CN218641069U

CN218641069U - Unmanned aerial vehicle cable-descending delivery system

Info

Publication number: CN218641069U
Application number: CN202221752442.8U
Authority: CN
Inventors: 崔跃理; 王超; 刘猛
Original assignee: Aerospace Rainbow Uav Co ltd
Current assignee: Aerospace Rainbow Uav Co ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2023-03-17
Anticipated expiration: 2032-07-08

Abstract

The utility model discloses an unmanned aerial vehicle cable descending delivery system, include: put in and make subsystem and include capstan winch and tether, the one end of tether is connected with the capstan winch, terminal locking and unbind the subsystem and include fixed part and the sliding part that can dismantle the connection, fixed part sets up on the packing box, the sliding part is connected with the other end of tether, emergent stranded subsystem setting is in the one side of putting in and is actuating the subsystem, be used for cutting off the tether, put in control subsystem and put in and actuate the subsystem, terminal locking and unbind subsystem and emergent stranded subsystem electricity and be connected, this unmanned aerial vehicle cable falls to deliver the system and satisfies unmanned aerial vehicle cable and falls to deliver the requirement, can realize the goods and put in, automatic unbinding of tether is retrieved and emergent stranded etc. put in the action, it is full-automatic to have, safety, technical characteristics such as convenient, high durability and convenient use, it is little to improve into and increase mechanism to unmanned aerial vehicle influence, need not artifical the unbinding after the cable falls, improve conveying efficiency.

Description

Unmanned aerial vehicle cable-descending delivery system

Technical Field

The utility model belongs to the technical field of the unmanned aerial vehicle cable falls, more specifically relates to an unmanned aerial vehicle cable falls delivery system.

Background

The unmanned aerial vehicle can adopt the modes of air throwing, landing unloading, air cable lowering and the like for delivering emergency goods under the condition of complex terrain.

The air throwing system is simple and easy to realize, but in order to avoid the goods from falling to the ground, impacting and damaging, the goods need to be subjected to outer-layer buffering, vibration-damping and wrapping treatment, so that the packing cost of the goods is increased, the goods arrangement space is limited, and the air throwing system is usually used for the wartime emergency release of a large-scale transport plane;

the landing unloading mode is simple, the additional system design brought by cargo delivery is almost zero, on one hand, the landing state of the unmanned aerial vehicle requires personnel to pick up the cargo, which brings safety risk to the unmanned aerial vehicle, and on the other hand, the unmanned aerial vehicle also has safety risk to people and objects on the ground in the process of descending to the ground;

the aerial cable is fallen and is delivered the mode and need not unmanned aerial vehicle and ground people, thing and closely contact, and the proper decline control strategy of cooperation is hung to the capstan winch tether, need not anxious goods and fall to the ground and can produce great impact force, nevertheless needs the manual work to unbind after the goods falls to the ground, and the use of time and restriction unmanned aerial vehicle is delayed in the process of unbinding, consequently needs a device that adapts to unmanned aerial vehicle cable and falls to realize low-cost, quick tether and goods and break away from.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the not enough that exists among the prior art, an unmanned aerial vehicle cable drop delivery system is provided, this unmanned aerial vehicle cable drop delivery system satisfies the requirement of unmanned aerial vehicle cable drop delivery, can realize that the goods is put in, the rope is automatic to be unbound and is retrieved and emergent releasing actions such as getting rid of poverty, have full-automatic, safety, technical characterstic such as convenient, high durability and convenient, easy to use, it is little to the unmanned aerial vehicle influence with the increase mechanism, need not artifical the unbinding after the cable drop, improve the conveying efficiency.

In order to achieve the above object, the utility model provides an unmanned aerial vehicle cable drop delivery system, this load carrying mechanism includes:

a throwing actuating subsystem, wherein the throwing actuating subsystem comprises a winch and a tether, and one end of the tether is connected with the winch;

the tail end locking and unbinding subsystem comprises a fixed part and a sliding part which are detachably connected, the fixed part is arranged on the container, and the sliding part is connected with the other end of the tether;

the emergency escaping subsystem is arranged on one side of the throwing actuating subsystem and is used for cutting off the tether;

and the releasing control subsystem is electrically connected with the releasing actuating subsystem, the tail end locking and unbinding subsystem and the emergency escaping subsystem.

Optionally, the launch control subsystem includes a flight control computer, a winch motor controller electrically connected to the flight control computer, and a tension sensor electrically connected to the flight control computer, and the tension sensor is disposed on the tether and near the sliding portion.

Optionally, the end locking and unbinding subsystem comprises:

the connecting block is arranged at the top of the container;

the sliding groove is arranged at the top of the connecting block, one end of the sliding groove is higher than the other end of the sliding groove, and the section of the sliding groove is in an inverted T shape;

the sliding block box is connected in the sliding groove in a sliding mode, a driving mechanism electrically connected with the controller is arranged in the sliding block box, and a driving end of the driving mechanism can be contracted and exposed out of the sliding block box;

the lock catch is rotationally connected to the upper end of the sliding block box, and the drive end is rotationally interfered with the lock catch when exposed;

the torque spring is arranged on the sliding block box and used for providing a correcting force of the lock catch, and when the driving end contracts, the lock catch corrects and can pass through the sliding groove.

Optionally, the emergency release subsystem includes:

the two mounting platforms are respectively positioned at two ends of the winch;

the two wire arranging columns are arranged between the two mounting tables in a clearance mode and comprise two steel columns which are arranged in a clearance mode, the two steel columns are respectively provided with a limiting clamp, and the tying ropes sequentially penetrate through the clearance between the two steel columns;

the pulley is connected between the two groups of wire arranging columns in a sliding manner;

the cutter is arranged on the pulley, and the pulley can drive the cutter to cut the tether.

Optionally, still include two slide rails, two the slide rail sets up two between the mount table, two the adjacent side of slide rail is provided with the guide way, the coaster includes:

the front wheels and the rear wheels are movably connected in the guide grooves;

the vehicle motor is arranged in the vehicle frame, and the output end of the vehicle motor is connected with the front wheel of the vehicle through a first bevel gear and a second bevel gear which are meshed with each other;

the anti-collision rod is arranged at one end, close to the front wheel, of the frame.

Optionally, the cutter includes a cutter frame, the cutter frame is arranged on the frame, a cutter motor is arranged on the cutter frame, a blade is arranged at an output end of the cutter motor, and a cutting direction of the blade is parallel to a running direction of the pulley.

Optionally, still include start lock and rear cross member, the rear cross member sets up on the frame, start lock includes:

the steering engine is arranged on the sliding rail, a rocker arm is arranged at the driving end of the steering engine, and a hook matched with the rear cross beam is arranged at one end, far away from the steering engine, of the rocker arm.

Optionally, the torque spring comprises a straight section, two ends of the straight section are respectively provided with a spiral section, and one end of the spiral section, which is far away from the straight section, is provided with a tail end ring and a screw;

the lock catch comprises a cylinder body, two ends of the cylinder body respectively penetrate through the two spiral sections to be exposed, a limiting hole matched with the screw is further formed in the cylinder body, and clamping pieces are respectively arranged at two ends of the cylinder body;

the driving mechanism comprises two motors and two threaded pins, the motors and the two threaded pins are symmetrically arranged at two ends in the sliding block box, the output ends of the motors are sequentially provided with output shafts and threaded rods matched with the threaded pins, and the motors can drive the threaded pins to shrink or expose the sliding block box through the output shafts.

Optionally, the controller includes slider antenna and electronic control board, be provided with jack one on the card, the screw pin can come in and go out when exposing in the jack one, the slider box includes upper cover and box body, the upper cover includes two lids, two connect through the boss that four equidistance were arranged between the lid and form nearly style of calligraphy structure, be located and be provided with the link on two bosss at both ends, be located in the middle two bosss be provided with straight section complex draw-in groove, two be provided with on the lid with box body matched with fixed orifices, the box body upper end is provided with the cooperation four the boss forms and holds the slot of cylinder, the lower extreme of box body is provided with the opening, can dismantle on the opening and be connected with the lower cover, one side symmetry is provided with two battery jars in the opening, the intraoral opposite side symmetry is provided with two and holds the chamber, hold the chamber and separate for first part and second part through the baffle, be provided with on the baffle and to pass through the jack three that the output shaft passes through, be provided with motor support in the first part, the screw rod sets up in the second part, the control board one end of screw pin rotate with the control board through the jack four and be connected with the other end of the second through the square frame and be used for placing the slider the wire hole the antenna part of the slider the square lateral wall, the slider is provided with the lateral wall.

The utility model provides an unmanned aerial vehicle cable descending delivery system, its beneficial effect lies in:

this unmanned aerial vehicle cable drop delivery system satisfies unmanned aerial vehicle cable drop delivery requirement, can realize that the goods is put in, the rope is automatic to be unbundled and is retrieved and emergent releasing actions such as stranded, has technical characteristics such as full-automatic, safety, convenient, and simple to use is convenient, improves into and increases the mechanism and influences little to unmanned aerial vehicle, need not artifical the unbundled after the cable drop, improves conveying efficiency.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout the exemplary embodiments of the present invention.

Fig. 1 shows a schematic structural diagram of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention.

Fig. 2 shows an enlarged view of an end locking and unbinding subsystem of an unmanned aerial vehicle cable drop delivery system, according to an embodiment of the present invention.

Fig. 3 shows an exploded view of an end locking and unbinding subsystem of an unmanned aerial vehicle cable drop delivery system, according to an embodiment of the present invention.

Fig. 4 shows a schematic structural diagram of a driving mechanism of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention.

Fig. 5 shows an exploded view of a slider box of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention.

Fig. 6 shows a schematic structural diagram of a box body of a slider box of a driving mechanism of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention.

Fig. 7 shows a schematic structural diagram of an emergency escape subsystem of an unmanned aerial vehicle cable landing delivery system according to an embodiment of the present invention.

Fig. 8 shows a bottom view of an emergency escape subsystem of an unmanned aerial vehicle cable drop delivery system, according to an embodiment of the present invention.

Fig. 9 shows a schematic flow chart of a method for using the unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention.

Description of reference numerals:

101. a tension sensor; 2. a release actuation subsystem; 3. the tail end locking and unbinding subsystem; 4. An emergency escaping subsystem; 201. a winch; 202. a tether; 31. locking; 32. an upper cover; 33. a slider case; 34. a torque spring; 35. a threaded pin; 36. a drive mechanism; 37. a lower cover; 38. a controller; 3101. a card; 3102. a cylinder; 3103. a first jack; 3104. a limiting hole; 3201. a cover body; 3202. a card slot; 3203. a central bore; 3204. hanging a ring; 3205. connecting holes; 3405. a boss; 3301. connecting columns; 3302. a second jack; 3303. a third jack; 3304. inserting holes; 3305. a first wire hole; 3306. a square frame; 3307. a trench; 3308. a second wire hole; 3309. a third wire hole; 3310. an antenna aperture; 3401. a helical section; 3402. a straight section; 3403. a screw; 3404. a terminal ring; 3601. A screw; 3602. a first joint hole; 3603. an output shaft; 3604. a second joint hole; 3605. a drive motor; 3606. a motor bracket; 41. a pulley; 42. a cutter; 43. starting a lock; 44. a slide rail; 45. arranging wire columns; 46. a limiting clamp; 47. a first cable bundle; 48. an installation table; 4101. a frame; 4102. turning a rear wheel; 4103. a rear cross member; 4104. a first cable; 4105. a vehicle motor; 4106. a front wheel of the vehicle; 4107. a first bevel gear; 4108. a first bevel gear; 4109. an anti-collision bar; 4201. a second cable; 4202. a tool holder; 4203. a knife motor; 4204. a blade; 4301. a rocker arm; 4302. a steering engine; 4303. a bracket; 4304. and a second cable bundle.

Detailed Description

Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Fig. 1 shows a schematic structural diagram of an unmanned aerial vehicle cable-drop delivery system according to an embodiment of the present invention; fig. 2 shows an enlarged view of an end locking and unbinding subsystem of an unmanned aerial vehicle cable drop delivery system, according to an embodiment of the present invention; fig. 3 illustrates an exploded view of an end locking and unbinding subsystem of an unmanned aerial vehicle cable drop delivery system, according to an embodiment of the present invention; fig. 4 shows a schematic structural diagram of a driving mechanism of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention; fig. 5 shows an exploded view of a slider box of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention; fig. 6 shows a schematic structural diagram of a slider box of a driving mechanism of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention; fig. 7 shows a schematic structural diagram of an emergency escape subsystem of an unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention; fig. 8 shows a bottom view of the emergency escape subsystem of the unmanned aerial vehicle cable drop delivery system according to an embodiment of the present invention.

As shown in fig. 1-8, an unmanned aerial vehicle cable drop delivery system includes:

a throwing actuating subsystem 2, wherein the throwing actuating subsystem 2 comprises a winch 201 and a tether 202, and one end of the tether 202 is connected with the winch 201;

the tail end locking and unbinding subsystem 3, wherein the tail end locking and unbinding subsystem 3 comprises a fixed part and a sliding part which are detachably connected, the fixed part is arranged on the container, and the sliding part is connected with the other end of the tether 202;

the emergency escaping subsystem 4 is arranged on one side of the throwing actuator subsystem 2 and used for cutting off the tether 202;

and the releasing control subsystem is electrically connected with the releasing actuating subsystem 2, the tail end locking and unbinding subsystem 3 and the emergency escaping subsystem 4.

Specifically, the throwing control subsystem controls the actions of the throwing actuating subsystem 2, the tail end locking and unbinding subsystem 3 and the emergency escaping subsystem 4.

In this embodiment, the launch control subsystem includes a flight control computer, a winch motor controller electrically connected to the flight control computer, and a tension sensor 101 electrically connected to the flight control computer, where the tension sensor 101 is disposed on the tether 202 near the sliding portion.

In this embodiment, the end locking and unbinding subsystem 3 includes:

the connecting block is arranged at the top of the container 5;

the sliding block box 33 is connected in the sliding groove in a sliding mode, a driving mechanism 36 electrically connected with the controller is arranged in the sliding block box 33, and the driving end of the driving mechanism 36 can be contracted and exposed out of the sliding block box 33;

the lock catch 31 is rotationally connected to the upper end of the sliding block box 33, and rotationally interferes with the lock catch 31 when the driving end is exposed;

a torque spring 34, the torque spring 34 being arranged on the slider box 33 for providing a restoring force of the lock catch 31, the lock catch 31 being restored and able to pass through the slide groove when the driving end is retracted.

Specifically, the lock catch 31 rotates for a certain angle to limit the sliding block box 33 to be clamped in the sliding groove in the locking state, the driving mechanism 36 is used for avoiding the lock catch 31 from returning, the lock catch 31 returns to the original position in the unbinding state, the sliding block box 33 is separated from the sliding groove, and unbinding separation is achieved.

Further, the center of gravity of the chute 33 and the center of gravity of the cargo box 5 are spaced from the projected point of the upper surface of the cargo box 5 along the direction of the external ridge line of the cargo box 5, so that the upper surface of the cargo box 5 is inclined to a certain degree relative to the horizontal plane when suspended, and other components can conveniently slide out.

In this embodiment, the emergency escaping subsystem 4 includes:

two mounting platforms 48, the two mounting platforms 48 being located at two ends of the winch, respectively;

the two groups of wire arranging columns 45 are arranged between the two mounting platforms 48 in a clearance mode, each wire arranging column 45 comprises two steel columns arranged in a clearance mode, the two steel columns are respectively provided with a limiting clamp 46, and the tying ropes 202 sequentially penetrate through the clearance between the two steel columns;

the pulley 41 is connected between the two groups of wire arranging columns 45 in a sliding manner;

a cutter 42, the cutter 42 being disposed on the trolley 41, the trolley 41 being capable of driving the cutter 42 to cut the tether 202.

Specifically, the tether 202 is also located between the limiting hoops 46, the wire arranging post 45 cooperates with the limiting hoops 46 to limit the moving area of the tether 202, and the wire arranging post 45 serves to constrain the movement of the tether 202 and to block the tension sensor 101 when the tether 202 is retracted, so that the pulley 41 drives the cutter to cut the tether 202.

Further, the vertical center of the wire arranging column 45 and the center of mass of the cutter 42 are located on the same horizontal plane.

In this embodiment, further include two slide rails 44, two slide rails 44 are disposed between two installation platforms 48, the adjacent sides of two slide rails 44 are provided with the guide slot, and tackle 41 includes:

a frame 4101, wherein a front wheel 4106 and a rear wheel 4102 are respectively arranged at two ends of the frame 4101, and the front wheel 4106 and the rear wheel 4102 are movably connected in the guide groove;

a vehicle motor 4105, wherein the vehicle motor 4105 is arranged in the vehicle frame 4101, and the output end of the vehicle motor 4101 is connected with the front wheel 4106 of the vehicle through a first bevel gear 4107 and a second bevel gear 4108 which are meshed with each other;

a bumper 4109, the bumper 4109 is provided at one end of the frame 4101 near the front wheel 4106.

Specifically, the movement locus of the carriage 41 is guided by the slide rail 44 and the guide groove, and the carriage 41 is prevented from being damaged by the bumper 4109.

In this embodiment, the cutter 42 includes a cutter frame 4202, the cutter frame 4205 is disposed on the carriage 4101, the cutter frame 4205 is provided with a cutter motor 4203, the output end of the cutter motor 4203 is provided with a cutter blade 4204, and the cutting direction of the cutter blade 4204 is parallel to the running direction of the sled 41.

Specifically, the sled 41 moves while the blade 4204 is rotated by the knife motor 4203 to cut the tether 202.

In this embodiment, the starting lock 43 and the rear cross beam 4103 are further included, the rear cross beam 4103 is provided on the vehicle frame 4101, and the starting lock 43 includes:

steering wheel 4302, steering wheel 4302 set up on slide rail 44, and the drive end of steering wheel 4302 is provided with rocking arm 4301, and the one end that the steering wheel was kept away from to rocking arm 4301 is provided with back crossbeam 4103 matched with crotch.

Specifically, the movement of the pulley 41 in a standby state is avoided by starting the lock 43, and the steering engine 4302 drives the rocker arm 4301 to lift up and release the pulley 41 after being started.

In the embodiment, the torque spring 34 comprises a straight section 3402, wherein both ends of the straight section 3402 are respectively provided with a spiral section 3401, and one end of the spiral section 3401 far away from the straight section 3402 is provided with a tail ring 3404 and a screw 3403;

the lock catch 31 comprises a cylinder 3102, two ends of the cylinder 3102 respectively penetrate through the two spiral sections 3401 to be exposed, a limiting hole 3104 matched with the screw 3403 is further arranged on the cylinder 3102, and clamping pieces 3101 are respectively arranged at two ends of the cylinder 3102;

the driving mechanism 36 comprises two driving motors 36 and two threaded pins 35, the two driving motors 36 and the two threaded pins 31 are symmetrically arranged at two ends in the slider box 33, the output ends of the two driving motors 36 are sequentially provided with an output shaft 3603 and a screw rod 3601 matched with the threaded pins 35, and the driving motors 36 can drive the threaded pins 35 to contract or expose the slider box 33 through the output shafts 3603 and the screw rods 3601.

Specifically, the two driving motors 36 are used for synchronously driving the matching spiral pins 35 to enable the locking state of the lock catch 31 to be stable, the sliding block box 33 can be prevented from sliding out of the sliding groove in the locking state through the card 3101, the card 3101 can be prevented from sliding out of the sliding groove through the sliding groove 33 in the unbinding state, and then the sliding block box 33 can slide out of the sliding groove.

In this embodiment, the controller 38 includes a slider antenna and an electronic control board, a first insertion hole 3103 is provided on the card 3101, the screw pin 35 can enter and exit the first insertion hole 3103 when exposed, the slider box 33 includes an upper cover 32 and a box body, the upper cover 32 includes two cover bodies 3201, the two cover bodies 3201 are connected by four equidistantly arranged bosses 3405 to form a structure in the shape of a Chinese character 'ji', two bosses 3405 at both ends are provided with a hanging ring 3204, two bosses 3405 at the middle are provided with a clamping groove 3202 matched with the straight section 3402, the two cover bodies 3201 are provided with fixing holes matched with the box body, the upper end of the box body is provided with a groove 3307 matched with the four bosses 3405 to form the cylinder 3102, the lower end of the box body is provided with an opening, and the opening is detachably connected with a lower cover 37, one side symmetry is provided with two battery jars in the opening, the intraoral opposite side symmetry of opening is provided with two and holds the chamber, it separates for first portion and second portion through the baffle to hold the chamber, be provided with on the baffle and pass through jack three 3303 through output shaft 3603, be provided with motor support 3606 in the first portion, screw rod 3601 sets up in the second portion, the one end of spiral pin 35 is passed through jack four 3304 and is connected with the baffle rotation, the other end of spiral pin 35 exposes in the lateral wall of one side that the first portion was kept away from to the second portion through jack two 3302, the battery jar is through wire hole two 3308 and first portion and second portion intercommunication, two hold the chamber and be provided with near battery jar department and be used for placing electronic control board square frame 3306, be provided with the antenna hole 3310 that is used for placing the slider antenna on the lateral wall of box body.

Specifically, the groove 3307 and the two bosses 3405 at the middle part form a center hole 3203 for receiving the column 3102, and the lower cover 37 is connected to the connecting column 3301 disposed in the opening through the connecting hole 3205

When the unmanned aerial vehicle cable-descending delivery system is used,

a flight control computer in the throwing control subsystem sends a rotating speed and a stop instruction to a winch motor controller according to a tension signal of the tension sensor 101 received in real time, and then the winch motor controller drives a winch to complete a specified action;

a winch 201 included in the throwing actuating subsystem 1 is used for driving the tether 202 to perform the throwing action of the container 55 and the retracting action after the tether 202 is thrown;

the winch 201 is driven by a motor, the stopping process of the winch is driven by a winch motor controller, and the winch motor controller receives the rotating speed and the stopping instruction of the flight control computer;

the tail end locking and unbinding subsystem 3 comprises a sliding chute, a lock catch 31, an upper cover 32, a sliding block box 33, a torque spring 34, a threaded pin 35, a driving mechanism 36, a lower cover 37 and a controller 38, wherein the sliding chute is arranged on a connecting block to form a hollow cuboid box with two open ends, and the upper part of the hollow cuboid box is open for embedding other components of the system and allowing the lock catch 31 to pass through; the chute is fixed on the upper surface of the cargo box 55; the center of gravity of the chute and the center of gravity of the container 5 have a proper distance between projection points of the upper surface of the container 5 along the direction of the external edge line of the container 5, so that the upper surface of the container 5 is inclined to a certain degree relative to the horizontal plane when suspended, and other components can conveniently slide out; all components of the tail end contraction and unbinding subsystem except the sliding chute form an integral sliding block to be inserted into the sliding chute;

the lock catch 31 comprises a clamping piece 3101, a cylinder 3102, a first jack 3103 and a spring limiting hole 3104; the clamping piece 3101 is fixedly connected with a column 3102 through a fixing hole 3105, and the column is inserted into the central hole 3203 and the torque spring 34; in the unbound state, the card 3101 is oriented vertically upward relative to the plane of the upper cover 32 and can pass through the open slot in the upper portion of the chute;

the upper cover 32 comprises a cover body 3201, a clamping groove 3202, a central hole 3203, a hanging ring 3204, a connecting hole 3205 and a boss 3405; the upper cover 32 is connected with the slider case 33 through the connection hole 3205; the upper cover 32 functions as follows: the center hole 3203 limits the rotation of the column 3102, the clamping groove 3202 on the upper part of the boss 3405 limits the displacement of the straight section 3402, the upper protrusion of the upper cover 32 is embedded into the open groove on the upper part of the sliding chute, the installation position of the torque spring 34 is provided, and the suspension force point of the tether 202 on the whole sliding block is provided through the suspension ring 3204;

the sliding block box 33 is an equipment cabin frame of an integral sliding block and comprises a connecting column 3301, a second inserting hole 3302, a third inserting hole 3303, a fourth inserting hole 3304, a first wire hole 3305, a square frame 3306, a groove 3307, a second wire hole 3308, a third wire hole 3309 and an antenna hole 3310; the connecting column 3301 is used to fix the lower cover 37; the second inserting hole 3302 and the first inserting hole 3103 are matched for inserting the threaded pin 35 to limit the angular displacement of the lock catch 31; the third jack 3303 is penetrated by the output shaft of the motor; the fourth insert hole 3304 is inserted from the rear of the threaded pin 35; the first wire hole 3305, the second wire hole 3308 and the third wire hole 3309 are used for passing through of equipment connecting wires; the square frame 3306 is the installation position of the electronic control board 3801; the groove 3307 is a placing groove for the column 3102; the antenna hole 3310 is a position where the slider antenna 3802 is arranged;

the torque spring 34 provides a restoring moment of the lock 31, including a helical section 3401, a straight section 3402, a screw 3403, an end ring 3404;

the internal functional components of the slider box comprise a threaded pin 35, a driving mechanism 36 and a controller 38; the driving mechanism 36 comprises a screw rod 3601, a first joint hole 3602, a motor output shaft 3603, a second joint hole 3604, a driving motor 3605 and a motor bracket 3606; the threads of threaded pin 35 engage the threads of screw 3601, whereby threaded pin 35 is directly driven by screw 3601; the drive motor 3605 is controlled by the controller 38; the controller 38 comprises an electronic control board 3801 and a slider antenna 3802, wherein the electronic control board 3801 controls the on-off of the driving motor 3605, and the slider antenna 3802 receives a control command of the unmanned aerial vehicle;

the lower cover 37 closes the slider box and is fixed by inserting the bolt 3701 into the connecting column 3301 through the connecting hole 3205;

the emergency escaping subsystem 4 completes the emergency cutting task of the tether 202 when the cargo box 55 cannot be separated and put under the condition that the functions of the terminal locking and unbinding system fail; the emergency escaping subsystem 4 comprises a pulley 41, a cutter 42, a starting lock 43, a slide rail 44, a wire arranging column 45, a limiting clamp 46, a first cable bundle 47 and a mounting platform 48;

the tackle 41 drives the cutter 42 to move along the sliding rail 44, and the tackle 41 comprises a frame 4101, a rear wheel 4102, a rear cross beam 4103, a first cable 4104, a trolley motor 4105, a front wheel 4106, a first bevel gear 4107, a second bevel gear 4108 and an anti-collision rod 4109; the vehicle motor 4105 drives a first bevel gear 4107 to rotate, and the first bevel gear 4107 drives a second bevel gear 4108 to rotate, so that the second bevel gear 4108 drives a front wheel 4106 to rotate; bumper 4109 serves to protect the rear sled components;

the cutter 42 directly cuts the tether 202, and the cutter 42 comprises a cable II 4201, a cutter frame 4202, a motor III 4203 and a blade assembly 4204; motor three 4203 is fixed to tool rack 4202, motor three 4203 drives blade assembly 4204; the second cable 4201 and the first cable 4104 are merged into the first cable bundle 47;

the starting lock 43 comprises a rocker arm 4301, a steering engine 4302, a bracket 4303 and a cable bundle II 4304; the steering engine 4302 is fixed on the sliding rail 44 through a bracket 4303, the steering engine 4302 drives the rocker arm 4301 to perform angular displacement, and the tail end of the rocker arm 4301 is hooked on the rear cross beam 4103 to play a role in limiting the forward displacement of the pulley 41; the steering engine cable is converged into a second cable bundle 4304;

the slide rail 44 and the guide groove are formed into a semi-open hollow cuboid with an inward opening at the left and the right, the rear wheel 4102 and the front wheel 4106 are embedded into the slide rail 44 to run, and two ends of the slide rail 44 are arranged on the mounting platform 48;

the wire arranging column 45 comprises two pairs of hard columns which are arranged side by side and distributed on the left side and the right side of the cutter 42, a slit is formed between each pair of columns for the tether 202 to pass through, and the vertical center of the wire arranging column 45 and the center of mass of the blade assembly 4204 are positioned on the same horizontal plane; the wire arranging column 45 plays a role in restraining the trend of the tether 202 and blocking the tension sensor 101 when the tether 202 is retracted; two ends of the wire arranging column 45 are arranged on the mounting table 48;

the limiting clamp 46 is nested at the front, back, left and right positions of the wire arranging column 45, and has 4 pairs in total, so that the function of limiting the transverse displacement limit of the tether along the wire arranging column 45 is achieved.

Fig. 9 shows a flow chart of a method for unmanned aerial vehicle on-demand delivery according to an embodiment of the invention.

As shown in fig. 9, a method for controlling an unmanned aerial vehicle cable-descending delivery system, which utilizes the unmanned aerial vehicle cable-descending delivery system, includes:

the cargo box is slid out from the load compartment of the unmanned aerial vehicle and freely suspended below the unmanned aerial vehicle through a tether 202;

judging whether the posture of the container is stable or not;

if the posture of the container is stable, controlling the container to descend to the ground;

controlling the end locking and unbinding subsystem to separate the sliding part from the fixed part so as to release the container;

the retrieval tether 202 completes the launch.

In this embodiment, the method further comprises recovering the tether 202 to complete the release after the emergency release subsystem is activated to cut the tether 202 if the terminal locking and unbinding subsystem fails.

In this embodiment, judging whether the posture of the container is stable includes:

the throwing control subsystem monitors whether the posture of the container is stable or not by using a tension sensor 101;

if the standard deviation Be ∈ 0,0.02M of the tension signal of the tension sensor 101 ₀ g is then stable

Determining; the calculation formula for δ is as follows:

wherein:

mass of slide block M _h ；

The mass of the container is M ₀ ；

Acceleration of gravity of g

Each signal sending period of the instantaneous pulling force value of the sensor is regarded as an instantaneous value Fi;

the signal transmission period of the tension sensor 101 is ti;

the system time is T.

In this embodiment, controlling the lowering of the cargo box to ground contact includes a high-speed descent section, a buffer descent section, and a low-speed descent section, the high-speed descent section and the low-speed descent section being linearly transitioned through the buffer descent section.

Specifically, if unmanned aerial vehicle height of hovering is H ₀ The pitch ground of packing box is highly for H, and the initial height of packing box deceleration is Hm, and capstan winch rotational speed angular speed is omega 1, and the capstan winch radius is R, and the high-speed at uniform velocity falling velocity of high-speed descending section is V1, and the time spent of high-speed descending section is T1, and the lower low-speed at uniform velocity falling velocity of low-speed descending section is V2, and the time spent of low-speed descending section is T2 wherein:

ω1＝V1/R；

T1＝Hm/V1；

the lower low-speed uniform speed reduction speed of the low-speed reduction section is V2, and the time consumption of the low-speed reduction section is T2;

wherein:

ω1＝V2/R；

T2＝Hm/V2

mean value F at that time _i ＜0.7M ₀ g, judging that the container touches the ground, wherein the omega is at the moment ₁ =0, wherein:

the descending speed of the buffer descending section is V,

V＝ω ₁ R＝V ₁ -[(V ₁ -V ₂ )/(T ₂ -T ₁ )](T-T ₁ )；

rotation speed of the winch at this time:

ω ₁ ＝{V ₁ -[(V ₁ -V ₂ )/(T ₂ -T ₁ )](T-T ₁ )}/R。

in this embodiment, controlling the end locking and unbinding subsystem to release the cargo box includes:

the throwing control subsystem controls the tail end locking and unbinding subsystem to release the container, and the fixed part is separated from the sliding part;

winch recovery of tether 4 weeks, if F _i ∈(0.9M _h g，1.2M _h g)，б∈(0，0.01M _h g) Success is achieved;

continuing to recover tethers 202 to F _imax ＞2M _h g，б＞1.5M _h g。

In particular, the method comprises the following steps of,

in this embodiment, initiating the emergency escape subsystem to sever the tether 202 if the distal locking and unbinding subsystem fails comprises:

the winch retrieves the tether for 4 weeks if

Then failure occurs;

winch recovery tether failed in three replicates for 4 weeks;

recovering tethers 202 to F _i ≥0.92M _o g, starting the emergency escaping subsystem to cut off the tether 202;

if F _i And =0, the cutting is finished.

When the unmanned aerial vehicle cable-descending delivery method is used,

the first stage is as follows: delivery of cargo box

The container 5 is freely suspended below the unmanned aerial vehicle through the tether 202 after sliding out of the load compartment, the system waits for the container attitude to be stable, and the system starts to start the container 5 to descend after the container attitude stability criterion is established.

And a second stage: container descending

The container 5 is divided into a high-speed descending section, a buffer descending section and a low-speed descending section when descending

A high-speed descending section: the container is lowered to the buffer short initial height at a high speed;

a buffering descending section: the descending speed of the container 5 is gradually transited from high speed to low speed;

a low-speed descending section: the container 5 descends at a low speed until the ground contact criterion is met, the container 5 is judged to be grounded, and the winch 201 is stopped.

And a third stage: unbinding and tether recovery of cargo box

Unbinding the container:

the slider antenna 3802 receives the unbinding instruction signal, the two slider motors are started through the electronic control board 3801, the threaded pin 35 is pulled out of the first jack 3103, the lock catch 31 resets, the system judges that the unbinding is completed through the fixed working time length of the driving motor 3605, the unmanned aerial vehicle receives an unbinding completion feedback signal, the winch motor starts to withdraw the tether 202, along with the increase of the tensile force of the tether 202, if the upper surface of the container 5 inclines relative to the horizontal plane, if the container 5 is in other postures, which are not right side up, on the ground to influence the lock catch resetting, the tether 202 can be naturally straightened and then reset or the slider box 33 slides out first when being withdrawn, the complete mission of the unbinding system is not influenced, the slider box 33 slides out of the sliding groove under the action of the tensile force, the unbinding completion feedback signal is sent, and the system starts to withdraw the tether after the criterion is established.

And (3) retracting the tether:

tether retraction is initiated after the drone flight system receives a unbind complete command. Firstly, the winch motor is started to retract the tether 202 at a constant speed, when the tension sensor 101 touches the wire arranging column 45, the tension of the tether 202 changes, and when the criterion of the retraction ending of the tether 202 is met, the winch motor is stopped.

A fourth stage: emergency escaping strategy

Aiming at the situation that the terminal locking and unbinding subsystem 3 fails in function, the emergency escaping strategy starts the emergency escaping subsystem 4 to forcibly disconnect the tether 202 from the container 5, and delivery of the container 5 is completed.

And when the unbinding action does not reach the unbinding completion judgment standard after 3 times of iterative operation, the unbinding system is regarded as invalid, and the emergency trap-escaping subsystem starts to work.

Firstly, the tether 202 is tightened until the tension signal value reaches the standard, then, the emergency escaping subsystem is started, the knife motor 4203 rotates the knife 4204, the rocker arm 4301 is lifted, the pulley 41 slides over the working section of the slide rail 44 at a constant speed, the tension of the tension sensor 101 is reduced to zero after the tether 202 is cut off, and finally, the escaping is finished and the unmanned aerial vehicle navigates back.

While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An unmanned aerial vehicle cable-descending delivery system, comprising:

2. The unmanned aerial vehicle cable descending delivery system of claim 1, wherein the launch control subsystem comprises a flight control computer, a winch motor controller electrically connected to the flight control computer, and a tension sensor electrically connected to the flight control computer, the tension sensor being disposed on the tether at a position close to the sliding portion.

3. The unmanned aerial vehicle cable drop delivery system of claim 1, wherein the end locking and unbinding subsystem comprises:

the connecting block is arranged at the top of the container;

the torque spring is arranged on the sliding block box and used for providing aligning force of the lock catch, and when the driving end is contracted, the lock catch is aligned and can pass through the sliding groove.

4. The unmanned aerial vehicle cable drop delivery system of claim 1, wherein the emergency escape subsystem comprises:

the two groups of wire arranging columns are arranged between the two mounting tables in a clearance mode and comprise two steel columns arranged in a clearance mode, limiting clamps are arranged on the two steel columns respectively, and the tying ropes sequentially penetrate through the clearance between the two steel columns;

5. The unmanned aerial vehicle cable drop delivery system of claim 4, further comprising two slide rails, wherein the two slide rails are disposed between the two mounting platforms, guide grooves are disposed on adjacent sides of the two slide rails, and the trolley comprises:

6. The unmanned aerial vehicle cable descending delivery system of claim 5, wherein the cutter comprises a cutter frame, the cutter frame is arranged on the frame, a cutter motor is arranged on the cutter frame, a blade is arranged at an output end of the cutter motor, and a cutting direction of the blade is parallel to a running direction of the tackle.

7. The unmanned aerial vehicle cable drop delivery system of claim 5, further comprising a starter lock and a rear cross member, the rear cross member disposed on the frame, the starter lock comprising:

8. The unmanned aerial vehicle cable drop delivery system of claim 3,

the torque spring comprises a straight section, two ends of the straight section are respectively provided with a spiral section, and one end of the spiral section, which is far away from the straight section, is provided with a tail end ring and a screw;

the lock catch comprises a cylinder, two ends of the cylinder respectively penetrate through the two spiral sections to be exposed, the cylinder is also provided with a limiting hole matched with the screw, and two ends of the cylinder are respectively provided with a clamping piece;

9. The unmanned aerial vehicle cable drop delivery system of claim 8, wherein the controller comprises a slider antenna and an electronic control board, the card is provided with a first insertion hole, the threaded pin can enter and exit the first insertion hole when exposed, the slider box comprises an upper cover and a box body, the upper cover comprises two cover bodies, the two cover bodies are connected through four bosses arranged at equal intervals to form a structure like a Chinese character 'ji', hanging rings are arranged on the two bosses at two ends, clamping grooves matched with the straight sections are arranged on the two bosses in the middle, fixing holes matched with the box body are arranged on the two cover bodies, a groove for accommodating the cylinder body is formed at the upper end of the box body by matching the four bosses, an opening is arranged at the lower end of the box body, and a lower cover is detachably connected to the opening, two battery jars are symmetrically arranged on one side in the opening, two containing cavities are symmetrically arranged on the other side in the opening, the containing cavities are divided into a first part and a second part through a partition plate, a third insertion hole capable of passing through an output shaft is formed in the partition plate, a motor support is arranged in the first part, the screw rod is arranged in the second part, one end of the spiral pin is rotatably connected with the partition plate through a fourth insertion hole, the other end of the spiral pin is exposed out of the side wall of the second part far away from one side of the first part through the jack, the battery jar is communicated with the first part and the second part through a wire hole II, the two containing cavities are provided with square frames used for placing the electronic control board at positions close to the battery jar, and antenna holes used for placing the slider antenna are formed in the side wall of the box body.