CN115593631A - Double-redundancy unmanned aerial vehicle hanging and throwing device and working method thereof - Google Patents
Double-redundancy unmanned aerial vehicle hanging and throwing device and working method thereof Download PDFInfo
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- CN115593631A CN115593631A CN202211593000.8A CN202211593000A CN115593631A CN 115593631 A CN115593631 A CN 115593631A CN 202211593000 A CN202211593000 A CN 202211593000A CN 115593631 A CN115593631 A CN 115593631A
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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
Abstract
The invention discloses a dual-redundancy unmanned aerial vehicle hanging and throwing device and a working method thereof. The throwing device comprises a hook box assembly, wherein the hook box assembly comprises a box main body and a hook, a force transmission connecting lever and a cam, the hook, the force transmission connecting lever and the cam are rotatably arranged on the box main body, the normal throwing assembly and the emergency throwing assembly control the movement of the cam, the cam controls the driving end of the force transmission connecting lever to swing, and the acting end of the force transmission connecting lever is in limit fit with the limiting end of the hook. The working method adopts the dual-redundancy unmanned aerial vehicle hanging and releasing device, and comprises a locking state, normal releasing and emergency releasing. The invention has the beneficial effects that: the unmanned aerial vehicle can realize the multi-mode delivery of goods suspended by the unmanned aerial vehicle; accurate throwing can be realized through ground control; the automatic identification and the release can be realized without human intervention; the operation torque is small, and the mounting capacity is large; and emergency safety control measures are provided, and the task completion reliability is higher.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle throwing, and particularly relates to a dual-redundancy unmanned aerial vehicle hanging throwing device.
Background
Nowadays, unmanned aerial vehicle has obtained very big development with its own unique advantage, hangs transportation and puts in goods and materials is one of unmanned aerial vehicle typical application. The platform is an ideal operation platform, has flexible maneuverability, and can quickly and efficiently launch material releasing operation in places where other transport tools are difficult to reach. And the geographic environment does not need to be considered, the limitation of land transportation is avoided, and the operation is simple and easy to operate. Moreover, the hanging type transportation does not worry about the influence of the appearance of the hanging objects. Therefore, the hanging unmanned aerial vehicle is more and more widely applied to the fields of military and civil use. But current unmanned aerial vehicle exists that the load of puting in is little, the security is poor, the operating flow of input system is unclear, put in the problem such as not accurate.
Disclosure of Invention
The invention aims to: the invention provides a dual-redundancy unmanned aerial vehicle hanging and releasing device which can stably and reliably execute hanging and releasing tasks, reduce the hanging, transporting and releasing cost of a traditional manned helicopter and improve the weight of goods hung on the unmanned aerial vehicle.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a dual-redundancy unmanned aerial vehicle hangs input device, includes couple box subassembly, and couple box subassembly includes box main part and rotatory couple, biography power turning arm and the cam of establishing in the box main part, normally puts in the subassembly and puts in the subassembly emergent motion of all controlling the cam, and the drive end swing of cam control biography power turning arm, the effect end of biography power turning arm and the spacing cooperation of the spacing end of couple.
Further, still include diaxon swing subassembly, diaxon swing subassembly includes installed part and the piece of weighing, and the installed part is articulated with the piece of weighing, is equipped with weighing sensor on the piece of weighing, and the piece of weighing is articulated with the box main part.
Further, the upper end and the lower extreme of installed part be equipped with first articulated joint and second articulated joint respectively, the upper end and the lower extreme of weighing piece are equipped with third articulated joint and fourth articulated joint respectively, all be equipped with the steel bushing in first, second, third and the fourth articulated joint, the second articulated joint is articulated through hinge bolt and third articulated joint, the fourth articulated joint is articulated through hinge bolt and box main part, the relative second of the articulated axis of first and fourth articulated joint is perpendicular with the articulated axis of third articulated joint.
Further, biography power turning arm articulate in box main part through turning the arm axle, be equipped with the turning arm torsional spring between turning the arm axle and the box main part, the turning arm torsional spring provides the trend that the action end is close to the couple for passing power turning arm, the cam passes through the camshaft and articulates in box main part, is equipped with the cam torsional spring between cam and the box main part, the cam torsional spring provides the locking for the cam and passes the power turning arm so that the action end is to the spacing trend of couple.
Furthermore, the hook is hinged on the box main body through a hook shaft.
Furthermore, the cam is provided with a cam part matched with the driving end of the force transmission crank arm, the cam is provided with a rotary driving shaft connected with the normal throwing component, and the cam is connected with the emergency throwing component through a cam shaft.
Furthermore, a relative occlusion structure is arranged between the limiting end of the hook and the acting end of the force transmission crank arm.
Furthermore, the driving end of the force transmission crank arm is provided with a rolling shaft through a bearing, and the rolling shaft is matched with the cam.
Further, normally put in the subassembly for rotary actuator, emergent put in the subassembly and be linear actuator.
Further, the normal subassembly of puting in include the steering wheel shell, the opening part of steering wheel shell is equipped with the rudder cover, is equipped with rotatory steering wheel in the steering wheel shell, rotatory steering wheel passes through the steering wheel connector and is connected with the cam.
Furthermore, the emergency releasing assembly comprises a shifting lever shell and a manual shifting lever penetrating out of the shifting lever shell, the manual shifting lever is connected with a cam shaft of the cam through a shifting lever connector, and the manual shifting lever is connected with a linear driving rod of the linear driving module.
The working method of the dual-redundancy unmanned aerial vehicle hanging and releasing device comprises a locking state, normal releasing and emergency releasing.
Locking state: the goods are hung on the hook, the goods generate a moment to the hook, the acting end of the force transmission connecting lever supports and limits the limiting end of the hook, the hook keeps in a balanced state, the acting end of the force transmission connecting lever is stressed by the force of the hook, the driving end of the force transmission connecting lever is stressed by the supporting force of the cam, the force transmission connecting lever keeps in a balanced state, the cam is locked in position, and the locking state of the whole device is achieved.
Normally putting: utilize the normal rotary actuator drive of putting in the subassembly for the cam takes place to rotate, breaks away from latched position, and the holding power of biography power connecting lever drive end disappears, drives the effect end motion of biography power connecting lever, makes the spacing end of effect end pair couple relieve spacingly, and under the effect of gravity, the opening of couple is rotatory down, realizes the goods unhook.
Emergency release: utilize emergent linear actuator drive of putting in the subassembly for the cam takes place the rotation fast, breaks away from latched position, and the holding power of biography power connecting lever drive end disappears, drives the action end motion of biography power connecting lever, makes the action end remove spacingly to the spacing end of couple, and under the effect of gravity, the opening of couple is rotatory down, realizes the goods unhook.
The invention has the beneficial effects that: 1. the unmanned aerial vehicle can realize the multi-mode delivery of goods suspended by the unmanned aerial vehicle; 2. accurate throwing can be realized through ground control; 3. the automatic identification and the release can be realized without human intervention; 4. the operation torque is small, and the mounting capacity is large; 5. emergency safety control measures are provided, and the task completion reliability is higher; 6. the weighing device has the weighing function, and the weight of goods is convenient to identify; 7. the inclination angle sensor is convenient for flight attitude control in the process of hanging transportation; 8. the hook state detection function can observe the opening and closing state of the hook at any time.
The main scheme and the further selection schemes can be freely combined to form a plurality of schemes which are all adopted and claimed by the invention; in the invention, the selection (each non-conflict selection) and other selections can be freely combined. The skilled person in the art can understand that there are many combinations, which are all the technical solutions to be protected by the present invention, according to the prior art and the common general knowledge after understanding the scheme of the present invention, and the technical solutions are not exhaustive herein.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Figure 2 is a schematic structural view of the hook box assembly of the present invention.
Figure 3 is a cross-sectional view of the hook box assembly of the present invention.
Fig. 4 is a schematic structural diagram of a normal dispensing assembly of the present invention.
Fig. 5 is a schematic view of the emergency release assembly of the present invention.
Fig. 6 is a schematic structural view of a two-axis oscillating assembly of the present invention.
Fig. 7 is an electrical block diagram of the present invention.
FIG. 8 is a schematic flow diagram of the system of the present invention.
In the figure: 10-a two-axis swing assembly, 20-a hook box assembly, 30-a normal throwing assembly and 40-an emergency throwing assembly; 11-mounting piece, 12-weighing piece, 13-weighing sensor, 14-steel sleeve, 15-hinge bolt; 21-box main body, 22-hook, 23-hook shaft, 24-force transmission crank arm, 25-crank arm shaft, 26-cam, 27-cam shaft, 28-rotation driving shaft, 29-cam part, 210-meshing structure, 211-roller, 212-crank arm torsion spring, 213-cam torsion spring and 214-crashproof nylon column; 31-a rotary steering engine, 32-a steering engine connecting piece, 33-a steering engine shell, 34-a steering engine cover and 35-a proximity switch; 41-a manual deflector rod, 42-a deflector rod connector, 43-a linear driving module, 44-a linear driving rod and 45-a deflector rod shell.
Detailed Description
The following non-limiting examples serve to illustrate the invention.
Example 1:
referring to fig. 1-8, a dual-redundancy unmanned aerial vehicle hanging and releasing device comprises a two-axis swinging assembly 10, a hook box assembly 20, a normal releasing assembly 30 and an emergency releasing assembly 40.
Two axis swing subassembly 10 installs on unmanned aerial vehicle fixed interface, and mainly used reduces the goods at horizontal and fore-and-aft swinging moment to reduce the influence of two axis swinging moment to unmanned aerial vehicle flight. The hook box assembly 20 is installed below the two-axis swing assembly 10, and is mainly a space formed by the left shell, the right shell and the box main body, and is used for accommodating a hook and a force transmission mechanism thereof. Normally throw in subassembly 30 and throw promptly and put subassembly 40 and install respectively in couple box subassembly both sides, and inside has arranged rotation and linear actuator respectively, and the couple is located couple box subassembly downside for direct hook goods, through the action of rotation or linear actuator control couple, realize the carry or the input of goods.
Referring to fig. 6, the two-axis swing assembly 10 includes a mounting member 11 and a weighing member 12, the mounting member 11 is provided at an upper end and a lower end thereof with a first hinge joint and a second hinge joint, respectively, and the weighing member 12 is provided at an upper end and a lower end thereof with a third hinge joint and a fourth hinge joint, respectively. The installation of installation part 11 on unmanned aerial vehicle is realized through first articulated joint. The second joint is hinged to the third joint by means of a hinge bolt 15, so that the mounting part 11 is hinged to the weighing part 12. The fourth hinge joint is hinged with the box main body 21 through a hinge bolt 15, so that the weighing piece 12 is hinged with the box main body 21.
The hinge axis of the first hinge joint and the hinge axis of the fourth hinge joint are vertical to the hinge axis of the second hinge joint and the hinge axis of the third hinge joint, so that the hinge transition connection of the horizontal axis and the vertical axis is realized, the swing reducing function is realized, the horizontal swing, the vertical swing and the rotating torque can be eliminated, and the rotating hook is arranged at the lower end of the cargo hook, so that the influence of a hanging object on the operation of the helicopter is eliminated. The weighing member 12 is provided with a weighing sensor 13 for detecting the weight of the goods. All be embedded in first, second, third and the fourth articulated joint have steel bushing 14, can improve joint strength and wearability.
Referring to fig. 2 and 3, the hook box assembly 20 includes a box main body 21, a left shell, a right shell, a hook 22, a force transmission crank arm 24, a cam 26, and a nylon post 214, wherein the left shell and the right shell are respectively connected to the left and right sides of the box main body 21 to form a space for accommodating each component. The hook 22, the force transmission crank arm 24 and the cam 26 are rotatably provided on the box main body 21.
Specifically, the middle of the hook 22 is hinged to the box main body 21 through a hook shaft 23, the middle of the force transmission crank arm 24 is hinged to the box main body 21 through a crank arm shaft 25, and the middle of the cam 26 is hinged to the box main body 21 through a cam shaft 27, so that the hook 22, the force transmission crank arm 24 and the cam 26 can move in a rotating mode relative to the box main body 21.
The normal throwing component 30 and the emergency throwing component 40 both control the motion of the cam 26, the cam 26 controls the driving end of the force transmission crank arm 24 to swing, and the acting end of the force transmission crank arm 24 is in limit fit with the limiting end of the hook 22.
When the goods are mounted in the locking state, the cam 26 does not move and locks the driving end of the force transmission crank arm 24, the acting end of the force transmission crank arm 24 clamps the limiting end of the hook 22 at the moment, the hook 22 is matched with the box main body 21 to completely close the hook 22, and the goods are mounted on the hook 22 and cannot fall off.
When the goods are normally or emergently thrown, the cam 26 is driven to rotate, and due to the unlocking of the force transmission crank arm 24, under the action of gravity, the limit end of the hook 22 is unlocked and matched with the action end of the force transmission crank arm 24, so that the goods are separated from the throwing.
A crank arm torsion spring 212 is arranged between the hook shaft 23 and the box main body 21, the crank arm torsion spring 212 provides a trend that the acting end is close to the hook 22 for the force-transferring crank arm 24 (anticlockwise direction in fig. 2 and 7), the moment generated by a hanging object is far smaller than the moment, and the good contact between the acting end of the force-transferring crank arm 24 and the limiting section of the hook 22 is ensured. Meanwhile, a relative occlusion structure 210 is arranged between the limiting end of the hook 22 and the acting end of the force transmission crank arm 24, so that the clamping reliability and stability can be ensured.
A cam torsion spring 213 is arranged between the cam 26 and the box main body 21, and the cam torsion spring 213 provides the cam 26 with a tendency of locking the force transmission crank arm 24 so that the acting end limits the hook 22 (clockwise direction in fig. 2 and 7), thereby ensuring the stability when the cam 26 is locked.
The driving end of the force transmission crank arm 24 is provided with a roller 211 through a bearing, the cam 26 is provided with a cam part 29 matched with the driving end of the force transmission crank arm 24, the cam part 29 is of a plate-shaped structure with two sides extending outwards, and the cam part 29 is matched with the roller 211, so that the contact position is accurate, and the contact friction force is convenient to reduce. When the cam part 29 locks the driving end, the perpendicular direction of the tangent line of the connecting contact surface points to the center of the rotating shaft and the center of the cam shaft, so that the force applied to the cam 26 of the locking piece by the upper end of the force transmission crank arm 24 points to the center of the cam shaft 27, no additional moment is generated, and position locking is realized.
The cam 26 is provided with a rotating driving shaft 28 connected with a normal releasing component 30, the cam 26 is connected with an emergency releasing component 40 through a cam shaft 27, and the emergency releasing component 40 drives the cam 26 to rotate.
Referring to fig. 4, the normal releasing assembly 30 is a rotary actuator, is arranged on the left shell side of the hook 22 and comprises a rotary steering engine 31, a steering engine shell 33 and a proximity switch 35, the steering engine shell 33 is fixed on the box main body 21, a detachable steering engine cover 34 is arranged at an opening of the steering engine shell 33, the rotary steering engine 31 is arranged in the steering engine shell 33, and the rotary steering engine 31 is connected with the cam 26 through a steering engine connector 32. In the normal release, the rotational driving force is provided by the rotary rudder machine 31 and transmitted to the cam 26 through the rotary rudder machine 31 and the rotational driving shaft 28.
An inductive approach switch 35 is arranged beside the steering engine shell 33 and used for detecting the opening and closing states of the hook, and the approach switch is fixed on the steering engine shell through threads. The proximity switch is an inductive normally closed type, has high detection precision, and has the principle that when a metal target approaches the magnetic field and reaches an induction distance, eddy current is generated in the metal target, so that oscillation is attenuated, oscillation is stopped, the metal target is processed by an amplifying circuit and converted into a switching signal, and a driving control device is triggered, so that a non-contact detection target is reached.
Referring to fig. 5, the emergency release assembly 40 is a linear actuator. The emergency release assembly 40 comprises a manual shift lever 41, a linear driving module 43 and a shift lever shell 45, wherein the shift lever shell 45 is fixed on the box main body 21, and the manual shift lever 41 penetrates out of the shift lever shell 45, so that the hook 22 can be manually locked or unlocked. The manual lever 41 is connected to the cam shaft 27 of the cam 26 through a lever connector 42, and the manual lever 41 is connected to a linear driving rod 44 of a linear driving module 43. During emergency release, the linear driving module 43 acts rapidly and is transmitted through the linear driving rod 44, the poking rod connector 42 and the cam shaft 27, so that rapid unlocking of the cam 26 is ensured.
The hooking box assembly 20 is hooked by driving the corresponding position of the cam 26 with force and torque by means of a manual, linear actuator, or rotary actuator. Causing the cam shaft 27 to rotate counterclockwise out of the locked position. The force transmission crank arm 24 generates a clockwise moment, the lower end moves to the left, and the upper end moves downwards. Under the action of gravity, the upper end of the hook 22 rotates anticlockwise around the hook shaft 23, and unhooking of the hung object is achieved. The hook 22 finally rotates to contact with the crash nylon post 214 above the hook shaft 23, so that the hook 22 is positioned and the crash is buffered.
After the goods are unhooked, the hook 22 cannot be automatically reset, and the hook needs to be manually reset. When the hook 22 is positioned below, the hook 22 is slowly rotated, the upper surface of the upper end of the hook 22 is contacted with the corresponding position of the force transmission crank arm 24, and the hook is rotated to the wedge-shaped occlusion position under the driving of the moment of the hook 22 to lock the hook.
The hanging hook adopts the basic principle that the weight of goods is converted into a smaller operating torque through three-level torque conversion, and the operating torque is provided through a linear actuator and a rotary actuator, so that electric control is realized. The hook is locked when the power is cut off, and the goods are transported; when the power is on, the hook is unlocked, and the goods are released.
The working principle is as follows: after unmanned aerial vehicle sent the input order, rotatory or linear actuator circular telegram, actuator work drives camshaft anticlockwise rotation, and biography power connecting lever rotates around passing power connecting lever pivot clockwise, gets in touch and biography power connecting lever separation, and couple around couple pivot anticlockwise rotation under the action of gravity, and the goods on the couple breaks away from the couple, puts in the goods, and the goods drops downwards under the effect of gravity.
Example 2:
referring to fig. 1-8, a working method of a dual-redundancy unmanned aerial vehicle hanging and releasing device, which adopts the dual-redundancy unmanned aerial vehicle hanging and releasing device of embodiment 1, the locking principle of the hook box assembly 20 is that the hook can be released by using smaller driving force through three-level torque conversion and locking, so as to achieve the purpose of releasing goods, and the locking is realized by means of the preset torsion of the cam torsion spring (counterclockwise).
The method specifically comprises a locking state, normal release and emergency release.
A locking state: goods are hung on the hook 22, the goods generate a moment M1 to the hook 22, and the acting end of the force transmission crank arm 24 supports and limits the limiting end of the hook 22, so that the hook 22 keeps a balanced state. The acting end of the force transmission connecting lever 24 is forced by the hook, and the driving end of the force transmission connecting lever 24 is supported by the cam 26, so that the moment M2 on the force transmission connecting lever 24 keeps a balanced state. The cam torsion spring 213 of the cam 26 itself provides a certain counterclockwise moment M3 to achieve the position locking, i.e., the locking state of the entire device.
Referring to fig. 7, normal delivery: and the ground station operator operates a ground station button to control the on-off of the circuit of the rotary actuator.
The cam 26 is driven by a rotary actuator of the normal releasing component 30 to rotate and separate from a locking position, the supporting force of the driving end of the force transmission crank arm 24 disappears, the action end of the force transmission crank arm 24 is driven to move, the action end releases the limit of the limit end of the hook 22, and under the action of gravity, the opening of the hook 22 rotates downwards to realize unhooking of goods;
referring to fig. 7, emergency delivery: and according to the abnormity of the proximity switch signal, the weight signal and the phase, a ground station operator operates a ground station button to control the on-off of the linear electromagnet.
The cam 26 is driven by the linear actuator of the emergency releasing assembly 40 to rotate quickly and break away from the locking position, the supporting force of the driving end of the force transmission crank arm 24 disappears, the action end of the force transmission crank arm 24 is driven to move, the action end is relieved from limiting of the limiting end of the hook 22, and under the action of gravity, the opening of the hook 22 rotates downwards to realize unhooking of goods.
Referring to fig. 8, the system workflow:
1) Under unmanned aerial vehicle's off-state, can pull manual driving lever and open the goods couple, or use normal input function, the aircraft affairs are opened the goods couple through control switch.
2) And contacting a lifting ring at the tail end of the sling with the cargo hook, so that the lifting ring pushes the hook to rotate anticlockwise, and observing whether the indication of the cargo hook can be completely seen.
3) And the ground station is informed of the monitoring personnel by the engineering service, and the goods are hung. The ground station monitoring personnel check whether the goods state indication corresponding to the ground station software is normal.
4) The unmanned aerial vehicle normally takes off and executes transportation tasks according to specified air routes, or the unmanned aerial vehicle gives an emergency release instruction or triggers an automatic release algorithm at the ground station according to alarm.
5) After the suspended goods of the unmanned aerial vehicle normally reach the destination, the command is issued through the ground station to normally put in the unmanned aerial vehicle, and the normally put-in device is powered on to realize the airdrop goods.
6) And if the unmanned aerial vehicle flies, the unmanned aerial vehicle triggers an alarm in case of emergency, and is judged by ground station monitoring personnel or autonomously judged by the unmanned aerial vehicle, and whether emergency release is adopted or not. Or the hanging control system provides instructions to automatically trigger the throwing.
7) After the destination is reached, the ground station operator can press a normal putting instruction to put in the data, and the data can be automatically put in according to an internal algorithm.
The foregoing basic embodiments of the invention and their various further alternatives can be freely combined to form multiple embodiments, all of which are contemplated and claimed herein. In the scheme of the invention, each selection example can be combined with any other basic example and selection example at will.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a two redundancy unmanned aerial vehicle hang and put in device, includes couple box subassembly (20), its characterized in that: the hook box component (20) comprises a box main body (21), a hook (22) rotatably arranged on the box main body (21), a force transmission crank arm (24) and a cam (26), wherein the normal throwing component (30) and the emergency throwing component (40) both control the movement of the cam (26), the cam (26) controls the driving end of the force transmission crank arm (24) to swing, and the action end of the force transmission crank arm (24) is in limit fit with the limit end of the hook (22).
2. The hanging and throwing device of dual-redundancy unmanned aerial vehicle according to claim 1, characterized in that: still include diaxon swing subassembly (10), diaxon swing subassembly (10) are including installed part (11) and weighing piece (12), and installed part (11) are articulated with weighing piece (12), are equipped with weighing sensor (13) on weighing piece (12), and weighing piece (12) are articulated with box main part (21).
3. The dual-redundancy unmanned aerial vehicle hanging and releasing device of claim 2, characterized in that: the upper end and the lower extreme of installed part (11) be equipped with first articulated head and second articulated head respectively, the upper end and the lower extreme of weighing piece (12) are equipped with third articulated head and fourth articulated head respectively, first, second, all be equipped with steel bushing (14) in third and the fourth articulated head, the second articulated head is articulated through articulated bolt (15) and third articulated head, the fourth articulated head is articulated through articulated bolt (15) and box main part (21), the articulated axis of first and fourth articulated head is perpendicular with the articulated axis of third articulated head for the second relatively.
4. The dual-redundancy unmanned aerial vehicle hanging and releasing device of claim 1, characterized in that: biography power crank arm (24) articulate on box main part (21) through crank arm axle (25), be equipped with crank arm torsional spring (212) between crank arm axle (25) and box main part (21), crank arm torsional spring (212) provide the trend that the end is close to couple (22) for biography power crank arm (24), cam (26) articulate on box main part (21) through camshaft (27), be equipped with cam torsional spring (213) between cam (26) and box main part (21), cam torsional spring (213) provide locking power crank arm (24) so that the end of acting is to the spacing trend of couple (22).
5. The dual-redundancy unmanned aerial vehicle hanging and releasing device of claim 1, characterized in that: the emergency releasing device is characterized in that a cam part (29) matched with the driving end of the force transmission crank arm (24) is arranged on the cam (26), a rotating driving shaft (28) connected with the normal releasing component (30) is arranged on the cam (26), and the cam (26) is connected with the emergency releasing component (40) through a cam shaft (27).
6. The dual-redundancy unmanned aerial vehicle hanging and throwing device according to claim 1 or 5, characterized in that: the driving end of the force transmission crank arm (24) is provided with a roller (211) through a bearing, and the roller (211) is matched with the cam (26).
7. The dual-redundancy unmanned aerial vehicle hanging and releasing device of claim 1, characterized in that: the normal releasing component (30) is a rotary actuator, and the emergency releasing component (40) is a linear actuator.
8. The dual-redundancy unmanned aerial vehicle hanging and releasing device of claim 1 or 7, characterized in that: normally put in subassembly (30) including steering wheel shell (33), the opening part of steering wheel shell (33) is equipped with rudder cover (34), is equipped with rotatory steering wheel (31) in steering wheel shell (33), rotatory steering wheel (31) are connected with cam (26) through steering wheel connector (32).
9. The dual-redundancy unmanned aerial vehicle hanging and releasing device of claim 1 or 7, characterized in that: the emergency releasing assembly (40) comprises a deflector rod shell (45) and a manual deflector rod (41) penetrating out of the deflector rod shell (45), the manual deflector rod (41) is connected with a cam shaft (27) of the cam (26) through a deflector rod connector (42), and the manual deflector rod (41) is connected with a linear driving rod (44) of a linear driving module (43).
10. A working method of a dual-redundancy unmanned aerial vehicle hanging and throwing device adopts any claim 1~9 as the hanging and throwing device of the dual-redundancy unmanned aerial vehicle, and is characterized in that: the method comprises the steps of locking, normal release and emergency release;
locking state: the goods are hung on the hook (22), the goods generate a moment on the hook (22), the action end of the force transmission connecting lever (24) supports and limits the limiting end of the hook (22), so that the hook (22) keeps a balance state, the action end of the force transmission connecting lever (24) bears the force of the hook, the driving end of the force transmission connecting lever (24) bears the supporting force of the cam (26), so that the force transmission connecting lever (24) keeps the balance state, the cam (26) realizes position locking, and the locking state of the whole device is realized;
normally putting: the cam (26) is driven by a rotary actuator of the normal throwing component (30) to rotate and separate from a locking position, the supporting force of the driving end of the force transmission crank arm (24) disappears, the action end of the force transmission crank arm (24) is driven to move, the action end releases the limit of the limit end of the hook (22), and the opening of the hook (22) rotates downwards under the action of gravity to realize unhooking of goods;
emergency release: the linear actuator of the emergency releasing assembly (40) is used for driving, so that the cam (26) rotates rapidly and is separated from the locking position, the supporting force of the driving end of the force transmission crank arm (24) disappears, the action end of the force transmission crank arm (24) is driven to move, the action end is used for releasing the limit of the limit end of the hook (22), and under the action of gravity, the opening of the hook (22) rotates downwards, and the unhooking of goods is realized.
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| CN202211593000.8A CN115593631B (en) | 2022-12-13 | 2022-12-13 | Dual-redundancy unmanned aerial vehicle hanging and throwing device and working method thereof |
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| CN202211593000.8A CN115593631B (en) | 2022-12-13 | 2022-12-13 | Dual-redundancy unmanned aerial vehicle hanging and throwing device and working method thereof |
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