CN111332478B - Automatic parachute-taking control and separation system for parachute - Google Patents
Automatic parachute-taking control and separation system for parachute Download PDFInfo
- Publication number
- CN111332478B CN111332478B CN202010133847.2A CN202010133847A CN111332478B CN 111332478 B CN111332478 B CN 111332478B CN 202010133847 A CN202010133847 A CN 202010133847A CN 111332478 B CN111332478 B CN 111332478B
- Authority
- CN
- China
- Prior art keywords
- module
- rocker arm
- cantilever
- parachute
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000926 separation method Methods 0.000 title abstract description 6
- 230000000903 blocking effect Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/22—Load suspension
- B64D17/38—Releasable fastening devices between parachute and load or pack
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses an automatic parachute-off control and separation system for a parachute, which belongs to the technical field of aircraft return and landing and comprises the following components: the device comprises a data acquisition and control module, a servo motor module, a gear lever module and a mechanical rocker arm module; the data acquisition and control module is used for sending an automatic reset control signal to the servo motor module before an airdrop task is started, and sending an automatic parachute-off control signal to the servo motor module when a parachute lands; the servo motor module is used for driving the gear lever module to contact with the mechanical rocker arm module when receiving an automatic reset control signal, so that the hook in the mechanical rocker arm module is in a locking state, and when receiving an automatic umbrella-off control signal, the gear lever module is separated from the mechanical rocker arm module to release the locking state of the hook in the mechanical rocker arm module, so that the delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivered object is separated from the parachute. The invention ensures the effectiveness and the safety of the air-drop task.
Description
Technical Field
The invention belongs to the technical field of aircraft return and landing, and particularly relates to an automatic parachute-releasing control and release system for a parachute.
Background
The parachute has very wide application prospect in the fields of airborne parachute jumping, earthquake disaster relief, airdrop material, deceleration landing of aircraft rocket return cabins and the like. If the parachute is not separated from the delivered object when the airdrop landing is implemented, the parachute moves randomly under the influence of airflow force under the meteorological conditions of unstable wind direction and high wind speed, so that the delivered object is easy to continue to be dragged and slide by the parachute after landing and collide with the parachute, even turn over, some precision equipment in the delivered object is damaged, or equipment is turned over and cannot be used, and the airdrop task fails. In order to ensure the safety of delivered objects, when the delivered objects land, the parachute and the delivered objects need to be automatically and quickly separated, and the problem which needs to be solved urgently is solved. The prior art has the problems that the effectiveness of air drop and the safety of delivered objects are difficult to ensure, and the like.
Therefore, the invention of the automatic parachute-releasing control and release system for the parachute has very important significance on the effectiveness of air drop and the safety of delivered objects.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides an automatic parachute-releasing control and releasing system for a parachute, so that the technical problems that the effectiveness of air drop and the safety of delivered objects are difficult to guarantee in the prior art are solved.
In order to achieve the above object, the present invention provides an automatic parachute opening control and release system for a parachute, comprising: the device comprises a data acquisition and control module, a servo motor module, a gear lever module and a mechanical rocker arm module;
the data acquisition and control module is connected with the servo motor module through a circuit, and the servo motor module is fixedly connected with the gear lever module;
the data acquisition and control module is used for sending an automatic reset control signal to the servo motor module before an airdrop task is started, and sending an automatic parachute-off control signal to the servo motor module when a parachute lands;
the servo motor module is used for driving the gear lever module to contact with the mechanical rocker arm module when receiving an automatic reset control signal, so that the hook in the mechanical rocker arm module is in a locking state, and when receiving an automatic umbrella-off control signal, the gear lever module is separated from the mechanical rocker arm module to release the locking state of the hook in the mechanical rocker arm module, so that a rope of a delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivered object is automatically separated from a parachute.
Furthermore, the mechanical rocker arm module comprises a first cantilever, a first limit shaft, a first rotating shaft, a second cantilever, a rocker arm, a third rotating shaft and a second limit shaft,
the free end of the first cantilever is positioned above the rotating end, the rotating end of the first cantilever is provided with a hollow hole structure and is used for rotating around a first rotating shaft, and the first limiting shaft is positioned on the left side of the first cantilever and is used for blocking and limiting the rotating position of the first cantilever;
the second cantilever is positioned on the right side of the first cantilever, the rotating end of the second cantilever is provided with a hollow hole structure and is used for rotating around a second rotating shaft, and the free end of the second cantilever is positioned below the rotating end;
the rocking arm is located the right side of second cantilever, is provided with the cavity hole in the right side upper portion position of rocking arm for round the rotation of third pivot, the spacing axle of second is located the right side of rocking arm, is used for arresting and restricts the rotational position of rocking arm.
Furthermore, the upper end is above the hollow hole of the rocker arm, the lower end is below the hollow hole, the upper end inclines leftwards to the second cantilever, the upper end force arm is shorter than the lower end force arm, and a hook is arranged at the end point of the lower end and used for hanging a rope of a delivered object.
Further, when the servo motor module receives an automatic reset control signal, the driving gear lever module is in contact with the first cantilever, the rotating position of the first cantilever is blocked, at the moment, a hook at the end point of the lower end of the rocker arm is pulled by a rope of a delivered object, the upper end of the rocker arm rotates leftwards and is clamped and fixed at the rotating end of the second cantilever, the free end of the second cantilever is clamped and fixed at the rotating end of the first cantilever, the free end of the first cantilever rotates leftwards and is clamped and fixed on the gear lever module, and through the first cantilever, rigid contact between the second cantilever and the rocker arm, balance between moments is achieved, so that the relative position of the rocker arm is kept fixed, and the hook at the end point of the lower end of the rocker arm is in a locking state.
Furthermore, when the servo motor module receives an automatic umbrella-off control signal, the driving gear lever module is separated from the first cantilever, the first cantilever rotates anticlockwise and leftwards around the first rotating shaft under the action force of the free end of the second cantilever and is limited and fixed by the first limiting shaft, the second cantilever rotates clockwise and leftwards around the second rotating shaft under the action force of the upper end of the rocker arm, the free end of the second cantilever moves along the first cantilever and is clamped and fixed, the hook at the end point of the lower end of the rocker arm rotates anticlockwise and rightwards around the third rotating shaft under the influence of gravity or drag force and is limited and fixed on the left side of the second limiting shaft by the second limiting shaft, meanwhile, the upper end of the rocker arm moves along the second cantilever and is clamped and fixed, and at the moment, the locking state of the hook at the end point of the lower end of the rocker arm is released.
Further, the system further comprises: an output shaft of the motor is provided,
the servo motor module is fixedly connected with the gear lever module through a motor output shaft;
and the motor output shaft is used for rotating in the forward direction when the servo motor module receives the automatic reset control signal and rotating in the reverse direction when the servo motor module receives the automatic umbrella-removing control signal.
Furthermore, a stop lever module is positioned right below the servo motor module, the stop lever module comprises a screw rod with a shaft sleeve, a stop lever and a stop lever mounting frame,
the screw rod with the shaft sleeve is positioned in the middle hole of the stop lever, is fixedly connected with the motor output shaft, and is used for driving the stop lever to move forwards linearly when the motor output shaft rotates forwards and contact with the mechanical rocker arm module, and driving the stop lever to move backwards linearly when the motor output shaft rotates reversely and is separated from the mechanical rocker arm module;
the gear lever mounting frame is located outside the gear lever and used for mounting and fixing the gear lever.
Furthermore, the stop lever comprises a stop lever ring and a stop lever internal thread,
the stop lever mounting frame is used for mounting and fixing the position of the stop lever circular ring in the vertical direction, and the external thread of the screw rod with the shaft sleeve is connected with the internal thread of the stop lever.
Furthermore, a limiting groove is formed right below the stop lever, the stop lever further comprises a stop lever supporting plate, and the stop lever supporting plate freely moves in the limiting groove.
Further, the system further comprises: the data acquisition and control module, the servo motor module, the stop lever module and the mechanical rocker arm module are all arranged in the shell, and a through hole is formed above the shell and is used for being flexibly connected with the parachute through a rope; an open window is arranged below the shell, and a hook at the end point of the lower end of the rocker arm extends out of the window.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) the automatic parachute-taking-off control and taking-off system for the parachute disclosed by the invention adopts the data acquisition and control module to control the servo motor module, and controls the locking and unlocking states of the hooks in the mechanical rocker arm module through the stop lever module, so that when the parachute lands, the automatic and rapid separation of the delivered object and the parachute can be realized, the damage caused by the fact that the delivered object is dragged and collided with the ground due to the dragging of the delivered object by the parachute is prevented, and the effectiveness and the safety of an airdrop task are ensured.
(2) When the hook is in a locking state in the mechanical rocker arm module, the great pulling force of the delivered object rope acts on the rocker arm, the second cantilever, the first cantilever, the stop lever and other components, and through the optimal design of the force action point and the force arm when different components are in rigid contact with each other, the stop lever only needs to bear small force to lock the hook position bearing large acting force. Meanwhile, the structural strength, the size and the weight of the gear lever and the servo motor can be effectively reduced.
(3) When the hook in the mechanical rocker arm module is in an unlocking state, the motor output shaft drives the screw rod with the shaft sleeve to rotate reversely, the stop rod is driven to move backwards so as to remove the blocking of the first cantilever, the balance of the moments of each mechanical structure is damaged, and the first cantilever, the second cantilever and the rocker arm rotate around respective rotating shafts under the action of force, so that the locking state of the hook is automatically removed. The hook unlocking principle is very simple, and the operation is easy.
(4) The automatic parachute-releasing control and release system for the parachute is simple in structure, small in size, convenient to install, use and maintain, high in control precision, safe and reliable; meanwhile, the invention can be repeatedly used for many times, has long service life and higher application value.
Drawings
Fig. 1 is a schematic structural diagram of an automatic parachute-opening control and release system of a parachute provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a detailed structure of a dashed box in FIG. 1 according to an embodiment of the present invention;
FIG. 3(a) is a front view of a lever according to an embodiment of the present invention;
FIG. 3(b) is a left side view of a shift lever according to an embodiment of the present invention;
the same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1 is a data acquisition and control module; 2 is a servo motor module; 3 is a motor output shaft; 4 is a gear lever module; 41 is a screw rod with a shaft sleeve; 42 is a gear lever; 421 is a stop lever ring; 422 is a stop lever internal thread; 423 is a gear lever support plate; 43 is a stop lever mounting frame; 5 is a limit groove; 6 is a first cantilever; 7 is a first limit shaft; 8 is a first rotating shaft; 9 is a second rotating shaft; 10 is a second cantilever; 11 is a rocker arm; 12 is a third rotating shaft; 13 is a second limit shaft; 14 is a shell through hole; and 15 is a shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an automatic parachute-releasing control and release system for a parachute includes: the device comprises a data acquisition and control module 1, a servo motor module 2, a gear lever module 4, a mechanical rocker arm module and a shell 15.
The data acquisition and control module 1 is located at the upper right corner inside the shell 15, comprises a data acquisition module and a control module and is used for monitoring the whole landing and landing process of the parachute. The data acquisition module acquires height position signals of the parachute in real time through the sensor and transmits the height position signals of the parachute to the control module in real time for judgment and processing. When the parachute lands, the control module sends an automatic parachute-off control signal to the motor driving system to realize the automatic separation of the delivered object and the parachute. And meanwhile, a reset key is arranged in the data acquisition and control module 1, and when the automatic parachute-off control and separation system of the parachute is reused, the reset key is used for locking the hook position in the mechanical rocker arm module again. Through triggering the reset key, the control module sends an automatic reset control signal to the motor driving system, so that the rope of the delivered object is locked on the hook in the mechanical rocker arm module again, and then the air-drop task is implemented again.
The servo motor module 2 is located at the upper left corner inside the housing 15 and includes a servo motor and a motor driving system. The servo motor module is connected with the data acquisition and control module through the control circuit and works according to a control instruction sent by the data acquisition and control module. Meanwhile, the servo motor module is connected with the gear lever module 4 through the motor output shaft 3. When the data acquisition and control module sends a reset instruction to the motor driving system, the motor output shaft rotates in the forward direction to drive the gear lever module to enable the hook in the mechanical rocker arm module to be in a locked state; when the data acquisition and control module sends an automatic parachute-off instruction to the motor driving system, the motor output shaft rotates reversely, the stop lever module is driven to remove the locking state of the hook in the mechanical rocker arm module, so that the rope of the delivered object is automatically and quickly separated from the hook in the mechanical rocker arm module, and then is separated from the parachute.
As shown in fig. 2, the lever module 4 is located right below the servo motor module 2, and includes a screw rod with a bushing 41, a lever 42, and a lever mounting frame 43. The motor output shaft 3 is rigidly connected with a screw rod 41 with a shaft sleeve in the gear lever module, and the servo motor module drives the screw rod 41 with the shaft sleeve to do forward rotation motion or reverse rotation motion when working. As shown in fig. 3(a) and 3(b), the external thread of the screw rod 41 with a shaft sleeve is connected with the internal thread 422 of the stop lever in the middle hole, and the screw rod 41 with a shaft sleeve is fixed in the axial direction and only rotates, so that the stop lever 42 is driven to move linearly forward or backward in the axial direction, and the stop lever 42 is mainly used for blocking the rotating position of the first cantilever 6. The stopper rod mounting frame 43 is used to mount and fix the position of the stopper rod ring 421 in the vertical direction. Meanwhile, a limiting groove 5 is formed in the shell 15, the stopper rod supporting plate 423 can move freely in the limiting groove 5, and the stopper rod supporting plate 423 is clamped in the limiting groove 5 to enhance the bearing force of the stopper rod ring 421 in the vertical direction.
The mechanical rocker arm module comprises a first rotating shaft 8, a second rotating shaft 9, a third rotating shaft 12, a first cantilever 6, a second cantilever 10, a rocker arm 11, a first limiting shaft 7 and a second limiting shaft 13. The rotating end of the first boom 6 has a hollow bore structure and is rotatable about a first axis of rotation 8, with the free end of the first boom 6 being located above the rotating end. The first stopper shaft 7 is located at the left side of the first suspension arm 6, and serves to block and restrict the rotational position of the first suspension arm 6. The second cantilever 10 is located at the right side of the first cantilever 6, the rotating end of the second cantilever 10 has a hollow hole structure and can rotate around the second rotating shaft 9, the free end of the second cantilever 10 is located below the rotating end, and meanwhile, the free end inclines to the left in the direction of the first cantilever 6 by a certain angle, so that the second cantilever is better in rigid contact with the first cantilever 6 and is clamped and fixed. The swing arm 11 is located at the right side of the second arm 10, and a hollow hole is provided at an upper position of the right side of the swing arm 11 to be rotatable about the third rotation shaft 12. The structural difference of the two ends of the rocker arm 11 is large, the hollow hole is used as a dividing point, the upper end of the rocker arm inclines leftwards to the second cantilever 10 by a certain angle, the force arm of the upper end is short, and the width of the force arm is gradually reduced along the direction of the upper endpoint; the lower end force arm is longer, and the width of the force arm is gradually increased along the direction of the lower endpoint. Meanwhile, the end position of the lower end is designed into a hook structure for hanging the rope of the delivered object. The couple end focus of rocking arm 11 leans on right, and under free state, the couple end receives the influence of gravity or traction, and rocking arm 11 can reach the balance after the certain angle of anticlockwise rotation slope round third pivot 12, and the couple slope this moment is in the unblock state, and the couple can't hang the rope by the delivery under no exogenic action this moment, and the rope breaks away from the couple automatically.
The shell 15 is used for installing the data acquisition and control module 1, the servo motor module 2, the gear lever module 4 and the mechanical rocker arm module. Meanwhile, a through hole is arranged above the shell 15 and is flexibly connected with the parachute through a rope; an open window is provided on the left side of the housing 15, and the first arm 6, when rotated counterclockwise and leftward about the first rotation axis 8, extends beyond the boundary of the housing 15 and protrudes a certain distance from the window. An open window is provided below the housing 15 through which the rocker arm 11 is hooked for hanging or releasing a rope of a delivered item. Meanwhile, the housing 15 is provided with a housing through hole 14 at the position where the swing arm 11 is hooked, and a rope of the delivered goods passes through the housing through hole 14.
The system is applied to an air-drop task, and specifically comprises the following steps:
after the airdrop task is started and the data acquisition and control module 1 detects that the parachute has landed, the data acquisition and control module 1 sends an automatic parachute-releasing control signal to a motor driving system in the servo motor module 2, the servo motor starts to work, the motor output shaft 3 and the screw rod 41 with the shaft sleeve rotate in the reverse direction, and the stop rod 42 is driven to move backwards along the stop rod mounting frame 43, so that the first cantilever 6 is unblocked. The first cantilever 6 rotates anticlockwise and leftwards around the first rotating shaft 8 under the action of the free end of the second cantilever 10, and is fixed at a certain position under the limitation of the first limiting shaft 7, so that the moment balance is achieved. The second cantilever 10 rotates clockwise and leftwards around the second rotating shaft 9 under the action of the upper end of the rocker arm 11, and the free end moves along the first cantilever 6 and is clamped and fixed at a certain position, so that the moment balance is achieved. The rocker arm 11 hook rotates counterclockwise and rightwards around the third rotating shaft 12 under the influence of gravity or drag force, is fixed on the left side of the second limiting shaft 13 under the influence of the second limiting shaft 13, and simultaneously, the upper end of the rocker arm 11 moves along the second cantilever 10 and is fixed at a certain position in a clamping and stagnation mode, so that the moment balance is achieved. At the moment, the rocker arm 11 hook in the mechanical rocker arm module is in an unlocking state, and the hook inclines towards the upper right, so that the delivered object rope is automatically and quickly separated from the rocker arm 11 hook in the mechanical rocker arm module, and then is separated from the parachute.
Before the airdrop task is carried out again, the rocker arm 11 hook in the mechanical rocker arm module is in an unlocking state, at the moment, the rocker arm 11 hook inclines, and a rope of a delivered object is hung on the hook. While applying a force to the first cantilever 6 through the open window on the left side of the housing 15, the first cantilever 6 rotates clockwise to the right about the first rotation axis 8 and must be located on the right side of the restriction groove 5, at which time the applied force is removed. In the process, the first boom 6 acts on the free end of the second boom 10 and causes the second boom 10 to rotate counterclockwise to the right about the second rotation axis 9. The free end of the second cantilever 10 acts on the upper end of the rocker arm 11, so that the rocker arm 11 rotates clockwise around the third rotating shaft 12, the hook end of the rocker arm 11 rotates to the left, the rocker arm 11 changes from the inclined state to the vertical state, and the rope of the delivered object is positioned in the through hole of the shell 15. Then, a reset key in the data acquisition and control module 1 is triggered, the data acquisition and control module 1 sends an automatic reset control instruction to the servo motor module 2, the servo motor module starts to work, a motor output shaft 3 of the servo motor module and a screw rod 41 with a shaft sleeve rotate in the forward direction, and a gear rod 42 is driven to extend forwards along a gear rod mounting frame 43 and is blocked at the left side of the first cantilever 6. At this time, when the hook of the rocker 11 is pulled by the rope of the delivered object, the upper end of the hook rotates leftwards and is clamped and fixed near the rotating end of the second cantilever 10, the free end of the second cantilever 10 is clamped and fixed near the rotating end of the first cantilever 6, the free end of the first cantilever 6 rotates leftwards and is clamped and fixed on the stop lever 42, the balance among moments is realized through the rigid contact among the first cantilever 6, the second cantilever 10 and the rocker 11, and the relative position of the moments is kept fixed. At the moment, the hook of the rocker arm 11 is in a locking state, and the rope of the delivered object is locked in the through hole 14 of the shell by the hook.
When the couple is in the lock dead state among the mechanical rocker arm module, the gravity of being delivered the thing acts on the couple through the rope, the pulling force of rope is acted on the arm of force of rocker arm couple end, the rocker arm is rotatory round third rotation axis, moment balance has produced a little effort relatively in the rocker arm upper end through rocker arm both ends, this power is used in the rotatory end of second cantilever, the second cantilever is round the second rotation axis, through moment balance has produced a power at the free end, because the arm of force that the rocker arm upper end acted on the second cantilever differs greatly with the arm of force of second cantilever free end, make the effort of second cantilever free end reduce by a wide margin. Meanwhile, the free end of the second cantilever acts on the rotating end of the first cantilever, the free end of the first cantilever acts on the stop lever, and the first cantilever realizes moment balance around the first rotating shaft. Because the force arm of the free end of the second cantilever acting on the first cantilever is smaller, and the force arm of the blocking rod relative to the acting force of the first cantilever is longer, the force of the free end of the first cantilever acting on the blocking rod is greatly reduced compared with the acting force of the free end of the second cantilever. Therefore, the position of the hook bearing larger acting force can be locked by the gear lever only bearing smaller acting force through the acting force and moment balance between different cantilevers and the rocker arms.
Therefore, the automatic parachute-releasing control and release system for the parachute can reliably and effectively realize automatic and rapid release of the delivered object from the parachute after landing, and prevent the delivered object from being dragged by the parachute to cause damage caused by scratching and collision between the delivered object and the ground, so that the safety of the delivered object is ensured, and the effectiveness and the safety of an airdrop task are ensured.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. An automatic parachute opening control and release system for a parachute, comprising: the device comprises a data acquisition and control module (1), a servo motor module (2), a gear lever module (4) and a mechanical rocker arm module;
the data acquisition and control module (1) is connected with the servo motor module (2) through a circuit, and the servo motor module (2) is fixedly connected with the gear lever module (4);
the data acquisition and control module (1) is used for sending an automatic reset control signal to the servo motor module (2) before an airdrop task is started, and sending an automatic parachute-off control signal to the servo motor module (2) when a parachute lands;
the servo motor module (2) is used for driving the gear lever module (4) to be in contact with the mechanical rocker arm module when receiving the automatic reset control signal, so that a hook in the mechanical rocker arm module is in a locking state; when receiving the control signal of automatic parachute-off, the stop lever module (4) is driven to separate from the mechanical rocker arm module, and the locking state of the hook in the mechanical rocker arm module is released, so that the delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivered object is separated from the parachute;
the mechanical rocker arm module comprises a first cantilever (6), a first limit shaft (7), a first rotating shaft (8), a second rotating shaft (9), a second cantilever (10), a rocker arm (11), a third rotating shaft (12) and a second limit shaft (13),
the free end of the first cantilever (6) is positioned above the rotating end, the rotating end of the first cantilever (6) is provided with a hollow hole structure and is used for rotating around a first rotating shaft (8), and the first limiting shaft (7) is positioned on the left side of the first cantilever (6) and is used for blocking and limiting the rotating position of the first cantilever (6);
the second cantilever (10) is positioned at the right side of the first cantilever (6), the rotating end of the second cantilever (10) is provided with a hollow hole structure and is used for rotating around a second rotating shaft (9), and the free end of the second cantilever (10) is positioned below the rotating end;
the rocker arm (11) is positioned on the right side of the second cantilever (10), a hollow hole is formed in the upper position of the right side of the rocker arm (11) and used for rotating around the third rotating shaft (12), and the second limiting shaft (13) is positioned on the right side of the rocker arm (11) and used for blocking and limiting the rotating position of the rocker arm (11);
the upper end is above the hollow hole of the rocker arm (11), the lower end is below the hollow hole, the upper end inclines leftwards to the direction of the second cantilever (10), the upper end force arm is shorter than the lower end force arm, and a hook is arranged at the end point of the lower end and is used for hanging a rope of a delivered object;
when the servo motor module (2) receives an automatic reset control signal, the gear lever module (4) is driven to be in contact with the first cantilever (6) to block the rotating position of the first cantilever (6), at the moment, the hook at the end point of the lower end of the rocker arm (11) is pulled by a rope of a delivered object, the upper end of the hook is rotated leftward and is clamped and fixed at the rotating end of the second cantilever (10), the free end of the second cantilever (10) is clamped and fixed at the rotating end of the first cantilever (6), the free end of the first cantilever (6) is rotated leftward and is clamped and fixed on the gear lever module (4), and balance among moments is realized through rigid contact among the first cantilever (6), the second cantilever (10) and the rocker arm (11), so that the hook at the end point of the lower end of the rocker arm (11) is in a locking state, and the relative position of the rocker arm (11) is kept fixed.
2. A parachute automatic release control and release system as recited in claim 1, said system further comprising: an output shaft (3) of the motor,
the servo motor module (2) is fixedly connected with the gear lever module (4) through a motor output shaft (3);
and the motor output shaft (3) is used for rotating in the forward direction when the servo motor module (2) receives the automatic reset control signal and rotating in the reverse direction when the servo motor module (2) receives the automatic umbrella-removing control signal.
3. The automatic parachute opening control and release system of claim 2, wherein the blocking rod module (4) is located right below the servo motor module (2), the blocking rod module (4) comprises a screw rod with a shaft sleeve, a blocking rod and a blocking rod installation frame,
the screw rod with the shaft sleeve is positioned in a middle hole of the stop lever, is fixedly connected with the motor output shaft (3), and is used for driving the stop lever to move forwards in a linear manner when the motor output shaft (3) rotates forwards and to be in contact with the mechanical rocker arm module, and driving the stop lever to move backwards in a linear manner when the motor output shaft (3) rotates reversely and to be separated from the mechanical rocker arm module;
the gear lever mounting frame is located outside the gear lever and used for mounting and fixing the gear lever.
4. A parachute automatic release control and release system as recited in claim 3, wherein said stopper rod comprises a stopper rod ring and a stopper rod internal thread,
the stop lever mounting frame is used for mounting and fixing the position of the stop lever circular ring in the vertical direction, and the external thread of the screw rod with the shaft sleeve is connected with the internal thread of the stop lever.
5. A parachute automatic release control and release system according to claim 4, wherein a limit groove (5) is provided right below the stopper rod, and the stopper rod further comprises a stopper rod support plate which is freely movable in the limit groove (5).
6. A parachute automatic release control and release system as set forth in any of claims 1 to 5, wherein said system further comprises: the data acquisition and control module (1), the servo motor module (2), the gear lever module (4) and the mechanical rocker arm module are all arranged inside the shell (15), and a through hole is formed above the shell (15) and used for being flexibly connected with the parachute through a rope; an open window is arranged below the shell (15), and a hook at the end point of the lower end of the rocker arm (11) extends out of the window.
7. An automatic parachute opening control and release system for a parachute, comprising: the device comprises a data acquisition and control module (1), a servo motor module (2), a gear lever module (4) and a mechanical rocker arm module;
the data acquisition and control module (1) is connected with the servo motor module (2) through a circuit, and the servo motor module (2) is fixedly connected with the gear lever module (4);
the data acquisition and control module (1) is used for sending an automatic reset control signal to the servo motor module (2) before an airdrop task is started, and sending an automatic parachute-off control signal to the servo motor module (2) when a parachute lands;
the servo motor module (2) is used for driving the gear lever module (4) to be in contact with the mechanical rocker arm module when receiving the automatic reset control signal, so that a hook in the mechanical rocker arm module is in a locking state; when receiving the control signal of automatic parachute-off, the stop lever module (4) is driven to separate from the mechanical rocker arm module, and the locking state of the hook in the mechanical rocker arm module is released, so that the delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivered object is separated from the parachute;
the mechanical rocker arm module comprises a first cantilever (6), a first limit shaft (7), a first rotating shaft (8), a second rotating shaft (9), a second cantilever (10), a rocker arm (11), a third rotating shaft (12) and a second limit shaft (13),
the free end of the first cantilever (6) is positioned above the rotating end, the rotating end of the first cantilever (6) is provided with a hollow hole structure and is used for rotating around a first rotating shaft (8), and the first limiting shaft (7) is positioned on the left side of the first cantilever (6) and is used for blocking and limiting the rotating position of the first cantilever (6);
the second cantilever (10) is positioned at the right side of the first cantilever (6), the rotating end of the second cantilever (10) is provided with a hollow hole structure and is used for rotating around a second rotating shaft (9), and the free end of the second cantilever (10) is positioned below the rotating end;
the rocker arm (11) is positioned on the right side of the second cantilever (10), a hollow hole is formed in the upper position of the right side of the rocker arm (11) and used for rotating around the third rotating shaft (12), and the second limiting shaft (13) is positioned on the right side of the rocker arm (11) and used for blocking and limiting the rotating position of the rocker arm (11);
the upper end is above the hollow hole of the rocker arm (11), the lower end is below the hollow hole, the upper end inclines leftwards to the direction of the second cantilever (10), the upper end force arm is shorter than the lower end force arm, and a hook is arranged at the end point of the lower end and is used for hanging a rope of a delivered object;
when the servo motor module (2) receives an automatic umbrella-removing control signal, the gear lever module (4) is driven to be separated from the first cantilever (6), the first cantilever (6) rotates anticlockwise and leftwards around the first rotating shaft (8) under the action of the free end of the second cantilever (10) and is limited by the first limiting shaft (7), the free end of the first cantilever (6) is clamped and fixed on the first limiting shaft (7), the second cantilever (10) rotates clockwise and leftwards around the second rotating shaft (9) under the action of the upper end of the rocker arm (11), the free end of the second cantilever (10) moves along the first cantilever (6) and is clamped and fixed, the hook at the end point of the lower end of the rocker arm (11) rotates anticlockwise and rightwards around the third rotating shaft (12) under the influence of gravity or drag force and is limited by the second limiting shaft (13) and fixed on the left side of the second limiting shaft (13), meanwhile, the upper end of the rocker arm (11) moves along the second cantilever (10) and is clamped and fixed, and at the moment, the locking state of the hook at the end point of the lower end of the rocker arm (11) is released.
8. A parachute automatic release control and release system as recited in claim 7, further comprising: an output shaft (3) of the motor,
the servo motor module (2) is fixedly connected with the gear lever module (4) through a motor output shaft (3);
and the motor output shaft (3) is used for rotating in the forward direction when the servo motor module (2) receives the automatic reset control signal and rotating in the reverse direction when the servo motor module (2) receives the automatic umbrella-removing control signal.
9. The automatic parachute opening control and release system of claim 8, wherein the blocking rod module (4) is located right below the servo motor module (2), the blocking rod module (4) comprises a screw rod with a shaft sleeve, a blocking rod and a blocking rod installation frame,
the screw rod with the shaft sleeve is positioned in a middle hole of the stop lever, is fixedly connected with the motor output shaft (3), and is used for driving the stop lever to move forwards in a linear manner when the motor output shaft (3) rotates forwards and to be in contact with the mechanical rocker arm module, and driving the stop lever to move backwards in a linear manner when the motor output shaft (3) rotates reversely and to be separated from the mechanical rocker arm module;
the gear lever mounting frame is located outside the gear lever and used for mounting and fixing the gear lever.
10. A parachute automatic release control and release system as recited in claim 9, wherein said stopper rod comprises a stopper rod ring and a stopper rod internal thread,
the stop lever mounting frame is used for mounting and fixing the position of the stop lever circular ring in the vertical direction, and the external thread of the screw rod with the shaft sleeve is connected with the internal thread of the stop lever.
11. A parachute automatic release control and release system as set forth in claim 10, wherein a limit groove (5) is provided right below the stopper rod, and the stopper rod further comprises a stopper rod support plate which is freely movable in the limit groove (5).
12. A parachute automatic release control and release system as set forth in any of claims 7 to 11, wherein said system further comprises: the data acquisition and control module (1), the servo motor module (2), the gear lever module (4) and the mechanical rocker arm module are all arranged inside the shell (15), and a through hole is formed above the shell (15) and used for being flexibly connected with the parachute through a rope; an open window is arranged below the shell (15), and a hook at the end point of the lower end of the rocker arm (11) extends out of the window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010133847.2A CN111332478B (en) | 2020-02-28 | 2020-02-28 | Automatic parachute-taking control and separation system for parachute |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010133847.2A CN111332478B (en) | 2020-02-28 | 2020-02-28 | Automatic parachute-taking control and separation system for parachute |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111332478A CN111332478A (en) | 2020-06-26 |
| CN111332478B true CN111332478B (en) | 2021-07-02 |
Family
ID=71175874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010133847.2A Active CN111332478B (en) | 2020-02-28 | 2020-02-28 | Automatic parachute-taking control and separation system for parachute |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111332478B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111942591B (en) * | 2020-08-20 | 2022-06-07 | 北京京东乾石科技有限公司 | Cargo throwing device and aircraft |
| CN112678191B (en) * | 2021-01-12 | 2022-05-10 | 北京理工大学 | Edge connection type water inlet inertia umbrella removing device |
| CN117585167B (en) * | 2024-01-18 | 2024-03-22 | 中国人民解放军空军特色医学中心 | Parachute with injury-preventing protection structure |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB599461A (en) * | 1945-09-17 | 1948-03-12 | Malcolm Ltd R | Improvements relating to load-carrying and releasing devices |
| US3173718A (en) * | 1962-05-08 | 1965-03-16 | Harley Patents Int | Parachute connectors |
| US6654990B2 (en) * | 2001-05-04 | 2003-12-02 | Chung-Shan Institute Of Science | Quick-release hook |
| CN201794058U (en) * | 2010-06-13 | 2011-04-13 | 连云港步升机械有限公司 | Release hook with locking safety device |
| CN103318414A (en) * | 2013-06-28 | 2013-09-25 | 中国石油天然气集团公司 | Automatic separation system and method for unmanned plane and parachute |
| CN105253256A (en) * | 2015-09-25 | 2016-01-20 | 江苏科技大学 | Boat hook apparatus for single-pivot lifeboat |
| CN205366080U (en) * | 2016-02-25 | 2016-07-06 | 北京迈凯飞工程技术有限公司 | Automatic separation device of unmanned aerial vehicle parachute |
| CN210061524U (en) * | 2019-01-22 | 2020-02-14 | 沈阳安德镭斯智能科技有限公司 | Adjustable dust collector based on high-speed railway track board pouring mold die cleaning platform |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050258658A1 (en) * | 2004-05-20 | 2005-11-24 | Tollenaere Donald J | Cargo hook safety lock |
| US9663234B1 (en) * | 2015-08-26 | 2017-05-30 | Amazon Technologies, Inc. | Aerial package delivery system |
| CN206735634U (en) * | 2017-04-27 | 2017-12-12 | 华中科技大学 | A kind of sheet fabrication hanging apparatus |
| CN107651555A (en) * | 2017-10-10 | 2018-02-02 | 中车大连机车车辆有限公司 | Suspension hook, auxiliary hook foolproof apparatus and application method |
| CN209940272U (en) * | 2019-03-13 | 2020-01-14 | 广州远工机械有限公司 | Quick unhooking device for ship lifting |
-
2020
- 2020-02-28 CN CN202010133847.2A patent/CN111332478B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB599461A (en) * | 1945-09-17 | 1948-03-12 | Malcolm Ltd R | Improvements relating to load-carrying and releasing devices |
| US3173718A (en) * | 1962-05-08 | 1965-03-16 | Harley Patents Int | Parachute connectors |
| US6654990B2 (en) * | 2001-05-04 | 2003-12-02 | Chung-Shan Institute Of Science | Quick-release hook |
| CN201794058U (en) * | 2010-06-13 | 2011-04-13 | 连云港步升机械有限公司 | Release hook with locking safety device |
| CN103318414A (en) * | 2013-06-28 | 2013-09-25 | 中国石油天然气集团公司 | Automatic separation system and method for unmanned plane and parachute |
| CN105253256A (en) * | 2015-09-25 | 2016-01-20 | 江苏科技大学 | Boat hook apparatus for single-pivot lifeboat |
| CN205366080U (en) * | 2016-02-25 | 2016-07-06 | 北京迈凯飞工程技术有限公司 | Automatic separation device of unmanned aerial vehicle parachute |
| CN210061524U (en) * | 2019-01-22 | 2020-02-14 | 沈阳安德镭斯智能科技有限公司 | Adjustable dust collector based on high-speed railway track board pouring mold die cleaning platform |
Non-Patent Citations (1)
| Title |
|---|
| 牵引车自动脱钩机构设计;黄超;《煤矿开采》;20111031;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111332478A (en) | 2020-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111332478B (en) | Automatic parachute-taking control and separation system for parachute | |
| AU2007347147B2 (en) | Method and apparatus for retrieving a hovering aircraft | |
| EP2987725B1 (en) | Rotor blade having an actuator lock | |
| CN204507269U (en) | A kind of unmanned plane tackling airborne aircraft | |
| US10919734B2 (en) | Self-release mechanism for parcel delivery | |
| CN109502009B (en) | Aircraft folding wing locking mechanism | |
| CN109353537A (en) | Mechanism is let in a kind of locking of unmanned aerial vehicle ejecting fly away | |
| CN103410896B (en) | A kind of 2 D photoelectric turntable locking device | |
| CN110758762A (en) | Unmanned aerial vehicle ejection locking releasing device and method | |
| CN114634127B (en) | Servo hoist with antiwind function | |
| US20220340298A1 (en) | Automatically pitch and yaw responsive aircraft launching system | |
| CN215436954U (en) | Unmanned aerial vehicle canopy unlocking mechanism | |
| CN103612758B (en) | A kind of traction disconnecting gear | |
| CN203601566U (en) | Extraction releasing device | |
| CN109398684B (en) | Unmanned aerial vehicle arresting hook mechanism | |
| CN110304564B (en) | Cargo stowing device for aircraft | |
| CN113928568A (en) | Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle | |
| CN213677166U (en) | Small-size carry input mechanism to I heavy-duty suspended object lug | |
| CN110606205B (en) | Landing anti-overturn method for air drop system | |
| CN205345341U (en) | Hang releasing mechanism fast | |
| CN105173082A (en) | Heavy-load air drop discharge safety mechanism | |
| US2667953A (en) | Landing gear actuator | |
| CN114195029A (en) | Auxiliary mounting device for building electromechanical equipment | |
| CN114132504B (en) | Cable drop device capable of remotely throwing and releasing ropes | |
| CN218806579U (en) | Umbrella cabin capable of separating water |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |