CN113895632A - Loading and unloading system and releasing method for integrated unit of unmanned helicopter - Google Patents
Loading and unloading system and releasing method for integrated unit of unmanned helicopter Download PDFInfo
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- CN113895632A CN113895632A CN202111251330.4A CN202111251330A CN113895632A CN 113895632 A CN113895632 A CN 113895632A CN 202111251330 A CN202111251330 A CN 202111251330A CN 113895632 A CN113895632 A CN 113895632A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000000463 material Substances 0.000 claims abstract description 23
- 239000012611 container material Substances 0.000 claims description 94
- 230000009471 action Effects 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 23
- 238000004146 energy storage Methods 0.000 claims description 7
- 238000002360 preparation method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000007257 malfunction Effects 0.000 claims 1
- 238000004806 packaging method and process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000013590 bulk material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
- B64D9/003—Devices for retaining pallets or freight containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/10—Stowage arrangements for the devices in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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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
Abstract
The invention discloses a loading and unloading system and a launching method for a packaging unit of an unmanned helicopter, wherein the system comprises a launching control box, a freight tray, an extension section, a lifting actuator, a deploying and retracting actuator, a power-assisted launching device, an electric one-way lock, a central stopping device, a lateral guide rail, a central guide rail and a driving end assembly; the system can adopt a containerized transportation mode, realizes loading, unloading and air-drop of a containerized unit in the cargo hold of the helicopter, widens the mission capacity range of the helicopter, realizes parallel operation, and can greatly improve the operation efficiency of the helicopter; the system does not need to unload operators, reduces the labor cost and improves the unloading efficiency; the system improves the safety of the unmanned helicopter when the unmanned helicopter goes to dangerous areas for operation, such as material supply in emergency rescue and disaster relief; the system can be quickly assembled/disassembled, the application of the medium-sized and large-sized helicopter is expanded, and the use cost of the helicopter is reduced.
Description
Technical Field
The invention relates to the field of air freight systems, in particular to a loading and unloading system and a launching method for a container unit of an unmanned helicopter.
Background
The air freight system is a main task system of a transport airplane/helicopter, is arranged in a cargo hold of the airplane, and can realize the quick loading and unloading of the container units arranged in the cargo hold on the ground, the reliable movement limitation during air transportation and the safe delivery in the air.
In the prior art, only a few schemes for transporting and releasing a single external hanging type material outside a small cabin are provided, the application range and the application mode of the schemes are relatively limited, and no related method or system-level product for releasing a large helicopter container unit in the air is provided.
Disclosure of Invention
The invention aims to provide a loading and unloading system and a releasing method for a container unit of an unmanned helicopter, so as to meet the requirements of the existing container unit in an unmanned helicopter cabin on the detachment and the air release.
In order to realize the task, the invention adopts the following technical scheme:
the utility model provides a collection dress unit loads and unloads system of carrying for unmanned helicopter, includes puts in control box, freight transportation tray, extension section, lifts the actuator, receive and releases the actuator, the device is put in to the helping hand, electronic one-way lock, central detent, side guide, central guide and drive end subassembly, wherein:
the freight pallet is movably arranged on the floor of the helicopter and is symmetrically arranged left and right along the central axis of the helicopter to provide loading positions for loading containerized materials;
the extending sections are provided with a pair of extending sections, are correspondingly arranged at the doorsills of the cabin doors at two sides, are connected with the adjacent freight pallets through hinges, and realize the lifting and lowering functions through a retractable actuator or a manual mode;
one end of the lifting actuator is arranged on the floor of the cargo compartment of the helicopter, and the other end of the lifting actuator is connected into the driving end assembly or connected with the freight tray; one end of the retraction actuator is arranged on the floor of the cargo compartment of the helicopter, and the other end of the retraction actuator is structurally connected with the extension section;
the power-assisted throwing device is electrically driven, is arranged in a corresponding mounting groove of the freight tray through bolts or other quick-release modes, is positioned on the central line of each loading position, and is used for providing quick-response driving force for the delivery of the container materials;
the electric one-way lock is electrically driven, is arranged in a corresponding mounting groove in the freight tray, is close to the cabin door structure, is positioned on the central line of each loading position, is opposite to the power-assisted releasing device, and is used for limiting the movement of the packed goods in the unfolding direction in the air transportation process;
the central stopping device is arranged on each loading position in the freight pallet, is positioned on one side of the central axis of the cargo hold and is used for stopping the container materials after being loaded in place;
the lateral guide rails are installed and fixed on the two sides of the freight trays and the extension section in a quick-release mode, and the central guide rail is positioned between the lateral guide rails in each freight tray;
the driving end assembly is fixed on the cargo compartment floor and used for realizing synchronous lifting of the freight pallets at the hatches at the two sides;
the releasing control box is arranged on the helicopter and used for receiving and processing various instructions of a superior system and controlling the lifting actuator, the releasing actuator, the power-assisted releasing device and the electric one-way lock to actuate according to corresponding instructions.
Furthermore, roller rod assemblies are arranged in the freight tray and the extension section and are used for supporting the container materials and reducing the resistance of the container materials during movement when the container materials are loaded, unloaded and put on the ground;
the freight tray is also provided with a sensor for monitoring the position state of the freight materials.
Furthermore, when the extension section adopts a manual mode, the quick-release pin at the joint of the extension section and the retractable actuator is pulled out to realize the lifting and the lowering of the quick-release pin;
the extension section descends during ground loading and unloading and air drop until the bottom surface structure of the extension section is contacted with the cargo compartment floor, and at the moment, part of the structure of the extension section extends out of the compartment door so as to avoid the collision between the delivered container materials and the external body of the helicopter; when in the lowered position, the underside of the support structure is in contact with the helicopter cargo compartment floor.
Furthermore, when the goods is put in, the lifting actuator extends out, and the freight trays are synchronously lifted by a certain angle by taking the hinge as a rotation center through the action of the connecting rod in the driving end assembly; after the throwing is finished, the lifting actuator retracts, and the freight tray is lowered to the horizontal state through the action of the connecting rod in the driving end component.
Further, when loading and releasing on the ground, the retractable actuator retracts under the action of the releasing control box, and drives the extension section to descend in the retracting process until the extension section is contacted with the floor of the cargo hold, so that loading, unloading and air-dropping of the container materials on the ground are realized; when the ground unloading and the putting in are finished, the retractable actuator extends out under the action of the putting in control box, the extension section is driven to be retracted in the extending process, and the machine body cabin door is completely avoided until the extension section structure.
Furthermore, the power-assisted delivery device comprises an energy storage mechanism, provides a quick-response driving force for delivery of the container materials, has manual locking and electric unlocking functions, and has a locking state and an unlocking state in common, wherein the locking state is an energy storage state, and the unlocking state is a free state;
when loading on the ground, when ground service personnel manually push the container materials to move to a corresponding loading position in the cargo hold, the container materials are firstly contacted with the power-assisted releasing device of the loading position, and the container materials extrude the power-assisted releasing device to store energy in the pushing process until the power-assisted releasing device finishes locking;
when putting in, put in the control box and send the unblock instruction to the helping hand and put in the device, the device unblock is put in to the helping hand to provide the shipment drive power to the collection dress goods and materials, launch the collection dress goods and materials out of the cabin.
Furthermore, the driving end assembly comprises a shell and a rod system mechanism, the input end of the driving end assembly is connected with the lifting actuator, and the output end of the driving end assembly is connected with the freight transport trays at the hatches at the two sides and is used for decomposing the output force of the lifting actuator.
A loading and releasing method of a container unit for an unmanned helicopter comprises the following steps:
after receiving power switch enabling information sent by the machine, the throwing control box processes the information, switches on a power supply of the machine, simultaneously performs power-on self-detection, and then sends self-detection state information to a control system of the machine;
when the throwing control box receives a throwing preparation instruction sent by the machine, the retraction of the retractable actuator and the extension of the lifting actuator are controlled, the retractable actuator and the lifting actuator are actuated synchronously, the retraction of the retractable actuator enables the extension section to descend until the extension section contacts the surface of the cargo hold floor, and the extension of the lifting actuator enables the cargo pallet to be lifted to a set angle along the central axis of the cargo hold and kept; the angle is larger than the roll angle of the helicopter;
after the extension section is put down in place and the freight tray is lifted in place, the put-in control box feeds back an in-place signal to the put-in control box, and simultaneously the put-in control box feeds back the information to the onboard control system;
after receiving an 'X loading position container material releasing' instruction on the machine, the releasing control box processes the instruction and sends an 'unlocking' instruction to the X loading position power-assisted releasing device; the power-assisted releasing device is unlocked to generate elasticity, meanwhile, when the power-assisted releasing device is unlocked in place, an unlocking in-place signal is fed back to the releasing control box, and if the power-assisted releasing device is not unlocked in place, the releasing control box sends unlocking fault information to the onboard control system;
after receiving the information of 'unlocking in place of the power-assisted releasing device', the releasing control box sends an 'unlocking' instruction to the electric one-way lock in the Xth loading position; the electric one-way lock is unlocked, an unlocking in-place signal is fed back to the releasing control box, when the loading position container materials are ejected out of the cabin under the action of the power-assisted releasing device, if the loading position container materials are not unlocked in place, the releasing control box sends an unlocking instruction to the electric one-way lock, and if the loading position container materials are not unlocked in place, the releasing control box sends unlocking fault information to the onboard control system;
after the container materials are delivered out of the cabin, a sensor integrated to the loading position feeds back a 'container material complete delivery' signal to the putting control box, and if the container materials are not delivered out of the cabin within the specified time, the putting control box sends container material delivery failure warning information to an onboard control system;
after the throwing control box receives an on-board throwing ending instruction, the lifting actuator is controlled to retract and the retracting actuator is controlled to extend, so that the extension section is lifted, the freight pallet is lowered, and the respective in-place information is fed back to the throwing control box; if the operation is not in place within the specified time, the throwing control box sends corresponding fault information to the onboard control system.
Further, the method further comprises ground loading the container material:
before loading, the extension section in the helicopter freight system is in a lifting state;
the loading personnel respectively descend the extension sections of the cabin doors at two sides until the bottom surfaces of the extension sections are contacted with the cargo compartment floor, and the descending method can be realized by electric control or manual operation;
an operator manually unlocks the electric one-way lock and then pushes the container materials from the outside of the cabin door into the cargo hold, wherein the container materials smoothly pass through the area of the cargo hold door under the action of the lateral guide rail and the central guide rail in the extension section at the cabin door; in the cargo hold, the container materials move linearly under the restraint of the lateral guide rails until reaching the final position;
after the container materials enter the cargo compartment through the compartment door, the container materials are firstly contacted with the power-assisted releasing device and continuously compress the power-assisted releasing device along with the pushing, until the power-assisted releasing device is in a locked state, and the pushing is stopped at the moment; and an operator manually puts the electric one-way lock into a locking state to finish the loading operation of the loading position.
Further, when the power-assisted releasing device is unlocked in place and a fault is detected in the releasing process:
when the throwing control box receives an 'X loading position forced throwing' instruction sent by an on-board control system, a forced unlocking instruction is sent to the power-assisted throwing device of the loading position after processing; after the set time is delayed, the throwing control box automatically sends a forced unlocking instruction to the electric one-way lock of the loading position; after the electric one-way lock is unlocked, the container materials are ejected out of the cabin under the action of the power-assisted releasing device, and forced releasing is completed.
Compared with the prior art, the invention has the following technical characteristics:
1. the invention can adopt a containerized transportation mode, realizes loading, unloading and air-drop of a containerized unit in the cargo hold of the helicopter, widens the range of the mission capacity of the helicopter, realizes parallel operation and can greatly improve the operation efficiency of the helicopter; the invention does not need to unload the operating personnel, reduces the labor cost and improves the unloading efficiency;
2. the invention improves the safety of the unmanned helicopter when the unmanned helicopter goes to dangerous areas for operation, such as material supply in emergency rescue and disaster relief; the system can be quickly mounted/dismounted, the application of the medium-large helicopter is expanded, and the use cost of the helicopter is reduced; the invention can be used for medium and large-sized manned helicopters after being adaptively changed.
Drawings
FIG. 1 is a schematic top view of the overall structure of the container unit loading and unloading system of the present invention;
FIG. 2 is a schematic bottom view of the overall structure of the container unit loading and unloading system of the present invention;
FIGS. 3 (a) and (b) are schematic views of different directions of the loading position;
FIG. 4 is a schematic structural composition diagram of the extension 3;
FIG. 5 is a schematic diagram of the system in an initial state;
FIG. 6 is a schematic diagram of the system in preparation for delivery;
FIG. 7 is a schematic view of the extension section raised and lowered into position;
FIG. 8 is a schematic view of the delivery of the container material;
FIG. 9 is a schematic diagram of a system drop preparation flow;
FIG. 10 is a schematic diagram of a system delivery process;
fig. 11 is a schematic diagram of the system ending release process.
The reference numbers in the figures illustrate: the automatic loading device comprises a control box 1, a freight pallet 2, an extension section 3, a lifting actuator 4, a retracting actuator 5, a power-assisted releasing device 6, an electric one-way lock 7, a central stopping device 8, a lateral guide rail 9, a central guide rail 10, a rolling rod assembly 11, a driving end assembly 12, a sensor 13, a hinge 14, a loading position 15 and a quick-release pin 16.
Detailed Description
Referring to the attached drawings, the invention firstly discloses a loading and unloading system of a packaging unit for an unmanned helicopter, which comprises a throwing control box 1, a freight tray 2, an extension section 3, a lifting actuator 4, a retraction actuator 5, an assistance throwing device 6, an electric one-way lock 7, a central stop device 8, a lateral guide rail 9, a central guide rail 10, a rolling rod assembly 11, a driving end assembly 12 and a sensor 13, and the rapid loading, reliable air transportation and smooth throwing of packaging material in a helicopter cabin are realized through the synergistic action of the components. Wherein:
dispensing control box 1
Put in the suitable position that control box 1 installed on the helicopter, its function includes: receiving and processing a throwing preparation instruction, a throwing instruction and a throwing finishing instruction of an on-board control system; supplying power to each electric device in the system; the lifting actuator 4, the retracting actuator 5, the power-assisted releasing device 6 and the electric one-way lock 7 in the control system actuate according to related instructions; and feeding back the relevant state and fault information of the freight system to an onboard superior system.
The freight trays 2 are movably arranged on the floor of the helicopter and are symmetrically arranged left and right along the central axis of the helicopter, namely, one freight tray 2 is correspondingly arranged at each sliding cabin door; as shown in fig. 1 and 2, the main functions include: providing a loading station 15 for the container material for loading the container material; providing installation space and mechanical interfaces for other related components (the power-assisted releasing device 6, the electric one-way lock 7, the central stopping device 8, the lateral guide rails 9, the central guide rail 10, the rolling rod 11 and the sensor 13) in the system; as a main bearing part in the system, the gravity of the container material and the overload in the flight process are transmitted to the airplane structure; when the container materials are airdropped, the freight tray 2 is lifted to a certain angle by the action of the lifting actuator 4 by taking the hinge 14 as a rotation center, and gravity components are provided for the container materials.
The extension sections 3 are provided with a pair of extension sections, are correspondingly arranged at doorsills of hatches at two sides, are connected with the adjacent freight pallets 2 through hinges 14, realize electric lifting and lowering functions through the retractable actuators 5, and have manual lifting and lowering functions, namely when a manual mode is adopted, the quick-release pins 16 at the connection parts of the extension sections 3 and the retractable actuators 5 are pulled out to realize lifting and lowering; when loading and unloading are carried on the ground and air drop is carried out, the extension section 3 descends until the bottom surface structure of the extension section 3 is contacted with the floor of the cargo hold, and at the moment, part of the structure of the extension section 3 extends out of the cabin door, as shown in figure 3, so that the situation that the loaded materials are thrown out of the cabin and collide with the external body of the helicopter is avoided; when in the lowered position, the underside of the helicopter is in contact with the helicopter cargo compartment floor to increase its strength and rigidity and to transfer loads into the helicopter structure. Extension section 3 mainly is applied to ground material loading and unloading year stage and air-drop stage, and the main function includes:
the extension section 3 is integrated with a lateral guide rail 9 and a central guide rail 10 to guide the container materials to quickly enter the cargo compartment of the helicopter, so that the risk of collision with the airplane structure is reduced; the extension section 3 is integrated with a roller 11, supports the container materials during loading, unloading and throwing, and reduces the resistance of the container materials during moving; during air drop, the extension section 3 is lowered through the retractable actuator 5 so as to realize extension of a system transmission plane, and extends out of a cargo compartment door, so that the smooth delivery of the container materials can be ensured, a certain safety distance is kept between the container materials and an airplane body structure after delivery, the helicopter body is prevented from being impacted in the dropping process of the container materials, and the purposes of protecting a helicopter cabin door frame and a cargo compartment door threshold structure are achieved.
Lifting actuator 4
The lifting actuator 4 can be driven by hydraulic pressure and electric power, one end of the lifting actuator is mounted on the floor of a cargo compartment of the helicopter by bolts or other quick-release modes, and the other end of the lifting actuator is connected into the driving end assembly 12 and can also be directly connected with the freight tray 2, and the functions of the lifting actuator include:
when the container is put in, the lifting actuator 4 extends out, and the freight tray 2 is synchronously lifted by a certain angle by taking the hinge 14 as a rotation center through the action of the connecting rod in the driving end component 12, so that the container materials generate a tangential downward sliding gravity component; after the throwing is finished, the lifting actuator 4 retracts, and the freight tray 2 is lowered to the horizontal state through the action of the connecting rod in the driving end component 12.
The retraction actuator 5 is hydraulically or electrically driven, one end of which is mounted on the helicopter cargo compartment floor by means of bolts or other quick release means, and the other end of which is structurally connected to the extension section 3 by means of a quick release pin 16, as shown in fig. 7, to achieve raising and lowering of the extension section 3 (lowering during ground loading and unloading, raising during air transport). The function is as follows:
when loading and releasing on the ground, the retractable actuator 5 retracts under the action of the releasing control box 1, and drives the extension section 3 to descend in the retracting process until the extension section 3 is in contact with the floor of the cargo hold, so that loading, unloading and air-drop of the container materials on the ground are realized; when the ground unloading and the putting are finished, the retractable actuator 5 extends out under the action of the putting control box 1, the extension section 3 is driven to be folded in the extending process until the extension section 3 completely avoids the cabin door of the machine body by the structure, and the closing of the cabin door without interference is realized.
Power-assisted delivery device 6
The power-assisted releasing device 6 is electrically driven, is arranged in a corresponding mounting groove of the freight pallet 2 in a bolt or other quick-release mode, is positioned on the central line of each loading position, and is used for providing driving force for quick response for the delivery of the container materials; the power-assisted releasing device 6 is internally provided with an energy storage mechanism, provides a driving force with quick response for releasing container materials, has manual locking and electric unlocking functions, and has 2 states of locking and unlocking in total, wherein the locking state is an energy storage state, and the unlocking state is a free state, namely the energy storage is released.
When loading on the ground, when a ground service worker manually pushes the container materials to move to a corresponding loading position in the cargo hold, the ground service worker firstly contacts with the power-assisted releasing device 6 of the loading position, and the container materials extrude the power-assisted releasing device 6 to store energy in the pushing process until the power-assisted releasing device finishes locking;
when putting in, put in control box 1 and send the unblock instruction to helping hand input device 6, the unlocking of device 6 is put in to the helping hand to provide out of the cabin drive power to the collection dress goods and materials, launch out of the cabin with collection dress goods and materials.
Electric one-way lock 7
Electronic one-way lock 7 adopts the electric drive form, possess electronic unblock, manual locking and manual unblock function, install in freight transportation tray 2 in the corresponding mounting groove, be close to the hatch door structure, be in on every central line of loading the position, it is relative with helping hand input device 6, be used for limiting along the exhibition to (towards the hatch door direction) for the collection dress goods and materials at the air transportation in-process, possess the manual locking, manual unblock, electronic unblock function, lock and unblock 2 kinds of states altogether, it restricts collection dress goods and materials and removes during the locked state, it eliminates the restriction to collection dress goods and materials removal during the unlocked state.
When loading and unloading are carried out on the ground, the bolt of the electric one-way lock 7 is lowered below the transmission plane in a manual unlocking or electric unlocking mode, so that the container materials smoothly enter a preset position of the loading position or leave the loading position and go out of the cabin; after the ground loading is finished, the lock tongue in the electric one-way lock is manually locked to rotate to a locking position, and the limitation of the container materials along the unfolding direction (towards the direction of the cabin door) is realized; when the container is thrown in the air, the throwing control box sends an unlocking instruction to the electric one-way lock 7, the electric one-way lock 7 is unlocked, the limitation of the container materials on the loading position along the unfolding direction (towards the direction of the cabin door) is removed, and the container materials are ejected out of the cabin under the action of the power-assisted throwing device 6 and the gravity component.
A central stop device 8 is mounted in each loading position 15 in the freight pallet 2, on the side of the centre axis of the hold, and serves to:
stopping after loading the container materials in place; the cargo material is restrained in the spanwise direction (opposite to the door direction) and vertically upwards during air transport.
The lateral guide rails 9 are mounted and fixed on the two sides (along the course/counter-course direction) of the freight tray 2 and the extension section 3 in a quick-release manner, and have the functions of:
when the container materials are loaded/unloaded and put in, the container materials are guided along the direction of the cabin door, so that the container materials are ensured to move only along the direction of the cabin door; during air transport, the side rails 9 in the freight pallets 2 limit the movement of the container material in the course/reverse course and vertically upwards.
The central guide rail 10 is located between the lateral guide rails 9 in each of the shipping pallets 2, and cooperates with the lateral guide rails 9, as shown in fig. 3 (a) and (b), to guide the container materials together when being dropped on the ground, so that the container materials move only in the spread direction (hatch door direction).
The rollers 11 are mounted in the shipping pallets 2 and the extension 3 and function to: the resistance of the container during moving is reduced when the container is supported, loaded, unloaded and put on the ground.
Drive end assembly 12
The driving end assembly 12 is fixed on the cargo compartment floor, and the structure of the driving end assembly mainly comprises a shell and a rod system mechanism, wherein the input end of the driving end assembly 12 is connected with the lifting actuator 4, and the output end of the driving end assembly is connected with the freight trays 2 at the hatches at two sides, and the driving end assembly is used for decomposing the output force of the lifting actuator 4 to realize synchronous lifting of the freight trays 2 at the hatches at two sides, as shown in fig. 1 and 5.
Mounted in the shipping pallet 2 and functions to monitor the position status of the bulk material.
Based on the above container unit loading and unloading system for the unmanned helicopter, the invention further provides a launching method, which comprises the following steps:
(1) ground loading of packaged goods and materials
a) Before loading, the extension section 3 in the helicopter freight system is in a reset (raised) state, and at the moment, the extension section 3 forms a certain angle with the cargo compartment floor under the constraint action of the retractable actuator 5, as shown in fig. 5;
b) the loading personnel respectively descend the extension sections 3 of the hatches at two sides until the bottom surfaces of the extension sections 3 are contacted with the cargo compartment floor, and the descending method can be realized by electric control or manual operation: when the electric control method is adopted, namely the releasing control box 1 is used for controlling the retracting actuator 5 to retract to drive the extension section 3 to put down, when the extension section is manually lowered, namely the quick release pin 16 connected with the extension section 3 and the releasing actuator 5 is pulled out manually (without tools), the constraint of the releasing actuator 5 on the extension section 3 is released, and the extension section 3 is put down, as shown in fig. 7.
c) An operator manually unlocks the electric one-way lock 7;
d) the operator manually pushes the container materials from the outside of the cabin door to the inside of the cargo hold, wherein, at the cabin door, the container materials smoothly pass through the area of the cargo hold door under the action of the lateral guide rail 9 and the central guide rail 10 in the extension section 3; in the cargo hold, the container materials move along a straight line under the restraint of the lateral guide rails 9 until reaching a final position;
e) in the moving process of the container materials, the roller 11 supports the container materials and reduces the moving resistance of the container materials;
f) after the container materials enter the cargo compartment through the compartment door under the action of manual thrust, the container materials are firstly contacted with the power-assisted releasing device 6 and continuously compress the power-assisted releasing device 6 along with the pushing, until the power-assisted releasing device 6 is in a locked state, and the pushing is stopped at the moment;
g) an operator manually puts the electric one-way lock 7 in a locking state;
h) and completing the loading operation of the loading position.
(2) Material throwing under normal condition
a) After receiving power switch enabling information sent by the machine, the throwing control box 1 processes the information, switches on a power supply of the machine and simultaneously performs power-on self-check;
b) the putting control box sends the self-checking state information 1 to an onboard control system;
c) after receiving a 'putting preparation' instruction sent by the machine, the putting control box 1 controls the retraction of the retractable actuator 5 and the extension of the lifting actuator 4 through processing, the retractable actuator 5 and the lifting actuator are actuated synchronously, the retractable actuator 5 retracts to enable the extension section 3 to descend until the extension section contacts the surface of the cargo compartment floor, and the lifting actuator 4 extends to enable the cargo pallet 2 to be lifted to a certain angle along the central axis of the cargo compartment and hold the angle to be slightly larger than the rolling angle of the helicopter, as shown in fig. 6;
d) after the extension section 3 is put down to the place and the freight pallet 2 is lifted to the place, a place signal is fed back to the putting control box 1, meanwhile, the putting control box 1 feeds back the information to an onboard control system, and if the extension section and the freight pallet do not act to the place within the specified time, the putting control box feeds back corresponding fault information to the onboard control system, as shown in fig. 9;
e) after receiving an 'X loading position container material releasing' instruction on the machine, the releasing control box 1 processes the instruction and sends an 'unlocking' instruction to the X loading position 15 power-assisted releasing device 6;
f) the power-assisted releasing device 6 is unlocked to generate elasticity, namely, a releasing acting force is applied to the container materials, meanwhile, when the power-assisted releasing device 6 is unlocked in place, an unlocking in-place signal is fed back to the releasing control box 1, and if the releasing control box 1 is not unlocked in place, the releasing control box 1 sends unlocking fault information to an onboard control system;
g) after receiving the information of 'unlocking in place of the power-assisted releasing device 6', the releasing control box 1 sends an 'unlocking' instruction to the electric one-way lock 7 in the Xth loading position 15;
h) the electric one-way lock 7 is unlocked, an unlocking in-place signal is fed back to the putting control box 1, when unlocking is carried out, the loading position container materials are ejected out of the cabin under the action of the power-assisted putting device force, as shown in fig. 8, if the unlocking is not in place, the putting control box 1 sends an unlocking instruction to the electric one-way lock 7 again, and if the unlocking is not carried out after 2 times, the putting control box 1 sends unlocking fault information to an onboard control system;
i) after the container materials are delivered out of the cabin, a sensor 13 integrated to the loading position 15 feeds back a 'container material complete delivery' signal to the putting control box 1, if the container materials are not delivered out of the cabin within a specified time, the putting control box 1 sends container material delivery failure warning information to an onboard control system, as shown in fig. 10;
j) after the throwing control box 1 receives an on-board throwing ending instruction, the lifting actuator 4 is controlled to retract and the retracting actuator 5 is controlled to extend, so that the extension section 3 is lifted, the freight pallet 2 is lowered, and meanwhile, the respective in-place information is respectively fed back to the throwing control box 1. If the release control box 1 is not in place within the specified time, the corresponding fault information is sent to the onboard control system by the release control box 1, as shown in fig. 11.
k) The loading position puts the goods and materials into the container.
(3) Forced delivery of materials in case of failure
When putting in the in-process helping hand and put in device 6 unblock and target in place and detect the trouble (having accomplished this moment and put in preparation work), in order to ensure the completion that the system put in the task, put in the function through the system's force and realize, specifically do:
a) when the throwing control box 1 receives an 'X loading position forced throwing' instruction sent by an on-board control system, a forced unlocking instruction is sent to the power-assisted throwing device 6 of the loading position 15 after processing;
b) after a certain time delay, the throwing control box 1 sends a forced unlocking instruction to the electric one-way lock 7 of the loading position;
c) after the electric unidirectional lock 7 is unlocked, the container materials are ejected out of the cabin under the action of the power-assisted releasing device 6, and forced releasing is completed.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equally replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (10)
1. The utility model provides a collection dress unit loads and unloads system of carrying for unmanned helicopter which characterized in that, puts in control box (1), freight transportation tray (2), extension (3), lift actuator (4), receive and releases actuator (5), helping hand and puts in device (6), electronic one-way lock (7), central detent (8), side guide (9), central guide (10) and drive end subassembly (12) including throwing in, wherein:
the freight tray (2) is movably arranged on the floor of the helicopter, is arranged symmetrically left and right along the central axis of the helicopter, and provides loading positions (15) for loading containerized materials;
the extending sections (3) are provided with a pair, are correspondingly arranged at the doorsills of the hatches at two sides, are connected with the adjacent freight trays (2) through hinges (14), and realize the lifting and lowering functions through a retractable actuator (5) or a manual mode;
one end of the lifting actuator (4) is arranged on the floor of the cargo compartment of the helicopter, and the other end of the lifting actuator is connected into the driving end assembly (12) or connected with the freight tray (2); one end of the retraction actuator (5) is arranged on the floor of the cargo compartment of the helicopter, and the other end is structurally connected with the extension section (3);
the power-assisted releasing device (6) is electrically driven, is arranged in a corresponding mounting groove of the freight tray (2) in a bolt or other quick-release mode, is positioned on the central line of each loading position, and is used for providing quick-response driving force for the delivery of the container materials;
the electric one-way lock (7) is electrically driven, is arranged in a corresponding mounting groove in the freight tray (2), is close to the cabin door structure, is positioned on the central line of each loading position, is opposite to the power-assisted releasing device (6), and is used for limiting the movement of the container materials in the unfolding direction in the air transportation process;
the central stopping device (8) is arranged on each loading position (15) in the freight tray (2), is positioned on one side of the central axis of the cargo hold and is used for stopping the container materials after being loaded in place;
the lateral guide rails (9) are fixedly installed on two sides of the freight trays (2) and the extension sections (3) in a quick-release mode, and the central guide rail (10) is positioned between the lateral guide rails (9) in each freight tray (2);
the driving end assemblies (12) are fixed on the cargo compartment floor and used for realizing synchronous lifting of the freight pallets (2) at the hatches at the two sides;
the throwing control box (1) is installed on the helicopter and used for receiving and processing various instructions of a superior system and controlling the lifting actuator (4), the retracting actuator (5), the power-assisted throwing device (6) and the electric one-way lock (7) to actuate according to corresponding instructions.
2. The loading and unloading system of a container unit for an unmanned helicopter as claimed in claim 1, wherein said shipping pallet (2) and extension section (3) are provided with roller and bar assemblies (11) for supporting the container material, reducing the resistance of the container material when moving during loading and unloading and launching on the ground;
the freight tray (2) is also provided with a sensor for monitoring the position state of the container materials.
3. The loading and unloading system of a unit loading and unloading for an unmanned helicopter of claim 1, wherein when the extension section (3) is manually operated, the quick release pin (16) at the connection of the extension section (3) and the retractable actuator (5) is pulled out to realize the lifting and the lowering;
the extension section (3) descends during ground loading and unloading and air drop until the bottom surface structure of the extension section (3) is in contact with the cargo compartment floor, and at the moment, part of the structure of the extension section (3) extends out of the compartment door so as to avoid the collision between the loaded goods and the external body of the helicopter after the loaded goods and materials are delivered out of the compartment; when in the lowered position, the underside of the support structure is in contact with the helicopter cargo compartment floor.
4. The loading and unloading system of a container unit for unmanned helicopters according to claim 1, wherein the lifting actuator (4) is extended during launch, and the cargo pallet (2) is synchronously lifted by a certain angle by the action of the connecting rod in the driving end assembly (12) with the hinge (14) as the rotation center; after the throwing is finished, the lifting actuator (4) retracts, and the freight tray (2) is lowered to the horizontal state through the action of a connecting rod in the driving end component (12).
5. The loading and unloading system of the container unit for the unmanned helicopter as claimed in claim 1, wherein during ground loading and launching, the retractable actuator (5) retracts under the action of the launching control box (1), and the extension section (3) is driven to descend in the retracting process until the extension section (3) contacts with the floor of the cargo hold, so as to realize loading and unloading and air-drop of the container materials on the ground; when the ground unloading and the putting are finished, the retractable actuator (5) extends out under the action of the putting control box (1), and the extension section (3) is driven to be folded in the extending process until the structure of the extension section (3) completely avoids the cabin door of the engine body.
6. The loading and unloading system of the container unit for the unmanned helicopter according to claim 1, wherein the power-assisted releasing device (6) comprises an energy storage mechanism, provides a driving force for quick response for releasing the container material, has manual locking and electric unlocking functions, and has 2 states of locking and unlocking in total, wherein the locking state is an energy storage state, and the unlocking state is a free state;
when loading on the ground, when ground service personnel manually push the container materials to move to a corresponding loading position in the cargo hold, the container materials are firstly contacted with the power-assisted releasing device (6) of the loading position, and the container materials extrude the power-assisted releasing device (6) to store energy in the pushing process until the power-assisted releasing device finishes locking;
when the container is put in, the putting control box (1) sends an unlocking instruction to the power-assisted putting device (6), the power-assisted putting device (6) is unlocked, and the container goods and materials are provided with the driving force for taking out of the container and are ejected out of the container.
7. A container unit handling system for unmanned helicopters according to claim 1, characterized in that said drive end assembly (12) comprises a housing and a rod train mechanism, the input end of the drive end assembly (12) being connected to the lifting actuator (4) and the output end being connected to the freight pallet (2) at the two side doors, which functions to break down the lifting actuator (4) output force.
8. A method for loading and releasing a container unit for an unmanned helicopter is characterized by comprising the following steps:
after receiving power switch enabling information sent by the machine, the throwing control box (1) processes the information, switches on a power supply of the machine, simultaneously performs power-on self-test, and then sends self-test state information (1) to a control system of the machine;
when the throwing control box (1) receives a throwing preparation instruction sent by the machine, the retraction of the retractable actuator (5) and the extension of the lifting actuator (4) are controlled and synchronously actuated, the retractable actuator (5) retracts to enable the extension section (3) to descend until the extension section contacts the surface of the cargo compartment floor, and the lifting actuator (4) extends to enable the cargo pallet (2) to be lifted to a set angle along the central axis of the cargo compartment and kept; the angle is larger than the roll angle of the helicopter;
after the extension section (3) is put down to the position and the freight tray (2) is lifted to the position, the put-in control box (1) is fed back to the position signal, meanwhile, the put-in control box (1) feeds back the information to an onboard control system, and if the extension section and the freight tray do not act to the position within the specified time, the put-in control box feeds back corresponding fault information to the onboard control system;
after receiving an 'X loading position container material releasing' instruction on the machine, the releasing control box (1) processes the instruction and sends an 'unlocking' instruction to the power-assisted releasing device (6) of the X loading position (15); the power-assisted releasing device (6) is unlocked to generate elasticity, meanwhile, when the power-assisted releasing device (6) is unlocked in place, an unlocking in-place signal is fed back to the releasing control box (1), and if the power-assisted releasing device is not unlocked in place, the releasing control box (1) sends unlocking fault information to an onboard control system;
after receiving the information of ' unlocking in place of the power-assisted releasing device (6) ' information of the releasing control box (1 '), sending an ' unlocking ' instruction to the electric one-way lock (7) in the Xth loading position (15); the electric one-way lock (7) is unlocked, an unlocking in-place signal is fed back to the putting control box (1), when unlocking is carried out, the container materials of the loading position are ejected out of the cabin under the action of the power-assisted putting device force, if the unlocking is not in place, the putting control box (1) sends an unlocking instruction to the electric one-way lock (7), if the unlocking is not carried out after 2 times, the putting control box (1) sends unlocking fault information to an onboard control system;
after the container materials are delivered out of the cabin, a sensor (13) integrated to the loading position (15) feeds back a 'container material complete delivery' signal to the putting control box (1), and if the container materials are not delivered out of the cabin within the specified time, the putting control box (1) sends container material delivery fault warning information to an onboard control system;
after the throwing control box (1) receives an on-board throwing ending instruction, the lifting actuator (4) is controlled to retract and the retracting actuator (5) is controlled to extend, so that the extension section (3) is lifted, the freight pallet (2) is lowered, and meanwhile, the respective in-place information is respectively fed back to the throwing control box (1); if the operation is not in place within the specified time, the throwing control box (1) sends corresponding fault information to the onboard control system.
9. The method of loading and releasing a containerized unit for an unmanned helicopter of claim 8, further comprising ground loading containerized material:
before loading, the extension section (3) in the helicopter freight system is in a lifting state;
the loading personnel respectively descend the extension sections (3) of the hatches at two sides until the bottom surfaces of the extension sections (3) are contacted with the floor of the cargo compartment, and the descending method can be realized by electric control or manual operation;
an operator manually unlocks the electric one-way lock (7), and then pushes the container materials from the outside of the cabin door to the inside of the cargo hold, wherein the container materials smoothly pass through the area of the cargo hold door under the action of a lateral guide rail (9) and a central guide rail (10) in the extension section (3) at the cabin door; in the cargo hold, the container materials move along a straight line under the restraint of a lateral guide rail (9) until reaching a final position;
after the container materials enter the cargo compartment through the compartment door, the container materials are firstly contacted with the power-assisted releasing device (6) and continuously compress the power-assisted releasing device (6) along with the pushing until the power-assisted releasing device (6) is in a locked state, and the pushing is stopped at the moment; the operator manually puts the electric one-way lock (7) in a locking state to finish the loading operation of the loading position.
10. The method of loading and releasing a containerized unit for an unmanned helicopter of claim 8, wherein when the power-assisted releasing device (6) is unlocked in place during releasing and a malfunction is detected:
when the throwing control box (1) receives an 'X loading position forced throwing' instruction sent by an on-board control system, a forced unlocking instruction is sent to the power-assisted throwing device (6) of the loading position (15) after processing; after the set time is delayed, the throwing control box (1) automatically sends a forced unlocking instruction to the electric one-way lock (7) of the loading position; after the electric unidirectional lock is unlocked (7), the container materials are ejected out of the cabin under the action of the power-assisted releasing device (6), and forced releasing is completed.
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| CN113895632B (en) | 2023-10-20 |
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