical membrane can be reduced by changing the local curvature radius of the structure of the spherical membrane, and the bearing capacity is improved.

The euler elastic equal-radius and equal-angle capsule structure belongs to a design method for reducing skin stress and improving bearing capacity by reducing the local curvature radius of the capsule.

As shown in fig. 4, the structures of the equal-radius capsular flaps are in sections with different angles, and the radius of the capsular flaps is equal; the equal-angle capsular flap has the structure that the radius of the capsular flap is equal on the sections with different angles.

The connection of the skins can be generally divided into the following according to the position arrangement of the skins at the connection part: butt joint, lap joint and misconnection; the sealing mode can be generally divided into: both heat welding and gluing.

The air bag valves are connected together in an overlapping mode, namely, a small part of the joint of the air bag valves is overlapped and connected, and the joint is welded together by a high-frequency hot melting means and a special film connecting belt and an adhesive.

Special adhesive is coated between the upper flange plate and the lower flange plate, the tail end of each valve is arranged between the two flange plates, and the connecting flange 5 is fastened and connected by bolts to install the diameter adjusting device 2. A safety valve 6 is arranged at the top of the air bag, and when the internal and external pressure difference reaches a limit value, the safety valve is opened to deflate and reduce the pressure so as to avoid the ball body from being damaged due to overhigh pressure difference. And the pressure sensors 7 are arranged on the inner side and the outer side of the wall of the air bag and used for measuring and calculating the internal and external pressure difference of the air bag, and the working state of the diameter adjusting device is adjusted according to the measured pressure value.

As shown in fig. 1 and 5, the diameter adjusting device 2 is composed of a traction rope 21, a retracting mechanism 22 and a housing 23. The retraction mechanism 22 is disposed within the housing and is comprised of a power source 221, a motor 222, a transmission 223, and a spool 224. The power supply 221 is a battery. The motor 222 is a stepping motor. The transmission mechanism 223 has a self-locking function and consists of an input gear, a transmission gear, a worm and a turbine; the gear shaft of the input gear is connected with the output shaft of the motor, the gear ring of the input gear is meshed with the gear ring of the transmission gear, the transmission gear is fixedly connected with the worm, the worm is meshed with the worm wheel, and the worm wheel is coaxially and fixedly connected with the winding drum 224. The upper end of the hauling cable 21 is connected with the connecting flange at the upper part, and the lower part is connected with the connecting flange at the lower part after being wound on the winding drum. And a solar cell panel 8 is tied on the connecting rope between the air bag and the load bin to charge the storage battery. When the diameter adjusting device works, the motor outputs power, the transmission mechanism transmits the power to the winding drum, and the winding drum rotates to realize winding and unwinding of the traction rope.

This aerostatics is when putting into operation.

Firstly, the target height is selected and recorded as H₀。

Secondly, determining the external atmospheric pressure P at the position according to the target height₀。

Then the aerostat is released, and the pressure values P and P of the current external sensor of the aerostat are compared₀And (6) comparing.

If P is less than P₀The diameter adjusting device works, the hauling rope is pulled oppositely, the air bag is compressed in volume, the aerostat goes downwards and hovers after going downwards, and the pressure value of the sensor outside the air bag is P₁During descending, the diameter regulating device works to tension the traction rope, and the pressure value difference between the sensors arranged inside and outside the ball body gradually rises to a limit value delta P_MaxThe compression height of the sphere volume is reduced to H₁Corresponding to an external atmospheric pressure of P₁As the external air pressure decreases, the internal and external pressure difference Δ P also decreases; the generated heat is also dissipated in the descending process;

if P₁Less than P₀Then the hauling rope is continuously pulled oppositely to compress the volume of the air bag,

repeating the step, and regulating step by step until P_i-P₀And 10Pa or less, and is lowered to the target height in a plurality of times as shown in fig. 6.

If P is greater than P₀The diameter adjusting device works, the traction rope is released, the air bag expands in volume,the aerostat goes upward, and after the aerostat goes upward, the pressure value of the sensor outside the air bag is P₁，

If P₁Greater than P₀The traction rope is continuously released, the air bag expands in volume,

repeating the step, and regulating step by step until the pressure value of the sensor outside the air bag reaches P₀The pressure difference therebetween is within 10 Pa.

If the pressure difference between the inside and the outside of the air bag is overlarge in the adjusting process, the air is exhausted and depressurized through a safety valve at the top of the air bag.

When the aerostat is put into use, the required volume V of the target height can be obtained according to the atmospheric density rho corresponding to the target height, and the length of the corresponding traction rope released by the stretching device is adjusted. The ball body becomes a zero-pressure ball and slowly rises to a target height H₀。

In the embodiment, the volume of the air bag is adjusted by the diameter adjusting device after the air bag is put into use. When the air bag is adjusted, the size needs to be reduced, and the retraction mechanism tensions the traction rope to pull the air bag oppositely. And (5) controlling the retraction mechanism to release the traction rope to expand the air bag when the volume needs to be increased. The generation of friction and stress concentration is avoided in the process of volume change; the step-by-step adjustment can be performed step by step, so that a large amount of heat generated by one-step adjustment is avoided, the requirement on the air bag skin is reduced, the problem of overlarge stress of the air bag skin caused by overlarge pressure difference between the inside and the outside of the air bag is solved, and the reliability and the service life of the aerostat are improved.