CN115593631B - Dual-redundancy unmanned aerial vehicle hanging and throwing device and working method thereof - Google Patents
Dual-redundancy unmanned aerial vehicle hanging and throwing device and working method thereof Download PDFInfo
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- CN115593631B CN115593631B CN202211593000.8A CN202211593000A CN115593631B CN 115593631 B CN115593631 B CN 115593631B CN 202211593000 A CN202211593000 A CN 202211593000A CN 115593631 B CN115593631 B CN 115593631B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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Abstract
The invention discloses a double-redundancy unmanned aerial vehicle hanging and throwing device and a working method thereof. The throwing device comprises a hook box assembly, the hook box assembly comprises a box main body and a hook, a force transmission crank arm and a cam which are rotatably arranged on the box main body, the normal throwing assembly and the emergency throwing assembly both control the movement of the cam, the cam controls the driving end of the force transmission crank arm to swing, and the action end of the force transmission crank arm is in limit fit with the limit end of the hook. The working method adopts the double-redundancy unmanned aerial vehicle hanging and throwing device, and comprises a locking state, normal throwing and emergency throwing. The invention has the beneficial effects that: the cargo of the hanging unmanned aerial vehicle can be put in multiple modes; accurate throwing can be realized through ground control; the autonomous identification and release can be realized under the condition of no human intervention; the operation moment is small, and the mounting is large; the emergency safety control measures are adopted, 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 double-redundancy unmanned aerial vehicle hanging throwing device.
Background
Nowadays, unmanned aerial vehicles have greatly developed with their own unique advantages, and hanging, transporting and delivering materials are one of typical applications of unmanned aerial vehicles. As an ideal operation platform, the device has flexible maneuverability, and can rapidly and efficiently carry out material throwing operation in places where other transport means are difficult to reach. And the method does not need to consider the geographical environment, is not limited by land transportation, and is easy to operate and operate. Furthermore, the hanging type transportation is adopted, so that the influence of the appearance of the hanging object is not worried about. Therefore, the hanging unmanned aerial vehicle is increasingly widely applied in the military and civil fields. However, the existing unmanned aerial vehicle has the problems of small delivery load, poor safety, unclear working flow of a delivery system, inaccurate delivery and the like.
Disclosure of Invention
The invention aims at: the invention provides a double-redundancy unmanned aerial vehicle hanging and throwing device, which not only can stably and reliably execute hanging and throwing tasks, but also can reduce the cost of hanging, transporting and throwing the traditional unmanned helicopter and improve the weight of the goods carried by the unmanned aerial vehicle, and the double-redundancy design can effectively solve the problem of throwing safety in the prior art, expand the way of hanging and throwing the unmanned aerial vehicle by the unmanned helicopter, realize heavy load throwing to light load throwing, single throwing to multifunctional throwing and fully autonomous throwing, and promote the development of the hanging unmanned aerial vehicle industry.
The aim of the invention is achieved by the following technical scheme:
the utility model provides a device is put in to dual-redundancy unmanned aerial vehicle suspension, includes couple box subassembly, couple box subassembly includes box main part and rotatory couple, power turning arm and the cam of establishing in the box main part, and normal subassembly and emergent subassembly motion of all controlling the cam of putting in, cam control power turning arm's drive end swing, power turning arm's action end and the spacing cooperation of the spacing end of couple.
Further, the box comprises a two-shaft swinging assembly, wherein the two-shaft swinging assembly comprises a mounting piece and a weighing piece, the mounting piece is hinged with the weighing piece, a weighing sensor is arranged on the weighing piece, and the weighing piece is hinged with the box body.
Further, the upper end and the lower end of the mounting piece are respectively provided with a first hinge joint and a second hinge joint, the upper end and the lower end of the weighing piece are respectively provided with a third hinge joint and a fourth hinge joint, steel sleeves are respectively arranged in the first hinge joint, the second hinge joint is hinged with the third hinge joint through a hinge bolt, the fourth hinge joint is hinged with the box main body through a hinge bolt, and the hinge axes of the first hinge joint and the fourth hinge joint are perpendicular to the hinge axes of the second hinge joint and the third hinge joint.
Further, the force transmission crank arm is hinged on the box main body through a crank arm shaft, a crank arm torsion spring is arranged between the crank arm shaft and the box main body, the crank arm torsion spring provides a trend that an acting end is close to a hook for the force transmission crank arm, the cam is hinged on the box main body through a cam shaft, a cam torsion spring is arranged between the cam and the box main body, and the cam torsion spring provides a trend that the acting end limits the hook for the cam to lock the force transmission crank arm.
Further, the hook is hinged on the box main body through a hook shaft.
Further, 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 the cam shaft.
Further, a relative occlusion structure is arranged between the limiting end of the hook and the acting end of the force transmission crank arm.
Further, a rolling shaft is arranged at the driving end of the force transmission crank arm through a bearing, and the rolling shaft is matched with the cam.
Further, the normal throwing component is a rotary actuator, and the emergency throwing component is a linear actuator.
Further, normal subassembly of throwing in include the steering wheel shell, the opening part of steering wheel shell is equipped with the steering wheel lid, is equipped with rotatory steering wheel in the steering wheel shell, rotatory steering wheel passes through steering wheel connector and is connected with the cam.
Further, the emergency throwing component comprises a deflector rod shell and a manual deflector rod penetrating out of the deflector rod shell, the manual deflector rod is connected with a cam shaft of the cam through a deflector rod connector, and the manual deflector rod is connected with a linear driving rod of the linear driving module.
The working method of the double-redundancy unmanned aerial vehicle hanging and throwing device comprises the steps of locking, normal throwing and emergency throwing.
Locking state: the goods are hung on the hooks, the goods generate a moment for the hooks, the acting end of the force transmission crank arm supports and limits the limiting end of the hooks, so that the hooks are kept in a balanced state, the acting end of the force transmission crank arm is acted by the force of the hooks, the driving end of the force transmission crank arm is acted by the supporting force of the cam, the force transmission crank arm is kept in a balanced state, and the cam realizes position locking and a locking state of the whole device.
And (3) normal throwing: the rotary actuator of the normal throwing component is utilized to drive the cam to rotate, the cam is separated from the locking position, the supporting force of the driving end of the force transmission crank arm disappears, the acting end of the force transmission crank arm is driven to move, the limiting end of the hook is relieved from the acting end to limit, and under the action of gravity, the opening of the hook rotates downwards, so that cargo unhooking is realized.
And (3) emergency throwing: utilize emergent linear actuator drive of throwing in the subassembly for the cam takes place to rotate fast, breaks away from the locking position, and the holding power of biography power turning arm drive end disappears, drives the action end motion of biography power turning arm, makes the action end release spacing to the spacing end of couple, and under the effect of gravity, the opening of couple is rotatory downwards, realizes the goods unhooking.
The invention has the beneficial effects that: 1. the cargo of the hanging unmanned aerial vehicle can be put in multiple modes; 2. accurate throwing can be realized through ground control; 3. the autonomous identification and release can be realized under the condition of no human intervention; 4. the operation moment is small, and the mounting is large; 5. the emergency safety control measures are adopted, so that the task completion reliability is higher; 6. the weighing function is realized, so that the weight of goods can be conveniently identified; 7. the inclination angle sensor is convenient for controlling the flight attitude in the hanging and transporting process; 8. the hook state detection function can observe the opening and closing states of the hooks at any time.
The foregoing inventive subject matter and various further alternatives thereof may be freely combined to form a plurality of alternatives, all of which are employable and claimed herein; and the invention can be freely combined between the (non-conflicting choices) choices and between the choices and other choices. Various combinations will be apparent to those skilled in the art from a review of the present disclosure, and are not intended to be exhaustive or all of the present disclosure.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the construction of the hook box assembly of the present invention.
Fig. 3 is a cross-sectional view of the construction of the hook box assembly of the present invention.
Fig. 4 is a schematic structural view of a normal delivery assembly of the present invention.
Fig. 5 is a schematic structural view of the emergency delivery assembly of the present invention.
FIG. 6 is a schematic view of a two-axis wobble assembly according to the present invention.
Fig. 7 is an electrical operational block diagram of the present invention.
Fig. 8 is a schematic flow diagram of the system of the present invention.
In the figure: 10-two-axis swinging assemblies, 20-hook box assemblies, 30-normal throwing assemblies and 40-emergency throwing assemblies; 11-mounting parts, 12-weighing parts, 13-weighing sensors, 14-steel sleeves and 15-hinging bolts; the anti-collision nylon column comprises a box body 21, a hook 22, a hook shaft 23, a force transmission crank arm 24, a crank arm shaft 25, a cam 26, a cam shaft 27, a rotary driving shaft 28, a cam part 29, a snap structure 210, a roller 211, a crank arm torsion spring 212, a cam torsion spring 213 and a collision-proof nylon column 214; 31-rotating steering gears, 32-steering gear connecting pieces, 33-steering gear shells, 34-steering gear covers and 35-proximity switches; 41-manual lever, 42-lever connector, 43-linear drive module, 44-linear drive lever, 45-lever housing.
Detailed Description
The following non-limiting examples illustrate the invention.
Example 1:
referring to fig. 1 to 8, a hanging and throwing device for a dual-redundancy unmanned aerial vehicle comprises a two-axis swinging assembly 10, a hook box assembly 20, a normal throwing assembly 30 and an emergency throwing assembly 40.
The two-axis swing assembly 10 is mounted on the unmanned aerial vehicle fixing interface and is mainly used for reducing swing moment of cargoes in the transverse direction and the longitudinal direction, so that influence of the two-axis swing moment on flight of the unmanned aerial vehicle is reduced. The hook box assembly 20 is installed below the two-axis swing assembly 10, and is mainly a space formed by a left shell, a right shell and a box main body, and is used for accommodating a hook and a force transmission mechanism thereof. The normal throwing component 30 and the emergency throwing component 40 are respectively arranged on two sides of the hook box component, rotary actuators and linear actuators are respectively arranged in the normal throwing component and the emergency throwing component, the hooks are positioned on the lower side of the hook box component and used for directly hooking cargoes, and the actions of the hooks are controlled through the rotary actuators or the linear actuators, so that the loading or throwing of the cargoes is realized.
Referring to fig. 6, the two-axis swing assembly 10 includes a mounting member 11 and a weighing member 12, the upper and lower ends of the mounting member 11 are respectively provided with a first hinge and a second hinge, and the upper and lower ends of the weighing member 12 are respectively provided with a third hinge and a fourth hinge. The mounting of the mounting 11 on the unmanned aerial vehicle is achieved by means of a first joint. The second hinge joint is hinged with the third hinge joint through a hinge bolt 15, so that the mounting piece 11 is hinged with the weighing piece 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 axes of the first hinge joint and the fourth hinge joint are vertical to the hinge axes of the second hinge joint and the third hinge joint so as to realize the hinge transitional connection of the horizontal axis and the vertical axis, the swing reducing function is realized, the horizontal swing, the vertical swing and the rotation torque can be eliminated, the lower end of the cargo hook is provided with a rotation hook, and the influence of a hanging object on the operation of the helicopter is eliminated. The weighing piece 12 is provided with a weighing sensor 13 for detecting the weight of the goods. The steel sleeves 14 are embedded in the first, second, third and fourth hinge joints, so that the connection strength and the wear resistance can be improved.
Referring to fig. 2 and 3, the hook box assembly 20 includes a box body 21, a left housing, a right housing, a hook 22, a force-transmitting crank arm 24, a cam 26, and an anti-collision nylon post 214, the left housing and the right housing being respectively connected to left and right sides of the box body 21 to realize a space for accommodating each component. The hook 22, the force-transmitting lever 24 and the cam 26 are rotatably provided on the case main body 21.
Specifically, the middle part of the hook 22 is hinged on the box main body 21 through a hook shaft 23, the middle part of the force transmission crank arm 24 is hinged on the box main body 21 through a crank shaft 25, and the middle part of the cam 26 is hinged on 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 rotate relative to the box main body 21.
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 acting end of the force transmission crank arm 24 is in limit fit with the limit 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, at the moment, the action end of the force transmission crank arm 24 clamps the limiting end of the hook 22, the hook 22 is matched with the box main body 21 to realize complete closing of the hook 22, and the goods are prevented from falling off when being mounted on the hook 22.
When normal or emergency throwing is performed, the cam 26 is driven to rotate, and the locking of the force transmission crank arm 24 is released, so that the limiting end of the hook 22 is clamped and matched with the acting end of the force transmission crank arm 24 under the action of gravity to release, and the release and throwing of goods are realized.
A lever torsion spring 212 is arranged between the hook shaft 23 and the box main body 21, the lever torsion spring 212 provides a trend that an acting end of the force transmission lever 24 approaches to the hook 22 (anticlockwise direction of fig. 2 and 7), and the moment is far smaller than the moment generated by a hanging object to the hook, so that good contact between the acting end of the force transmission lever 24 and a 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 a trend of locking the force transmission crank arm 24 for the cam 26 to limit the hook 22 by the acting end (clockwise direction in fig. 2 and 7), so that stability of the cam 26 when locked is ensured.
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, the cam part 29 is matched with the roller 211, the contact position is accurate, and the contact friction force is convenient to reduce. When the driving end is locked by the cam part 29, the vertical direction of the tangent line of the 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 extra moment is generated, and the position locking is realized.
The cam 26 is provided with a rotary driving shaft 28 connected with a normal throwing assembly 30, the cam 26 is connected with an emergency throwing assembly 40 through a cam shaft 27, and the emergency throwing assembly 40 realizes rotary driving of the cam 26.
Referring to fig. 4, the normal delivery assembly 30 is a rotary actuator, and is arranged on the left casing side of the hook 22, and comprises a rotary steering engine 31, a steering engine casing 33 and a proximity switch 35, wherein the steering engine casing 33 is fixed on the box main body 21, a detachable steering engine cover 34 is arranged at an opening of the steering engine casing 33, a rotary steering engine 31 is arranged in the steering engine casing 33, and the rotary steering engine 31 is connected with the cam 26 through a steering engine connector 32. During normal throwing, a rotary driving force is provided through the rotary steering engine 31, and then is transmitted to the cam 26 through the rotary steering engine 31 and the rotary driving shaft 28.
An inductive proximity switch 35 is arranged beside the steering engine housing 33 and is used for detecting the opening and closing states of the hooks, and the proximity switch is fixed on the rotating steering engine housing 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, vortex is generated in the metal target, so that oscillation is attenuated, vibration is stopped, and then the vibration is processed by the amplifying circuit and converted into a switch signal, so that a drive control device is triggered, and the target of non-contact detection is achieved.
Referring to fig. 5, the emergency drop assembly 40 is a linear actuator. The emergency release assembly 40 comprises a manual lever 41, a linear driving module 43 and a lever housing 45, wherein the lever housing 45 is fixed on the box main body 21, and the manual lever 41 penetrates out of the lever housing 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 via a lever connector 42, and the manual lever 41 is connected to a linear drive lever 44 of a linear drive module 43. In the event of emergency delivery, the linear drive module 43 is rapidly actuated, which is transmitted via the linear drive lever 44, the lever connector 42 and the cam shaft 27, ensuring a rapid unlocking of the cam 26.
The hooking box assembly 20 is opened by using a manual actuator, a linear actuator and a rotary actuator to drive force and moment at the corresponding positions of the cam 26. Causing the cam shaft 27 to rotate counterclockwise out of the locked position. The force-transmitting lever 24 generates a clockwise moment with the lower end moving left and the upper end moving down. Under the action of gravity, the upper end of the hook 22 rotates anticlockwise around the hook shaft 23, so that the hung object is unhooked. The hook 22 finally rotates to be in contact with the anti-collision nylon column 214 above the hook shaft 23, so that the positioning of the hook 22 and buffering anti-collision are realized.
After unhooking the goods, 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 a wedge-shaped engagement position under the driving of the moment of the hook 22, so that the hook is locked.
The basic principle of the hanging hook is that the weight of goods is converted into a smaller operation torque through three-level torque conversion, and then the operation torque is provided by a linear actuator and a rotary actuator, so that electric control is realized. The hook is locked when the power is off, and the goods are transported; when the power is on, the hook is unlocked, and the goods are put in.
Working principle: after unmanned aerial vehicle sends the input command, rotatory or sharp actuator circular telegram, actuator work drives the camshaft anticlockwise rotation, and the power transmission turning arm is rotated clockwise around the power transmission turning arm pivot, and couple and power transmission turning arm separation, couple anticlockwise rotation around the couple pivot under the action of gravity, the goods on the couple break away from the couple, put in the goods, and the goods drops downwards under the effect of gravity.
Example 2:
referring to fig. 1 to 8, a working method of a dual-redundancy unmanned aerial vehicle hanging and throwing device is shown, in which the dual-redundancy unmanned aerial vehicle hanging and throwing device of embodiment 1 is adopted, the locking principle of a hook box assembly 20 is that a hook can be released by three-level torque conversion and locking, a small driving force is used, so that the purpose of throwing goods is achieved, and a cam torsion spring (anticlockwise) is used for locking according to a preset torsion.
The method specifically comprises a locking state, normal throwing and emergency throwing.
Locking state: the goods hang 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 is kept in a balanced state. The acting end of the force transmission crank arm 24 is subjected to the force of the hook, and the driving end of the force transmission crank arm 24 is subjected to the supporting force of the cam 26, so that the moment M2 on the force transmission crank arm 24 is kept in a balanced state. The cam torsion spring 213 of the cam 26 itself provides a certain counterclockwise moment M3 to realize the position locking, i.e., to realize the locked state of the whole device.
Referring to fig. 7, normal delivery: the ground station operator operates the ground station button to control the circuit on-off of the rotary actuator.
The cam 26 is rotated by utilizing the driving of the rotary actuator of the normal throwing assembly 30 and is separated from the locking position, the supporting force at the driving end of the force transmission crank arm 24 disappears, the acting end of the force transmission crank arm 24 is driven to move, the limiting end of the hook 22 is released from the acting end to be limited, and the opening of the hook 22 is rotated downwards under the action of gravity, so that the unhooking of goods is realized;
referring to fig. 7, emergency delivery: according to the proximity switch signal, the weight signal and the abnormal phase, a ground station operator operates a ground station button to control the on-off of the linear electromagnet.
The linear actuator of the emergency throwing assembly 40 is utilized to drive the cam 26 to rotate rapidly, the cam is separated from the locking position, the supporting force at the driving end of the force transmission crank arm 24 disappears, the acting end of the force transmission crank arm 24 is driven to move, the limiting end of the hook 22 is relieved by the acting end, the opening of the hook 22 rotates downwards under the action of gravity, and cargo unhooking is achieved.
Referring to fig. 8, the system workflow:
1) Under the unmanned aerial vehicle shutdown state, can pull the manual driving lever and open the goods couple, perhaps use normal function of puting in, the duty opens the goods couple through control switch.
2) And the hanging ring at the tail end of the sling is contacted with the cargo hook, so that the hanging ring pushes the hook to rotate anticlockwise, and whether the cargo hook can be completely seen or not is observed.
3) The crew of the ground station is informed of the suspended goods. The ground station monitoring personnel check whether the ground station software indicates the goods state normally.
4) And the unmanned aerial vehicle normally takes off, and carries out a transportation task according to a specified route, or the unmanned aerial vehicle sends an emergency delivery instruction or triggers an automatic delivery algorithm on a ground station according to an alarm.
5) After the goods hung by the unmanned aerial vehicle normally reach the destination, the goods are normally put in through the ground station sending instruction, and the normal dispenser is electrified to realize the air-drop of the goods.
6) If the unmanned aerial vehicle flies in the process, an emergency trigger alarm is met, and whether emergency delivery is adopted is judged by ground station monitoring personnel or the unmanned aerial vehicle autonomously. The hanging control system can also provide instructions to automatically trigger the throwing.
7) After the destination is reached, the ground station operator can press the normal throwing instruction to throw, and the ground station operator can automatically throw according to an internal algorithm.
The foregoing basic embodiments of the invention, as well as other embodiments of the invention, can be freely combined to form numerous embodiments, all of which are contemplated and claimed. In the scheme of the invention, each selection example can be arbitrarily combined with any other basic example and selection example.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. The utility model provides a dual-redundancy unmanned aerial vehicle hangs dispensing device, includes couple box subassembly (20), its characterized in that: the hook box assembly (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 assembly (30) and the emergency throwing assembly (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 acting end of the force transmission crank arm (24) is in limit fit with the limit end of the hook (22);
the working method of the hanging and throwing device comprises a locking state, normal throwing and emergency throwing;
locking state: the goods are hung on the hook (22), the goods generate a moment on the hook (22), 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) is kept in a balanced state, the acting end of the force transmission crank arm (24) is subjected to the force of the hook, the driving end of the force transmission crank arm (24) is subjected to the supporting force of the cam (26) so that the force transmission crank arm (24) is kept in a balanced state, and the cam (26) realizes position locking to realize the locking state of the integral device;
and (3) normal throwing: the rotary actuator of the normal throwing component (30) is utilized to drive the cam (26) to rotate and separate from the locking position, the supporting force of the driving end of the force transmission crank arm (24) disappears, the acting end of the force transmission crank arm (24) is driven to move, the limiting end of the hook (22) is relieved from the acting end, and the opening of the hook (22) rotates downwards under the action of gravity to unhook cargoes;
and (3) emergency throwing: the linear actuator of the emergency throwing assembly (40) is utilized to drive the cam (26) to rotate rapidly and separate from the locking position, the supporting force at the driving end of the force transmission crank arm (24) disappears, the acting end of the force transmission crank arm (24) is driven to move, the limiting end of the hook (22) is relieved from being limited by the acting end, and the opening of the hook (22) rotates downwards under the action of gravity, so that unhooking of goods is realized;
the system work flow of the hanging and throwing device comprises the following steps: 1) Under the stopping state of the unmanned aerial vehicle, the manual deflector rod is pulled to open the cargo hook, or the cargo hook is opened by the machine through the control switch by using the normal throwing function; 2) The hanging ring at the tail end of the sling is contacted with the goods hook, so that the hanging ring pushes the hook to rotate anticlockwise, and whether the goods hook can be completely seen or not is observed; 3) The machine service informs the ground station monitoring personnel that the goods are hung, and the ground station monitoring personnel check whether the goods state indication corresponding to the ground station software is normal or not; 4) The unmanned aerial vehicle normally takes off, and a transportation task is executed according to a specified route, or the unmanned aerial vehicle issues an emergency throwing instruction or triggers an automatic throwing algorithm according to an alarm at a ground station; 5) After the suspended goods of the unmanned aerial vehicle normally reach the destination, the ground station gives an instruction to normally put in, and the normal dispenser is electrified to realize the air cargo throwing; 6) If the unmanned aerial vehicle encounters an emergency to trigger an alarm in the flight process, the ground station monitoring personnel judge or the unmanned aerial vehicle autonomously judge whether emergency throwing is adopted or not, or a hanging control system provides an instruction to automatically trigger throwing; 7) After reaching the destination, the ground station operator presses down the normal throwing instruction to throw, or automatically throw according to an internal algorithm;
the force transmission crank arm (24) is hinged on the box main body (21) through a crank arm shaft (25), a crank arm torsion spring (212) is arranged between the crank arm shaft (25) and the box main body (21), the crank arm torsion spring (212) provides a trend that an acting end of the force transmission crank arm (24) is close to the hook (22), the cam (26) is hinged on the box main body (21) through a cam shaft (27), a cam torsion spring (213) is arranged between the cam (26) and the box main body (21), and the cam torsion spring (213) provides a trend that the acting end limits the hook (22) by locking the force transmission crank arm (24) for the cam (26);
the cam (26) is provided with a cam part (29) matched with the driving end of the force transmission crank arm (24), the cam (26) is provided with a rotary driving shaft (28) connected with a normal throwing assembly (30), and the cam (26) is connected with an emergency throwing assembly (40) through a cam shaft (27);
the normal throwing component (30) is a rotary actuator, and the emergency throwing component (40) is a linear actuator;
the normal throwing assembly (30) comprises a steering engine shell (33), a steering engine cover (34) is arranged at the opening of the steering engine shell (33), a 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);
the emergency delivery 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 the linear driving module (43).
2. The dual-redundancy unmanned aerial vehicle hanging and throwing device according to claim 1, wherein: the automatic weighing device is characterized by further comprising a two-axis swinging assembly (10), wherein the two-axis swinging assembly (10) comprises a mounting piece (11) and a weighing piece (12), the mounting piece (11) is hinged with the weighing piece (12), a weighing sensor (13) is arranged on the weighing piece (12), and the weighing piece (12) is hinged with the box main body (21).
3. The dual-redundancy unmanned aerial vehicle hanging and throwing device according to claim 2, wherein: the upper end and the lower extreme of installed part (11) be equipped with first articulated joint and second articulated joint respectively, the upper end and the lower extreme of weighing piece (12) are equipped with third articulated joint and fourth articulated joint respectively, all be equipped with steel bushing (14) in first, second, third and the fourth articulated joint, the second articulated joint articulates with the third articulated joint through articulated bolt (15), the fourth articulated joint articulates with box main part (21) through articulated bolt (15), the articulated axis of first and fourth articulated joint is perpendicular with the articulated axis of third articulated joint relatively second.
4. The dual-redundancy unmanned aerial vehicle hanging and throwing device according to claim 1, wherein: 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).
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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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