CN112407286B - Casting method and device of airborne cylindrical unmanned aerial vehicle spreader - Google Patents
Casting method and device of airborne cylindrical unmanned aerial vehicle spreader Download PDFInfo
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- CN112407286B CN112407286B CN202011263667.2A CN202011263667A CN112407286B CN 112407286 B CN112407286 B CN 112407286B CN 202011263667 A CN202011263667 A CN 202011263667A CN 112407286 B CN112407286 B CN 112407286B
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- 238000005266 casting Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000004146 energy storage Methods 0.000 claims abstract description 18
- 238000005381 potential energy Methods 0.000 claims abstract description 12
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000003721 gunpowder Substances 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000000149 penetrating effect Effects 0.000 description 4
- 238000012795 verification Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010791 quenching Methods 0.000 description 2
- 230000000171 quenching effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000005496 tempering Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention relates to a casting method and a casting device of an airborne barrel-mounted Unmanned Aerial Vehicle (UAV) spreader. The method aims at solving the problems of high requirements on gunpowder storage environment, complex hydraulic system, high energy consumption and high requirements on environmental temperature of a casting method in the prior art. The principle of the scattering cylinder projection system of the airborne cylinder unmanned aerial vehicle is that a torsion spring is used as an energy accumulator, the torsion spring is deformed through a tightening device, the torsion spring is fixed on an energy storage mechanism, and elastic potential energy is stored. When throwing, the constraint of the torsion spring is relieved through the release mechanism, the torsion spring pushes the cylindrical unmanned aerial vehicle in the torsion spring resetting process, the cylindrical unmanned aerial vehicle obtains acceleration due to the action of force, and then the speed is generated, and the elastic potential energy of the torsion spring is converted into the kinetic energy of the cylindrical unmanned aerial vehicle, so that the cylindrical unmanned aerial vehicle is thrown out at a certain speed.
Description
Technical Field
The invention relates to a casting method and a casting device of an airborne barrel-mounted Unmanned Aerial Vehicle (UAV) spreader.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle which is operated by a radio remote control device and a self-contained program control device or is operated completely or intermittently and autonomously by an on-board computer. The airborne cylindrical unmanned aerial vehicle is an unmanned aerial vehicle which is arranged on a spreader of an aircraft and emits in the air.
The existing cast method of the airborne cartridge unmanned aerial vehicle mainly comprises two methods:
1. the stress cable of the fixed cylindrical unmanned aerial vehicle is broken in a hydraulic mode, and the cylindrical unmanned aerial vehicle is thrown out.
2. And the chemical energy is converted into mechanical energy by utilizing high-pressure gas generated by gunpowder explosion, so that a stress cable of the fixed cylindrical unmanned aerial vehicle is broken, and the cylindrical unmanned aerial vehicle is thrown out.
The disadvantages of these two methods of projection are as follows:
1. the gunpowder has high requirements on storage environment, and the storage time is too long, so that the storage time is easy to lose efficacy or the performance is degraded, and the casting performance is unstable.
2. The hydraulic system is complex and has high energy consumption.
3. The projection method has poor adaptability to the environment temperature, unstable performance in high and low temperature environments can lead to unstable projection initial speed of the cylindrical unmanned aerial vehicle, and if the initial speed is smaller than a given value, the cylindrical unmanned aerial vehicle can collide with other parts on the aircraft, so that the flight attitude of the aircraft or the cylindrical unmanned aerial vehicle is out of control.
Disclosure of Invention
In view of the above, the invention provides a method and a device for casting an Unmanned Aerial Vehicle (UAV) with a machine-mounted barrel, which are used for solving the problems of high requirements on gunpowder storage environment, complex hydraulic system, high energy consumption and high requirements on environmental temperature in the prior art.
In order to solve the problems existing in the prior art, the technical scheme of the invention is as follows: an airborne cartridge unmanned aerial vehicle scattering ware, its characterized in that: the device comprises a rack side plate which is symmetrically arranged left and right, wherein the two side plates are connected through a transverse plate, semicircular grooves for placing a cylindrical unmanned aerial vehicle are symmetrically arranged on two side edges of the two side plates respectively, an upper gear shaft, a cam shaft and a lower gear shaft are sequentially arranged between the two side plates from top to bottom, and cams are respectively arranged at two ends of the cam shaft which is close to the inner side surface of the side plate;
the upper part and the lower part of the cams on the left side and the right side are respectively and horizontally provided with an upper seesaw and a lower seesaw, the upper seesaw and the lower seesaw are close to the cams and are provided with a small tension spring, the tension force of the spring enables the seesaw to be always contacted with the cams, the upper seesaw and the lower seesaw are kept at horizontal positions, one side of the upper end face of the upper seesaw and one side of the lower end face of the lower seesaw are respectively provided with a boss, the two bosses are arranged up and down oppositely, a first latch hook and a second latch hook are arranged at the boss of the upper seesaw, the first latch hook and the second latch hook are respectively arranged left and right and are respectively contacted and locked with the boss of the upper seesaw, the boss of the lower seesaw is provided with a third latch hook and a fourth latch hook, and the third latch hook and the fourth latch hook are respectively arranged left and right and are respectively locked with the boss of the lower seesaw;
2 groups of U-shaped torsion spring frames are symmetrically arranged on the inner side surfaces of the two side plates, the 2 groups of torsion spring frames are respectively arranged above and below the upper and lower seesaw, 2 torsion spring shafts are arranged in each torsion spring frame in parallel, torsion springs are arranged on each torsion spring shaft, the fixed end of each torsion spring abuts against the inner plate of the torsion spring frame, the other end of each torsion spring is a free end, and the two free ends of each torsion spring are fixed on the lock hooks;
the middle parts of the upper edge and the lower edge of the outer side plate are movably and symmetrically provided with an arc-shaped first rigid baffle plate and an arc-shaped second rigid baffle plate, and the radians of the first rigid baffle plate and the second rigid baffle plate correspond to the cylindrical surface of the cylindrical unmanned aerial vehicle.
Further, the outer side walls of the first rigid baffle and the second rigid baffle are provided with sector teeth, two ends of the upper gear shaft and the lower gear shaft are respectively provided with gears, the gears are respectively meshed with the sector teeth of the first rigid baffle and the carrier wheel, and the carrier wheel is meshed with the sector teeth of the second rigid baffle.
Further, the wheel is arranged on the wheel shaft outside the side plate.
Further, the upper gear shaft, the cam shaft and the lower gear shaft are respectively controlled to rotate by an upper gear shaft motor, a cam shaft motor and a lower gear shaft motor.
Further, the diaphragm comprises an upper diaphragm, a middle diaphragm and a lower diaphragm, and an upper gear shaft motor, a cam shaft motor and a lower gear shaft motor are respectively fixedly arranged on the upper diaphragm, the middle diaphragm and the lower diaphragm.
Further, the upper seesaw and the lower seesaw are arranged on the shaft sleeve of the transverse plate in the frame through the upper seesaw shaft and the lower seesaw shaft.
The utility model provides a take-up device of machine-mounted section of thick bamboo dress unmanned aerial vehicle ware that spreads ware which characterized in that: the novel tightening mechanism comprises an L-shaped buckle plate, wherein a shaft is arranged at the upper end of the buckle plate in a penetrating manner, a crank is fixedly arranged at one end of the shaft, a soft tightening lock is arranged at the other end of the shaft in a penetrating manner, and two ends of the tightening lock are hook-shaped; the lower extreme one side of buckle is provided with the recess, and the size of recess cooperatees with the size of torsion spring frame, and the torsion spring frame cover is located in the recess.
A casting method of an airborne barrel-loaded unmanned aerial vehicle spreader is characterized by comprising the following steps of: the method comprises the following steps:
1) Tightening torsion spring energy storage
The pinch plate of the tightening device is buckled on a torsion spring frame of the energy storage mechanism, two ends of a tightening rope are hooked at the free ends of two torsion springs, a crank is sleeved at the square end of a tightening shaft, the crank is rotated, the torsion springs are tightened when the tightening rope is wound on the shaft, the inclined planes of a first latch hook and a second latch hook at the free ends of the torsion springs push a horizontal up-seesaw to rotate around the up-seesaw shaft, when a boss of the up-seesaw is positioned between the first latch hook and the second latch hook, the up-seesaw is restored to the horizontal position under the action of the tension of an extension spring, the crank is reversely rotated, the first latch hook and the second latch hook are locked at the boss of the up-seesaw, and the torsion springs are in an energy storage state;
2) Fixed cylinder unmanned aerial vehicle
The upper layer of the cylindrical unmanned aerial vehicle on the airborne cylindrical unmanned aerial vehicle scattering device is 2, the lower layer of the cylindrical unmanned aerial vehicle is 2, two cylindrical unmanned aerial vehicles on the same layer are required to be fixed at the same time, a gear shaft motor is controlled, the angle of an upper gear shaft is rotated by 7.5 degrees, a first rigid baffle and a second rigid baffle are synchronously rotated by 7.5 degrees through gear transmission, the radian part is lifted, then 2 cylindrical unmanned aerial vehicles with opposite horizontal surfaces are placed in a semicircular groove, the gear shaft motor is controlled to reversely rotate by 7.5 degrees, and at the moment, the cambered surfaces of the first rigid baffle and the second rigid baffle are completely contacted with the cylindrical surface of the cylindrical unmanned aerial vehicle 1, so that the cylindrical unmanned aerial vehicle 1 is reliably fixed;
similarly, 2 cylindrical unmanned aerial vehicles at the lower layer are fixed;
3) Casting
When the throwing barrel is provided with the unmanned aerial vehicle, the control system sends out a switch signal, the gear shaft motor is electrified, the gear shaft motor drives the gear shaft to rotate at an angle of 7.5 degrees, the gear drives the first rigid baffle to rotate, the second rigid baffle and the rigid baffle are lifted upwards simultaneously through the idler wheel,
the control system sends switch signal to the cam shaft motor simultaneously, the cam shaft motor drives the cam on the cam shaft to rotate, when the cam rotates anticlockwise by 0-90 degrees, the cam enables the flat end of the upper seesaw to move upwards, the boss end moves downwards, the first latch hook and the second latch hook corresponding to the 2 cylindrical unmanned aerial vehicles are unhooked, the fixing mechanism is unlocked at this moment, the torsion spring is released, the free end pushes the cylindrical unmanned aerial vehicles to move, the speed is obtained, the elastic potential energy of the free end is converted into the kinetic energy of the cylindrical unmanned aerial vehicles, and synchronous casting of the two cylindrical unmanned aerial vehicles on the same layer is achieved.
Compared with the prior art, the invention has the following advantages:
1. the reliability is high:
the invention adopts a mechanical structure to store and release the torsion spring, converts the elastic potential energy into the kinetic energy of the cylindrical unmanned aerial vehicle, and has definite principle and reliable casting.
2. The environmental adaptability is strong:
the machine-mounted barrel-mounted unmanned aerial vehicle spreader is of a mechanical structure, a torsion spring is used for storing energy, the torsion spring is used for releasing, and elastic potential energy is converted into kinetic energy of the barrel-mounted unmanned aerial vehicle. The mechanical structure of the unmanned aerial vehicle-mounted cylindrical sprinkler and the performance of the torsion spring serving as an energy storage device are slightly affected by temperature difference, so that the original performance of the unmanned aerial vehicle-mounted cylindrical sprinkler can be kept in a severe high-low temperature environment; thereby guaranteeing the consistency of the casting speed of the cylindrical unmanned aerial vehicle.
3. The flexibility is good:
under the condition of unchanged principle, the unmanned aerial vehicle-mounted cylindrical unmanned aerial vehicle scattering device can realize the projection action meeting the requirement only by correspondingly changing the size and designing the spring according to the size, the mass and the initial speed requirement of the unmanned aerial vehicle.
Description of the drawings:
FIG. 1 is an isometric view of a airborne, cartridge unmanned aerial vehicle dispenser of the present invention;
FIG. 2 is an enlarged view of the broken line of FIG. 1 in accordance with the present invention;
FIG. 3 is a front view of the on-board, drum-mounted unmanned aerial vehicle dispenser of the present invention;
FIG. 4 is a schematic diagram of an energy storage mechanism of the airborne cartridge Unmanned Aerial Vehicle (UAV) dispenser of the present invention;
FIG. 5 is a schematic view of a tightening device according to the present invention;
FIG. 6 is a schematic view of the buckle plate of the present invention;
FIG. 7 is a schematic view of the structure of the tightening shaft of the present invention;
FIG. 8 is a left side view of FIG. 7;
marking: 1 barrel-mounted unmanned aerial vehicle, 2 frame side plates, 3 frame upper transverse plates, 4 shaft sleeves, 5 frame middle transverse plates, 6 frame lower transverse plates, 7 upper gear shaft motor, 8 cam shaft motor, 9 cam shaft, 10 lower gear shaft motor, 11 lower gear shaft, 12 upper gear shaft, 13 torsion spring frame, 14 torsion spring shaft, 15 torsion springs, 16 lock hooks I, 17 lock hooks II the upper seesaw, the lower seesaw, the third latch hook, the fourth latch hook, the cam 22, the first rigid baffle plate, the gear 24, the idler 25, the second rigid baffle plate, the second baffle plate shaft 27, the idler shaft 28, the first baffle plate shaft 29, the upper seesaw shaft 30, the lower seesaw shaft 31, the tightening rope 32, the tightening shaft 33, the crank 34, the buckle 35 and the tension spring 36.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention relates to a principle of a scattering cylinder casting system of an airborne cylinder unmanned aerial vehicle, which comprises the following steps: using a torsion spring as an energy accumulator, deforming the torsion spring through a tightening device, fixing the torsion spring on an energy storage mechanism, and storing elastic potential energy; when throwing, the constraint of the torsion spring is relieved through the release mechanism, the torsion spring pushes the cylindrical unmanned aerial vehicle in the torsion spring resetting process, the cylindrical unmanned aerial vehicle obtains acceleration due to the action of force, and then the speed is generated, and the elastic potential energy of the torsion spring is converted into the kinetic energy of the cylindrical unmanned aerial vehicle, so that the cylindrical unmanned aerial vehicle is thrown out at a certain speed.
Examples:
the embodiment provides an airborne barrel-mounted unmanned aerial vehicle spreader which comprises a fixing mechanism, an energy storage mechanism, a tightening mechanism and a release mechanism;
the fixing mechanism is used for fixing the cylindrical unmanned aerial vehicle 1, and ensures that the cylindrical unmanned aerial vehicle 1 is reliably and not fallen off in a non-cast state.
The energy storage mechanism is used for storing energy so as to enable the cylindrical unmanned aerial vehicle to be thrown out at a certain speed.
The tightening mechanism tightens the torsion spring 15 and secures it to the energy storage mechanism to maintain the energy storage state.
The release mechanism is a torsion spring 15 for releasing the energy storage state, and converts the elastic potential energy into kinetic energy of the cylindrical unmanned aerial vehicle 1.
The invention has the concrete structure shown in fig. 1-4, and comprises a rack side plate 2 which is symmetrically arranged left and right, wherein the two side plates 2 are connected through a rack upper transverse plate 2, a rack middle transverse plate 5 and a rack lower transverse plate 6, semicircular grooves for placing a barrel-mounted unmanned aerial vehicle 1 are symmetrically arranged on two side edges of the two side plates 2 respectively, an upper gear shaft 12, a cam shaft 9 and a lower gear shaft 11 are sequentially arranged between the two side plates 2 from top to bottom, the upper gear shaft 12, the cam shaft 9 and the lower gear shaft 11 are respectively controlled to rotate through an upper gear shaft motor 7, a cam shaft motor 8 and a lower gear shaft motor 10, two ends of the cam shaft 9 close to the inner side surfaces of the side plates are respectively provided with a cam 22, and the cam shaft 9 is arranged on the rack middle transverse plate 5.
The upper part and the lower part of the cams 22 on the left side and the right side are horizontally provided with an upper seesaw 18 and a lower seesaw 19, the upper seesaw 18 and the lower seesaw 19 are close to the cams 22 and are provided with a small extension spring 36, the spring tension enables the seesaw to be always contacted with the cams 22, the upper seesaw 18 and the lower seesaw 19 are kept at the horizontal position, the upper seesaw 18 and the lower seesaw 19 are arranged on the shaft sleeve 4 of the cross plate 5 in the rack through an upper seesaw shaft 30 and a lower seesaw shaft 31, one side of the upper end surface of the upper seesaw 18 and one side of the lower end surface of the lower seesaw 19 are respectively provided with a boss, the two bosses are arranged up and down oppositely, the boss of the upper seesaw 18 is provided with a first latch hook 16 and a second latch hook 17, the boss of the first latch hook 16 and the second latch hook 17 are respectively arranged left and right, the boss of the lower seesaw 19 is provided with a third latch hook 20 and a fourth latch hook 21, the boss of the first latch hook 16 and the second latch hook 17 are respectively left and right latch with the boss of the lower seesaw 19;
the inner side surfaces of the two side plates 2 are symmetrically provided with 2 groups of torsion spring frames 13 respectively, the 2 groups of torsion spring frames 13 are arranged on the upper and lower sides of the upper and lower seesaw respectively, two torsion springs 15 are fixed in each torsion spring frame 13 through torsion spring shafts 14, the fixed end of each torsion spring 15 abuts against the inner plate of the torsion spring frame 13, the other end is a free end, and the free end is fixed on the lock hook.
The two ends of the upper gear shaft 12 and the lower gear shaft 11 are respectively provided with a gear 24, the gear 24 is meshed with a carrier wheel 25, the carrier wheel 25 is arranged on a carrier wheel shaft 28 outside the side plate 2, and the carrier wheel 25 and the gear 24 are in the same size and are matched with the carrier wheel shaft 28 fixed on the side plate 2 of the machine frame. The outer side plate 2 is movably provided with a first arc-shaped rigid baffle plate 23 and a second arc-shaped rigid baffle plate 26 through a first baffle plate shaft 29 and a second baffle plate shaft 27, the radians of the first arc-shaped rigid baffle plate 23 and the second arc-shaped rigid baffle plate 26 correspond to the cylindrical surface of the cylindrical unmanned aerial vehicle 1, the outer side walls of the first arc-shaped rigid baffle plate 23 and the second arc-shaped rigid baffle plate 26 are provided with sector-shaped teeth, and the two gears 24 are meshed with the sector-shaped teeth of the first arc-shaped rigid baffle plate 23 and the second arc-shaped rigid baffle plate 26 respectively.
The cam shaft motor 8 is installed in the middle position of the transverse plate 5 in the frame, one end of the cam shaft 9 is connected with the cam shaft motor 8 through the shaft, the other end of the cam shaft 9 penetrates through the shaft sleeve 4, and the cam 22 is installed at the end of the cam shaft.
5-8, the tightening device of the Unmanned Aerial Vehicle (UAV) with the machine-mounted barrel comprises an L-shaped buckle plate 35, wherein a shaft 33 is arranged at the upper end of the buckle plate 35 in a penetrating manner, a crank 34 is arranged at one end of the shaft 33, the crank 34 is an independent part and is matched with the square end of the tightening shaft 33, small holes are formed in the periphery of the other end of the crank, a soft tightening lock 32 is arranged in the small holes of the tightening shaft 33 in a penetrating manner, and two ends of the tightening lock 32 are hook-shaped; a groove is arranged on one side of the lower end of the buckle plate 35, the size of the groove is matched with that of the torsion spring frame 13, and the torsion spring frame 13 is sleeved in the groove.
The casting method of the unmanned aerial vehicle with the onboard cylinder comprises the following steps:
1) Tightening torsion spring energy storage
The pinch plate 35 of the tightening device is buckled on the torsion spring frame 13 of the energy storage mechanism, the two ends of the tightening rope 32 are hooked at the free ends of the two torsion springs 15, the crank 34 is sleeved at the shaft end square head of the tightening shaft 33, the crank 34 is rotated, the torsion springs 15 are tightened when the tightening rope 32 is wound on the shaft 33, the inclined planes of the first latch hook 16 and the second latch hook 17 at the free ends of the torsion springs 15 push the horizontal seesaw 18 to rotate around the seesaw shaft 30, when the boss of the seesaw 18 is positioned between the first latch hook 16 and the second latch hook 17, the seesaw 18 is restored to the horizontal position under the action of the tension of the springs, the crank 34 is reversely rotated at the moment, the first latch hook 16 and the second latch hook 17 are locked at the boss part of the seesaw 18, and the torsion springs 15 are in the energy storage state;
2) Fixed cylinder unmanned aerial vehicle
The upper layer of the cylindrical unmanned aerial vehicle on the airborne cylindrical unmanned aerial vehicle scattering device is 2, the lower layer of the cylindrical unmanned aerial vehicle is 2, two cylindrical unmanned aerial vehicles on the same layer are required to be fixed at the same time, a gear shaft motor is controlled, the angle of an upper gear shaft 12 is rotated for 7.5 degrees, a first rigid baffle 23 and a second rigid baffle 26 synchronously rotate for 7.5 degrees through gear transmission, the radian part is lifted, then 2 cylindrical unmanned aerial vehicles 1 which are horizontally opposite are placed in a semicircular groove, the gear shaft motor 7 is controlled to reversely rotate for 7.5 degrees, and at the moment, the cambered surfaces of the first rigid baffle 23 and the second rigid baffle 26 are completely contacted with the cylindrical surface of the cylindrical unmanned aerial vehicle 1, so that the cylindrical unmanned aerial vehicle 1 is reliably fixed;
similarly, 2 cylindrical unmanned aerial vehicles at the lower layer are fixed;
3) Casting
When the unmanned aerial vehicle 1 is thrown into a barrel, the control system sends out a switch signal, the gear shaft motor 7 is electrified, the gear shaft motor 7 drives the gear shaft to rotate at an angle of 7.5 degrees, the gear 24 drives the first rigid baffle plate 23 to rotate, the second rigid baffle plate 26 and the first rigid baffle plate 23 are synchronously lifted upwards through the idler wheel 25,
the control system sends switch signals to the cam shaft motor 8 simultaneously, the cam shaft motor 8 drives the cam 22 on the cam shaft 9 to rotate, when the cam shaft motor rotates anticlockwise by 0-90 degrees, the cam 22 enables the flat end of the upper seesaw 18 to move upwards, the boss end moves downwards, the first 16 and the second 17 latch hooks corresponding to the 2 cylindrical unmanned aerial vehicles 1 are unhooked, the fixing mechanism is unlocked at the moment, the torsion spring 15 is released, the free end pushes the cylindrical unmanned aerial vehicles 1 to move, the speed is obtained, the elastic potential energy of the free end is converted into kinetic energy of the cylindrical unmanned aerial vehicles, and synchronous casting of the two cylindrical unmanned aerial vehicles on the same layer is achieved.
The requirements of each parameter of the invention are as follows:
casting conditions:
barreled unmanned aerial vehicle constraint size: 1110mmx 160mm (long X diameter), barreled unmanned aerial vehicle quality: m is less than or equal to 17kg. The traction speed, namely the course speed of the spreader during casting, is 170-200m/s, and the casting speed, namely the speed of the barreled unmanned aerial vehicle leaving the spreader is more than or equal to 2m/s.
1. Torsional spring performance design
According to the law of conservation of energy: e (E) P ＝E K Obtaining:
2 torsion springs are adopted for pushing and shooting, so that the elastic potential energy of the torsion springs can meet the conditions:
alpha is the deformation angle of the torsion arm of the torsion spring; k is torsional rigidity of the torsion spring.
According to the design requirement of III load, oil quenching tempering spring steel wires 65Mn are selected.
Diameter of steel wire: preliminary selected wire diameter d=5mm
Allowable bending stress: and (5) table lookup to obtain: [ Sigma ] b ][ sigma ] when =1500 MPa Bp ]＝0.8[σ b ]＝1200Mpa
The winding ratio is as follows: to make the structure compact, tentative c=4
Curvature coefficient:
torsion spring pitch diameter: d (D) 2 ＝C×d＝20mm
Torsion spring external diameter: d=d 2 +d＝20+5＝25mm
Number of turns of torsion spring: let n=4
Modulus of elasticity: taking E= 206000Mpa according to 65Mn material of oil quenching tempering steel wire
Torsional stiffness:
deformation angle: taking the deformation angle alpha=40°
Elastic potential energy:
initial contact point between torsion arm and barrel: 10mm from the axis of the torsion spring.
Force at point of action:
when the torsion arm is released, the deformation angle alpha is changed from 0 to 40 DEG
Horizontal component force of the barrel:
the acceleration of the cylinder is
The time taken to complete the casting is:
the spring parameters are shown in the following table:
2. torsional spring self-locking verification
And (3) self-locking verification: let θ be the critical angle at which self-locking occurs, and F be the force applied by the torque arm to the barrel directed toward the barrel center.
Friction f=μn=μfsinθ.
The friction force needs to satisfy the condition: f=μn=μfsin θ > fcos θ
Taking μ=0.2, according to the common material friction coefficient range:
0.2sinθ＞cosθ
and (3) solving to obtain: θ is approximately 79. And the torsion spring has a deformation angle alpha of 40 deg.. Thus no self-locking occurs.
Initial contact point between torsion arm and barrel: 10mm from the axis of the torsion spring.
3. Motor selection
The motor is a 57HS11230B4D8 stepping double-shaft motor (tin-free three-topology electrical equipment Co., ltd.), and the rated power, rated voltage, rated current, rated rotation speed and rated torque are respectively 120 (W), 24 (V), 4.2 (A), 0-800 (rpm) and 3 (NM), and the shaft diameter is 8mm.
Motor selection verification calculation
At the teeter-totter position: force applied by torsion arm to latch hook
The friction force required for unlocking the right side is f=4μn= 140.512N, and μ=0.2 is taken
The force applied to the seesaw by the rated torque of the left motor is as follows:the shaft diameter R is 8mm.
The seesaw is in a symmetrical structure, so that the motor can meet the requirements.
4. Projectile interval
In the scheme, the upper layer barrel and the lower layer barrel are thrown for a certain time, the time difference between the upper layer and the lower layer barrel is the time for rotating the cam (namely the motor shaft) by 90 degrees according to the system design, and the cam can be regulated and controlled according to the rotating speed (the reducing time) of the motor shaft and the cam profile (the reducing angle).
5. Time control of projectile process
When the device is thrown, a signal is sent to a motor connected with the rigid baffle plate at the lower layer, and the motor rotates anticlockwise for 30 degrees and then the rigid baffle plate moves upwards to enable the cylinder to be in a movable state. And then, a motor connected with the cam sends out a signal to unlock the torsion spring and throw the torsion spring. The former time t is used when the rated rotation speed of the motor is 800RPM 1 =0.00625 s. The latter when the motor rotates 90 degrees anticlockwise, the two barrels at the lower layer complete the casting, the time t is used 2 =0.01875 s. The casting of the upper layer cylinder is the same.
The airborne unmanned aerial vehicle is an unmanned aerial vehicle which is arranged on a spreader of an aircraft and emits in the air. As a result of being thrown in the air, the actual speed of the drone is related to the speed of the aircraft. During casting, the course speed of the spreader is 170-200m/s when the traction speed is casting, namely, the speed of the barreled unmanned aerial vehicle leaving the spreader is not less than 2m/s, and the barreled unmanned aerial vehicle is cast on the spreader cylinder, so that the unmanned aerial vehicle is prevented from being transmitted and collided with the spreader, the aircraft and other unmanned aerial vehicles after being separated from the spreader, and in engineering practice, 4 unmanned aerial vehicles are fully loaded on the aircraft, and the upper layer and the lower layer are respectively 2. During casting, 2 unmanned aerial vehicles on the same layer on the spreader are required to be cast synchronously.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the scope of the invention, and it should be noted that modifications and variations could be made by persons skilled in the art without departing from the principles of the present invention.
Claims (8)
1. An airborne cartridge unmanned aerial vehicle scattering ware, its characterized in that: the unmanned aerial vehicle comprises frame side plates (2) which are symmetrically arranged left and right, wherein the two side plates (2) are connected through transverse plates, semicircular grooves for accommodating a cylindrical unmanned aerial vehicle (1) are symmetrically arranged at two side edges of the two side plates (2), an upper gear shaft (12), a cam shaft (9) and a lower gear shaft (11) are sequentially arranged between the two side plates (2) from top to bottom, and cams (22) are respectively arranged at two ends of the cam shaft (9) close to the inner side surface of the side plates;
an upper seesaw (18) and a lower seesaw (19) are respectively and horizontally arranged below a cam (22) on the left side and the right side, the upper seesaw (18) and the lower seesaw (19) are close to the cam (22) and are provided with a small tension spring (36), the spring tension force enables the seesaw to be always contacted with the cam (22), the upper seesaw (18) and the lower seesaw (19) are kept at horizontal positions, a boss is respectively arranged on one side of the upper end face of the upper seesaw (18) and one side of the lower end face of the lower seesaw (19), the two bosses are arranged up and down oppositely, a first latch hook (16) and a second latch hook (17) are arranged at the boss of the upper seesaw (18), the first latch hook (16) and the second latch hook (17) are respectively arranged left and right, a third latch hook (20) and a fourth latch hook (21) are respectively arranged at the boss of the lower seesaw (19) and are respectively locked with the boss of the lower latch hook (19);
2 groups of U-shaped torsion spring frames (13) are symmetrically arranged on the inner side surfaces of the two side plates (2), the 2 groups of torsion spring frames (13) are respectively arranged above and below the upper seesaw and the lower seesaw, 2 torsion spring shafts (14) are arranged in each torsion spring frame (13) in parallel, torsion springs (15) are arranged on each torsion spring shaft (14), the fixed end of each torsion spring (15) abuts against the inner plate of the torsion spring frame (13), the other end is a free end, and the two free ends are fixed on the lock hooks;
the middle parts of the upper edge and the lower edge of the side plate (2) are movably and symmetrically provided with an arc-shaped first rigid baffle plate (23) and a second rigid baffle plate (26), and the radians of the first rigid baffle plate (23) and the second rigid baffle plate (26) correspond to the cylindrical surface of the cylindrical unmanned aerial vehicle (1).
2. The on-board, cylindrical unmanned aerial vehicle dispenser of claim 1, wherein: the outer side walls of the first rigid baffle (23) and the second rigid baffle (26) are provided with sector teeth, two ends of the upper gear shaft and the lower gear shaft are respectively provided with gears (24), the gears (24) are respectively meshed with the sector teeth of the first rigid baffle (23) and the idler wheels (25), and the idler wheels (25) are meshed with the sector teeth of the second rigid baffle (26).
3. An on-board, cylindrical unmanned aerial vehicle dispenser as claimed in claim 2, wherein: the passing wheel (25) is arranged on a passing wheel shaft (28) at the outer side of the side plate (2).
4. An on-board, cylindrical unmanned aerial vehicle dispenser according to claim 3, wherein: the upper gear shaft (12), the cam shaft (9) and the lower gear shaft (11) are respectively controlled to rotate through an upper gear shaft motor (7), a cam shaft motor (8) and a lower gear shaft motor (10).
5. An on-board, cylindrical unmanned aerial vehicle dispenser as claimed in claim 4, wherein: the transverse plate comprises an upper transverse plate (3), a middle transverse plate (5) and a lower transverse plate (6), and an upper gear shaft motor (7), a cam shaft motor (8) and a lower gear shaft motor (10) are respectively fixedly arranged on the upper transverse plate (3), the middle transverse plate (5) and the lower transverse plate (6).
6. An on-board, cylindrical unmanned aerial vehicle dispenser according to claim 5, wherein: the upper seesaw (18) and the lower seesaw (19) are arranged on the shaft sleeve (4) of the transverse plate (5) in the frame through an upper seesaw shaft (30) and a lower seesaw shaft (31).
7. The tightening device of the on-board cartridge unmanned aerial vehicle (unmanned aerial vehicle) spreader of claim 6, wherein: comprises an L-shaped buckle plate (35), wherein a shaft (33) is penetrated at the upper end of the buckle plate (35), a crank (34) is fixedly arranged at one end of the shaft (33), a soft tightening rope (32) is penetrated at the other end of the shaft, and both ends of the tightening rope (32) are hook-shaped; a groove is arranged at one side of the lower end of the buckle plate (35), the size of the groove is matched with that of the torsion spring frame (13), and the torsion spring frame (13) is sleeved in the groove.
8. The method of casting an on-board, cylindrical unmanned aerial vehicle dispenser of claim 7, wherein: the method comprises the following steps:
1) Tightening torsion spring energy storage
The pinch plate (35) of the tightening device is buckled on the torsion spring frame (13) of the energy storage mechanism, two ends of the tightening rope (32) are hooked at the free ends of the two torsion springs (15), the crank (34) is sleeved at the shaft end square end of the tightening shaft (33), the torsion springs (15) are tightened when the tightening rope (32) is wound on the shaft (33), the inclined planes of the first latch hook (16) and the second latch hook (17) at the free ends of the torsion springs (15) push the horizontal seesaw (18) to rotate around the seesaw shaft (30), when bosses of the seesaw (18) are positioned between the first latch hook (16) and the second latch hook (17), the upper seesaw (18) is restored to the horizontal position under the action of tension of the tension springs, the crank (34) is reversely rotated, the first latch hook (16) and the second latch hook (17) are locked at the boss position of the upper seesaw (18), and the torsion springs (15) are in an energy storage state;
2) Fixed cylinder unmanned aerial vehicle
The upper layer of the cylindrical unmanned aerial vehicle on the airborne cylindrical unmanned aerial vehicle scattering device is 2, the lower layer of the cylindrical unmanned aerial vehicle is 2, two cylindrical unmanned aerial vehicles on the same layer are required to be fixed at the same time, a gear shaft motor is controlled, the angle of an upper gear shaft (12) is rotated for 7.5 degrees, a first rigid baffle (23) and a second rigid baffle (26) synchronously rotate for 7.5 degrees through gear transmission, the radian part is lifted, then 2 cylindrical unmanned aerial vehicles (1) which are horizontally opposite are placed in a semicircular groove, the upper gear shaft motor (7) is controlled to reversely rotate for 7.5 degrees, and at the moment, the cambered surfaces of the first rigid baffle (23) and the second rigid baffle (26) are completely contacted with the cylindrical surface of the cylindrical unmanned aerial vehicle 1, so that the cylindrical unmanned aerial vehicle (1) is reliably fixed;
similarly, 2 cylindrical unmanned aerial vehicles at the lower layer are fixed;
3) Casting
When the cylindrical unmanned aerial vehicle (1) is thrown, the control system sends out a switch signal, the upper gear shaft motor (7) is electrified, the upper gear shaft motor (7) drives the gear shaft to rotate at an angle of 7.5 degrees, the gear (24) drives the first rigid baffle plate (23) to rotate, the second rigid baffle plate (26) and the first rigid baffle plate (23) are driven to synchronously lift up through the idler wheel (25),
the control system sends switch signals to the cam shaft motor (8) simultaneously, the cam shaft motor (8) drives the cam (22) on the cam shaft (9) to rotate, when the cam rotates anticlockwise by 0-90 degrees, the cam (22) enables the flat end of the upper seesaw (18) to move upwards, the boss end moves downwards, the first latch hook (16) and the second latch hook (17) corresponding to the 2 cylindrical unmanned aerial vehicles (1) are unhooked, the fixing mechanism is unlocked at the moment, the torsion spring (15) is released, the free end pushes the cylindrical unmanned aerial vehicles (1) to move, the speed is obtained, the elastic potential energy of the free end is converted into the kinetic energy of the cylindrical unmanned aerial vehicles (1), and synchronous casting of the two cylindrical unmanned aerial vehicles (1) on the same floor is achieved.
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| CN202011263667.2A CN112407286B (en) | 2020-11-12 | 2020-11-12 | Casting method and device of airborne cylindrical unmanned aerial vehicle spreader |
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| CN114212267B (en) * | 2021-12-27 | 2023-10-31 | 西安现代控制技术研究所 | Single torsion spring energy storage rotary cam type safety switch mechanism of aircraft |
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