CN113928568B - Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle - Google Patents
Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle Download PDFInfo
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- CN113928568B CN113928568B CN202111381926.6A CN202111381926A CN113928568B CN 113928568 B CN113928568 B CN 113928568B CN 202111381926 A CN202111381926 A CN 202111381926A CN 113928568 B CN113928568 B CN 113928568B
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910052742 iron Inorganic materials 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims description 2
- 210000002105 tongue Anatomy 0.000 description 12
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- 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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Abstract
The invention discloses a mechanical self-locking type unmanned aerial vehicle electromagnetic releasing device, which comprises an electromagnet disk, a bearing armature matched with the electromagnet disk, and a backup force bearing mechanism, wherein the bearing armature is arranged on the electromagnet disk; the backup force-bearing mechanism is hollow and sleeved outside the electromagnet disc, and the backup force-bearing mechanism and the upper end of the electromagnet disc are fixed on the machine body structure; the bearing armature comprises a sucking disc, the lower part of the sucking disc is provided with a bearing column, and the bearing column is used for hanging goods; the side surface of the backup force bearing mechanism is provided with a slide-out port, the bottom of the backup force bearing mechanism is provided with a through groove, a sucker bearing an armature iron is arranged in the backup force bearing mechanism from the slide-out port, a force bearing column penetrates through the through groove, the upper surface of the sucker is matched with the electromagnet disc, and the lower surface of the sucker is matched with the inclined surface of the slide-out port; and a locking mechanism for fixing the position of the sucker is also arranged in the backup force bearing mechanism. According to the invention, under the condition that the electromagnet fails or the unmanned aerial vehicle is powered off, the goods carried by the unmanned aerial vehicle are not unhooked, so that the safety and reliability of the electromagnet type throwing device are improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle launching, in particular to a mechanical self-locking type unmanned aerial vehicle electromagnetic launching device.
Background
The unmanned aerial vehicle throwing device generally comprises two main parts, namely a load bearing mechanism and a release mechanism, wherein the load bearing mechanism is used for fixing goods and bearing the weight of the goods and the overload in flight; the releasing mechanism is used for unhooking the goods and the force bearing mechanism, so that the function of releasing or unloading the goods and the materials is realized.
Like mechanical type input mechanism: the hook lock structure connected with the goods is used as a force bearing mechanism; the stepping motor drives the opening and closing mechanism to release the hook lock connected with the goods, so that the throwing function is realized. Electromagnet type dispensing mechanism: the electromagnetic chuck simultaneously bears the functions of a bearing mechanism and a releasing mechanism. Therefore, the electromagnet type throwing device is simple in structure, the weight of the throwing device is greatly reduced, and the operation is fast and convenient.
However, the safety and reliability of the pure electromagnet type dispensing device are not high. Except that the electromagnet has failure risk, the electromagnet is restricted by a power supply, and the normal work of the electromagnet can be influenced by the fluctuation or power failure of the power supply. In the flight process, if the electromagnet type releasing device fails, the goods directly fall off, and safety threats can be caused to personnel, building facilities and the like under the flight line.
At present, the invention about the electromagnet type dispensing device mostly only utilizes the electromagnet principle, and the safety and the reliability of the dispensing device are not considered.
Disclosure of Invention
The invention aims to provide a mechanical self-locking type unmanned aerial vehicle electromagnetic throwing device, which is used for preventing cargoes carried by an unmanned aerial vehicle from being unhooked under the condition that an electromagnet fails or the unmanned aerial vehicle is powered off, improving the safety and reliability of the electromagnet type throwing device and reducing the risk of failure of the electromagnet type throwing device.
In order to realize the task, the invention adopts the following technical scheme:
a mechanical self-locking type unmanned aerial vehicle electromagnetic releasing device comprises an electromagnet disk, a bearing armature matched with the electromagnet disk, and a backup force bearing mechanism;
the backup force-bearing mechanism is hollow and sleeved outside the electromagnet disc, and the backup force-bearing mechanism and the upper end of the electromagnet disc are fixed on the machine body structure; the bearing armature comprises a sucker, the lower part of the sucker is provided with a bearing column, and the bearing column is used for hanging goods; the side surface of the backup force bearing mechanism is provided with a slide-out port, the bottom of the backup force bearing mechanism is provided with a through groove, a sucker bearing an armature iron is arranged in the backup force bearing mechanism from the slide-out port, a force bearing column penetrates through the through groove, the upper surface of the sucker is matched with the electromagnet disc, and the lower surface of the sucker is matched with the inclined surface of the slide-out port; and a locking mechanism for fixing the position of the bearing armature is also arranged in the backup force bearing mechanism.
Furthermore, the backup bearing mechanism comprises a bearing cylinder, the upper end of the bearing cylinder is provided with a circle of connecting edge for fixing with the machine body structure, and the bottom of the bearing cylinder is provided with a supporting tray;
the sliding outlet is arranged at the lower part of the side surface of the bearing cylinder along the radial direction, and the lower surface of the sliding outlet is an inclined surface; the sucking disc for bearing the armature is of a wedge-shaped structure, and the lower surface of the sucking disc is also an inclined plane.
Furthermore, the through groove is processed from the side surface to the middle part of the supporting tray, and the width of the through groove is larger than that of the force bearing column but smaller than the outer diameter of the sucker.
Furthermore, the lower end of the bearing column for bearing the armature is provided with a mounting plate or a hook for hanging different types of goods.
Furthermore, the locking mechanism comprises a lock tongue arranged in the support tray, and a clamping hook at the front end part of the lock tongue is provided with a bearing column which extends into the through groove and clamps the bearing armature so as to lock the position of the bearing armature in a locking state and retract into the support tray in an unlocking state.
Furthermore, a tension spring groove and a mounting groove are formed in the support tray, the lock tongue is arranged in the mounting groove through a rotating shaft positioned at one end of the mounting groove, and the mounting groove is communicated with the through groove; the rear end part of the lock tongue is connected with a tension spring arranged in a tension spring groove.
Furthermore, locking holes with corresponding positions are formed in the rear end of the lock tongue and the mounting groove; the backup force bearing mechanism is provided with a stop pin driven by an electromagnetic coil, and when the stop pin is inserted into the locking holes in the lock tongue and the mounting groove, the lock tongue is in a locking state.
Furthermore, when the stop pin is pulled out of the locking hole, the spring bolt is driven to rotate under the action of the tension spring, so that the hook of the spring bolt retracts into the supporting plate.
Furthermore, a reset push rod is arranged on the bolt.
Compared with the prior art, the invention has the following technical characteristics:
1. the electromagnetic throwing device integrates the advantages of mechanical safety and reliability and simplicity and rapidness of an electromagnetic system, improves the safety and reliability of the electromagnetic throwing device at the cost of small weight increment, and reduces the failure risk of the electromagnet throwing device caused by power failure.
2. The throwing device can independently bear throwing tasks, can be combined with a plurality of throwing device units to form a throwing device capable of bearing larger weight, and has a modular use function.
Drawings
FIG. 1 is an exploded view of the apparatus of the present invention;
FIG. 2 is a schematic illustration of the installation of the apparatus of the present invention;
fig. 3 (a) and (b) are schematic diagrams of the unlocking and locking states of the backup force bearing mechanism;
FIG. 4 is a circuit diagram of the apparatus of the present invention.
The reference numbers in the figures illustrate: 1 electromagnetic coil, 2 backup force bearing mechanisms, 21 force bearing cylinders, 22 slide outlets, 23 connecting edges, 3 electromagnetic coils, 4 stop pins, 5 supporting trays, 51 through grooves, 52 mounting grooves, 53 tension spring grooves, 54 rotating shafts, 55 locking holes, 6 bearing armatures, 61 suckers, 62 force bearing columns, 7 goods, 8 tension springs, 9 lock tongues, 91 clamping hooks, 92 reset push rods, 10 hooks and 11 relays.
Detailed Description
The invention mainly solves the problem that the goods 7 carried by the unmanned aerial vehicle are not unhooked under the condition that the electromagnet fails or the unmanned aerial vehicle is powered off, improves the safety and reliability of the electromagnet type throwing device, and reduces the risk of failure of the electromagnet type throwing device.
The technical scheme of the invention is as follows: the unmanned aerial vehicle throwing device consists of an electromagnet disc 1 and a backup force bearing mechanism 2, wherein the electromagnet disc 1 is used as a main force bearing mechanism 2 and a release mechanism; the backup force bearing mechanism 2 is used as an auxiliary, and can bear the functions of the force bearing mechanism 2 and the release mechanism after the electromagnet disk 1 fails. The throwing device can successfully complete the task under the condition that the electromagnet plate 1 fails; if under the unmanned aerial vehicle outage condition, electro-magnet dish 1 is out of work, and backup load mechanism 2 is as load mechanism 2, but can not carry out release mechanism function, guarantees that the goods 7 of unmanned aerial vehicle carry do not unhook, reduces the risk that electro-magnet formula put in the device and became invalid.
Referring to the attached drawings, the mechanical self-locking type unmanned aerial vehicle electromagnetic releasing device provided by the invention comprises an electromagnet disc 1, a bearing armature 6 matched with the electromagnet disc 1 and a backup bearing mechanism 2;
the backup force-bearing mechanism 2 is hollow inside and is sleeved outside the electromagnet disc 1, and the backup force-bearing mechanism 2 and the upper end of the electromagnet disc 1 are fixed on the machine body structure; the bearing armature 6 comprises a suction disc 61, the lower part of the suction disc 61 is provided with a bearing column 62, and the bearing column 62 is used for hanging the goods 7; the side surface of the backup force bearing mechanism 2 is provided with a slide-out opening 22, the bottom of the backup force bearing mechanism 2 is provided with a through groove 51, a sucker 61 bearing the armature 6 is arranged in the backup force bearing mechanism 2 from the slide-out opening 22, a force bearing column 62 penetrates through the through groove 51, the upper surface of the sucker 61 is matched with the electromagnet disc 1, and the lower surface of the sucker 61 is matched with the inclined surface of the slide-out opening 22; and a locking mechanism for fixing the position of the bearing armature is also arranged in the backup force bearing mechanism 2.
Referring to fig. 1 and 2, the backup force bearing mechanism 2 comprises a force bearing cylinder 21, a circle of connecting edge 23 for fixing with the machine body structure is arranged at the upper end of the force bearing cylinder 21, and the force bearing cylinder 21 is fixed on the machine body structure through a bolt, so that the force bearing cylinder 21 and the electromagnet disc 1 are coaxially connected on the machine body; the bottom of the bearing cylinder 21 is fixedly provided with a supporting tray 5.
The slide-out port 22 can be regarded as a structure formed by cutting the side surface of the bearing cylinder 21, the slide-out port 22 is arranged at the lower part of the side surface of the bearing cylinder 21 along the radial direction, and the lower surface of the slide-out port 22 is an inclined surface; as shown in fig. 2, the suction cup 61 carrying the armature 6 is of a wedge-shaped structure, and the lower surface thereof is also an inclined surface; the angle of the slope of the lower surface of the suction cup 61 and the lower surface of the slide-out opening 22 may be the same, for example, 10 ° to 15 °; when the load-bearing armature 6 is not locked, under the action of the inclined plane fit, the load-bearing armature 6 slides out of the force-bearing cylinder 21 from the slide-out opening 22 to release the hung cargo 7.
As shown in fig. 1, the through slot 51 is machined on the support tray 5 from the side surface to the middle part of the support tray, and the width of the through slot 51 is larger than that of the bearing column 62 but smaller than the outer diameter of the suction cup 61, so that the suction cup 61 carrying the armature 6 can be limited inside the sliding-out opening 22 by the locking mechanism to keep locking. Under normal conditions, the sucking disc 61 bearing the armature 6 is matched with the electromagnet disc 1, the electromagnet disc 1 is a main force bearing mechanism 2, and the locking mechanism only plays a role in backup locking. When the electromagnetic chuck 61 fails and is powered off, although the bearing armature 6 is separated from the electromagnetic chuck 1 due to power off, the bearing armature 6 can still be limited inside the bearing cylinder 21 by using the locking mechanism, so that the goods 7 cannot automatically fall off due to power off, and the bearing cylinder 21 serves as a main bearing component at the moment.
In one embodiment, as shown in fig. 3, the locking mechanism comprises a latch 9 mounted in the support tray 5, and a hook 91 at the front end of the latch 9 has a bearing column 62 extending into the through slot 51 and clamping the bearing armature 6 to lock the position of the bearing armature 6 and an unlocked state retracted into the support tray 5.
A tension spring groove 53 and a mounting groove 52 are formed in the support tray 5, the locking bolt 9 is arranged in the mounting groove 52 through a rotating shaft 54 positioned at one end of the mounting groove 52, and the mounting groove 52 is communicated with the through groove 51; the rear end part of the bolt 9 is connected with a tension spring 8 arranged in a tension spring groove 53. Locking holes 55 corresponding to the positions are formed in the rear end of the lock tongue 9 and the mounting groove 52; the backup force bearing mechanism 2 is provided with a stop pin 4 driven by the electromagnetic coil 3, and when the stop pin 4 is inserted into the locking hole 55 in the locking bolt 9 and the mounting groove 52, the locking bolt 9 is in a locking state. When the stop pin 4 is pulled out of the locking hole 55, the tension spring 8 drives the latch bolt 9 to rotate, so that the hook 91 of the latch bolt 9 retracts into the supporting plate. As shown in fig. 4, in this embodiment, the electromagnetic coil 3 and the electromagnet disk 1 are driven by a single chip microcomputer via a relay 11.
In order to facilitate the resetting of the locking tongue 9 during the loading of the goods 7, a resetting push rod 92 is arranged on the locking tongue 9. Referring to fig. 3 (a), the electromagnetic coil 3 is electrified to generate magnetic force to attract the stop pin 4 to move upwards, and the lock tongue 9 is recovered under the tension of the tension spring 8, so that the limit of the bearing armature 6 is lost. In the figure 3 (b), the bolt 9 is pushed into the slide-out opening 22, after the bolt 9 is driven by the reset push rod 92 to rotate in place against the action of the tension spring 8, the bolt 9 is opposite to the locking hole 55 on the mounting groove 52, the electromagnetic coil 3 is powered off, the stop pin 4 falls into the stop hole of the bolt 9 under the action of gravity to limit the movement of the bolt 9, the bolt 9 limits the bearing armature 6 to slide, and therefore the bearing armature 6 is not unhooked from the backup force bearing mechanism 2.
Referring to fig. 1, the lower end of the bearing column 62 of the bearing armature 6 is provided with a mounting plate or a hook 10 for hanging different types of goods 7, and different types of bearing armatures 6 can be selected according to actual requirements; the particular connecting member at its lower end may also be customized to the particular requirements of the cargo 7.
In the scheme, when the backup bearing mechanism 2 is in an unlocking state, the bearing armature 6 can slide downwards along the backup bearing mechanism 2 according to the self weight, so that the releasing function is realized. When the backup force bearing mechanism 2 is in a locked state, the releasing function can not be realized no matter whether the electromagnet disc 1 fails or not. Under the condition that the whole unmanned aerial vehicle is in power-off, the electromagnetic coil 3 cannot work, and the backup bearing mechanism 2 is in a locking state, so that the cargo 7 carried by the unmanned aerial vehicle is prevented from unhooking.
Cargo mounting process:
the first step is as follows: the goods are connected with the load-bearing armature, and an electromagnetic coil electrifying command is sent;
the second step: the single chip microcomputer controls the relay, and the electromagnetic coil is electrified;
the third step: the bearing armature is pushed up to the head along the slide outlet;
the fourth step: sending an electromagnetic coil power-off command;
the fifth step: the single chip microcomputer controls the relay, and the electromagnetic coil is powered off;
and a sixth step: sending a mounting task power-on instruction;
the seventh step: the electromagnet disk is electrified to adsorb the armature.
Cargo throwing or unloading process:
the first step is as follows: the unmanned aerial vehicle receives a throwing command;
the second step: the single chip microcomputer controls the relay, and the electromagnetic coil is electrified;
the third step: the single chip microcomputer controls the relay, and the electromagnet disc is powered off to complete the releasing or unloading task.
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 depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.
Claims (4)
1. A mechanical self-locking type unmanned aerial vehicle electromagnetic throwing device comprises an electromagnet disc (1) and a bearing armature (6) matched with the electromagnet disc (1); the device is characterized by also comprising a backup force bearing mechanism (2);
the backup force-bearing mechanism (2) is hollow inside and is sleeved outside the electromagnet disc (1), and the upper ends of the backup force-bearing mechanism (2) and the electromagnet disc (1) are fixed on the machine body structure; the bearing armature iron (6) comprises a sucker (61), the lower part of the sucker (61) is provided with a bearing column (62), and the bearing column (62) is used for hanging goods (7); a slide-out opening (22) is formed in the side face of the backup bearing mechanism (2), a through groove (51) is formed in the bottom of the backup bearing mechanism, a sucking disc (61) bearing the armature iron (6) is installed into the backup bearing mechanism (2) from the slide-out opening (22), a bearing column (62) penetrates through the through groove (51), the upper surface of the sucking disc (61) is matched with the electromagnet disc (1), and the lower surface of the sucking disc (61) is matched with the inclined surface of the slide-out opening (22); a locking mechanism for fixing the position of the bearing armature (6) is also arranged in the backup bearing mechanism (2);
the backup bearing mechanism (2) comprises a bearing cylinder (21), the upper end of the bearing cylinder (21) is provided with a circle of connecting edge (23) for fixing with a machine body structure, and the bottom of the bearing cylinder (21) is provided with a supporting tray (5);
the sliding outlet (22) is arranged at the lower part of the side surface of the bearing cylinder (21) along the radial direction, and the lower surface of the sliding outlet (22) is an inclined surface; the sucking disc (61) for bearing the armature iron (6) is of a wedge-shaped structure, and the lower surface of the sucking disc is also an inclined plane;
the lower end of a bearing column (62) of the bearing armature iron (6) is provided with a mounting plate or a hook (10) for hanging different types of goods (7);
the locking mechanism comprises a locking bolt (9) arranged in the support tray (5), a clamping hook (91) at the front end part of the locking bolt (9) is provided with a bearing column (62) which extends into the through groove (51) and clamps the bearing armature (6) so as to lock the locking state of the position of the bearing armature (6) and retract to the unlocking state in the support tray (5);
a tension spring groove (53) and a mounting groove (52) are formed in the supporting tray (5), the lock tongue (9) is arranged in the mounting groove (52) through a rotating shaft (54) located at one end of the mounting groove (52), and the mounting groove (52) is communicated with the through groove (51); the rear end part of the lock tongue (9) is connected with a tension spring (8) arranged in a tension spring groove (53);
locking holes (55) with corresponding positions are formed in the rear end of the bolt (9) and the mounting groove (52); the backup force bearing mechanism (2) is provided with a stop pin (4) driven by an electromagnetic coil (3), and when the stop pin (4) is inserted into a locking hole (55) in the lock tongue (9) and the installation groove (52), the lock tongue (9) is in a locking state.
2. The mechanical self-locking type unmanned aerial vehicle electromagnetic launching device as recited in claim 1, wherein the through groove (51) is machined in the supporting tray (5) from the side surface to the middle part of the supporting tray, and the width of the through groove (51) is larger than that of the bearing column (62) but smaller than the outer diameter of the suction cup (61).
3. The mechanical self-locking type unmanned aerial vehicle electromagnetic release device according to claim 1, wherein when the stop pin (4) is pulled out of the locking hole (55), the tension spring (8) drives the lock tongue (9) to rotate, so that the hook (91) of the lock tongue (9) retracts into the support plate.
4. The mechanical self-locking type unmanned aerial vehicle electromagnetic launching device as recited in claim 1, wherein a reset push rod (92) is arranged on the lock tongue (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111381926.6A CN113928568B (en) | 2021-11-19 | 2021-11-19 | Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111381926.6A CN113928568B (en) | 2021-11-19 | 2021-11-19 | Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN113928568A CN113928568A (en) | 2022-01-14 |
| CN113928568B true CN113928568B (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111381926.6A Active CN113928568B (en) | 2021-11-19 | 2021-11-19 | Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210309367A1 (en) * | 2020-04-06 | 2021-10-07 | Foras Cogitare LLC | Mechanical package release system |
| CN115384782B (en) * | 2022-10-27 | 2023-01-06 | 北京瀚科智翔科技发展有限公司 | Releasable unmanned aerial vehicle battery and control method thereof |
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| GB740113A (en) * | 1953-01-19 | 1955-11-09 | Edwin Carl Elsner | Apparatus for handling cargo and the like |
| US3995562A (en) * | 1975-08-18 | 1976-12-07 | Nordstrom Arnold B | Cargo pallet lock |
| RU2429164C1 (en) * | 2010-05-06 | 2011-09-20 | Открытое акционерное общество "Государственное машиностроительное конструкторское бюро "Вымпел" им. И.И. Торопова | Automatic release lock for flight vehicle cargo suspension |
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| CN113928568A (en) | 2022-01-14 |
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