CN112776984A - Unmanned aerial vehicle fixed point throwing device - Google Patents
Unmanned aerial vehicle fixed point throwing device Download PDFInfo
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- CN112776984A CN112776984A CN202110277955.1A CN202110277955A CN112776984A CN 112776984 A CN112776984 A CN 112776984A CN 202110277955 A CN202110277955 A CN 202110277955A CN 112776984 A CN112776984 A CN 112776984A
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- 238000004891 communication Methods 0.000 claims description 54
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- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 16
- 238000000034 method Methods 0.000 abstract description 12
- 238000012423 maintenance Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of overhead transmission line maintenance, in particular to an unmanned aerial vehicle fixed-point throwing device which comprises an unmanned aerial vehicle body, a rope collecting device, an anti-winding device, a traction rope, a throwing device and a control system, wherein the rope collecting device is arranged in the center of the lower end of the unmanned aerial vehicle body. The device has the advantages of reasonable and compact structure and convenient use, can quickly and efficiently transmit personal tools and pole and tower fittings below 8 kilograms for maintenance operation in the process of maintaining the 35 KV 220 KV transmission line in mountainous and mountainous areas and the next door and desert lines, shortens the time for transmitting the tools and the fittings, reduces the physical consumption of personnel, reduces the safety risk, provides powerful guarantee for the safe and reliable operation of the transmission line, can improve the load of the device by arranging the rope retracting device and the winding preventing device, can prevent the traction rope from winding in the transportation process, ensures the safe and stable operation of the device, and has the characteristics of safety, labor saving, simplicity, convenience and high efficiency.
Description
Technical Field
The invention relates to the technical field of overhead transmission line maintenance, in particular to an unmanned aerial vehicle fixed-point throwing device.
Background
At overhead transmission line mountain, next door desert line overhauls work, because the circuit coverage is wide, the geographical environment difference is big, personnel are few, the very big degree of difficulty has been brought to transmission line overhauls work, there is comparatively complicated problem now that 35 kilovolt to 110 kilovolt transmission line are located mountain, next door desert, transmission multiplexer utensil is long-time, personnel's physical demands is big, the safety risk is high, great difficulty has been brought for the maintainer, lead to transmission line operation unreliability to progressively improve, current unmanned aerial vehicle's load economic nature is poor and article are easy in the transportation in the rotation in-process swing winding of haulage rope, influence unmanned aerial vehicle's operation, this type problem buries down very big hidden danger to transmission line operation and overhaul safety.
Disclosure of Invention
The invention provides an unmanned aerial vehicle fixed-point throwing device, overcomes the defects of the prior art, and can effectively solve the problems of long tool transmission time, large personnel physical consumption, high safety risk, poor economic benefit and unstable unmanned aerial vehicle operation in the existing overhead transmission line maintenance work.
The technical scheme of the invention is realized by the following measures: an unmanned aerial vehicle fixed point throwing device comprises an unmanned aerial vehicle body, a rope collecting device, an anti-winding device, a traction rope, a throwing device and a control system, wherein the rope collecting device is arranged in the center of the lower end of the unmanned aerial vehicle body and comprises a fixed support, a rope collecting motor, a main rope collecting roller and an auxiliary rope collecting roller, the fixed support is detachably and fixedly arranged in the center of the lower end of the unmanned aerial vehicle body, the rope collecting motor is fixedly arranged at the lower end of the right part of the fixed support, an output shaft is arranged at the left end of the rope collecting motor, an input shaft with the right end fixedly arranged with the left end of the output shaft is rotatably arranged at the lower end of the middle part of the fixed support, the main rope collecting roller with a cylindrical structure is fixedly arranged at the outer side of the middle part of the input shaft, a left-right driven shaft is rotatably arranged at the lower end of the fixed support corresponding to the front position of the input shaft, an anti-winding device is arranged below the main rope-collecting roller and comprises a shell, a pulley and a hook, the hook is rotatably arranged at the lower part of the shell along the horizontal direction, the hook is arranged together with the upper side of the throwing device positioned below the hook, the pulley with a circular groove at the center is rotatably arranged at the center of the upper part of the shell, one end of a traction rope is fixedly arranged at the outer side of the left end of the main rope-collecting roller, the other end of the traction rope penetrates through the outer side of the lower part of the pulley and is fixedly arranged at the outer side of the left end of the auxiliary rope-collecting roller, the winding direction of the traction rope at the outer side of the main rope-collecting roller is the same as the winding direction of the traction rope at the outer side of the auxiliary rope-collecting roller, the control system comprises a rope-collecting control device, a throwing-in control device and a remote controller, the rope-collecting control device comprises a first power supply module, a first, the output end of the first control module is electrically connected with the input end of a first motor forward and reverse rotation control module, the output end of the first motor forward and reverse rotation control module is electrically connected with the input end of a rope winding motor, the first control module is in wired communication connection with a first wireless communication module, the throwing control device comprises a second power supply module, a second wireless communication module, a second control module and a second motor forward and reverse rotation control module which are fixedly arranged on the throwing device at intervals, the output end of the second power supply module is electrically connected with the power supply input end of the second control module, the output end of the second control module is electrically connected with the input end of the second motor forward and reverse rotation control module, the output end of the second motor forward and reverse rotation control module is electrically connected with the input end of a throwing motor of the throwing device, the second control module is in wired communication connection with the second wireless communication module, and a third wireless communication module is arranged, and a fourth wireless communication module is arranged in the remote controller, and the fourth wireless communication module is in wireless communication connection with the first wireless communication module, the second wireless communication module and the third wireless communication module.
The following is further optimization or/and improvement of the technical scheme of the invention:
the rope winding control device also comprises a first control box which is fixedly arranged on the lower side of the left part of the fixed support and provided with a plurality of first threading holes at intervals, and a first power supply module, a first wireless communication module, a first control module and a first motor forward and reverse rotation control module are fixedly arranged in the first control box at intervals.
The rope collecting device can also comprise a protective box with a box body structure sleeved outside the main rope collecting roller, the upper side of the protective box is fixedly arranged with the fixed bracket, the protection box lower side corresponding to the main rope collecting roller position is provided with a through hole which is communicated up and down, the middle part of the traction rope is contacted with the outer side of the lower part of the pulley after passing through the through hole, the left end of the rear part of the protection box is provided with a left mounting hole which is communicated left and right, the outer side of the left end of the input shaft is rotatably mounted in the left mounting hole, the right end of the rear part of the protection box is provided with a right mounting hole which is corresponding to the left mounting hole, the right end of the input shaft is fixedly mounted with the output shaft after passing through the right mounting hole, the left end and the right end of the front part of the protection box are respectively provided with a first mounting hole and a second mounting hole which are communicated left and right, the left end of the driven shaft is rotatably mounted in the first.
The throwing control device can further comprise a second control box fixedly installed on the upper side of the throwing device and provided with a plurality of second threading holes at intervals on the side surface, the upper side of the second control box is fixedly connected with the rope collecting roller through a traction rope penetrating through the through hole, and a second power supply module, a second wireless communication module, a second control module and a second motor forward and reverse rotation control module are fixedly installed in the first control box at intervals.
The center of the upper side of the second control box is fixedly provided with a lifting ring, and the lifting hook is connected with the lifting ring.
The wire-off hook of the dispenser can be provided with a U-shaped groove with a downward opening, the right end of the pull rod of the dispenser penetrates through the U-shaped groove of the wire-off hook and then is hinged with a mechanical arm of the dispenser, and the upper side of the left part of the pull rod of the dispenser is provided with an inclined plane with a lower left part and a higher right part.
Above-mentioned dispenser downside can be located the undercarriage downside top of unmanned aerial vehicle body.
The invention has reasonable and compact structure and convenient use, can quickly and efficiently transmit personal tools and pole and tower hardware fittings below 8 kilograms for maintenance operation in the process of maintaining 35 KV 220 KV transmission line in mountains and greens and next-door desert lines, shortens the time for transmitting the tools and the fittings, reduces the physical consumption of personnel, reduces the safety risk, provides powerful guarantee for the safe and reliable operation of the transmission line, ensures the safe and stable operation of equipment, and has the characteristics of safety, labor saving, simplicity, convenience and high efficiency.
Drawings
FIG. 1 is a schematic view of the present invention in partial cross-section.
FIG. 2 is a schematic partial sectional view of a dispenser according to the present invention in a front view.
Fig. 3 is a schematic top enlarged view of the rope retracting device of the present invention.
Fig. 4 is a schematic view of the main view of the anti-winding device of the present invention.
Fig. 5 is a block diagram of the circuit structure of the present invention.
The codes in the figures are respectively: 1 is the unmanned aerial vehicle body, 2 is the fixed bolster, 3 is the motor of receiving the rope, 4 is main rope roller of receiving the rope, 5 is the input shaft, 6 is the haulage rope, 7 is the guard box, 8 is the baffle, 9 is the dispenser, 10 is first control box, 11 is the second control box, 12 is rings, 13 is the off-line hook, 14 is the pull rod, 15 is the arm, 16 is the undercarriage, 17 is the inclined plane, 18 is for throwing in the motor, 19 is the remote controller, 20 is first power module, 21 is the second power module, 22 is the first wireless communication module, 23 is the second wireless communication module, 24 is the third wireless communication module, 25 is the fourth wireless communication module, 26 is the first control module, 27 is the second control module, 28 is the first motor control module that is just reversing, 29 is the second motor control module that is just reversing, 30 is the driven shaft, 31 is vice rope roller of receiving, 32 is the casing, 33 is the pulley, 34 is the lifting hook.
Detailed Description
The present invention is not limited by the following examples, and specific embodiments may be determined according to the technical solutions and practical situations of the present invention.
In the present invention, for convenience of description, the description of the relative positional relationship of the components is described according to the layout pattern of fig. 1 of the specification, such as: the positional relationship of front, rear, upper, lower, left, right, etc. is determined in accordance with the layout direction of the drawings of the specification.
The invention is further described with reference to the following examples and figures:
as shown in attached figures 1, 2, 3, 4 and 5, the fixed-point throwing device of the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a rope collecting device, an anti-winding device, a traction rope 6, a throwing device 9 and a control system, wherein the rope collecting device is arranged in the center of the lower end of the unmanned aerial vehicle body 1 and comprises a fixed support 2, a rope collecting motor 3, a main rope collecting roller 4 and an auxiliary rope collecting roller 31, the fixed support 2 is detachably and fixedly arranged in the center of the lower end of the unmanned aerial vehicle body 1, the rope collecting motor 3 is fixedly arranged at the lower end of the right part of the fixed support 2, an output shaft is arranged at the left end of the rope collecting motor 3, an input shaft 5 with the right end fixedly arranged with the left end of the output shaft is rotatably arranged at the lower end of the middle part of the fixed support 2, the main rope collecting roller 4 with a cylindrical structure is fixedly arranged at the outer side of the middle part of the input shaft 5, a left, the outer side of the middle part of the driven shaft 30 is fixedly provided with an auxiliary rope collecting roller 31 which has the same structure as the main rope collecting roller 4 and is symmetrically distributed front and back, an anti-winding device is arranged below the main rope collecting roller 4 and comprises a shell 32, a pulley 33 and a lifting hook 34, the lower part of the shell 32 is rotatably provided with the lifting hook 34 along the horizontal direction, the lifting hook 34 is arranged together with the upper side of the dispenser 9 positioned below the lifting hook 34, the central part of the upper part of the shell 32 is rotatably provided with the pulley 33 with a ring groove in the center, one end of a traction rope 6 is fixedly arranged on the outer side of the left end of the main rope collecting roller 4, the other end of the traction rope 6 passes through the outer side of the lower part of the pulley 33 and is fixedly arranged on the outer side of the left end of the auxiliary rope collecting roller 31, the winding direction of the traction rope, a launch control and remote control 19;
the rope winding control device comprises a first power supply module 20, a first wireless communication module 22, a first control module 26 and a first motor forward and reverse rotation control module 28 which are fixedly arranged on the fixed support 2 at intervals, wherein the output end of the first power supply module 20 is electrically connected with the power input end of the first control module 26, the output end of the first control module 26 is electrically connected with the input end of the first motor forward and reverse rotation control module 28, the output end of the first motor forward and reverse rotation control module 28 is electrically connected with the input end of the rope winding motor 3, and the first control module 26 is in wired communication connection with the first wireless communication module 22;
the throwing control device comprises a second power supply module 21, a second wireless communication module 23, a second control module 27 and a second motor forward and reverse rotation control module 29 which are fixedly arranged on the throwing device 9 at intervals, the output end of the second power supply module 21 is electrically connected with the power supply input end of the second control module 27, the output end of the second control module 27 is electrically connected with the input end of the second motor forward and reverse rotation control module 29, the output end of the second motor forward and reverse rotation control module 29 is electrically connected with the input end of the throwing motor 18 of the throwing device 9, and the second control module 27 is in wired communication connection with the second wireless communication module 23;
there is third wireless communication module 24 in the unmanned aerial vehicle body 1, has fourth wireless communication module 25 in the remote controller 19, fourth wireless communication module 25 and first wireless communication module 22, second wireless communication module 23 and the equal wireless communication connection of third wireless communication module 24.
According to the requirement, the unmanned aerial vehicle body 1 is the prior known technology, such as a Xinjiang Longitude M600 unmanned aerial vehicle, the remote controller 19 can be the prior known technology, such as the Xinjiang Longitude M600 series remote controller 19, the horizontal roller on the left side of the remote controller 19 controls the lifting, the horizontal roller on the right side of the remote controller 19 controls the throwing, DJI Xinjiang Longitude M600 series remote controller channel expansion components can be adopted to be in wired communication connection with the remote controller 19, so as to achieve the purpose of controlling the load action, when in use, only the self-contained interface module of the M600 remote controller 19 is required to be replaced by the interface module of a new expansion piece, the connecting line of the expansion piece is inserted into the interface, in addition, the channel expansion module is clamped on the back metal support of the original M600 remote controller 19, the installation can be completed, then the F channel mapping corresponding to the motor control device is set through DJI Assistant 2 parameter adjusting software, the remote control setting, the rope collecting motor 3 is the prior known technology, such as 12v direct current motor, the haulage rope 6 is the steel wire line with the length of 10m and the diameter of 1.5mm, and the dispenser 9 is the prior known technology, such as unmanned aerial vehicle jettison device or the public number is CN201720337149.8, the name is: a dispenser in a multifunctional unmanned aerial vehicle with the dispenser is characterized in that a first control module 26 and a second control module 27 are both in the prior known technology, such as STC89C52 single chip microcomputer circuit, a first motor forward and reverse rotation control module 28 and a second motor forward and reverse rotation control module 29 are both in the prior known technology, such as an L298N motor driving circuit, a first power supply module 20 and a second power supply module 21 are both in the prior known technology, such as a 12v lithium battery, a first wireless communication module 22 and a second wireless communication module 23 are both in the prior known technology, such as a WiFi module circuit, and a third wireless communication module 24 and a fourth wireless communication module 25 are both in the prior known technology, such as a high-power WiFi module SKW 77.
In the using process, the traction rope 6 is tightened by the rope retracting motor 3, then the object is hung on the dispenser 9, a ground operator controls the unmanned aerial vehicle body 1 to fly to a designated place through the remote controller 19, the operator remotely controls the rope retracting motor 3 through the remote controller 19 to slowly drop the dispenser 9 to a designated height, then controls the dispenser 9 to release the object to the position of an operator, in the process of overhauling a 35 KV 220 KV power transmission line in high mountains and large mountains and next door desert lines, personal tools and hardware fittings below 8 kilograms can be quickly and efficiently transmitted for overhauling operation, the time for transmitting the tools and the hardware fittings is shortened, the physical consumption of the personnel is reduced, the safety risk is reduced, powerful guarantee is provided for safe and reliable operation of the power transmission line, the load of the invention can be improved by arranging the rope retracting device and the winding prevention device, and the traction rope 6 can be prevented from being wound in the transportation process, the invention has the advantages of reasonable and compact structure, convenient use, safety, labor saving, simplicity, convenience and high efficiency.
Can do further optimization or/and improve to above-mentioned unmanned aerial vehicle fixed point throwing device according to actual need:
as shown in fig. 1, the rope winding control device further includes a first control box 10 fixedly installed at the lower side of the left portion of the fixed support 2 and provided with a plurality of first threading holes at intervals, and a first power supply module 20, a first wireless communication module 22, a first control module 26 and a first motor forward and reverse rotation control module 28 are fixedly installed in the first control box 10 at intervals.
In the use, the first threading hole is convenient for install the wire that first motor just reverse control module 28 and receipts rope motor 3 electricity are connected, through such setting, is convenient for protect first power module 20, first wireless communication module 22, first control module 26 and first motor just reverse control module 28, also can avoid the interference that other signals caused, improves the reliability in the use.
As shown in attached figures 1 and 3, the rope collecting device also comprises a protective box 7 of a box body structure sleeved outside the main rope collecting roller 4, the upper side of the protective box 7 is fixedly installed with the fixed support 2, the lower side of the protective box 7 corresponding to the position of the main rope collecting roller 4 is provided with a through hole which is communicated up and down, the middle part of the traction rope 6 passes through the through hole and then contacts with the outer side of the lower part of the pulley 33, the left end of the rear part of the protective box 7 is provided with a left installation hole which is communicated left and right, the outer side of the left end of the input shaft 5 is rotatably installed in the left installation hole, the right end of the rear part of the protective box 7 is provided with a right installation hole which is corresponding to the left installation hole, the right end of the input shaft 5 passes through the right installation hole and then is fixedly installed with the output shaft together, the left end and the right end of the front part of the protective box 7, the outer sides of the two ends of the main rope-collecting roller 4 and the outer sides of the two ends of the auxiliary rope-collecting roller 31 are both fixedly provided with a baffle plate 8.
According to the requirement, the outer side of the right part of the input shaft 5 is rotatably arranged in the right mounting hole. In the use, through setting up guard box 7, can prevent that haulage rope 6 from swinging too big gesture that influences unmanned aerial vehicle body 1, also can play the guide effect to haulage rope 6, the installation of the input shaft 5 of can being convenient for can also play the guard action to main rope cylinder 4, vice rope cylinder 31 and haulage rope 6 of receiving simultaneously.
As shown in the attached drawing 1, the throwing control device further comprises a second control box 11 fixedly installed on the upper side of the throwing device 9, a plurality of second threading holes are formed in the side face of the second control box at intervals, the upper side of the second control box 11 is fixedly connected with the main rope collecting roller 4 through a traction rope 6 penetrating through the through hole, and a second power supply module 21, a second wireless communication module 23, a second control module 27 and a second motor forward and reverse rotation control module 29 are fixedly installed in the first control box 10 at intervals.
In the use process, the second threading hole is convenient for installing a second motor forward and reverse rotation control module 29 and a wire electrically connected with the throwing motor 18 of the throwing device 9, and through the arrangement, the second power supply module 21, the second wireless communication module 23, the second control module 27 and the second motor forward and reverse rotation control module 29 are convenient to protect, the interference caused by other signals can be avoided, and the reliability in the use process is improved.
As shown in fig. 1 and 2, a hanging ring 12 is fixedly installed at the center of the upper side of the second control box 11, and a hook 34 is connected with the hanging ring 12.
The hoist ring 12 may be any known art, such as an american swivel or hoist ring, as desired. In the use process, through such setting, be convenient for be connected the easy dismounting with rings 12 with lifting hook 34.
As shown in fig. 1 and 2, the wire-off hook 13 of the dispenser 9 is provided with a downward-opening U-shaped groove, the right end of the pull rod 14 of the dispenser 9 penetrates through the U-shaped groove of the wire-off hook 13 and is hinged with the mechanical arm 15 of the dispenser 9, and the upper left side of the pull rod 14 of the dispenser 9 is provided with an inclined surface 17 which is low at the left and high at the right.
The left part of the pull rod 14 of the dispenser 9 can also be in a truncated cone shape with a small left part and a large right part according to requirements. In the use process, due to the arrangement, the suspended objects can conveniently and smoothly fall along the inclined surface 17 after the pull rod 14 of the dispenser 9 is withdrawn out of the U-shaped groove of the wire-releasing hook 13, and the blocking phenomenon is avoided.
As shown in fig. 1, the lower side of the dispenser 9 is located above the lower side of the landing gear 16 of the drone body 1.
In the use process, the arrangement can prevent the lower side of the dispenser 9 from colliding with the ground when falling, and the service life of the invention is prolonged.
The technical characteristics form an embodiment of the invention, which has strong adaptability and implementation effect, and unnecessary technical characteristics can be increased or decreased according to actual needs to meet the requirements of different situations.
Claims (10)
1. An unmanned aerial vehicle fixed point throwing device is characterized by comprising an unmanned aerial vehicle body, a rope collecting device, an anti-winding device, a traction rope, a throwing device and a control system, wherein the rope collecting device is arranged in the center of the lower end of the unmanned aerial vehicle body and comprises a fixed support, a rope collecting motor, a main rope collecting roller and an auxiliary rope collecting roller, the fixed support is detachably and fixedly arranged in the center of the lower end of the unmanned aerial vehicle body, the rope collecting motor is fixedly arranged at the lower end of the right part of the fixed support, an output shaft is arranged at the left end of the rope collecting motor, an input shaft with the right end fixedly arranged with the left end of the output shaft is rotatably arranged at the lower end of the middle part of the fixed support, the main rope collecting roller with a cylindrical structure is fixedly arranged at the outer side of the middle part of the input shaft, a left-right driven shaft is rotatably arranged at the lower end of the fixed support corresponding to the front position of the input shaft, an anti-winding device is arranged below the main rope-collecting roller and comprises a shell, a pulley and a lifting hook, the lifting hook is installed on the lower portion of the shell in a rotating mode along the horizontal direction, the lifting hook is installed on the upper side of a throwing device located below the lifting hook in a mounting mode, a pulley with a circular groove in the center is installed on the center of the upper portion of the shell in a rotating mode, one end of a traction rope is fixedly installed on the outer side of the left end of the main rope-collecting roller, the other end of the traction rope penetrates through the outer side of the lower portion of the pulley and is fixedly installed on the outer side of the left end of an auxiliary rope-collecting roller, the winding direction of the traction rope on the outer side of the main rope-collecting roller is the same as the winding direction of the traction rope on the outer side of the auxiliary rope-collecting roller, the control system comprises a rope-collecting control device, The output end of the second power supply module is electrically connected with the power input end of the second control module, the output end of the second control module is electrically connected with the input end of the second motor positive and negative rotation control module, the output end of the second motor positive and negative rotation control module is electrically connected with the input end of the rope retracting motor, the first control module is in wired communication connection with the first wireless communication module, the throwing control device comprises a second power supply module, a second wireless communication module, a second control module and a second motor positive and negative rotation control module which are fixedly arranged on the throwing device at intervals, the output end of the second power supply module is electrically connected with the power input end of the second control module, the output end of the second control module is electrically connected with the input end of the second motor positive and negative rotation control module, and the output end of the second motor positive and negative rotation control module is electrically connected with the input end of the throwing motor of the throwing device, wired communication is connected between second control module and the second wireless communication module, has third wireless communication module in the unmanned aerial vehicle body, has fourth wireless communication module in the remote controller, fourth wireless communication module and first wireless communication module, second wireless communication module and the equal wireless communication connection of third wireless communication module.
2. The unmanned fixed-point throwing device according to claim 1, wherein the rope retracting control device further comprises a first control box fixedly mounted on the lower side of the left portion of the fixed support and provided with a plurality of first threading holes at intervals, and a first power supply module, a first wireless communication module, a first control module and a first motor forward and reverse rotation control module are fixedly mounted in the first control box at intervals.
3. The fixed-point throwing device for unmanned aerial vehicles according to claim 1 or 2, wherein the rope winding device further comprises a protective box of a box structure sleeved on the outer side of the main rope winding drum, the upper side of the protective box is fixedly mounted with a fixed support, a through hole which is through from top to bottom is arranged on the lower side of the protective box corresponding to the position of the main rope winding drum, the middle part of the traction rope passes through the through hole and then contacts with the outer side of the lower part of the pulley, a left mounting hole which is through from left to right is arranged on the left end of the rear part of the protective box, the outer side of the left end of the input shaft is rotatably mounted in the left mounting hole, a right mounting hole which corresponds to the left mounting hole is arranged on the right end of the rear part of the protective box, the right end of the input shaft passes through the right mounting hole and then is fixedly mounted with the output shaft, a first mounting hole and a second mounting hole which, the outer sides of the two ends of the main rope-collecting roller and the outer sides of the two ends of the auxiliary rope-collecting roller are fixedly provided with baffles.
4. The unmanned fixed-point throwing device according to claim 3, wherein the throwing control device further comprises a second control box fixedly mounted on the upper side of the throwing device and provided with a plurality of second threading holes at intervals on the side surface, the upper side of the second control box and the rope winding roller are fixedly connected together through a traction rope penetrating through the through hole, and a second power supply module, a second wireless communication module, a second control module and a second motor forward and reverse rotation control module are fixedly mounted in the first control box at intervals.
5. The unmanned fixed point throwing device of claim 4, wherein a lifting ring is fixedly arranged at the center of the upper side of the second control box, and the lifting hook is connected with the lifting ring.
6. The unmanned aerial vehicle fixed point throwing device of claim 1, 2, 4 or 5, wherein the wire-off hook of the dispenser is provided with a U-shaped groove with a downward opening, the right end of the pull rod of the dispenser penetrates through the U-shaped groove of the wire-off hook and then is hinged with the mechanical arm of the dispenser, and the upper side of the left part of the pull rod of the dispenser is provided with an inclined surface with a lower left part and a higher right part.
7. The unmanned fixed-point throwing device according to claim 3, wherein the wire-off hook of the dispenser is provided with a U-shaped groove with a downward opening, the right end of the pull rod of the dispenser penetrates through the U-shaped groove of the wire-off hook and is hinged with the mechanical arm of the dispenser, and the upper side of the left part of the pull rod of the dispenser is provided with an inclined plane with a lower left part and a higher right part.
8. An unmanned fixed point tossing apparatus according to claim 1 or 2 or 4 or 5 or 7, wherein the lower side of the dispenser is above the lower side of the landing gear of the unmanned aerial vehicle body.
9. An unmanned fixed point tossing apparatus according to claim 3, wherein the underside of the dispenser is above the underside of the undercarriage of the unmanned aerial vehicle body.
10. The unmanned fixed point tossing apparatus of claim 6, wherein the lower side of the dispenser is above the lower side of the landing gear of the unmanned aerial vehicle body.
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