CN112278289A - On-spot configurable parachute-opening close-coupled unmanned aerial vehicle intelligence parachute device that stalls - Google Patents
On-spot configurable parachute-opening close-coupled unmanned aerial vehicle intelligence parachute device that stalls Download PDFInfo
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- CN112278289A CN112278289A CN202011309418.2A CN202011309418A CN112278289A CN 112278289 A CN112278289 A CN 112278289A CN 202011309418 A CN202011309418 A CN 202011309418A CN 112278289 A CN112278289 A CN 112278289A
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- 230000001960 triggered effect Effects 0.000 claims description 9
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- 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
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- 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
- B64D17/40—Packs
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- 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
- B64D17/40—Packs
- B64D17/52—Opening, e.g. manual
- B64D17/54—Opening, e.g. manual automatic
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an intelligent parachute device of an unmanned aerial vehicle capable of being coupled with parachute opening and propeller stopping in a field configurable mode, compared with the prior art, the intelligent parachute device (1) of the unmanned aerial vehicle capable of being coupled with parachute opening and propeller stopping in the field configurable mode can be adapted to unmanned aerial vehicles of different types, sizes and rotor numbers by replacing a configurable propeller blocking rod arranged outside a rotary parachute cabin, can be used for modularized field configurable unmanned aerial vehicles with frequent appearance changes, and is strong in adaptability and high in flexibility; (2) the propeller scram and the parachute opening control are integrated, the parachute opening and the propeller scram are tightly coupled through control over the rotary type parachute bin, the parachute opening and the propeller scram are mutually in a causal relationship, the working principle that the unmanned aerial vehicle parachute is required to be stopped when the parachute is opened and the parachute is required to be opened when the parachute is stopped is completely conformed, and the stability of the parachute device is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an intelligent parachute device of an unmanned aerial vehicle, which can be in field configuration and is closely coupled with parachute opening and propeller stopping.
Background
At present, unmanned aerial vehicle parachute is at the expansion in-process, and parachute rope are drawn into easily by the screw out of control and lead to the unable complete expansion of parachute, have seriously influenced the stability of unmanned aerial vehicle parachute opening and work after the parachute opening.
Nowadays, unmanned aerial vehicles are more and more widely applied, modular field configurable unmanned aerial vehicles with frequent appearance changes become a development trend, but intelligent parachute devices which are suitable for the modular field configurable unmanned aerial vehicles still do not exist in the prior art.
Disclosure of Invention
Aiming at the problems, the invention provides the intelligent parachute device of the unmanned aerial vehicle, which can be configured on site and is tightly coupled with parachute opening and propeller stopping.
In order to achieve the purpose, the invention adopts the technical scheme that: an unmanned aerial vehicle intelligent parachute device capable of being matched with parachute opening and propeller stopping tight coupling on site comprises a parachute main controller, a parachute cabin locker, a parachute cabin upper cover plate fixing piece and a parachute, wherein a parachute cabin upper cover plate rotating piece is hinged to the parachute cabin upper cover plate fixing piece; the center of the configurable propeller blocking rod is a circular ring plate, and a plurality of blade blocking rods are arranged on the periphery of the circular ring plate according to the positions of blades of the unmanned aerial vehicle; the periphery of the rotary umbrella bin is detachably connected with the inner surface of a circular plate which can be provided with a propeller blocking rod; the umbrella bin mounting bracket is in a circular plate shape, and an umbrella bin upper cover plate mounting bracket and an umbrella bin upper cover plate locking bracket are oppositely arranged on the edge of the upper surface of the circular plate; the umbrella bin upper cover plate mounting bracket is in a vertical tile shape, the upper surface of the umbrella bin upper cover plate mounting bracket is provided with a plurality of mounting holes, and a locking hole II is formed in a curved surface of the umbrella bin upper cover plate mounting bracket facing the circle center of the umbrella bin mounting bracket; the umbrella bin mounting bracket and the umbrella bin lower bottom plate are respectively mounted above and below the rotary umbrella bin bottom plate, and the umbrella bin mounting bracket is positioned in the rotary umbrella bin; the lower umbrella cabin bottom plate is horizontally arranged above the central plate of the unmanned aerial vehicle, the lower umbrella cabin bottom plate is connected with the umbrella cabin mounting bracket through a plurality of vertical connecting pieces, and the vertical connecting pieces penetrate through a first central through hole of the rotary umbrella cabin bottom plate; the rotary umbrella bin can rotate relative to the umbrella bin lower bottom plate and the umbrella bin mounting bracket under the driving of the driving device; a locking hook is arranged below the rotary sheet of the upper cover plate of the umbrella bin; the parachute main controller and the parachute cabin locker are arranged on the upper surface of the parachute cabin mounting bracket; the parachute is folded and arranged in the rotary type parachute bin; under the state that the intelligent unmanned aerial vehicle parachute device which can be in on-site configuration and close coupled with parachute opening and propeller stopping is to be triggered, the rotating piece of the upper cover plate of the parachute cabin covers the upper part of the rotary parachute cabin, and the locking bracket of the upper cover plate of the parachute cabin is matched with the locking piece to lock the locking hook below the rotating piece of the upper cover plate of the parachute cabin; meanwhile, a first locking hole on the rotary umbrella bin is aligned with a second locking hole on the umbrella bin mounting bracket, and a locking pin key on the umbrella bin locker is simultaneously inserted into the first locking hole and the second locking hole; when the intelligent unmanned aerial vehicle parachute device which can be configured with parachute opening and oar stopping tight coupling on site is triggered, the parachute main controller sends an electronic signal to the parachute cabin locker, and a driving motor in the parachute cabin locker drives a locking pin key to be pulled out of a locking hole I on the rotary type parachute cabin and a locking hole II on the parachute cabin mounting bracket; the rotary umbrella bin is driven by the driving device to rotate, and the locking piece on the inner wall of the rotary umbrella bin releases the locking of the locking hook below the rotary piece of the upper cover plate of the umbrella bin; at the moment, the rotary piece of the upper cover plate of the umbrella cabin can rotate upwards to open the rotary umbrella cabin.
As preferred, locate umbrella storehouse installing support upper surface after the parachute is folding, specifically be: the tail end of an umbrella rope below the parachute is connected to the upper surface of the parachute bin mounting bracket; after folding parachute below is equipped with parachute catch plate and compression spring in proper order, the umbrella storehouse installing support upper surface is connected to compression spring bottom.
Preferably, the center of the umbrella bin mounting bracket is provided with a second through hole, and the diameter of the second through hole is smaller than that of the first through hole in the center of the rotary umbrella bin bottom plate; and the plurality of connecting holes are uniformly distributed around the second through hole, the vertical connecting piece is arranged in the connecting hole, and the vertical connecting piece is connected with the lower bottom plate of the umbrella bin and the umbrella bin mounting bracket.
Preferably, the rotary umbrella bin is driven by the driving device to rotate, and specifically comprises: the driving device is a torsion spring, the torsion spring main body is vertically arranged in a through hole II in the center of the umbrella bin mounting bracket, and the periphery of the torsion spring main body is surrounded by the plurality of vertical connecting pieces; two torque arms of the torsion spring are respectively fixed in a fixing groove on the upper surface of the umbrella cabin mounting bracket and a torque arm fixing hole below the rotary umbrella cabin bottom plate.
Preferably, the limiting plate on the inner wall of the rotary umbrella bin comprises an arc plate and two connecting plates, the arc plate is parallel to the inner wall of the rotary umbrella bin, and the two connecting plates are respectively connected with the two ends of the length of the arc plate and the inner wall of the rotary umbrella bin.
Preferably, the umbrella bin upper cover plate mounting bracket is positioned between the limiting plate and the inner wall of the rotary umbrella bin, and the umbrella bin upper cover plate mounting bracket can slide relative to the limiting plate.
Preferably, the umbrella bin upper cover plate fixing piece is installed on the upper surface of the umbrella bin upper cover plate installation support through a plurality of installation holes in the upper surface of the umbrella bin upper cover plate installation support.
Preferably, the outer surface of the paddle blocking rod is provided with a buffer pad with the hardness lower than that of the material of the paddle.
Preferably, the periphery of the rotary umbrella bin is detachably connected with the inner surface of a circular ring plate which can be provided with a propeller blocking rod, and the rotary umbrella bin specifically comprises the following components: a plurality of clamping blocks are arranged on the periphery of the rotary umbrella bin in a balanced manner, a plurality of bayonets are correspondingly arranged on the inner surface of the circular ring plate of the propeller blocking rod, and the clamping blocks are clamped with the bayonets; when being used for large-scale unmanned aerial vehicle, the combination of rotation type umbrella storehouse periphery and the ring plate internal surface that can dispose the screw and block the pole uses detachable fastener to further consolidate.
Preferably, the configurable propeller blocking rod is a configurable preform with three, four, six or eight blade blocking rods.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) can block the pole through the configurable screw of change installation outside the rotation type parachute bay, the unmanned aerial vehicle of the different kinds of adaptation, size, rotor number to can be used for the frequent modularization scene of appearance change can dispose type unmanned aerial vehicle, strong adaptability, the flexibility is high.
(2) The propeller scram and the parachute opening control are integrated, the parachute opening and the propeller scram are tightly coupled through control over the rotary type parachute bin, the parachute opening and the propeller scram are mutually in a causal relationship, the working principle that the unmanned aerial vehicle parachute is required to be stopped when the parachute is opened and is required to be opened when the parachute is stopped is completely conformed to, and the stability of the parachute safety device is improved
(3) The performance and stability are improved while the material is saved, the design is simplified and the weight is reduced.
(4) The parachute opening and propeller scram actions are tightly coupled through the control of the rotary parachute bin, so that the working stability of a parachute system can be improved, and the rotary parachute bin is also used for preventing the propeller rotating at a high speed from hurting people and properties in an emergency.
(5) The complete intellectualization of the unmanned aerial vehicle parachute is realized, the complex operation that other unmanned aerial vehicle parachutes in the market still need to be manually controlled to stop the rotation of the propeller after the parachute is opened is compared, and the intelligent parachute system which completely does not need to be manually intervened to stop the propeller is realized.
Drawings
To more clearly illustrate the technical solution of the embodiment of the present invention, the drawings needed to be used in the description of the embodiment will be briefly introduced below, fig. 1 is a diagram of a state to be triggered of an intelligent parachute device of an unmanned aerial vehicle with field configurable parachute opening and oar stopping tightly coupled provided in embodiment 1, fig. 2 is a diagram of a state to be triggered of an intelligent parachute device of an unmanned aerial vehicle with field configurable parachute opening and oar stopping tightly coupled, fig. 3 is a diagram of disassembly of an intelligent parachute device of an unmanned aerial vehicle with field configurable parachute opening and oar stopping tightly coupled, fig. 4 is a diagram of a state at the moment of triggering of an intelligent parachute device of an unmanned aerial vehicle with field configurable parachute opening and oar stopping tightly coupled, fig. 5 is a front view, a top view and a partial sectional view of an intelligent parachute device of an unmanned aerial vehicle with field configurable parachute opening and oar stopping tightly coupled, fig. 6 is a bottom view of an intelligent parachute, fig. 7 is a bottom view of a rotary parachute warehouse, fig. 8 is a schematic diagram of an upper cover plate rotating piece of the parachute warehouse, fig. 9 is a schematic diagram of locking hooks below the upper cover plate rotating piece of the parachute warehouse in cooperation with a locking piece of the upper cover plate of the parachute warehouse in a locking manner, fig. 10 is a schematic diagram of a triggering state of an intelligent parachute device of the unmanned aerial vehicle in which opening and shutting are coupled in a field configurable manner, fig. 11 is a schematic diagram of the upper cover plate rotating piece of the parachute warehouse before use and when the locking hooks below the upper cover plate rotating piece reach the upper cover plate of the parachute warehouse in a locking manner, fig. 12 is a schematic diagram of the rotation of the rotary parachute cabin after the upper cover plate rotating hook of the parachute warehouse reaches the upper cover plate locking support before use and then rotates the rotary parachute cabin to drive the locking piece, and fig. 13 is a.
1-parachute main controller, 2-parachute warehouse locker, 3-rotation type parachute warehouse, 4-parachute warehouse installing support, 5-parachute warehouse upper cover plate rotary sheet, 6-parachute warehouse upper cover plate fixed sheet, 7-parachute push plate, 8-compression spring, 9-torsion spring, 10-parachute warehouse lower base plate, 11-configurable propeller blocking rod, 12-parachute, 201-locking pin key, 202-driving motor, 301-locking sheet, 302-locking hole I, 303-torsion arm fixing hole, 304-limiting plate, 305-through hole I, 401-parachute warehouse upper cover plate locking support, 402-locking hole II, 403-fixing groove, 404-through hole II, 405-parachute warehouse upper cover plate installing support, 1101-blade blocking rod and 1102-cushion pad.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
Example 1
The invention is further described with reference to fig. 1-12, and an intelligent parachute device of an unmanned aerial vehicle with field configurable parachute opening and tight coupling for oar stopping comprises a parachute main controller 1, a parachute cabin locker 2, a parachute cabin upper cover plate fixing sheet 6 and a parachute 12, wherein a parachute cabin upper cover plate rotating sheet 5 is hinged with the parachute cabin upper cover plate fixing sheet 6, an electronic signal line is connected between the parachute main controller 1 and the parachute cabin locker 2, and the intelligent parachute device further comprises a rotary parachute cabin 3, a parachute cabin mounting bracket 4, a parachute cabin lower bottom plate 10 and a configurable propeller blocking rod 11.
As shown in fig. 3-5, the rotary umbrella bin 3 is in a round box shape, the round box has no upper cover, a first through hole 305 is formed in the center of the bottom plate of the rotary umbrella bin 3, a locking piece 301 and a limiting plate 304 are arranged on the inner wall of the rotary umbrella bin 3, and a first locking hole 302 is formed in the limiting plate 304.
As shown in fig. 3-5, the center of the configurable propeller blocking rod 11 is a circular plate, and the periphery of the circular plate is provided with a plurality of blade blocking rods 1101 according to the positions of the blades of the unmanned aerial vehicle.
As shown in fig. 3 and 4, the periphery of the rotary umbrella chamber 3 is detachably connected with the inner surface of the circular plate which can be provided with the propeller blocking rod 11.
As shown in fig. 3, the umbrella bin mounting bracket 4 is a circular plate, and the edge of the upper surface of the circular plate is oppositely provided with an umbrella bin upper cover plate mounting bracket 405 and an umbrella bin upper cover plate locking bracket 401; the umbrella bin upper cover plate mounting bracket 405 is vertical tile-shaped, the upper surface of the umbrella bin upper cover plate mounting bracket is provided with a plurality of mounting holes, and a second locking hole 402 is formed in a curved surface of the umbrella bin upper cover plate mounting bracket 405 facing the center of the circle of the umbrella bin mounting bracket 4.
As shown in fig. 4, the umbrella bin mounting bracket 4 and the umbrella bin lower base plate 10 are respectively mounted above and below the rotary type umbrella bin 3 base plate, and the umbrella bin mounting bracket 4 is positioned in the rotary type umbrella bin 3; umbrella storehouse lower plate 10 horizontal installation is in unmanned aerial vehicle well core plate top, and umbrella storehouse lower plate 10 and umbrella storehouse installing support 4 are connected through a plurality of vertical connecting pieces, and a plurality of vertical connecting pieces all pass 3 bottom plates of rotation type umbrella storehouse central through-hole 305.
The rotary umbrella bin 3 can rotate relative to the umbrella bin lower bottom plate 10 and the umbrella bin mounting bracket 4 under the drive of the driving device.
As shown in fig. 4 and 8, a locking hook 501 is arranged below the rotary sheet 5 of the upper cover plate of the umbrella bin; the rotary plate 5 of the upper cover plate of the umbrella chamber can rotate around the central shaft of the rotary sleeve at the end far away from the locking hook 501.
As shown in fig. 3 and 4, the parachute main controller 1 and the parachute bay locker 2 are installed on the upper surface of the parachute bay installation support 4; the parachute 12 is folded and arranged in the rotary type parachute cabin 3.
As shown in fig. 3 and 4, the folded parachute 12 is disposed on the upper surface of the parachute cabin mounting bracket 4, specifically: the tail end of the umbrella rope below the parachute 12 is connected to the upper surface of the umbrella bin mounting bracket 4; a parachute push plate 7 and a compression spring 8 are sequentially arranged below the folded parachute 12, and the bottom of the compression spring 8 is connected with the upper surface of the parachute cabin mounting bracket 4.
As shown in fig. 1, 5, 3, 9 and 11, in a state to be triggered of the intelligent parachute device of the unmanned aerial vehicle capable of being configured with parachute opening and tight coupling in field, the rotary parachute cabin upper cover plate rotary sheet 5 covers the rotary parachute cabin 3, and the parachute cabin upper cover plate locking bracket 401 and the locking sheet 301 are matched to lock the locking hook 501 below the parachute cabin upper cover plate rotary sheet 5; meanwhile, the first locking hole 302 on the rotary umbrella bin 3 is aligned with the second locking hole 402 on the umbrella bin mounting bracket 4, the main parachute controller 1 sends an electronic signal to the umbrella bin locker 2, and the locking pin 201 on the umbrella bin locker 2 is simultaneously inserted into the first locking hole 302 and the second locking hole 402, so that the rotary umbrella bin 3 and the umbrella bin mounting bracket 4 are relatively fixed.
As shown in fig. 2, 4, 9 and 10, when the intelligent parachute device of the unmanned aerial vehicle which can be coupled with the parachute opening and the oar stopping on site and can be configured is triggered, the parachute main controller 1 sends an electronic signal to the parachute bay locker 2, and the driving motor 202 in the parachute bay locker 2 drives the locking pin 201 to pull out from the first locking hole 302 on the rotary parachute bay 3 and the second locking hole 402 on the parachute bay mounting bracket 4, so that the rotary parachute bay 3 can rotate relative to the parachute bay mounting bracket 4; the rotary type umbrella bin 3 is driven by the driving device to rotate, and the locking piece 301 on the inner wall of the rotary type umbrella bin 3 releases the locking of the locking hook 501 below the rotary piece 5 of the upper cover plate of the umbrella bin; at the moment, the rotary type umbrella bin 3 can be opened by the rotary piece 5 of the upper cover plate of the umbrella bin rotating upwards. The folded parachute 12 bounces upwards under the elastic force of the lower compression spring 8 to push the rotary sheet 5 of the upper cover plate of the parachute cabin to rotate around the central shaft of the rotary sleeve far away from one end of the locking hook 501; the folded parachute 12 continues to move upward and finally is deployed in the air.
As shown in fig. 3 and 4, the center of the umbrella bin mounting bracket 4 is provided with a second through hole 404, and the diameter of the second through hole 404 is smaller than that of the first through hole 305 in the center of the bottom plate of the rotary umbrella bin 3; a plurality of connecting holes are evenly distributed around the second through hole 404, vertical connecting pieces are arranged in the connecting holes, and the vertical connecting pieces are connected with the lower bottom plate 10 of the umbrella bin and the umbrella bin mounting bracket 4.
As shown in fig. 3, 6 and 7, the rotary umbrella bin 3 is driven by the driving device to rotate, specifically: the driving device is a torsion spring 9, the main body of the torsion spring 9 is vertically arranged in a second through hole 404 in the center of the umbrella bin mounting bracket 4, and the periphery of the main body is surrounded by a plurality of vertical connecting pieces; two torsion arms of the torsion spring 9 are respectively fixed on the fixing groove 403 on the upper surface of the umbrella bin mounting bracket 4 and the torsion arm fixing hole 303 under the bottom plate of the rotary umbrella bin 3.
As shown in fig. 3, the limiting plate 304 on the inner wall of the rotary umbrella bin 3 comprises an arc plate and two connecting plates, the arc plate is parallel to the inner wall of the rotary umbrella bin 3, and the two connecting plates are respectively connected with the two ends of the length of the arc plate and the inner wall of the rotary umbrella bin 3.
The umbrella bin upper cover plate mounting bracket 405 is positioned between the limiting plate 304 and the inner wall of the rotary type umbrella bin 3, and the umbrella bin upper cover plate mounting bracket 405 can slide relative to the limiting plate 304. As shown in fig. 3, in the state of waiting to be triggered, the umbrella chamber upper cover plate mounting bracket 405 is positioned at the rightmost side of the limiting plate 304.
As shown in fig. 3 and 5, the canopy upper cover fixing piece 6 is mounted on the upper surface of the canopy upper cover mounting bracket 405 through a plurality of mounting holes on the upper surface of the canopy upper cover mounting bracket 405.
As shown in fig. 3, the outer surface of the blade blocking bar 1101 is provided with a cushion 1102 having a hardness lower than the hardness of the blade material.
As shown in fig. 3 and 4, the periphery of the rotary umbrella chamber 3 is detachably connected with the inner surface of the circular plate which can be provided with the propeller blocking rod 11, specifically: the periphery of the rotary type umbrella bin 3 is provided with a plurality of clamping blocks in a balanced manner, the inner surface of the circular plate which can be provided with the propeller blocking rod 11 is correspondingly provided with a plurality of bayonets, and the clamping blocks are clamped with the bayonets. When used in a large unmanned aerial vehicle, the combination of the outer periphery of the rotary umbrella chamber 3 and the inner surface of the circular plate of the configurable propeller blocking rod 11 is further reinforced by detachable fasteners (such as bolts and nuts).
As shown in fig. 1 and 2, the configurable propeller blocking rod 11 is a configurable preform with three, four, six or eight blade blocking rods 1101.
As shown in fig. 5, 11 and 12, the intelligent parachute device of the field-configurable parachute opening and oar stopping tightly-coupled unmanned aerial vehicle can be reused, the parachute 12 is folded and placed into the rotary parachute bay 3, and the rotary sheet 5 of the upper cover plate of the parachute bay is rotated downwards, so that the locking hook 501 below the rotary sheet reaches the locking bracket 401 of the upper cover plate of the parachute bay; for locking the locking hook 501, after the locking hook 501 of the rotary sheet 5 of the upper cover plate of the umbrella bin reaches the locking bracket 401 of the upper cover plate of the umbrella bin, the rotary umbrella bin 3 is rotated to drive the locking sheet 301 to rotate, so that the locking sheet 301 locks the fixing hook 501; at the moment, the first locking hole 302 on the rotary umbrella bin 3 is aligned with the second locking hole 402 on the umbrella bin mounting bracket 4, the main parachute controller 1 is used for controlling the umbrella bin locker 2, and the locking pin 201 on the umbrella bin locker 2 is simultaneously inserted into the first locking hole 302 and the second locking hole 402, so that the rotary umbrella bin 3 and the umbrella bin mounting bracket 4 are relatively fixed.
In the invention, through the rotation motion of the rotary type umbrella bin 3, the emergency stop action of the configurable propeller blocking rod 11 on the propeller is closely related to the opening of the rotary sheet 5 of the upper cover plate of the umbrella bin, and the parachute opening action and the propeller emergency stop action are tightly coupled through the control of the rotary type umbrella bin, so that the parachute opening action and the propeller emergency stop action are mutually in a causal relationship, the working principle that the parachute of the unmanned aerial vehicle must be stopped when the parachute is opened and must be opened when the parachute is stopped is met, the safety and the stability of the system work are perfectly improved, and the design is simplified.
The configurable propeller blocking rods 11 outside the rotary umbrella bin 3 can be suitable for unmanned aerial vehicles of different types, sizes and varieties by selecting the corresponding propeller blocking rods 11 (the number and the length of the blade blocking rods 1101 are different). The rotary type umbrella cabin 3 and the configurable propeller blocking rod 11 are matched with fasteners such as detachable buckles, and the prefabricated propeller blocking rod 11 can be flexibly replaced to correspond to different types of unmanned aerial vehicles and configurable unmanned aerial vehicles on site in use.
According to the invention, the complete intellectualization of the unmanned aerial vehicle parachute is realized. The existing parachute of the unmanned aerial vehicle in the market still needs to artificially control the unmanned aerial vehicle to stop the rotation of the propeller after the parachute is opened, so that the parachute is prevented from being out of work. However, it has not been practically possible to accomplish propeller stall by manually controlling the drone in the event of loss of control of the drone. In the invention, the propeller of the unmanned aerial vehicle can be automatically stopped suddenly after the unmanned aerial vehicle breaks down and triggers the parachuting function by a mechanical blocking method, so that the intelligent parachute system completely without human intervention is realized.
According to the invention, the propeller can rapidly and suddenly stop after the parachute of the unmanned aerial vehicle is released, so that the parachute is prevented from being influenced by the out-of-control propeller. On the other hand, the parachute is released necessarily when the propeller stops suddenly, the problem that the propeller stops rotating and the parachute is not unfolded is avoided, and potential safety hazards encountered in the existing stage of the parachute of the unmanned aerial vehicle are fundamentally eliminated.
In the invention, the propeller is suddenly stopped by a mechanical blocking method, so that the harm to human bodies and property can be avoided. Because the high-speed rotatory screw of unmanned aerial vehicle has considerable danger, through intelligent control's screw scram device, can avoid danger and injury that cause human body and property.
The main functions of the invention include parachute opening protection and propeller emergency stop protection. The parachute opening protection and the propeller scram protection are closely related basic and necessary functions, and the unmanned aerial vehicle parachute landing risk avoiding function is efficient and stable.
By integrating the invention and innovation of the parachute landing protection function of the unmanned aerial vehicle, the intelligent parachute device can perfectly protect the unmanned aerial vehicle at the parachute opening moment, in the parachute landing process and after the parachute landing process after the unmanned aerial vehicle encounters flight danger, so that the flight safety accident of the unmanned aerial vehicle is avoided.
Example 2
The difference between this example and example 1 is: as shown in fig. 13, a configurable propeller blocking rod 11 with six blade blocking rods 1101 is selected for use in a six-rotor drone. As shown in fig. 13, the capacity of the rotary parachute warehouse 3 can be increased by changing the upward protruding shape of the rotary parachute warehouse upper cover plate 5 and the fixed parachute warehouse upper cover plate 6, so as to accommodate the parachute with larger volume.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may apply the above-mentioned technical details to other fields by using the equivalent embodiments with equivalent changes or modifications, but any simple modification and equivalent changes made to the above embodiments according to the technical spirit of the present invention may still fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. An unmanned aerial vehicle intelligent parachute device capable of being matched with parachute opening and oar stopping tight coupling on site comprises a parachute main controller (1), a parachute cabin locker (2), a parachute cabin upper cover plate fixing piece (6) and a parachute (12), wherein a parachute cabin upper cover plate rotating piece (5) is hinged with the parachute cabin upper cover plate fixing piece (6), an electronic signal line is connected between the parachute main controller (1) and the parachute cabin locker (2), the unmanned aerial vehicle intelligent parachute device is characterized by further comprising a rotary type parachute cabin (3), a parachute cabin mounting support (4), a parachute cabin lower bottom plate (10) and a configurable propeller blocking rod (11),
the rotary type umbrella bin (3) is in a round box shape, the round box is not provided with an upper cover, a first through hole (305) is formed in the center of a bottom plate of the rotary type umbrella bin (3), a locking sheet (301) and a limiting plate (304) are arranged on the inner wall of the rotary type umbrella bin (3), and a first locking hole (302) is formed in the limiting plate (304);
the center of the configurable propeller blocking rod (11) is a circular ring plate, and a plurality of blade blocking rods (1101) are arranged on the periphery of the circular ring plate according to the positions of blades of the unmanned aerial vehicle;
the periphery of the rotary umbrella bin (3) is detachably connected with the inner surface of a circular ring plate which can be provided with a propeller blocking rod (11);
the umbrella bin mounting bracket (4) is in a circular plate shape, and an umbrella bin upper cover plate mounting bracket (405) and an umbrella bin upper cover plate locking bracket (401) are oppositely arranged on the edge of the upper surface of the circular plate; the umbrella bin upper cover plate mounting bracket (405) is in a vertical tile shape, the upper surface of the umbrella bin upper cover plate mounting bracket is provided with a plurality of mounting holes, and a locking hole II (402) is arranged on a curved surface of the umbrella bin upper cover plate mounting bracket (405) facing the circle center of the umbrella bin mounting bracket (4);
the umbrella bin mounting bracket (4) and the umbrella bin lower bottom plate (10) are respectively mounted above and below the rotary umbrella bin (3) bottom plate, and the umbrella bin mounting bracket (4) is positioned in the rotary umbrella bin (3); the lower umbrella cabin bottom plate (10) is horizontally arranged above the central plate of the unmanned aerial vehicle, the lower umbrella cabin bottom plate (10) is connected with the umbrella cabin mounting bracket (4) through a plurality of vertical connecting pieces, and the vertical connecting pieces penetrate through a first central through hole (305) of the bottom plate of the rotary umbrella cabin (3);
the rotary umbrella bin (3) can rotate relative to the umbrella bin lower bottom plate (10) and the umbrella bin mounting bracket (4) under the driving of the driving device;
a locking hook (501) is arranged below the rotary sheet (5) of the upper cover plate of the umbrella bin;
the parachute main controller (1) and the parachute cabin locker (2) are arranged on the upper surface of the parachute cabin mounting bracket (4); the parachute (12) is folded and arranged in the rotary type parachute bin (3);
under the condition that the intelligent unmanned aerial vehicle parachute device capable of realizing on-site configurable parachute opening and propeller stopping tight coupling is to be triggered, the rotary parachute bin (3) is covered by the parachute bin upper cover plate rotary piece (5), and the parachute bin upper cover plate locking support (401) and the locking piece (301) are matched to lock the locking hook (501) below the parachute bin upper cover plate rotary piece (5); meanwhile, a first locking hole (302) on the rotary umbrella bin (3) is aligned with a second locking hole (402) on the umbrella bin mounting bracket 4, and a locking pin key (201) on the umbrella bin locker (2) is simultaneously inserted into the first locking hole (302) and the second locking hole (402);
when the intelligent unmanned aerial vehicle parachute device capable of realizing field configurable parachute opening and oar stopping tight coupling is triggered, the parachute main controller (1) sends an electronic signal to the parachute cabin locker (2), and a driving motor (202) in the parachute cabin locker (2) drives a locking pin key (201) to be pulled out of a first locking hole (302) in the rotary type parachute cabin (3) and a second locking hole (402) in the parachute cabin mounting bracket 4; the rotary type umbrella bin (3) is driven by a driving device to rotate, and the locking piece (301) on the inner wall of the rotary type umbrella bin (3) releases the locking of the locking hook (501) below the rotary piece (5) of the upper cover plate of the umbrella bin; at the moment, the rotary sheet (5) of the upper cover plate of the umbrella chamber can rotate upwards to open the rotary umbrella chamber (3).
2. The intelligent parachute device of unmanned aerial vehicle of on-the-spot configurable parachute opening and shutdown tight coupling of claim 1, characterized in that, locate umbrella storehouse installing support (4) upper surface after parachute (12) is folded, specifically are: the tail end of the umbrella rope below the parachute (12) is connected to the upper surface of the umbrella cabin mounting bracket (4); after folding parachute (12) below is equipped with parachute catch bar (7) and compression spring (8) in proper order, umbrella storehouse installing support (4) upper surface is connected to compression spring (8) bottom.
3. The intelligent parachute device of the unmanned aerial vehicle capable of realizing field configurable parachute opening and close coupling according to claim 1, wherein a second through hole (404) is formed in the center of the parachute cabin mounting support (4), and the diameter of the second through hole (404) is smaller than that of a first through hole (305) in the center of a bottom plate of the rotary parachute cabin (3); and a plurality of connecting holes are uniformly distributed around the second through hole (404), the vertical connecting piece is arranged in the connecting hole, and the vertical connecting piece is connected with the umbrella bin lower bottom plate (10) and the umbrella bin mounting bracket (4).
4. The intelligent parachute device of unmanned aerial vehicle capable of realizing field configurable parachute opening and close-coupled propeller stopping according to claim 3, wherein the rotary parachute cabin (3) is driven by a driving device to rotate, and specifically comprises: the driving device is a torsion spring (9), the main body of the torsion spring (9) is vertically arranged in a second through hole (404) in the center of the umbrella bin mounting bracket (4), and the periphery of the main body is surrounded by a plurality of vertical connecting pieces; two torque arms of the torsion spring (9) are respectively fixed on a fixing groove (403) on the upper surface of the umbrella cabin mounting bracket (4) and a torque arm fixing hole (303) below the bottom plate of the rotary umbrella cabin (3).
5. The intelligent parachute device of an unmanned aerial vehicle capable of realizing field configurable parachute opening and close coupling according to claim 4, wherein the limiting plate (304) on the inner wall of the rotary parachute bin (3) comprises an arc plate and two connecting plates, the arc plate is parallel to the inner wall of the rotary parachute bin (3), and the two connecting plates are respectively connected with two ends of the length of the arc plate and the inner wall of the rotary parachute bin (3).
6. The intelligent parachute apparatus of claim 5, wherein the parachute bin upper cover plate mounting bracket (405) is located between the limiting plate (304) and the inner wall of the rotary parachute bin (3), and the parachute bin upper cover plate mounting bracket (405) can slide relative to the limiting plate (304).
7. The intelligent parachute apparatus of claim 6, wherein the parachute bay upper cover plate fixing piece (6) is mounted on the upper surface of the parachute bay upper cover plate mounting bracket (405) through a plurality of mounting holes in the upper surface of the parachute bay upper cover plate mounting bracket (405).
8. The intelligent parachute apparatus of claim 1, wherein the outer surface of the blade blocking rod (1101) is provided with a cushion pad (1102) having hardness lower than that of a blade material.
9. The intelligent parachute device of unmanned aerial vehicle of field configurable parachute opening and close coupling of oar that claim 1, characterized in that, the circumference of rotation type umbrella storehouse (3) can be dismantled with the ring inboard surface of configurable screw barrier pole (11) and be connected, specifically: a plurality of clamping blocks are uniformly arranged on the periphery of the rotary type umbrella bin (3), a plurality of bayonets are correspondingly arranged on the inner surface of the circular ring plate of the configurable propeller blocking rod (11), and the clamping blocks are clamped with the bayonets; when being used for large-scale unmanned aerial vehicle, the combination of rotation type umbrella storehouse (3) periphery and the ring board internal surface that can dispose screw and block pole (11) uses removable fastener to further strengthen.
10. The intelligent parachute apparatus of field configurable parachute opening and shutdown coupled unmanned aerial vehicle of claim 1, wherein the configurable propeller blocking rod (11) is a configurable prefabricated member with three, four, six or eight blade blocking rods (1101).
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| CN202011309418.2A CN112278289B (en) | 2020-11-20 | 2020-11-20 | Unmanned aerial vehicle intelligent parachute device of tight coupling of on-the-spot configurable parachute Rowed of all |
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| CN202011309418.2A CN112278289B (en) | 2020-11-20 | 2020-11-20 | Unmanned aerial vehicle intelligent parachute device of tight coupling of on-the-spot configurable parachute Rowed of all |
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