CN208198827U - A kind of unmanned plane protection system based on modularized design - Google Patents

Abstract

The utility model discloses a kind of, and the unmanned plane based on modularized design protects system, which includes ejection protective module and interface circuit module, cover board and lower section attachment；Ejection protective module and interface circuit module are fixedly arranged on cover board, and ejection protective module is connected with interface circuit module；Lower section attachment is mounted on the bottom of multi-rotor unmanned aerial vehicle by screw；Multi-rotor unmanned aerial vehicle is connect with cover board by the Fastening tenon structure in ejection protective module.When cover board pop-up, connecting cover plate and the guide line of lower section parachute are pulled, so that lower section parachute is opened when cover board launches, simultaneously by the inertia effects of air drag and unmanned plane itself, unmanned aerial vehicle body overturns 180 °, become lower section holder upper, situation of the rack front of script under, at this moment lower section parachute is fully deployed, slow down the decrease speed of unmanned plane, and the horn of unmanned plane and motor thereon, propeller is cooperated to carry out landing and buffering, guarantee the safety of video camera or other instruments on holder.

Description

A kind of unmanned plane protection system based on modularized design

Technical field

The utility model belongs to air vehicle technique field, and in particular to a kind of unmanned plane protection system based on modularized design System.

Background technique

In recent years, with the development of micro electronmechanical control technology, stable multi-rotor aerocraft has obtained extensive concern, has answered It is very considerable with prospect.Existing multi-rotor unmanned aerial vehicle system includes the flight control system of control flight, by rotor, motor and battery The dynamical system of equal compositions and imaging sensor, GPS or the various measurement sensors etc. carried according to different application External equipment.

But when unmanned plane happens suddenly accident or failure, body will be unable to keep balance, or even is rolled or lost dynamic Power and fall, cause to fly the damage for the expensive device that control etc. is carried on important component and unmanned plane on unmanned planes, economic loss It is larger.

The problem of UAV Components caused by the unexpected crash out of control of unmanned plane burst and carrying equipment are damaged in order to prevent, it is existing Having in technology has following representative solution:

(1) paper title: unmanned plane transmitting and recovery technology

The object of this paper studies is the transmitting and recovery system of certain small drone.First according to the type unmanned plane Feature selects the assembled scheme of elastic force ejection and the recycling of parachuting air bag to emit and recycle safe and reliable to ensure.For parachuting Air bag recovery system has carried out detailed design and strength check to parachute, and to the parachuting stabilization sub stage according to design requirement Flow field uses CFD technology to carry out numerical analysis to ensure that falling speed meets design requirement.And it is calculated according to some empirical equations Out the height of air bag, initial pressure, unload the major parameters such as pressure pressure and discouraged open area, with ensure unmanned plane safety return It receives.

Parachute design drawing as shown in Figure 1, technological means are to customize umbrella by calculating unmanned plane weight and volume Protection system is dropped, but is only used for some (or certain single model) unmanned plane, at high cost, poor compatibility.It turns over unmanned plane is out of control When rolling body or propeller umbrella rope is snarled cause parachute-opening not exclusively or failing smooth parachute-opening causes unmanned plane to crash；Circuit system It is connected with unmanned machine battery, can not be popped up when unmanned plane battery failures.

(2) mechanical analysis and optimization design of patent name unmanned plane key stress frame

Parachute and unmanned machine assembly motion state are complicated during parachuting, and unmanned aircraft parachute descent removal process is easier It breaks down.No matter which kind of method is used, vertical speed can not completely disappear before unmanned plane landing.Therefore, it is necessary to auxiliary It goes to absorb dump energy with landing and buffering device, and buffer air bag is a kind of very effective buffering method.When parachuting recycling, It is in due course, shock-absorption air bag is released expansion, and when UAV Landing, intracapsular gas is compressed under impact loading It is deformed, absorbs unmanned plane impact energy, exclude intracapsular gas in time then to discharge absorbed energy, subtract to reach The purpose of small unmanned plane impact acceleration, protection unmanned plane recycling safety.

It is illustrated in figure 2 unmanned aircraft parachute descent-air bag recovery scheme schematic diagram, the technological means used is unmanned plane Complete machine parachuting recycling, when unmanned plane is overweight, buffering effect is unobvious；And system is excessively complicated, it is at high cost and be unfavorable for maintenance more It changes；When unmanned plane is out of control, if parachute has popped up, propeller is still being rotated, and may twist umbrella rope causes parachute can not Expansion causes recycling to fail；Circuit system is connected with unmanned machine battery, can not pop up when unmanned plane battery failures.

Above-mentioned representativeness existing scheme has the disadvantage in that

(1), the prior art is mostly complete machine parachuting, and dismounting maintenance is inconvenient；

(2), circuit system and control are connected with unmanned machine battery, and when unmanned plane battery failures, parachute can not be popped up；

(3), when unmanned plane is out of control, if parachute has popped up, propeller is still being rotated, and may twist umbrella rope causes Parachute can not be unfolded；

(4), umbrella rope is snarled and causes parachute-opening not exclusively or fail smoothly to open by body or propeller when unmanned plane rolling out of control Umbrella causes unmanned plane to crash；

(5), certain type design reasons can not install landing pack or without mounting hole.

Utility model content

The purpose of this utility model is that in the case where not changing from group unmanned aerial vehicle rack and overall structure, by adding It fills parachuting unmanned plane and protects system, reduce design and manufacture cost, improve compatibility；Unmanned plane is protected in the case where out of control to fly Control system and unmanned plane expensive device mounted.

The technical solution adopted in the utility model is a kind of unmanned plane protection system based on modularized design, the system packet Include ejection protective module and interface circuit module, cover board and lower section attachment；It is all fixed to launch protective module and interface circuit module On the cover board, ejection protective module is connected with interface circuit module for installation；Lower section attachment by screw be mounted on more rotors nobody The bottom of machine；Multi-rotor unmanned aerial vehicle is connect with cover board by the Fastening tenon structure in ejection protective module.

The ejection protective module is by universal mercury switch, battery, motor reel, parachute module, elastic slice, lower section trip And centrally-located structure composition.Universal mercury switch is connect with motor reel, and motor reel, which is screwed, is mounted on lid On the lower section trip of plate；Parachute module is arranged in cover board；It is connect with multi-rotor unmanned aerial vehicle by lower section trip below cover board. Elastic slice is loaded between cover board and multi-rotor unmanned aerial vehicle.Centrally-located structure setting is in the centre of cover board.Battery is twisted with motor respectively Wheel, parachute module connect and provide electric power.Universal mercury switch is opened and closed according to mercury tilt angle, and then controls motor Matching relationship between reel and trip.

Lower section trip is made of trip piece, hollow tube, spring, iron wire and capstan winch.Iron wire is connected with motor reel, and iron wire is worn It crosses hollow tube and is connected to trip on piece, spring pocket plays the role of opening trip piece in the outside of hollow tube.

Centrally-located structure is by loaded on positioning column, the ball and loaded on the outer ring group on cover board on multi-rotor unmanned aerial vehicle fuselage At.Positioning column is fixed in multi-rotor unmanned aerial vehicle, and the surface of positioning column is arranged in ball, and exterior ring cap is on ball.When ejection, in It entreats location structure to position as guide rail, is parallel to ejection direction right above multi-rotor unmanned aerial vehicle.

The interface circuit module is by four corners Quick Release interface, two edge Quick Release interfaces, service wire and contact sets At；Four corners Quick Release interface is distributed in the horn side of multi-rotor unmanned aerial vehicle, flies control and electricity tune for connecting；Two edge are fast The two sides that mouth is symmetrically arranged in cover board are disconnected, two edge Quick Release interfaces are battery interface and GPS interface respectively.Interface circuit mould The connection of block using upper sliding block and it is built-in snap connection, ensure that bonding strength, while when not influencing to break down, cover Plate and its protective module can be popped up freely.The interface of four corners Quick Release interface and two edge Quick Release interfaces is using touching Point connection is connected to winged control by service wire again.

The cover board is rigid plate, is mounted on unmanned plane, and top is equipped with the winged control being originally mounted on unmanned plane And other important components, the originally integrated structure of unmanned plane is divided into two removable sections up and down；The size of the cover plate is according to taking The rack size for carrying the multi-rotor unmanned aerial vehicle of this equipment changes, when being carried such as F (certain type unmanned aerial vehicle rack), size and interface position It sets as shown in Figure 4.

The lower section attachment includes umbrella stand, lower section parachute and turning joint；Lower section parachute is installed by turning joint On umbrella stand；Cover board is connect by guide line with lower section parachute.As shown in figure 11.

Lower section trip in the ejection protective module is connect with multi-rotor unmanned aerial vehicle.Be equipped with above cover board more rotors without Man-machine winged control, the precision instruments such as gps.

Elastic slice is an elastic spring or spring, compressive state is in trip closure, when trip is unclamped by cover board Pop-up.

So far entire unmanned plane is divided into two parts, and the purpose for designing this set system is that protection top flies control under respectively Fang Yuntai.Lower section attachment protects the attachmentes such as holder after then playing the role of cover board pop-up.Cover board is connected with guide line, when pop-up Rope is pulled, lower section parachute is popped up, then by inertia and rack in vertical position.Parachute rope strand is avoided in this way Situation on to rotor.Overturning of machine frame protects the attachmentes such as holder using horn and motor as buffering.Cover board is as more than one The outer attachment of rotor wing unmanned aerial vehicle sacrifices electricity and adjusts the unessential components such as motor next maximum in case of emergency providing protection The protection of limit flies control, the precise parts such as gps.Making the unmanned plane for executing outdoor task safely has guarantee, is able to carry out more More complicated task.

Detailed description of the invention

Fig. 1 is a kind of parachute design drawing.

Fig. 2 is a kind of unmanned aircraft parachute descent-air bag recovery scheme schematic diagram.

Fig. 3 is most common F450 rack on the market.

Fig. 4 is cover board top view.

Fig. 5 is interface and its top view and connection type.

Fig. 6 is cover board lower layer fixed structure chart.

Fig. 7 is trip fixed form.

Fig. 8 is that micromotor is in kind.

Fig. 9 is system operational flow diagram.

Figure 10 .1 is the side schematic view of centrally-located structure.

Figure 10 .2 is the front schematic view of centrally-located structure.

Figure 11 is the structure chart of lower section attachment.

Specific embodiment

Below in conjunction with drawings and examples, the present invention will be further described in detail.

As shown in Fig. 3-11, a kind of module protection system based on multi-rotor unmanned aerial vehicle, the system includes ejection protection mould Block and interface circuit module, cover board 40 and lower section attachment；Ejection protective module and interface circuit module are fixedly arranged at cover board On 40, ejection protective module is connected with interface circuit module；Lower section attachment is mounted on the bottom of multi-rotor unmanned aerial vehicle 10 by screw Portion；Multi-rotor unmanned aerial vehicle 10 is connect with cover board 40 by the Fastening tenon structure in ejection protective module.

The ejection protective module is by universal mercury switch 2010, battery 2020, motor reel 2030, parachute module 2040, elastic slice 2050, lower section trip 2060 and centrally-located structure 2070 form.Universal mercury switch 2010 and motor reel 2030 connections, motor reel 2030 are screwed on the lower section trip 2060 for being mounted on cover board 40；Parachute module 2040 It is arranged in cover board 40；40 lower section of cover board is connect with multi-rotor unmanned aerial vehicle 10 by lower section trip 2060.Elastic slice 2050 is loaded on lid Between plate 40 and multi-rotor unmanned aerial vehicle 10.The centre of cover board 40 is arranged in centrally-located structure 2070.Battery 2020 respectively with electricity Machine reel 2030, parachute module 2040 connect and provide electric power.Universal mercury switch 2010 is carried out according to mercury tilt angle Opening and closing, and then control the matching relationship between motor reel 2030 and trip 2060.

Lower section trip 2060 is by trip piece 206010, hollow tube 206020, spring 206030, iron wire 206040 and capstan winch 206050 compositions.Iron wire 206040 is connected with motor reel 2030, and iron wire 206040 passes through hollow tube 206020 and is connected to trip On piece 206010,206030 sets of the spring outsides in hollow tube 206020 play the role of opening trip piece 206010.

Centrally-located structure 2070 is by loaded on positioning column 207010, the ball 207020 on 10 fuselage of multi-rotor unmanned aerial vehicle It is formed with loaded on the outer ring 207030 on cover board 40.Positioning column 207010 is fixed in multi-rotor unmanned aerial vehicle 10, ball 207020 The surface of positioning column 207010 is set, and 207030 sets of outer ring on ball 207020.When ejection, centrally-located structure 2070 It is positioned as guide rail, is parallel to ejection direction right above multi-rotor unmanned aerial vehicle 10.

The interface circuit module is by four corners Quick Release interface 3010, two edge Quick Release interfaces 3020, service wires 3030 and contact 3040 form；Four corners Quick Release interface 3010 is distributed in the horn side of multi-rotor unmanned aerial vehicle 10, for connecting It connects and flies control and electricity tune；Two edge Quick Release interfaces 3020 are symmetrically arranged in the two sides of cover board 40, two edge Quick Release interfaces 3020 It is battery interface and GPS interface respectively.The connection of interface circuit module using upper sliding block and it is built-in snap connection, ensure that Bonding strength, while when not influencing to break down, cover board 40 and its protective module can be popped up freely.Four corners Quick Release The interface of interface 3010 and two edge Quick Release interfaces 3020 is connected to by service wire 3030 again using the connection of contact 3040 Fly control.

The cover board 40 is rigid plate, is mounted on unmanned plane 10, and top was equipped with being originally mounted on unmanned plane 10 Winged control and other important components, the structure of the one originally of unmanned plane 10 is divided into two removable sections up and down；Cover board 40 Size changes according to the rack size for the multi-rotor unmanned aerial vehicle 10 for carrying this equipment, as F450 (certain type unmanned aerial vehicle rack) is carried When, size and interface position are as shown in Figure 4.

The lower section attachment includes umbrella stand, lower section parachute 5010 and turning joint 5020；Lower section parachute 5010 passes through Turning joint 5020 is mounted on umbrella stand；Cover board 40 is connect by guide line with lower section parachute 5010.As shown in figure 11.

Lower section trip 2060 in the ejection protective module is connect with multi-rotor unmanned aerial vehicle 10.It is equipped with above cover board 40 The winged control of multi-rotor unmanned aerial vehicle 10, the precision instruments such as gps.

Elastic slice 2050 is an elastic spring or spring, compressive state is in when trip 2060 is closed, in trip 2060 Cover board 40 is popped up when release.

The control of embodiment is described as follows:

When zero accident occurs, cover board 40 is fixed on the rack by trip 2060, and elastic slice 2050 is in compressive state.When more rotations 10 failure of wing unmanned plane, fuselage inclination angle it is excessive even into tumbling state when, mercury switch 2010 is affected by gravity closure, electricity 2030 rotating hinge of machine reel lives iron wire, unclamps cover board 40 and rack junction trip 2060, and elastic slice 2050 is by 40 bullet of cover board Out, while parachute module 2040 flicks, and guidance parachute flies out, and then main parachute is pulled out；

It is battery interface and GPS interface respectively by Quick Release interface 3020, the fast of route is realized by Quick Release interface 3020 Speed cutting makes rapidly winged control, gps on the cover board 40 that the electricity on horn is adjusted, motor and multi-rotor unmanned aerial vehicle 1010 are central etc. expensive Weight instrument separation, protects expensive instrument, reduces loss.

Cover board 40 pulls guide line when popping up, so that lower section parachute 5010 is unfolded, then is acted on by gravity and air drag So that turning joint 5020 is turned to fuselage in vertical state, all protection operations are so far completed.Elastic slice 2050 is gone back when landing Certain buffer function can be played.

When unexpected generation, when mercury switch 2010 is affected by gravity closure, motor reel 2030 and parachute module 2040 It connects, parachute module 2040 starts, and trip 2060 unclamps when launching expansion, and parachute module 2040 plays auxiliary cover plate The effect of 40 ejections；And when cover board 40 declines, parachute module 2040 slows down its decrease speed, and cooperation elastic slice 2050 is fallen Ground buffers the safety of common cover sheet 40 and important component thereon.

When cover board 40 pops up, connecting cover plate 40 and the guide line of lower section parachute 5010 are pulled, so that 40 bullet of cover board Lower section parachute 5010 is opened when penetrating, while by the inertia effects of air drag and unmanned plane 10 itself, unmanned plane 10 Fuselage overturns 180 °, becomes lower section holder in upper, situation of the rack front of script under, at this moment lower section parachute 5010 is complete Expansion, slows down the decrease speed of unmanned plane 10, and it is slow to cooperate the horn of unmanned plane 10 and motor, propeller thereon to carry out landing Punching sacrifices motor, propeller to guarantee the safety of video camera or other instruments on holder.

As shown in figure 9, ejection protective module 20 starts when unmanned plane failure, cuts off interface circuit module 30 and will cover Plate 40 is popped up with significant components thereon.Process step is as follows in such cases:

Step 1, unmanned plane 10 break down, fuselage inclination.

Step 2, mercury switch 2010 are closed, and circuit is connected.

Step 3A-1, motor reel 2030 rotates capstan winch, and trip 2060 is withdrawn.

Step 3A-2, cover board 40 pops up under 2050 elastic force of lower section elastic slice, while cutting off interface circuit 30.

Step 3B-1, parachute module 2040 starts, extractor parachute pop-up.

Step 3B-2, extractor parachute extracts main parachute, deployment.

Step 3B-3, cover board 40 pulls rope to make to be located at 45 ° of inclination placements below rack after step 3A-2 disengaging Another parachute open, and by inertia and the perpendicular angle of rack.

Step 4, cover board 40 and equipment are slowed down.

Step 5, equipment safety are landed.

The utility model is based on common group unmanned aerial vehicle rack certainly on the market, can compare in conjunction with most of unmanned planes Cost is saved with a unmanned plane is redesigned, and can be printed by 3d and change cover board shape, adapts to different nobody Machine has certain potential modification.

The multi-rotor unmanned aerial vehicle 10 is the structure of general unmanned plane on the market, is connect by dynamical system, flight control system, holder Mouth and unmanned controller are constituted.

Without changing existing unmanned plane overall structure, only needing trip to connect can use the utility model, easy to connect. Control system and power-supply system are mutually indepedent with original aircraft, improve safety, are the guarantors for being totally independent of aircraft Protecting system.

The utility model has used two kinds of fixed solutions of trip and central locator post, meets unmanned plane stability and rigidity The normal pop-up of ejection protective module is not influenced while structure.Modularization pop-up then ensure that the sharp components such as propeller will not Damage parachute.

The utility model has disposed extractor parachute, first to protect core component to greatest extent in parachute module Extractor parachute can make main chute smooth opening and reduce main chute duration of run, and secondly when unmanned plane height is too low, extractor parachute can also Cooperate lower gasket cover sheet as parachute.Greatly improve unmanned plane safety.

Claims (8)

1. a kind of unmanned plane based on modularized design protects system, it is characterised in that: the system include ejection protective module and Interface circuit module, cover board (40) and lower section attachment；Ejection protective module and interface circuit module are fixedly arranged at cover board (40) on, ejection protective module is connected with interface circuit module；Lower section attachment is mounted on multi-rotor unmanned aerial vehicle (10) by screw Bottom；Multi-rotor unmanned aerial vehicle (10) is connect with cover board (40) by the Fastening tenon structure in ejection protective module.

2. a kind of unmanned plane based on modularized design according to claim 1 protects system, it is characterised in that: the bullet Protective module is penetrated by universal mercury switch (2010), battery (2020), motor reel (2030), parachute module (2040), bullet Piece (2050), lower section trip (2060) and centrally-located structure (2070) composition；Universal mercury switch (2010) and motor twist (2030) connection is taken turns, motor reel (2030) is screwed on the lower section trip (2060) for being mounted on cover board (40)；Landing Umbrella module (2040) setting is in cover board (40)；Pass through lower section trip (2060) with multi-rotor unmanned aerial vehicle (10) below cover board (40) Connection；Elastic slice (2050) is loaded between cover board (40) and multi-rotor unmanned aerial vehicle (10)；Centrally-located structure (2070) setting is being covered The centre of plate (40)；Battery (2020) connect with motor reel (2030), parachute module (2040) respectively and provides electric power；Ten thousand It is opened and closed to mercury switch (2010) according to mercury tilt angle, and then controls motor reel (2030) and lower section trip (2060) matching relationship between.

3. a kind of unmanned plane based on modularized design according to claim 2 protects system, it is characterised in that: lower section card Tenon (2060) is by trip piece (206010), hollow tube (206020), spring (206030), iron wire (206040) and capstan winch (206050) it forms；Iron wire (206040) is connected with motor reel (2030), and iron wire (206040) passes through hollow tube (206020) It is connected on trip piece (206010), spring (206030) covers in the outside of hollow tube (206020), plays and opens trip piece (206010) effect.

4. a kind of unmanned plane based on modularized design according to claim 2 protects system, it is characterised in that: center is fixed Bit architecture (2070) is by loaded on positioning column (207010), the ball (207020) and loaded on lid on multi-rotor unmanned aerial vehicle (10) fuselage Outer ring (207030) composition on plate (40)；Positioning column (207010) is fixed on multi-rotor unmanned aerial vehicle (10), ball (207020) it is arranged on the surface of positioning column (207010), outer ring (207030) covers on ball (207020)；When ejection, center Location structure (2070) is positioned as guide rail, is parallel to ejection direction right above multi-rotor unmanned aerial vehicle (10).

5. a kind of unmanned plane based on modularized design according to claim 1 protects system, it is characterised in that: described to connect Mouth line module is by four corners Quick Release interface (3010), two edge Quick Release interfaces (3020), service wire (3030) and touching Point (3040) composition；Four corners Quick Release interface (3010) is distributed in the horn side of multi-rotor unmanned aerial vehicle (10), for connecting Fly control to adjust with electricity；Two edge Quick Release interfaces (3020) are symmetrically arranged in the two sides of cover board (40), two edge Quick Release interfaces It (3020) is battery interface and GPS interface respectively；The connection of interface circuit module is using upper sliding block and built-in snaps connection； Four corners Quick Release interface (3010) and the interface of two edge Quick Release interfaces (3020) using contact (3040) connect again by Service wire (3030) is connected to winged control.

6. a kind of unmanned plane based on modularized design according to claim 1 protects system, it is characterised in that: the lid Plate (40) is rigid plate, and the originally integrated structure of multi-rotor unmanned aerial vehicle (10) is divided into two removable sections up and down.

7. a kind of unmanned plane based on modularized design according to claim 1 protects system, it is characterised in that: under described Square attachment includes umbrella stand, lower section parachute (5010) and turning joint (5020)；Lower section parachute (5010) passes through turning joint (5020) it is mounted on umbrella stand；Cover board (40) is connect by guide line with lower section parachute (5010).

8. a kind of unmanned plane based on modularized design according to claim 1 protects system, it is characterised in that: elastic slice (2050) it is an elastic spring, compressive state is in when trip 2060 is closed, when trip 2060 is unclamped by cover board (40) Pop-up.