CN117902055A - Design method of parachute opening steel rope load of air-drop unmanned aerial vehicle and parachute opening device - Google Patents
Design method of parachute opening steel rope load of air-drop unmanned aerial vehicle and parachute opening device Download PDFInfo
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 137
- 239000010959 steel Substances 0.000 title claims abstract description 137
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000007665 sagging Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 4
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- 239000004519 grease Substances 0.000 description 1
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a design method of an parachute opening steel rope load of an air-drop unmanned aerial vehicle and an parachute opening device; the design method specifically comprises the following steps of S1, determining the diameter and the weight per unit length of a steel cable; step S2, preliminarily determining span and initial sag; step S3, deducing and verifying the relation between the initial sagging and the initial horizontal tension in the no-load state; step S4, determining an umbrella opening load and an umbrella opening position; determining a relationship between sag and horizontal tension, the relationship between tension and horizontal tension; and S5, analyzing the relation between the vibration frequency and span, unit length weight and tension. An umbrella opening device is disclosed; the invention can effectively balance the selection of the sag, the tension and the vibration frequency of the steel cable; the invention can realize the opening of the parachute and the feedback of the cargo delivery state, not only can effectively solve the problem of cargo airdrop, but also can meet the judgment of the cargo airdrop state.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a design method of an parachute opening steel rope load of an air-drop unmanned aerial vehicle and an parachute opening device.
Background
The parachute opening device takes a steel rope suspended between two fulcrums as a bearing structure, and during air drop, the goods drive the parachute opening pull ring to slide on the steel rope until the goods leave the cargo hold, and the parachute opening ring pulls the parachute opening pull rope open; the device has the advantages of large span, simple structure and the like.
The parachute opening device needs to bear the load of the aerial delivery parachute opening, and relates to the problems of linear distribution, sagging, vibration and the like of the tension of the steel cable, and in order to ensure that the aerial delivery task is smoothly carried out, the tension, sagging and vibration characteristics of the steel cable need to be designed and controlled.
The existing parachute opening steel rope scheme is generally applied to large-scale freight aircrafts, and a mode of hanging large-span steel ropes is adopted, so that the size and height space of a cargo hold of the large-scale aircrafts are large, the steel rope sagging does not need to be designed independently, the tension is relatively small, the steel rope has no state detection function, and the parachute opening and the cargo discharge state feedback and cargo air drop state judgment cannot be realized.
Disclosure of Invention
The invention aims to solve the technical problem of providing a design method of an parachute opening steel rope load of an air-drop unmanned aerial vehicle and an parachute opening device;
the invention solves the technical problems by adopting the following solution:
a design method of an parachute opening steel rope load of an air-drop unmanned aerial vehicle specifically comprises the following steps:
S1, determining the design limit load of the steel cable according to the weight of the air drop, initially selecting the model of the steel cable, and determining the diameter of the steel cable And weight per unit length/>Wherein tension in the operating state of the rope/>Less than design limit load/>；
Step S2, preliminarily determining the span according to the space limiting conditions in the cargo compartment of the unmanned aerial vehicleAnd initial sag/>；
Step S3, modeling the steel rope, deducing and verifying the initial sag under no-load conditionsAnd initial horizontal tension/>Is a relationship of (2);
Step S4, determining the umbrella opening load according to the umbrella opening demand And umbrella open position/>; Establishing a cable suspension characteristic model under loading condition, and determining sag/>And horizontal tension/>Relationship between tension/>And horizontal tension/>A relationship between;
Step S5, under the air drop working condition, a vibration characteristic model of the suspended steel cable is established, and vibration frequency is analyzed And span/>Weight per unit length/>And tension/>A relationship between;
Step 6, according to the vibration frequency And tension/>Weight per unit length/>And tension/>The relation between the two is designed to open the structure of the umbrella device.
In some of the possible embodiments of the present invention,
The step S2 specifically refers to:
Under no load condition, the unit length mass of the steel rope is set according to the service condition of the steel rope Evenly distributed along the axis direction of the steel cable, and determining the initial sag/>And span/>。
In some of the possible embodiments of the present invention,
The step S3 specifically comprises the following steps:
S31, establishing a two-dimensional coordinate system to carry out load analysis on any section of steel cable, wherein the x axis of the coordinate system is the span of the steel cable The y-axis of the coordinate system is the sag/>, of the steel rope; Determining initial sag/>Span/>Initial horizontal tension/>Is a relationship of (2);
in the equilibrium state, the sum of the forces in the x-axis direction is 0,
It is possible to obtain a solution,；
In the equilibrium state, the sum of the forces in the y-axis direction is 0,
It is possible to obtain a solution,At this time, horizontal tension of the wire rope/>And initial horizontal tension/>Equal;
due to ；
Is available in the form ofIntegration can be obtained: /(I)；
Wherein T1 is the tension at one end of the section of steel cable;
t2 is the tension of the other end of the section of steel cable;
beta is the included angle between the tension T1 and the horizontal direction;
Beta+dbeta is the included angle between the tension T2 and the horizontal direction;
A1 is a vertical component of the steel cable at the end corresponding to T1;
a2 is the vertical component of the steel cable at the corresponding end of T2;
step S32, when no load exists, the position of the umbrella is a, and the sag is at the moment Maximum; wherein a is the coordinate value of the position of opening the umbrella in the x-axis direction,/>；
Obtaining initial saggingAnd initial horizontal tension/>Relationship between:
（3）。
in some of the possible embodiments of the present invention,
The step S4 specifically comprises the following steps of;
Step S41, in the loading state, the balance conditions are as follows: ; obtaining the sag/>, of any position of the steel cable And horizontal tension/>Is represented by the expression:
（4）；
Step S42: determining tension And horizontal tension/>A relationship between;
（5）。
in some of the possible embodiments of the present invention,
The step S5 specifically includes the following steps:
S51, performing infinitesimal analysis on the steel cable, wherein the mass of the analyzed steel cable is as follows The tension at the two ends of the steel cable is T1 and T2; from the mechanical equation:
（6）；
Step S52, will be Expanding according to Taylor numbers and omitting secondary trace, and obtaining the following steps:
（7）；
step S53, carrying the formula (7) into the formula (6) to obtain the following formula:
（8）；
Step S54 wave equation of equation (8) and simple harmonic Comparison to obtain/>;
Step S55 of determining vibration frequencyAnd tension/>Weight per unit length/>And tension/>Is a relationship of (2);
From the basic equation ，/>，/>；
Wherein,The propagation speed of the wave on the steel cable;
is the vibration frequency;
Is the vibration wavelength;
Is a natural number;
The method comprises the following steps:
（9）；
is the n-order vibration frequency.
An parachute opening device based on the design method of the parachute opening steel rope load of the air-drop unmanned aerial vehicle comprises a post-navigation hinge assembly, a tensioning assembly, an parachute opening pull ring assembly and a pre-navigation hinge assembly which are connected in sequence;
The post-navigation hinge assembly comprises a post-navigation mounting seat, a tension sensor hinged with the post-navigation mounting seat and rotating around the Z-axis direction, and a sag limiter connected with one side of the tension sensor away from the post-mounting seat; the sag limiter is hinged with the tensioning assembly and rotates around the Y and Z axis directions;
the umbrella opening pull ring component comprises a steel cable, a limiting component and an umbrella opening pull ring, wherein one end of the steel cable is connected with the tensioning component, the other end of the steel cable is connected with the front-of-flight hinge component, the limiting component is sleeved on the steel cable and used for vibration detection, and the umbrella opening pull ring is sleeved on the steel cable and positioned between the limiting component and the front-of-flight hinge component; the steel cable is hinged with the front hinge assembly and rotates around the Y-axis direction.
In some of the possible embodiments of the present invention,
The tensioning assembly comprises a rear hinging seat hinged with the sag limiting piece and rotating around the Y-axis direction, a hinging shaft hinged with one end, far away from the sag limiting piece, of the rear hinging seat and rotating around the Z-axis direction, and a tensioning shaft with two ends respectively connected with the hinging shaft and the limiting assembly.
In some of the possible embodiments of the present invention,
The tensioning shaft comprises a first screw rod, a second screw rod and a screw rod connecting piece, wherein one end of the first screw rod is connected with the hinge shaft, the second screw rod is connected with the other end of the hinge shaft, the screw thread of the second screw rod is opposite to that of the first screw rod, and the screw rod connecting piece is used for connecting the first screw rod and the second screw rod; the second screw rod is connected with the steel cable.
In some of the possible embodiments of the present invention,
The sag limiting piece is provided with a V-shaped groove at one side far away from the tension sensor, and the large end of the V-shaped groove is arranged at one side close to the rear hinging seat;
and one side of the rear hinge seat, which is close to the sag limiter, is positioned in the V-shaped groove.
In some of the possible embodiments of the present invention,
The front hinge assembly comprises a front hinge shaft connected with one end of the steel cable, which is far away from the rear hinge assembly, and a front hinge seat hinged with the front hinge shaft and rotating around the Y-axis direction.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, through theoretical analysis and calculation, the selection of sag, tension and vibration frequency of the steel cable is balanced;
the invention can realize the opening of the parachute and the feedback of the cargo discharge state, not only can effectively solve the problem of cargo air drop, but also can meet the judgment of the cargo air drop state;
The invention has the advantages of light weight, no influence on the reliability of the steel cable due to load change, capability of effectively improving the cargo carrying capacity of the unmanned aerial vehicle, small volume, light weight, strong bearing capacity and the like;
The invention can effectively solve the problems of realizing the goods air drop under the condition of smaller height space of the air drop unmanned aerial vehicle, improving the air drop efficiency, the reliability of opening the umbrella, the detection of the steel rope state and the like.
Drawings
FIG. 1 is a schematic diagram of the cable load analysis of example 1 of the present invention without load;
FIG. 2 is a graph showing the load analysis of any section of the steel rope without load in example 1 of the present invention;
FIG. 3 is a steel rope load analysis at the time of air drop in example 1 of the present invention;
FIG. 4 is a schematic structural diagram of embodiment 2 of the present invention;
FIG. 5 is a schematic view of a post-flight hinge assembly according to embodiment 2 of the present invention;
FIG. 6 is a cross-sectional view of FIG. 5;
FIG. 7 is a schematic diagram showing the connection relationship among the first screw, the tensioning shaft, the second screw and the steel cable in the embodiment 2 of the present invention;
FIG. 8 is a schematic diagram of the connection relationship of the second screw and the opener tab assembly according to embodiment 2 of the present invention;
FIG. 9 is a schematic diagram showing the connection relationship of the cable and the front hinge assembly in accordance with embodiment 2 of the present invention;
wherein: the device comprises a 1-post-flight hinge assembly, a 11-post-flight mounting seat, a 12-tension sensor, a 13-sag limiter, a 2-tensioning assembly, a 21-post-flight hinge seat, a 22-hinge shaft, a 23-first screw, a 24-tensioning shaft, a 25-second screw, a 3-parachute opening pull ring assembly, a 31-steel rope, a 32-limiter assembly, a 321-limiter, a 322-vibration sensor, a 33-parachute opening pull ring, a 4-pre-flight hinge assembly, a 41-pre-flight hinge shaft, a 42-pre-flight hinge seat, 10-cargoes and 20-parachute ropes.
Detailed Description
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. Reference to "first," "second," and similar terms herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. In the implementation of the present application, "and/or" describes the association relationship of the association object, which means that there may be three relationships, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more. For example, a plurality of positioning posts refers to two or more positioning posts. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The present invention will be described in detail below.
As is well known, unmanned aerial vehicles have small cargo holds, and the need to implement large span cable 31 arrangements in smaller cargo holds requires precise control of cable 31 sag, tension and vibration frequency; because excessive sagging can affect the normal cabin discharge of the cargo, but the smaller the sagging, the larger the tension required by the steel cable 31 and the vibration frequency are increased, the larger the tension can cause the weight and the design load to be increased, and the vibration is conducted to the fuselage, the vibration level of the airplane can be increased, and even the flying safety can be affected;
therefore, according to the space requirement in the cargo compartment, the invention balances the relationship among the three by establishing a set of mathematical models for controlling the sag, the tension and the vibration frequency of the steel cable 31; the parachute opening function is realized by arranging a large-span steel cable 31 in the cargo hold, the parachute opening pull ring 33 can freely slide on the steel cable 31, and the limiting component 32 is arranged at the parachute opening position to limit the sliding of the parachute opening pull ring; because the tensioning effect of the steel cable 31 is different under the conditions of different temperature changes, structural deformation and the like, a tension adjusting structure is additionally arranged on the steel cable 31; in the umbrella opening device, a tension sensor and a vibration sensor are provided for detecting the operating state of the wire rope 31.
Example 1:
as shown in figures 1-3 of the drawings,
A design method of an parachute opening steel rope load of an air-drop unmanned aerial vehicle specifically comprises the following steps:
step S1, according to the weight of the air-drop goods Determination of the design limit load/>, of the wire rope 31；
Steel rope limiting load by weight of air-drop goods of unmanned aerial vehicleTo determine, the calculation formula is as follows:
（1）；
（2）；
Wherein: limiting the load (N) for the wire rope;
The weight (kg) of the air cargo is calculated;
g is the gravitational acceleration (m/s 2);
The design load of the steel cable takes a safety coefficient of 1.5;
Extreme loads are designed for the steel ropes.
Design of extreme loads from ropesModel of the first choice wire rope 31, diameter/>, of the wire rope 31 is determinedAnd weight per unit length/>Wherein the tension of the steel rope 31 in the working state/>Less than design limit load/>；
Step S2, preliminarily determining the span according to the space limiting conditions in the cargo compartment of the unmanned aerial vehicleAnd initial sag/>；
As shown in fig. 1 and 2, the mass per unit length of the wire rope 31 is set according to the use condition of the wire rope 31 in the no-load conditionEvenly distributed along the axial direction of the cable 31, determining the initial sag/>And span/>。
Step S3 modeling the wire rope 31, deriving and verifying the initial sag under no loadAnd initial horizontal tensionA relationship between;
The step S3 specifically comprises the following steps:
Step S31, as shown in FIG. 2, a two-dimensional coordinate system is established to analyze the load of any section of the steel cable 31 as the study object, wherein the x-axis of the coordinate system is the span of the steel cable 31 The y-axis of the coordinate system is the sag/>, of the steel cord 31; Determining initial sagSpan/>Initial horizontal tension/>Is a relationship of (2);
In the equilibrium state, the sum of the forces in the x-axis direction is 0, namely:
Available,/> ；
In the equilibrium state, the sum of the forces in the y-axis direction is 0, namely:
Available,/> At this time, the horizontal tension of the wire rope 31 is the initial horizontal tension/>；
Due to；
Is available in the form ofIntegration can be obtained: /(I)；
Wherein T1 is the tension at one end of the length of steel cable 31, specifically the end near the post-navigation hinge assembly 1 in fig. 4;
t2 is the tension at the other end of the length of cable 31, specifically the end of fig. 4 remote from the post-navigation hinge assembly 1;
beta is the included angle between the tension T1 and the horizontal direction;
Beta+dbeta is the included angle between the tension T2 and the horizontal direction;
Horizontal tension of the wire rope 31;
a1 is the vertical component of the steel cable 31 at the end corresponding to T1;
A2 is the vertical component of the steel cable 31 at the corresponding end of T2;
As shown in FIG. 3, step S32, when no load is applied, the position of the umbrella is a, and the sag is at this time Maximum; wherein a is the coordinate value of the position of opening the umbrella in the x-axis direction,/>;
Obtaining initial saggingAnd initial horizontal tension/>Relationship between:
（3）。
Step S4, determining the umbrella opening load according to the umbrella opening demand And an umbrella opening position; establishing a model of the suspension characteristics of the cable 31 under loading, determining sag/>And horizontal tension/>Relationship between tension/>And horizontal tension/>A relationship between;
Step S41, in the loading state, the balance conditions are as follows: ; obtaining the sag/>, of any position of the steel cable 31 And horizontal tension/>Is represented by the expression:
（4）；
step S42: determining the tension of the wire rope 31 according to the tension calculation formula (5) And horizontal tension/>The relationship between the steel cable 31 and the air drop state is stressed, as shown in fig. 3; the method comprises the following steps:
（5）。
Step S5, under the air drop working condition, a vibration characteristic model of the suspension steel cable 31 is built, and the vibration frequency is analyzed And span ofWeight per unit length/>And tension/>A relationship between;
Step S51, since the vibration propagates along the heading (x-axis in the two-dimensional coordinate system) on the tensioned wire rope 31, the wire rope 31 is subjected to the infinitesimal analysis, and the mass of the analyzed wire rope 31 is The tension at the two ends of the steel cable 31 is T1 and T2; from the mechanical equation:
（6）；
Step S52, will be Expanding according to Taylor numbers and omitting secondary trace, and obtaining the following steps:
（7）；
step S53, carrying the formula (7) into the formula (6) to obtain the following formula:
（8）；
Step S54 wave equation of equation (8) and simple harmonic Comparison to obtain/>;
Step S55 of determining vibration frequencyAnd tension/>Weight per unit length/>And tension/>Is a relationship of (2);
From the basic equation ，/>，/>；
Wherein,The propagation speed of the wave on the steel cable 31;
is the vibration frequency;
Is the vibration wavelength;
Is a natural number;
The method comprises the following steps:
（9）；
Is the n-order vibration frequency;
wherein, when n=1, Which is the first order vibration frequency;
when n=2, the number of the n-type groups, The second order is the vibration frequency;
When n=3, the number of the n-type groups, The third order is vibration frequency, and so on;
Step 6, according to the vibration frequency And tension/>Weight per unit length/>And tension/>The relation between the two is designed to open the structure of the umbrella device.
From this, the tension of the wire rope 31And vibration frequency/>Proportional to the vibration frequency/>And span/>In inverse proportion, the vibration condition of the steel cable 31 can be detected by additionally arranging the vibration sensor 322 on the steel cable 31, so that the working condition of the steel cable 31 can be judged, and the phenomenon that the vibration level of the whole aircraft is influenced by the strong vibration of the steel cable 31 is avoided; meanwhile, the phenomenon that the position change of the umbrella opening pull ring 33 is driven to interfere with other structures in the cargo hold to influence the opening of the air drop is avoided.
Example 2:
as shown in fig. 4-9:
An umbrella opening device based on the design method of the embodiment 1 is arranged above the cargo hold end frame, is used for bearing the umbrella opening load of the cargo 10 during the air drop and has good guiding function; the umbrella opening device comprises a post-navigation hinge assembly 1, a tensioning assembly 2, an umbrella opening pull ring assembly 3 and a pre-navigation hinge assembly 4 which are connected in sequence;
As shown in fig. 5 and 6, the post-voyage assembly 1 is installed above the post-voyage end frame of the cargo compartment, and comprises a post-voyage installation seat 11, a tension sensor 12 hinged with the post-voyage installation seat 11 and rotating around the Z-axis direction, and a sag limiter 13 connected with one side of the tension sensor 12 away from the post-installation seat; the sag limiter 13 is hinged with the tensioning assembly 2 and rotates around the Y and Z axis directions;
The front hinge assembly 4 is arranged above the front end frame of the cargo hold;
the tension sensor 12 is arranged to measure the tension of the steel cable 31 in any state, so that the moment when the goods 10 are taken out of the cabin can be detected according to the abrupt change range of the data of the tension sensor; meanwhile, the working state of the parachute opening device is judged through the force measured by the force transducer, and the safety of the air drop of the goods 10 is improved.
As shown in fig. 8, the opening pull ring assembly 3 comprises a steel cable 31 with one end connected with the tensioning assembly 2 and the other end connected with the front hinge assembly 4, a stopper assembly 32 sleeved on the steel cable 31 and used for vibration detection, and an opening pull ring 33 sleeved on the steel cable 31 and positioned between the stopper assembly 32 and the front hinge assembly 4; the steel cable 31 is hinged with the front hinge assembly 4 and rotates around the Y-axis direction.
Further, a torsion spring safety pin is arranged on the umbrella opening pull ring 33 to prevent the umbrella opening pull ring 33 from accidentally disengaging the steel cable 31; the lower end of the umbrella opening pull ring 33 is connected with an umbrella rope 20, and when the goods 10 are loaded, the umbrella opening pull ring 33 is distributed in the working area of the umbrella opening pull ring 33 according to the standing position of the goods 10 in the cargo hold.
One end of the sag limiter 13 is connected with the tension sensor 12, and the other end is hinged with the tensioning assembly 2, so that the tensioning assembly 2 can rotate around the Y-axis direction, and the rotation angle of the tensioning assembly 2 around the Y-axis direction is limited;
Further, the tensioning assembly 2 rotates around the Y axis by an angle alpha;
preferably, α is 90 ° and the tensioning assembly 2 is rotatable up and down 45 ° about the Y-axis.
Further, the number of the umbrella opening pull rings 33 is multiple, and according to the limit time sequence of the goods 10, single-piece air drop and multiple continuous air drops can be realized, so that the air drop efficiency is improved;
Further, as shown in fig. 8, the stopper assembly 32 includes a stopper 321 fitted over the wire rope 31, and a vibration sensor 322 mounted on the stopper 321;
During air drop, the parachute opening pull ring 33 moves in the backward direction along the steel cable 31 under the action of the weight of the goods 10, and when the parachute opening pull ring 33 moves to the position of the stopper 321, the goods 10 is separated from the cargo hold, and the parachute opening pull ring 33 is blocked by the stopper 321; at this time, the cargo 10 is moved out of the cargo hold, the parachute line 20 is pulled apart under the gravity of the cargo 10, and the load of the parachute line 20 is input into the design calculation ; A vibration sensor 322 for detecting the vibration of the wire rope 31 is additionally installed on the stopper 321.
In some possible embodiments, the tensioning of the steel cord 31 is to be effected effectively;
As shown in fig. 5 to 7, the tensioning assembly 2 includes a rear hinge base 21 hinged to the sag limiter 13 and rotating around the Y-axis direction, a hinge shaft 22 hinged to an end of the rear hinge base 21 away from the sag limiter 13 and rotating around the Z-axis direction, and a tensioning shaft 24 connected to the hinge shaft 22 and the limiter assembly 32 at both ends thereof, respectively.
The rear hinge seat 21 is hinged with the sag limiter 13, the rear hinge seat 21 can rotate around the Y-axis direction, and the rotation angle of the rear hinge seat is limited by the sag limiter 13; the hinge shaft 22 is hinged with the rear hinge seat 21, the hinge shaft 22 can rotate around the Z-axis direction,
In some of the possible embodiments of the present invention,
As shown in fig. 7, the tensioning shaft 24 includes a first screw 23 connected to the hinge shaft 22, a second screw 25 connected to the other end of the hinge shaft 22 and having a screw thread opposite to the first screw 23, and a screw connecting member for connecting the first screw 23 and the second screw 25; the second screw 25 is connected to a wire rope 31.
The first screw 23 and the second screw 25 with opposite screw threads are respectively connected with the two ends of the screw connecting piece, so that the steel cable 31 can be tensioned by adopting a conventional tool under the condition of not disassembling and hinging;
One end of the first screw 23, which is far away from the screw connecting piece, is connected with a tensioning shaft 24, and threaded holes matched with two groups of screws (the first screw 23 and the second screw 25) are respectively arranged at two ends of the screw connecting piece;
one end of the steel cable 31 is inserted into the second screw 25, and the connection between the steel cable 31 and the second screw 25 is realized by crimping; after the steel cable 31 is crimped, lubricating grease is smeared on the surface of the steel cable 31, so that friction between the umbrella opening pull ring 33 and the steel cable 31 is reduced, the surface of the steel cable 31 is protected, and the service life of the steel cable 31 is prolonged.
In some possible embodiments, in order to effectively achieve the limitation of the rotation angle of the rear hinge base 21 about the Y-axis direction;
as shown in fig. 6, a V-shaped groove is formed on the side of the sag limiter 13 away from the tension sensor 12, and the large end of the V-shaped groove is formed on the side close to the rear hinge seat 21;
the rear hinge seat 21 is located in the V-groove on the side close to the sag limiter 13.
As shown in fig. 5, the rear hinge base 21 includes a Y-axis hinge base having a U-shaped structure, and a Z-axis hinge base connected to a side of the Y-axis hinge base remote from the sag limiter 13; the U-shaped structure is located in the outer side of the sag limiter 13, and is connected through a rotating shaft arranged in the Y-axis direction of the pin shaft, and when the U-shaped structure rotates to a maximum angle, the bottom of the U-shaped structure is in abutting contact with the inner side surface of the V-shaped groove, so that the rotating angle of the rear hinge seat 21 around the Y-axis direction is limited.
In some of the possible embodiments of the present invention,
As shown in fig. 9, the front hinge assembly 4 includes a front hinge shaft 41 connected to an end of the steel cable 31 remote from the rear hinge assembly 1, and a front hinge seat 42 hinged to the front hinge shaft 41 and rotated about the Y-axis direction.
The front hinge assembly 4 is provided with a compression end in compression with the wire rope 31.
The invention provides a high-reliability unmanned aerial vehicle air drop parachute opening device, which realizes a tension adjusting function of a steel cable 31 and a state detecting function of the steel cable 31 through a tension sensor 12 and a vibration sensor 322, can realize opening of a parachute and feedback of a cargo 10 cabin-leaving state, can effectively solve the problem of the cargo 10 air drop, and can also meet the state judgment of the cargo 10 air drop;
the invention has light weight, thereby being free from the influence on the reliability of the steel cable 31 caused by the load change of the goods 10 and effectively improving the cargo carrying capacity of the unmanned aerial vehicle;
The invention has the advantages of small volume, light weight, strong bearing capacity and the like, is arranged above the side wall of the machine body structure, and aims to solve the problems of realizing the air drop of goods 10, improving the air drop efficiency, the reliability of opening an umbrella, detecting the state of a steel cable 31 and the like under the condition that the height space of the tail air drop unmanned aerial vehicle is smaller.
The invention is not limited to the specific embodiments described above.
The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.
Claims (10)
1. The design method of the parachute opening steel rope load of the air-drop unmanned aerial vehicle is characterized by comprising the following steps of:
S1, determining the design limit load of the steel cable according to the weight of the air drop, initially selecting the model of the steel cable, and determining the diameter of the steel cable And weight per unit length/>Wherein tension in the operating state of the rope/>Less than design limit load/>；
Step S2, preliminarily determining the span according to the space limiting conditions in the cargo compartment of the unmanned aerial vehicleAnd initial sag/>；
Step S3, modeling the steel rope, deducing and verifying the initial sag under no-load conditionsAnd initial horizontal tension/>A relationship between;
Step S4, determining the umbrella opening load according to the umbrella opening demand And an umbrella opening position; establishing a cable suspension characteristic model under loading condition, and determining sag/>And horizontal tension/>Relationship between tension/>And horizontal tension/>A relationship between;
Step S5, under the air drop working condition, a vibration characteristic model of the suspended steel cable is established, and vibration frequency is analyzed And span/>Weight per unit length/>And tension/>A relationship between;
Step 6, according to the vibration frequency And tension/>Weight per unit length/>And tension/>The relation between the two is designed to open the structure of the umbrella device.
2. The method for designing the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 1, wherein the step S2 specifically comprises the following steps:
Under no load condition, the mass per unit length of the steel rope is set according to the service condition of the steel rope Evenly distributed along the axis direction of the steel cable, and determining the initial sag/>And span/>。
3. The method for designing the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 2, wherein the step S3 specifically comprises the following steps:
S31, establishing a two-dimensional coordinate system to carry out load analysis on any section of steel cable, wherein the x axis of the coordinate system is the span of the steel cable The y-axis of the coordinate system is the sag/>, of the steel rope; Determining initial sag/>Span/>Initial horizontal tension/>Is a relationship of (2);
in the equilibrium state, the sum of the forces in the x-axis direction is 0, and it is available, ；
In the equilibrium state, the sum of the forces in the x-axis direction is 0, and it is available,Horizontal tension of the ropes at this time=/>；
Due to；
Is available in the form ofIntegration can be obtained: /(I)；
Wherein T1 is the tension at one end of the section of steel cable;
t2 is the tension of the other end of the section of steel cable;
beta is the included angle between the tension T1 and the horizontal direction;
Beta+dbeta is the included angle between the tension T2 and the horizontal direction;
A1 is a vertical component of the steel cable at the end corresponding to T1;
a2 is the vertical component of the steel cable at the corresponding end of T2;
step S32, when no load exists, the position of the umbrella is a, and the sag is at the moment Maximum; wherein a is the coordinate value of the position of opening the umbrella in the x-axis direction,/>；
Obtaining initial saggingAnd initial horizontal tension/>Relationship between:
（3）。
4. the method for designing the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 3, wherein the step S4 specifically comprises the following steps of;
Step S41, in the loading state, the balance conditions are as follows: ; obtaining the sag/>, of any position of the steel cable And horizontal tension/>Is represented by the expression:
（4）；
Step S42: determining tension And horizontal tension/>Relationship between, and tension/>；
（5）。
5. The method for designing the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 4, wherein the step S5 specifically comprises the following steps:
Step S51, performing infinitesimal analysis on the steel cable to obtain the analyzed steel cable with the mass of being The tension at the two ends of the steel cable is T1 and T2; from the mechanical equation:
（6）；
Step S52, will be Expanding according to Taylor numbers and omitting secondary trace, and obtaining the following steps:
（7）；
step S53, carrying the formula (7) into the formula (6) to obtain the following formula:
（8）；
Step S54 wave equation of equation (8) and simple harmonic Comparison to obtain/>;
Step S55 of determining vibration frequencyAnd tension/>Weight per unit length/>And tension/>Is a relationship of (2);
From the basic equation ，/>，/>；
Wherein,The propagation speed of the wave on the steel cable;
is the vibration frequency;
Is the vibration wavelength;
Is a natural number;
The method comprises the following steps:
（9）；
is the n-order vibration frequency.
6. An parachute opening device based on the design method of the parachute opening steel rope load of the air-drop unmanned aerial vehicle, which is characterized by comprising a post-navigation hinge assembly, a tensioning assembly, an parachute opening pull ring assembly and a pre-navigation hinge assembly which are connected in sequence;
The post-navigation hinge assembly comprises a post-navigation mounting seat, a tension sensor hinged with the post-navigation mounting seat and rotating around the Z-axis direction, and a sag limiter connected with one side of the tension sensor away from the post-mounting seat; the sag limiter is hinged with the tensioning assembly and rotates around the Y and Z axis directions;
the umbrella opening pull ring component comprises a steel cable, a limiting component and an umbrella opening pull ring, wherein one end of the steel cable is connected with the tensioning component, the other end of the steel cable is connected with the front-of-flight hinge component, the limiting component is sleeved on the steel cable and used for vibration detection, and the umbrella opening pull ring is sleeved on the steel cable and positioned between the limiting component and the front-of-flight hinge component; the steel cable is hinged with the front hinge assembly and rotates around the Y-axis direction.
7. The parachute opening device for the design method of the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 6, wherein the tensioning assembly comprises a rear hinging seat hinged with the sag limiter and rotating around the Y-axis direction, a hinging shaft hinged with one end of the rear hinging seat away from the sag limiter and rotating around the Z-axis direction, and tensioning shafts with two ends connected with the hinging shaft and the limiting assembly respectively.
8. The parachute opening device for the design method of the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 7, wherein the tensioning shaft comprises a first screw rod, a second screw rod and a screw rod connecting piece, wherein one end of the first screw rod is connected with the hinge shaft, the second screw rod is connected with the other end of the hinge shaft, the screw thread of the second screw rod is opposite to that of the first screw rod, and the screw rod connecting piece is used for connecting the first screw rod and the second screw rod; the second screw rod is connected with the steel cable.
9. The parachute opening device of the design method for the parachute opening steel rope load of the air-drop unmanned aerial vehicle, which is disclosed in claim 7, is characterized in that a V-shaped groove is formed in one side of the sag limiter, which is far away from the tension sensor, and the large end of the V-shaped groove is arranged on one side, which is close to the rear hinging seat;
and one side of the rear hinge seat, which is close to the sag limiter, is positioned in the V-shaped groove.
10. The parachute opening device for the design method of the parachute opening steel rope load of the air-drop unmanned aerial vehicle according to claim 7, wherein the front-flying hinge assembly comprises a front-flying hinge shaft connected with one end of the steel rope far away from the rear-flying hinge assembly, and a front-flying hinge seat hinged with the front-flying hinge shaft and rotating around the Y-axis direction.
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