CN117985225A - Unmanned aerial vehicle cargo hold air drop system and air drop method - Google Patents
Unmanned aerial vehicle cargo hold air drop system and air drop method Download PDFInfo
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- CN117985225A CN117985225A CN202410405799.6A CN202410405799A CN117985225A CN 117985225 A CN117985225 A CN 117985225A CN 202410405799 A CN202410405799 A CN 202410405799A CN 117985225 A CN117985225 A CN 117985225A
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Abstract
The invention relates to the technical field of unmanned aerial vehicle air drop, and aims to solve the problems of low unmanned aerial vehicle air drop material efficiency and low air drop material in the prior art, and provides an unmanned aerial vehicle cargo hold air drop system and an air drop method, wherein the air drop system comprises a transmission roller device and a roller rod assembly which are arranged on a cargo hold floor and a cargo hold bridge, the transmission roller device is used for realizing automatic loading and unloading of a cargo container table, a plurality of storage areas are arranged in the cargo hold, the storage areas are used for storing the cargo container table, and limiting devices are arranged on the front side and the rear side of each storage area; two rows of side guide rails are also arranged in the cargo cabin and on the cargo bridge and are respectively positioned at the left side and the right side of the cargo table; the device also comprises an umbrella opening device which is arranged in the cargo compartment and is positioned above the loading cargo platform, the cargo on the loading cargo platform is connected with an umbrella bag system, the umbrella bag system is connected to the umbrella opening device, after the container cargo platform leaves the cargo hold in the air, the umbrella opening device can open and separate the umbrella bag system, so that the container cargo platform and the cargo are air dropped to the target site.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle air drop, in particular to an unmanned aerial vehicle cargo hold air drop system and an air drop method.
Background
In recent years, the use of unmanned aerial vehicles for air drop of materials is increasingly used in military operations, logistics material replenishment and rescue and relief work, the air drop of materials is carried by using aircrafts, and when the materials reach a designated place, various descent control technologies are used, so that the materials can safely land.
In the prior art, the unmanned helicopter is used for air-dropping materials, slow-falling ropes are adopted for air-dropping or direct air-dropping is adopted, but the helicopter has lower hovering air-dropping efficiency, only single-piece single air-dropping is realized, time and labor are wasted, the weight of the air-dropping materials is small, the volume of the materials is small, and the requirements of short-time, rapid and large-batch air-dropping materials cannot be met; the other air drop material mode is to change the existing fixed wing with man-machine into unmanned plane, although the material volume and the air drop weight are improved, the influence of the original machine type can be received in the refitting process, most of airplanes can only drop the material from the side cabin door air drop, the air drop mode needs to add a set of electromechanical system with higher automation degree, the weight cost is higher, meanwhile, the side cabin door air drop material has the defects of long air drop time, large scattering range and the like due to the self structure limitation, and the requirements of small military replenishment scattering range, strong air drop adaptability and the like can not be met.
In the field of military supply logistics materials and combat materials application, large-scale transport machines are utilized to carry out material air drop, pilots exist certain risks in survival, and meanwhile, when the large-scale transport machines deliver a small amount of materials required, the economy is lower.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle cargo hold air drop system and an air drop method, which are used for solving the problems that in the prior art, the unmanned aerial vehicle air drop material is low in efficiency, small in weight and small in volume, and the requirements of short-time, rapid and large-batch air drop material cannot be met.
The invention is realized by adopting the following technical scheme:
the invention provides an unmanned aerial vehicle cargo hold air drop system, which comprises a transmission roller device and a roller rod assembly, wherein the transmission roller device and the roller rod assembly are arranged on the cargo hold floor and a cargo bridge, the transmission roller device is used for realizing automatic loading and unloading of a cargo container table, a plurality of storage areas are arranged in the cargo hold, the storage areas are used for storing the cargo container table, and limiting devices are arranged on the two sides of each storage area before and after the cargo container is navigated;
two rows of side guide rails are also arranged in the cargo compartment and on the cargo bridge and are respectively positioned at the left side and the right side of the container cargo table;
The device comprises a cargo hold, a cargo opening device, a cargo opening system, a cargo opening device and a cargo opening system, wherein the cargo opening device is installed in the cargo hold and is located above a packaged cargo table, the cargo on the packaged cargo table is connected with the umbrella bag system, the umbrella bag system is connected to the cargo opening device, and after the packaged cargo table leaves the cargo hold in the air, the umbrella opening device can open and separate the umbrella bag system from the cargo opening system, so that the packaged cargo table and the cargo can be air dropped to a target place.
As a preferable technical scheme:
And two rows of roller rod assemblies are arranged on the cargo compartment floor and the cargo bridge.
As a preferable technical scheme:
The rolling rod assembly comprises a rolling rod support, a rolling rod and a shaft, wherein the rolling rod support is installed on the cargo compartment floor, the rolling rod is installed on the shaft, a bearing is arranged between the rolling rod support and the shaft, and two ends of the shaft are installed on the rolling rod support.
As a preferable technical scheme:
and the outer side of the bearing is provided with a clamp spring.
As a preferable technical scheme:
the rolling rod support is provided with a rolling rod support mounting interface, and the rolling rod support is connected with the cargo compartment floor through mounting screws or bolts in the rolling rod support mounting interface.
As a preferable technical scheme:
The roller assembly is arranged on the cargo compartment floor in a sinking mode, and the top surface of the roller is higher than the cargo compartment floor.
As a preferable technical scheme:
the side guide rail is a strip-shaped rail which is arranged along the heading direction of the unmanned aerial vehicle in a full-length mode, and the side guide rail is arranged on the fuselage longitudinal beam.
As a preferable technical scheme:
Two rows of mounting holes are formed in the bottom of the side guide rail, and the two rows of mounting holes are fixedly mounted on the fuselage longitudinal beam through screws.
As a preferable technical scheme:
The side guide rail is provided with a plurality of side rollers along the length direction at intervals, and the side rollers are used for rolling contact with the side surfaces of the container cargo bed.
As a preferable technical scheme:
The axial direction of the side roller is along the vertical direction, and the side roller is arranged in the cavity on the side guide rail through a screw.
As a preferable technical scheme:
The upper end of the side guide rail in the cargo hold is also provided with a flanging which is positioned above the side part of the container cargo table and used for vertically limiting the container cargo table.
As a preferable technical scheme:
And the side guide rail is also provided with a mooring ring, and the mooring ring is arranged at the top of the side guide rail.
As a preferable technical scheme:
The side guide rail is provided with a blocking device which is positioned at the front end of the interior of the cargo hold and is used for preventing the cargo from toppling forward.
As a preferable technical scheme:
The blocking device comprises vertical rods which are respectively connected to the two rows of side guide rails, the vertical rods are connected through transverse rods, and inclined struts are connected between the vertical rods and the side guide rails.
As a preferable technical scheme:
The limiting device comprises a forward limiting piece, wherein the forward limiting piece is fixedly arranged at the front end of the cargo compartment floor and is used for limiting a container cargo table at the forefront end in the cargo compartment;
The limiting device further comprises a bidirectional limiting lock, wherein the bidirectional limiting lock is arranged between two adjacent storage areas and is used for bidirectionally limiting the container cargo platform;
the limiting device further comprises a rear limiting lock, the rear limiting lock is installed at the outlet of the cargo hold and used for limiting the container cargo platform in one way.
As a preferable technical scheme:
the bidirectional limiting lock and the backward limiting lock can limit the container cargo table when being locked, and the bidirectional limiting lock can avoid affecting the passage of the container cargo table when being unlocked.
As a preferable technical scheme:
The bidirectional limiting lock comprises a shell and a shell cover, wherein an accommodating space is formed in the shell, a front-voyage limiting mechanism and a rear-voyage limiting mechanism are installed in the shell, and the front-voyage limiting mechanism and the rear-voyage limiting mechanism are installed in the shell in parallel;
The shell is also provided with an electric control box which is used for controlling the front-flight limiting mechanism and the rear-flight limiting mechanism.
As a preferable technical scheme:
The structure of the backward limiting lock is basically the same as that of the bidirectional limiting lock, and the difference is that the backward limiting lock is not provided with the forward limiting mechanism.
As a preferable technical scheme:
The cargo compartment floor is provided with a plurality of concave cavities, a covering cap is arranged in each concave cavity, and the bidirectional limiting lock, the backward limiting lock and the transmission roller device are arranged in the corresponding covering cap.
As a preferable technical scheme:
Position sensors are arranged on the cargo compartment floors and the cargo bridges and are used for sensing the positions of the container tables.
As a preferable technical scheme:
The parachute opening device comprises a post-voyage mounting piece, a tensioning assembly, a blocking piece, a parachute opening pull ring, a pre-voyage mounting piece and a steel cable, wherein the pre-voyage mounting piece and the post-voyage mounting piece are respectively and fixedly mounted above the front end and the rear end frame of the cargo hold, the pre-voyage mounting piece and the post-voyage mounting piece are connected with the tensioning assembly and the steel cable, the tensioning assembly is used for tensioning the steel cable, the blocking piece is mounted between the tensioning assembly and the steel cable, and the parachute opening pull ring is suspended on the steel cable.
As a preferable technical scheme:
The umbrella bag system comprises an opening rope, an automatic opening device, a guiding umbrella and a main umbrella, wherein the opening pull ring is connected with the guiding umbrella through the opening rope, the guiding umbrella is connected with a main umbrella sealing rope, and the automatic opening device is arranged between the guiding umbrella and the main umbrella sealing rope.
As a preferable technical scheme:
the unmanned aerial vehicle cargo hold air drop system further comprises an air drop system controller arranged on the unmanned aerial vehicle, wherein the air drop system controller is connected with the bidirectional limiting lock, the backward limiting lock and the transmission roller device, the air drop system controller is interacted with the flight tube computer system through wireless communication, and the flight tube computer system issues an instruction to the air drop system controller to control the air drop system controller to carry out air drop operation.
As a preferable technical scheme:
the unmanned aerial vehicle cargo hold air drop system further comprises an operation panel arranged on the unmanned aerial vehicle, the operation panel is connected to the air drop system controller, and the operation panel is operated to give an instruction to the air drop system controller, so that loading and unloading of the cargo loading platform are completed.
The invention further provides an air-drop method, which utilizes the cargo space air-drop system of the unmanned aerial vehicle to carry out air-drop, and comprises the following steps:
s1: the unmanned aerial vehicle reaches the preset position, the airplane reaches the preset elevation angle, the cargo bridge is horizontally opened, and the upper tail cabin door is opened;
S2: the flight tube computer system sends an unlocking instruction to the air-drop system controller, and the air-drop system controller controls all the limit locks to unlock;
S3: under the action of gravity of goods, the plurality of container tables sequentially move along the reverse course, and an umbrella opening pull ring hung on the steel cable slides along the steel cable;
S4: when the container cargo platform moves to the tail end of the cargo bridge, the container cargo platform is separated from the unmanned aerial vehicle, the umbrella opening pull ring moves to the position near the blocking piece, the load of the umbrella opening rope is increased, the umbrella opening rope pulls out the guide umbrella, and meanwhile, the umbrella opening rope is broken, and the guide umbrella is inflated and inflated rapidly;
S5: the guiding umbrella pulls out the main umbrella, the main umbrella is inflated and inflated rapidly, the container goods table slowly falls in the air until the container goods table falls to the ground, and air drop is achieved.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. The unmanned aerial vehicle cargo space air drop system has the advantages of short loading and unloading period, high automation degree and high loading and unloading efficiency;
2. The cargo space air drop system of the unmanned aerial vehicle is applied to the unmanned aerial vehicle system, and has higher economic benefit;
3. The device arranged on the floor of the unmanned aerial vehicle cargo hold airdrop system has interchangeability, and is convenient for maintenance and overhaul;
4. The side guide rail and the rolling rod of the cargo space air-drop system of the unmanned aerial vehicle have higher bearing capacity and light weight;
5. According to the unmanned aerial vehicle cargo space air drop system, the blocking device is arranged, so that the safety of the system is improved;
6. the automatic umbrella opener is arranged in the umbrella opening system, so that the success rate of opening the umbrella is improved;
7. the cargo hold loading system of the unmanned aerial vehicle can realize continuous casting of a plurality of cargoes, has a small spreading range and short air casting time, and meets the requirements of short-time, quick and large-batch air casting of the cargoes.
Drawings
Fig. 1 is a schematic plan view of the cargo space air drop system of the unmanned aerial vehicle according to the present invention (the figure is rotated 90 degrees for convenience of observation and then is shown).
Fig. 2 is a schematic side view of the cargo space air drop system of the unmanned aerial vehicle according to the present invention.
Fig. 3 is an enlarged schematic view at I in fig. 1.
Fig. 4 is a schematic view of the installation of the diving board according to the present invention.
Fig. 5 is a schematic installation view of the umbrella opening device according to the present invention.
Fig. 6 is a schematic structural view of a roller assembly according to the present invention.
Fig. 7 is a cross-sectional view taken along the direction A-A in fig. 6.
Fig. 8 is a schematic view of a side rail according to the present invention.
Fig. 9 is a cross-sectional view of a side rail of the present invention where a side roller is mounted.
FIG. 10 is a cross-sectional view of a side rail of the present invention with a tie down ring mounted thereon.
Fig. 11 is a schematic view of the positions of the side rails and the pallet according to the present invention.
Fig. 12 is a schematic view of the assembly of the pallet and the cargo according to the present invention.
Fig. 13 is an installation schematic view of the bidirectional lock according to the present invention.
Fig. 14 is a schematic structural view of the bidirectional lock according to the present invention.
Fig. 15 is a schematic structural view of an umbrella opening device according to the present invention.
FIG. 16 is a schematic view of the structure of the umbrella bag system according to the present invention.
Fig. 17 is an enlarged schematic view at II in fig. 4.
Icon: 1-air drop system controller, 2-roller assembly, 201-roller bracket, 202-roller, 203-shaft, 204-bearing, 205-snap spring, 206-roller bracket mounting interface, 3-two-way limit lock, 301-housing, 302-front limit mechanism, 303-rear limit mechanism, 304-electric control box, 4-transfer roller device, 5-floor, 6-cargo, 7-rear limit lock, 8-springboard, 9-side rail, 901-flange, 902-side roller, 903-side roller bearing, 10-cargo bridge doorway, 11-forward limit member, 12-first position sensor, 13-second position sensor, 14-third position sensor, 15-fourth position sensor, 16-fifth position sensor, 17-sixth position sensor, 18-operating panel, 19-blocking device, 1901-montant, 1902-cross bar, 1903-diagonal, 20-umbrella bag system, 2001-opening rope, 2002-wire, 2003-guide, 2004-21-rear end cap, 23-support, 2602-end cap, 2602-hinge-opening door, 2602-hinge-mounting device, and a door 2602-hinge-mounting device, 31-goods bridge rotating shafts, 32-mooring rings, 33-longitudinal beams, 34-container goods platforms, 35-buffering cushions and 36-binding belts.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1-5, this embodiment provides an unmanned aerial vehicle cargo hold air drop system, which includes two rows of roller assemblies 2 installed on a cargo hold floor 5 and a cargo bridge 22, wherein the arrangement direction of the roller assemblies 2 is the same as the heading of the unmanned aerial vehicle, and the two rows of roller assemblies 2 are used for supporting and reducing drag on a cargo pallet 34 and a cargo 6 during cargo loading, unloading or air drop.
As shown in fig. 6 and 7, the roller assembly 2 includes a roller support 201, a roller 202, a shaft 203, a bearing 204 and a clamp spring 205, wherein the roller support 201 is mounted on the floor 5, and a roller support mounting interface 206 is provided on the roller support 201 to facilitate connection with the floor 5. The roller 202 is arranged on the shaft 203, a bearing 204 is arranged between the roller 202 and the shaft, a clamp spring 205 is arranged on the outer side of the bearing 204, and two ends of the shaft 203 are arranged on the roller support 201.
The pallet 34 is supported by the rollers 202, and the rollers 202 can be freely rotated, so that friction of the pallet 34 moving in the cargo hold can be reduced by the above-described structure.
The bearing 204 mainly bears radial load, at least 12-14 rollers 202 bear vertical load of the container cargo table 34 to the rollers 202 during the process of sliding of the container cargo table 34 in the cargo hold, and the rollers 202 can realize course and reverse course movement of the container cargo table 34.
Because the unmanned aerial vehicle height space size is little, in order to increase the height of piling up of goods 6, increase the weight of goods 6, roller subassembly 2 adopts the design of sinking on floor 5, guarantee that the top surface of roller 202 is higher than floor 5 can.
The end of the bridge 22 is provided with a threshold roller 202 for bearing the concentrated load of the load 6 when the load 6 is taken out of the hold.
As shown in fig. 8-11, the cargo space air drop system of the unmanned aerial vehicle further comprises two rows of side rails 9, wherein the side rails 9 are mounted on the fuselage stringers 33, and the two rows of side rails 9 are respectively located at two sides of the pallet 34 and are used for guiding, laterally and vertically limiting the pallet 34.
The side guide rail 9 is a strip-shaped rail which is arranged along the heading direction of the unmanned aerial vehicle in a through length mode, two rows of mounting hole sites are formed in the bottom of the side guide rail 9, the side guide rail 9 is fixedly mounted on the fuselage longitudinal beam 33 through screws, and the bearing capacity of the side guide rail 9 is improved.
A plurality of side rollers 902 are arranged on the side guide rail 9 at intervals along the length direction of the side guide rail, the shafts 203 of the side rollers 902 are arranged in the vertical direction, the side rollers 902 are arranged in cavities on the side guide rail 9 through screws, and side roller bearings 903 are arranged between the side rollers 902 and the screws to ensure that the side rollers 902 can freely rotate. The side rollers 902 can be in rolling contact with the sides of the pallet 34, the side rollers 902 can reduce frictional resistance of the pallet 34 entering the cargo space and on both sides of the cargo space, can limit the lateral position of the pallet 34 and can bear the lateral load of the pallet 34 on the side rails 9.
The side roller bearings 903 are mainly subjected to radial load, and when the pallet 34 moves laterally inside the side rails 9, at least 8 to 12 side rollers 902 on the side of the pallet 34 are subjected to the side load of the pallet 34 on the side rails 9.
The upper end of the side guide rail 9 is also provided with a flanging 901, and the flanging 901 is positioned above the side part of the container cargo table 34 and is used for vertically limiting the container cargo table 34.
The side guide rails 9 are also arranged on the goods bridge 22, the side guide rails 9 arranged on the goods bridge 22 cancel the flanging 901, and meanwhile, buffer angles are arranged at the positions of the goods bridge entrances and exits 10, so that the goods on the pallet 34 can be more smoothly lifted.
In the present embodiment, the side rails 9 are arranged in modular segments.
The side guide rail 9 is further provided with a mooring ring 32, the mooring ring 32 is mounted on the top of the side guide rail 9, and the mooring ring 32 is used for mooring bulk cargo.
As shown in fig. 12, the side rails 9 are provided with blocking devices 19, the blocking devices 19 are located at front ends inside the cargo hold, specifically, two ends of each blocking device 19 are respectively and fixedly installed at front ends of two rows of the side rails 9, and the blocking devices 19 are used for preventing the cargo 6 from toppling forward when the unmanned aerial vehicle lands on a brake or flies at a reduced speed, so as to protect front-end electrical equipment. The blocking device 19 comprises two vertical rods 1901 respectively connected to the two rows of the side guide rails 9, the two vertical rods 1901 are connected through a cross rod 1902, diagonal braces 1903 are connected between the vertical rods 1901 and the side guide rails 9, and the connecting parts of the rod members are connected through screws.
As shown in fig. 1, two forward stoppers 11 are further provided on the cargo compartment floor 5, and the forward stoppers 11 are located between the two rows of side rails 9 and at the front end of the cargo compartment, and the forward stoppers 11 are used for stopping the front end of the container cargo bed 34.
As shown in fig. 1, two rows of bidirectional limiting locks 3 are further arranged on the cargo compartment floor 5, a plurality of concave cavities are formed in the floor 5, a cover 27 is installed in each concave cavity, and cover installation interfaces 28 are arranged around the cover 27 so as to be convenient to connect with the floor 5.
As shown in fig. 13 and 14, the bidirectional lock 3 includes a housing 301 and a housing cover, wherein an accommodating space is provided in the housing 301 for mounting a front-end-of-travel limiting mechanism 302 and a rear-end-of-travel limiting mechanism 303, and the front-end-of-travel limiting mechanism 302 and the rear-end-of-travel limiting mechanism 303 are mounted in parallel in the left and right sides of the housing 301. The housing 301 is mounted within the flap 27 with the housing cover flush with the top surface of the flap 27, and the front and rear voyage limiting mechanisms 302 and 303 are capable of extending beyond the top surface of the flap 27 and also of retracting within the housing 301. The fore and aft actuators 302, 303 employ fore and aft limiting arms, respectively.
An electric control box 304 is mounted in the forward direction of the shell 301, the electric control box 304 can receive control signals to control the forward limiting arm and the rear limiting arm, the forward limiting arm and the rear limiting arm can be electrically controlled to rise or fall, and the forward limiting arm and the rear limiting arm are used for bearing loads when cargoes 6 are locked.
Two rear limit locks 7 are further arranged on the cargo compartment floor 5, the rear limit locks 7 are positioned at the rear end of the cargo compartment, and the structure of the rear limit locks 7 is basically the same as that of the bidirectional limit lock 3, except that the front limit mechanism 302 is not arranged.
The bidirectional limiting lock 3 and the backward limiting lock 7 are electric control mechanisms for forward and backward limiting of the pallet 34.
As shown in fig. 1, a row of conveying roller devices 4 is further arranged on the cargo compartment floor 5, and the conveying roller devices 4 are positioned between two rows of the bidirectional limiting locks 3. The transfer roller device 4 is also mounted in a flap 27 on the floor 5, the transfer roller device 4 being used to assist in loading and unloading the pallet 34 in place during loading and unloading.
As shown in fig. 13, the cover 27 is provided with a wiring hole 29 for facilitating wiring of the bidirectional lock 3, the backward lock 7 and the conveying roller device 4. The floor 5 and the equipment on the floor 5 are interchangeable, and are convenient to maintain and use.
The pallet 34 is arranged between the forward limiting member 11 and the forward-most bidirectional limiting lock 3, between the forward-rear adjacent bidirectional limiting locks 3, and between the rearmost bidirectional limiting lock 3 and the backward-limiting lock 7, and the pallet 34 is provided with a goods 6, and the goods 6 is provided with a buffer pad 35 and a binding band 36. In this embodiment, 8 bidirectional limiting locks 3 and 5 transmission roller devices 4 are installed on the cargo compartment floor 5, the front 4 transmission roller devices 4 are located between the two bidirectional limiting locks 3, the rearmost transmission roller device 4 is located between the two rear limiting locks 7, 5 container loading platform storage areas are formed, and 2 transmission roller devices 4 are also installed on the cargo bridge 22.
Further, 5 position sensors are installed on the cargo compartment floor 5, and the first position sensor 12, the second position sensor 13, the third position sensor 14, the fourth position sensor 15 and the fifth position sensor 16 are respectively located on one side of the bidirectional limiting lock 3 and one side of the backward limiting lock 7 from the front end of the cargo compartment to the rear end of the cargo compartment. The bridge 22 is also provided with 1 position sensor, which is the sixth position sensor 17. The position sensor is used for sensing the position of different goods in the air drop.
As shown in fig. 15, the cargo space air drop system of the unmanned aerial vehicle further comprises an umbrella opening device 26, wherein the umbrella opening device 26 is arranged above the cargo container 34 and the cargo 6 and is used for bearing an umbrella opening load when the cargo 6 is dropped. The umbrella opening device 26 comprises a post-voyage mounting piece 2601, a tensioning assembly 2602, a blocking piece 2603, an umbrella opening pull ring 2604, a pre-voyage mounting piece 2605 and a steel rope 2606, wherein the pre-voyage mounting piece 2605 and the post-voyage mounting piece 2601 are respectively and fixedly mounted above the front end and the rear end frames of the cargo hold, and are fixed through bolts. A tensioning assembly 2602 and a steel cable 2606 are connected between the pre-voyage mounting member 2605 and the post-voyage mounting member 2601, and the tensioning assembly 2602 is used for tensioning the steel cable 2606. Specifically, the post-navigation mounting member 2601 is connected with the tensioning assembly 2602 through a post-navigation binaural hinge member 2607, the tensioning assembly 2602 can tension the steel cable 2606 by adopting a conventional tool under the condition that the hinge is not disassembled through two types of screw threads, the tensioning assembly 2602 is connected with one end of the steel cable 2606 through a blocking member 2603, and the other end of the steel cable 2606 is connected with the pre-navigation mounting member 2605. The steel cable 2606 is provided with a plurality of umbrella opening pull rings 2604, the steel cable 2606 has a guiding function, and the umbrella opening pull rings 2604 can slide on the steel cable 2606. Grease is smeared on the surface of the steel cable 2606, so that friction between the umbrella opening pull ring 2604 and the steel cable 2606 can be reduced, the surface of the steel cable 2606 is protected, and the service life of the steel cable 2606 is prolonged.
As shown in fig. 16, the opening tab 2604 is connected with the cargo 6 through the bag system 20, the bag system 20 comprises an opening rope 2001, an automatic opener 2002, a guiding umbrella 2003 and a main umbrella 2004, the opening tab 2604 is connected with the guiding umbrella 2003 through the opening rope 2001, the guiding umbrella 2003 is connected with a main umbrella sealing rope, and the automatic opener 2002 is arranged between the guiding umbrella 2003 and the main umbrella sealing rope. The specific working process is as follows, under the gravity action of the goods 6, the container cargo platform 34 starts to slide outwards of the cargo hold, after the container cargo platform 34 leaves the cargo hold of the unmanned aerial vehicle, the parachute opening tab 2604 slides to the position of the blocking piece 2603, the load of the parachute opening rope 2001 increases until the leading parachute 2003 is pulled out, and the parachute opening rope 2001 breaks (the position B in fig. 16 is a breaking position). The guiding umbrella 2003 is inflated and inflated, the guiding umbrella 2003 continues to open the main umbrella sealing rope, and the main umbrella 2004 is opened, so that air drop is realized. In order to avoid failure of the pilot umbrella 2003 to open the main umbrella 2004, an automatic umbrella opener 2002 is provided between the pilot umbrella 2003 and the main umbrella closing rope. When the guiding umbrella 2003 fails to open the main umbrella 2004, the automatic umbrella opener 2002 starts to work, so that the main umbrella 2004 is opened, the safety landing is ensured, and the automatic umbrella opener 2002 can jointly determine the umbrella opening condition through the set speed and the set height.
Further, the unmanned aerial vehicle cargo hold air drop system still includes air drop system controller 1, air drop system controller 1 installs in the control room of unmanned aerial vehicle front end, the rear end of cargo hold still is provided with operating panel 18, operating panel 18 is connected to air drop system controller 1, air drop system controller 1 with two-way limit lock 3 back limit lock 7 transmission gyro wheel device 4, each position sensor, power are connected, air drop system controller 1 is used for control two-way limit lock 3 back limit lock 7's switching, control transmission gyro wheel device 4 work, control are the system power supply, air drop system controller 1 adopts RS422 communication to interact with the flight tube computer system, air drop system controller 1 can feedback 6 positional information of goods.
The air drop system controller 1 controls the opening and closing of the limiting lock to complete the air drop function of the cargo bed. An operator gives an instruction to the air-drop system controller 1 by operating the operation panel 18 to finish loading and unloading of the pallet 34; when the air drop task is carried out, the air drop system controller 1 receives the control instruction of the flight tube computer system, coordinates the work of the freight transport system and completes the air drop task according to the air drop logic.
The cargo space air drop system of the unmanned aerial vehicle improves the rapidness, safety and economy of air drop materials at the tail part of the unmanned aerial vehicle, and improves the guarantee, safety and economy of battlefield and logistics supply.
In this embodiment, the cargo bridge 22 is mounted at the tail of the body 21, and is connected to the tail of the body 21 through the cargo bridge rotating shaft 31, so that three states of ground loading, horizontal opening and closing can be realized, as shown in fig. 4 and 17, the tail of the body 21 is provided with the springboard rotating shaft 30, the springboard 8 can rotate around the springboard rotating shaft 30, and when the cargo bridge 22 is in the three states, the springboard 8 is always lapped on the front end edge of the cargo bridge 22, so that sundries are prevented from falling into the cargo bridge rotating shaft 31, and normal operation of the tail gate is prevented from being affected. The center lower extreme department in the afterbody of fuselage 21 is provided with strutting arrangement and connects, sets up the switch in place on the joint, and the signal in place is used for judging whether reliably ground, avoids not installing strutting arrangement 23 and carries out loading and unloading, and strutting arrangement 23 is as the ground guarantee equipment of ground loading and unloading for in the in-process of loading and unloading goods 6, the goods 6 weight overweight makes the whole machine to turn over backward.
The ground loading process adopting the unmanned aerial vehicle cargo hold air drop system comprises the following steps:
s1: the unmanned aerial vehicle is in a ground shutdown state, the cargo bridge 22 is horizontally opened, the upper tail cabin door 24 rotates around the upper tail cabin door rotating shaft 25, the upper tail cabin door 24 is opened, the loading truck loading pallet 34 is opened to the vicinity of the cargo bridge 22, and the alignment of the loading truck and the cargo bridge 22 is adjusted;
S2: installing a supporting device 23, transmitting an in-place signal to the air drop system controller 1, judging whether the air drop system controller 1 has loading and unloading conditions or not, and starting a manual autonomous mode by the air drop system controller 1;
s3: the operation panel 18 is used for sending a locking and unlocking instruction to the air-drop system controller 1, and the air-drop system controller 1 controls 10 locking and unlocking (the locking arm falls down horizontally);
S4: the operation panel 18 gives a working instruction of the transmission roller device 4 to the air drop system controller 1, and the air drop system controller 1 controls 7 transmission roller devices 4 to work;
S5: the loading vehicle pushes the first container cargo table 34 to be transferred onto the cargo bridge 22 from the loading vehicle, and the container cargo table 34 moves forwards along the side guide rail 9 under the drive of the transmission roller device 4 on the cargo bridge 22 until the container cargo table 34 moves to the vicinity of the forward limit 11 before the voyage;
S6: the operation panel 18 is used for issuing locking instructions of the two-way limiting locks 3 at the storage area 1# to the air drop system controller 1, and the air drop system controller 1 controls the locking of the two-way limiting locks 3 (the locking arms are vertically lifted);
s7: the corresponding umbrella opening pull ring 2604 of each cargo 6 is hung on the steel cable 2606 (the operation is not needed when the cargo pallet 34 is transported by air), and the cargo pallet 34 of the 1 st piece is loaded in the storage area 1 #;
s8: the steps S5 to S7 are repeated to complete the loading of 5 container beds 34.
The ground unloading process adopting the unmanned aerial vehicle cargo hold air drop system comprises the following steps:
s1: the unmanned aerial vehicle is in a ground shutdown state, the cargo bridge 22 is horizontally opened, the upper tail cabin door 24 is opened, and the loading vehicle is aligned with the cargo bridge 22;
S2: installing a supporting device 23, transmitting an in-place signal to the air drop system controller 1, judging whether the air drop system controller 1 has loading and unloading conditions or not, and starting a manual autonomous mode by the air drop system controller 1;
S3: the operation panel 18 is used for issuing unlocking instructions of two limit locks of the storage area 5# to the air drop system controller 1, and the air drop system controller 1 controls the unlocking of the two limit locks of the storage area 5# (the locking arm falls down horizontally);
s4: the operation panel 18 is used for issuing working instructions of the cargo bridge 22 and the transmission roller device 4 at the rear end of the cargo hold to the air drop system controller 1, and the air drop system controller 1 controls the cargo bridge 22 and the transmission roller device 4 at the rear end of the cargo hold to work;
S5: the storage area 5# containerized cargo table 34 moves along the side guide rail 9 to the reverse course, moves onto the cargo bridge 22, then moves onto the loading vehicle, and the loading vehicle transfers the containerized cargo table 34 to a designated place to finish unloading of the cargo table in the storage area 5 #;
S6: an operation panel 18 is used for issuing a locking and unlocking instruction of the storage area 4# to the air drop system controller 1, and the air drop system controller 1 controls the two locking and unlocking (horizontal falling of a locking arm) of the storage area 4 #;
S7: the operation panel 18 gives a working instruction of the transmission roller device 4 in the storage area 4# to the air drop system controller 1, and the air drop system controller 1 controls the transmission roller device 4 in the storage area 4# to unlock, and the cargo bridge 22 and the transmission roller device 4 at the rear end of the cargo hold are still in a working state;
S8: the container cargo bed 34 in the storage area 4# moves along the side guide rail 9 to the reverse course, moves onto the cargo bridge 22, then moves onto the loading vehicle, and the loading vehicle transfers the container cargo bed 34 to a designated place to finish unloading of the container cargo bed 34 in the storage area 4 #;
s9: and repeating the steps S7-S8 to finish the unloading of the 5 container tables 34.
The air drop flow adopting the unmanned aerial vehicle cargo hold air drop system comprises the following steps:
S1: the unmanned aerial vehicle reaches the preset position, the airplane reaches the preset elevation angle, the cargo bridge 22 is horizontally opened, and the upper tail cabin door 24 is opened;
s2: the flyer computer system sends an unlocking command to the air-drop system controller 1, and the air-drop system controller 1 controls all the locking locks to unlock (the locking arms fall down horizontally);
S3: under the action of gravity of the goods 6, the five container platforms 34 sequentially move along the reverse course, and an umbrella opening pull ring 2604 hung on the steel cable 2606 slides along the steel cable 2606;
S4: until the pallet 34 moves to the end of the bridge 22, the pallet 34 is separated from the unmanned plane, the umbrella opening pull ring 2604 moves to the vicinity of the blocking member 2603, the load of the umbrella opening rope 2001 increases, the umbrella opening rope 2001 pulls out the guide umbrella 2003 in the umbrella bag system 20, and at the same time, the umbrella opening rope 2001 breaks at a certain position, and the guide umbrella 2003 is inflated and inflated rapidly;
s5: the guiding umbrella 2003 pulls out the main umbrella 2004, the main umbrella 2004 is inflated and inflated rapidly, the container cargo table 34 slowly drops in the air until the container cargo table 34 lands, and air drop is realized.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle cargo hold air drop system, its characterized in that:
the automatic loading and unloading device comprises a transmission roller device and a roller assembly, wherein the transmission roller device and the roller assembly are arranged on the floor of a cargo hold and a cargo bridge, the transmission roller device is used for realizing automatic loading and unloading of a cargo container table, a plurality of storage areas are arranged in the cargo hold and are used for storing the cargo container table, and limiting devices are arranged on the front and rear sides of each storage area;
two rows of side guide rails are also arranged in the cargo compartment and on the cargo bridge and are respectively positioned at the left side and the right side of the container cargo table;
The device comprises a cargo hold, a cargo opening device, a cargo opening system, a cargo opening device and a cargo opening system, wherein the cargo opening device is installed in the cargo hold and is located above a packaged cargo table, the cargo on the packaged cargo table is connected with the umbrella bag system, the umbrella bag system is connected to the cargo opening device, and after the packaged cargo table leaves the cargo hold in the air, the umbrella opening device can open and separate the umbrella bag system from the cargo opening system, so that the packaged cargo table and the cargo can be air dropped to a target place.
2. The unmanned aerial vehicle cargo hold air drop system of claim 1, wherein:
The side guide rail is provided with a plurality of side rollers along the length direction at intervals, and the side rollers are used for rolling contact with the side surfaces of the container cargo bed.
3. The unmanned aerial vehicle cargo hold air drop system of claim 1, wherein:
The side guide rail is provided with a blocking device which is positioned at the front end of the interior of the cargo hold and is used for preventing the cargo from toppling forward.
4. The unmanned aerial vehicle cargo hold air drop system of claim 1, wherein:
The limiting device comprises a forward limiting piece, wherein the forward limiting piece is fixedly arranged at the front end of the cargo compartment floor and is used for limiting a container cargo table at the forefront end in the cargo compartment;
The two-way limiting lock is arranged between two adjacent storage areas and is used for two-way limiting of the container cargo bed;
The cargo hold further comprises a rear limit lock, wherein the rear limit lock is arranged at the outlet of the cargo hold and is used for limiting the cargo container platform in one way.
5. The unmanned aerial vehicle cargo hold air drop system of claim 4, wherein:
The bidirectional limiting lock comprises a shell and a shell cover, wherein an accommodating space is formed in the shell, a front-voyage limiting mechanism and a rear-voyage limiting mechanism are installed in the shell, and the front-voyage limiting mechanism and the rear-voyage limiting mechanism are installed in the shell in parallel;
The shell is also provided with an electric control box which is used for controlling the front-flight limiting mechanism and the rear-flight limiting mechanism.
6. The unmanned aerial vehicle cargo hold air drop system of claim 5, wherein:
The parachute opening device comprises a post-voyage mounting piece, a tensioning assembly, a blocking piece, a parachute opening pull ring, a pre-voyage mounting piece and a steel cable, wherein the pre-voyage mounting piece and the post-voyage mounting piece are respectively and fixedly mounted above the front end and the rear end frame of the cargo hold, the pre-voyage mounting piece and the post-voyage mounting piece are connected with the tensioning assembly and the steel cable, the tensioning assembly is used for tensioning the steel cable, the blocking piece is mounted between the tensioning assembly and the steel cable, and the parachute opening pull ring is suspended on the steel cable.
7. The unmanned aerial vehicle cargo hold air drop system of claim 6, wherein:
The umbrella bag system comprises an opening rope, an automatic opening device, a guiding umbrella and a main umbrella, wherein the opening pull ring is connected with the guiding umbrella through the opening rope, the guiding umbrella is connected with a main umbrella sealing rope, and the automatic opening device is arranged between the guiding umbrella and the main umbrella sealing rope.
8. The unmanned aerial vehicle cargo hold air drop system of claim 7, wherein:
The unmanned aerial vehicle is characterized by further comprising an air-drop system controller arranged on the unmanned aerial vehicle, wherein the air-drop system controller is connected with the bidirectional limiting lock, the backward limiting lock and the transmission roller device, the air-drop system controller is interacted with a flight tube computer system by adopting wireless communication, and the flight tube computer system issues an instruction to the air-drop system controller to control the air-drop system controller to carry out air-drop operation.
9. The unmanned aerial vehicle cargo hold air drop system of claim 8, wherein:
The system also comprises an operation panel arranged on the unmanned aerial vehicle, wherein the operation panel is connected to the air-drop system controller, and the operation panel is operated to give an instruction to the air-drop system controller so as to finish loading and unloading of the container cargo bed.
10. The method for performing air drop by using the unmanned aerial vehicle cargo hold air drop system according to claim 8, which is characterized in that:
the method comprises the following steps:
s1: the unmanned aerial vehicle reaches the preset position, the airplane reaches the preset elevation angle, the cargo bridge is horizontally opened, and the upper tail cabin door is opened;
S2: the flight tube computer system sends an unlocking instruction to the air-drop system controller, and the air-drop system controller controls all the limit locks to unlock;
S3: under the action of gravity of goods, the plurality of container tables sequentially move along the reverse course, and an umbrella opening pull ring hung on the steel cable slides along the steel cable;
S4: when the container cargo platform moves to the tail end of the cargo bridge, the container cargo platform is separated from the unmanned aerial vehicle, the umbrella opening pull ring moves to the position near the blocking piece, the load of the umbrella opening rope is increased, the umbrella opening rope pulls out the guide umbrella, and meanwhile, the umbrella opening rope is broken, and the guide umbrella is inflated and inflated rapidly;
S5: the guiding umbrella pulls out the main umbrella, the main umbrella is inflated and inflated rapidly, the container goods table slowly falls in the air until the container goods table falls to the ground, and air drop is achieved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410405799.6A CN117985225A (en) | 2024-04-07 | 2024-04-07 | Unmanned aerial vehicle cargo hold air drop system and air drop method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410405799.6A CN117985225A (en) | 2024-04-07 | 2024-04-07 | Unmanned aerial vehicle cargo hold air drop system and air drop method |
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| CN202410405799.6A Pending CN117985225A (en) | 2024-04-07 | 2024-04-07 | Unmanned aerial vehicle cargo hold air drop system and air drop method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1120952A (en) * | 1966-04-22 | 1968-07-24 | Gq Parachute Comp Ltd | Improvements in or relating to means for parachuting loads from aircraft |
| US20150203202A1 (en) * | 2014-01-23 | 2015-07-23 | Capewell Components Company, Llc | Rapid environmental control aerial delivery system |
| CN209023137U (en) * | 2018-09-25 | 2019-06-25 | 陕西飞机工业（集团）有限公司 | A kind of ready-package forced parachute opening device |
| CN115871927A (en) * | 2022-11-18 | 2023-03-31 | 航宇救生装备有限公司 | Gravity air-drop method suitable for war chariot air-drop system |
| CN117682069A (en) * | 2023-12-12 | 2024-03-12 | 中航电测仪器(西安)有限公司 | Air-drop air-transport system and method for goods thrown by unmanned aerial vehicle tail |
-
2024
- 2024-04-07 CN CN202410405799.6A patent/CN117985225A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1120952A (en) * | 1966-04-22 | 1968-07-24 | Gq Parachute Comp Ltd | Improvements in or relating to means for parachuting loads from aircraft |
| US20150203202A1 (en) * | 2014-01-23 | 2015-07-23 | Capewell Components Company, Llc | Rapid environmental control aerial delivery system |
| CN209023137U (en) * | 2018-09-25 | 2019-06-25 | 陕西飞机工业（集团）有限公司 | A kind of ready-package forced parachute opening device |
| CN115871927A (en) * | 2022-11-18 | 2023-03-31 | 航宇救生装备有限公司 | Gravity air-drop method suitable for war chariot air-drop system |
| CN117682069A (en) * | 2023-12-12 | 2024-03-12 | 中航电测仪器(西安)有限公司 | Air-drop air-transport system and method for goods thrown by unmanned aerial vehicle tail |
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