CN112093055A - Automatic cargo delivery system for unmanned helicopter - Google Patents
Automatic cargo delivery system for unmanned helicopter Download PDFInfo
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- CN112093055A CN112093055A CN202011087915.2A CN202011087915A CN112093055A CN 112093055 A CN112093055 A CN 112093055A CN 202011087915 A CN202011087915 A CN 202011087915A CN 112093055 A CN112093055 A CN 112093055A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/10—Stowage arrangements for the devices in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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Abstract
The invention discloses an automatic cargo throwing system for an unmanned helicopter, which is characterized in that the pushing and moving direction of a cargo carrying plate is set as the front-back direction, the left side and the right side of a cargo carrying base plate of the cargo carrying plate are respectively arranged on two side plates of a system frame and can move back and forth, a cargo locking and unlocking mechanism is arranged on the system frame, is positioned below the cargo carrying base plate and is used for controlling the locking and unlocking between the cargo carrying plate and the system frame, a cargo pushing and releasing device is arranged on the system frame, is positioned below the cargo carrying base plate and is used for controlling the pushing of the cargo carrying plate and the releasing between the cargo carrying plate and the system frame, and the cargo locking and unlocking mechanism and the cargo pushing and releasing device are respectively and correspondingly connected with a controller. The automatic cargo delivery system for the unmanned helicopter can simultaneously realize the functions of keeping high stability before delivery, accurately controlling time during delivery and delivering the cargo in a multi-point cargo distribution manner, and has the advantages of convenient cargo installation, large loading capacity, quick cargo removal and accurate delivery.
Description
Technical Field
The invention relates to a cargo throwing device for an unmanned helicopter, in particular to an automatic cargo throwing system for the unmanned helicopter, which can automatically throw cargos.
Background
The unmanned helicopter is a pilotless helicopter, which is a vertical take-off and landing unmanned aircraft capable of flying by radio ground remote control or/and autonomous control, belongs to a rotor aircraft in the structural form, and belongs to a vertical take-off and landing aircraft in the function. In recent decades, along with the research progress of composite materials, power systems, sensors, especially flight control and other technologies, unmanned helicopters have been rapidly developed and are becoming the focus of attention.
The unmanned helicopter has unique flight performance and use value. Compared with the existing helicopters, the unmanned helicopter has incomparable superiority in many aspects due to the characteristics of no casualties, small volume, low cost, strong battlefield viability and the like. In the civil aspect, the unmanned helicopter has wide application prospects in the aspects of atmosphere monitoring, traffic monitoring, resource exploration, power line detection, forest fire prevention and the like.
Along with the expansion of application scenes, the function of accurately and automatically releasing the cargos by the unmanned helicopter is more and more important, the cargo releasing time needs to be accurately controlled, and the high stability before releasing needs to be met as far as possible.
The traditional automatic cargo putting technology for the unmanned helicopter is still in a preliminary stage, only some specific automatic putting devices are designed according to actual needs, and at present, no automatic cargo putting device for the unmanned helicopter can simultaneously realize the functions of keeping high stability before putting, accurately controlling time during putting and realizing multi-point cargo distribution putting.
For example, the utility model patent of patent number "201320852797.9" discloses a goods input device for unmanned helicopter, including support, spherical container, ring carrier, the top and the unmanned aerial vehicle belly fixed connection of support, lower part are provided with staff and ring carrier stroke monitoring device, the one end and the ring carrier of staff are connected, and the other end is connected with electrical control system through the shaft coupling, the setting of spherical container is on ring carrier. The cargo delivery device is arranged on the belly of the unmanned helicopter, and the unmanned helicopter which cannot transport cargos originally can be controlled by an unmanned computer system or a remote computer, so that the unmanned helicopter has the cargo loading, transporting and delivering capabilities.
The cargo releasing device for the unmanned helicopter has the following defects:
1. the unmanned aerial vehicle can only be suitable for a small unmanned aerial vehicle, the vertical direction of materials is not limited, the high stability cannot be kept before the materials are thrown, the aircraft can only keep the horizontal direction in the flying process, otherwise, the goods can fall along with the flying angle; under the influence of wind power, the aircraft deflects, the circular container is lowered by weight, is hit to the ground and is injured by people and objects on the ground, so that the aircraft has great potential safety hazard and is not strong in practicability.
2. The device can only realize single input, and once input is accomplished the back, need reload, can't realize flight multiple spot branch goods and input the function once.
3. The goods are loaded down with trivial details, need place the little article of input in circular container, place the bracket again after encapsulating circular container.
4. The device has great limitation to the descending speed of the goods, the loading space of the goods and the weight.
To sum up, the above-mentioned cargo delivery device for unmanned helicopter far can not realize simultaneously before putting keeping high stability, can accurate control time, can the multiple spot branch goods function of putting when putting.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide an automatic cargo delivery system for an unmanned helicopter, which maintains high stability before delivery, can perform accurate control during delivery, and can deliver cargo at multiple points.
The invention realizes the purpose through the following technical scheme:
an automatic cargo throwing system for an unmanned helicopter comprises a system frame, a cargo carrying plate, a cargo locking and unlocking mechanism, a cargo pushing and releasing device and a controller, wherein the direction in which the cargo carrying plate is pushed to move is set to be a front-rear direction, the system frame comprises a transverse bottom plate and two vertical side plates which are respectively positioned on the left side and the right side of the bottom plate, the cargo carrying plate used for carrying cargos comprises a transverse cargo carrying base plate, the left side and the right side of the cargo carrying base plate are respectively positioned on the two side plates and can move back and forth, the cargo locking and unlocking mechanism is installed on the system frame and positioned below the cargo carrying base plate and is used for controlling the locking and unlocking between the cargo carrying plate and the system frame, the cargo pushing and releasing device is installed on the system frame and positioned below the cargo carrying base plate and is used for controlling the pushing of the cargo carrying plate and the separation between the cargo carrying plate and the system frame, the control signal input end of the cargo locking and unlocking mechanism and the control signal input end of the cargo pushing and releasing device are respectively and correspondingly connected with the control signal output end of the controller.
In the above structure, the specific shape and size of the system frame are determined according to actual needs, and the system frame is preferably a rectangular frame, and when in use, the bottom plate of the system frame is arranged on the bottom surface in the unmanned helicopter; the specific shape and size of the cargo carrying plate are determined according to actual needs, the cargo carrying plate is preferably a rectangular plate and is fixedly arranged together with the cargos in use, or the cargo carrying plate is used as a bottom plate of a cargo compartment filled with the cargos, and the cargo carrying plate and the cargos move and fall together in the processes of pushing and taking off the cargos; the cargo locking and unlocking mechanism and the cargo pushing and releasing device can have various specific structures according to the functions, so long as the functions can be realized and the processing and the installation are convenient; the controller is a common controller comprising a central processing unit and peripheral electronic components, can realize the required control function by setting different parameters according to actual requirements, can be fixedly arranged on a system frame by bolts in the form of a control panel, a control box or a control box, can be a general controller of the whole unmanned helicopter, can also be an independent controller of the system, can realize corresponding remote control functions, and can be easily realized by adopting the conventional technology according to actual requirements.
Furthermore, in order to enable the loading base plate to easily slide so as to be convenient for pushing and taking off goods, arc-shaped sliding strips which are convex upwards and have convex arc-shaped upper surfaces are arranged above the two side plates of the system frame, and the left side and the right side of the loading base plate are respectively arranged on the two arc-shaped sliding strips.
Preferably, in order to enable the system to be suitable for respectively releasing cargos from two side cabin doors in the unmanned helicopter, the cargo releasing unit is formed by one system frame, two cargo carrying plates, two cargo locking and unlocking mechanisms and one cargo pushing and releasing device, the automatic cargo releasing system for the unmanned helicopter comprises two cargo releasing units, and one cargo releasing unit is positioned right behind the other cargo releasing unit; in each cargo throwing unit, one cargo carrying plate is positioned right behind the other cargo carrying plate, the two cargo locking and unlocking mechanisms are respectively used for controlling the locking and unlocking between the two cargo carrying plates and the system frame, and the cargo pushing and releasing device is used for controlling the pushing of the two cargo carrying plates and the releasing between the two cargo carrying plates and the system frame.
Furthermore, in order to better limit the cargo carrying plate so that the cargo carrying plate can only move in the front-back direction, the cargo carrying plate further comprises L-shaped limiting strips with axial front-back directions and L-shaped radial sections, the upper parts of the L-shaped limiting strips are respectively connected with the lower surfaces of the left side and the right side of the cargo carrying base plate and are respectively positioned on the inner sides of the two side plates of the system frame, convex strips with axial front-back directions are arranged on the inner walls of the two side plates of the system frame, and the two convex strips are respectively arranged in the L-shaped notches of the L-shaped limiting strips so that the cargo carrying plate can move back and forth and cannot move up and down and left and right.
Preferably, in order to facilitate synchronous control of locking and unlocking of two L-shaped limit strips of the same cargo carrying plate positioned on two sides by a driving device so as to improve locking stability and reduce cost, the cargo locking and unlocking mechanism comprises a linear motor, a transmission push rod and a crank arm transmission mechanism, the linear motor is installed on a bottom plate of the system frame, the axial direction of a driving shaft of the linear motor is the front-back direction, the axial direction of the transmission push rod is the left-right direction, a rotating shaft of the linear motor is connected with the middle section of the transmission push rod, the lower parts of two side plates of the system frame are respectively provided with a strip-shaped hole in the front-back direction, two ends of the transmission push rod respectively penetrate through the strip-shaped holes of the corresponding two side plates and can move back and forth, and the two crank arm transmission mechanisms are respectively arranged on the outer sides of the two, the crank arm transmission mechanism comprises connecting seats and lock pins, the two connecting seats are respectively connected with two ends of the transmission push rod, limiting through holes in the left-right direction are respectively arranged at positions, corresponding to the two lock pins, on the two side plates, locking through holes or locking blind holes in the left-right direction are respectively arranged at positions, corresponding to the lock pins, on the L-shaped limiting strip, the lock pins can be inserted into the corresponding locking through holes or locking blind holes after penetrating through the corresponding limiting through holes, the crank arm transmission mechanism can drive the corresponding lock pins to move left and right under the limiting effect of the corresponding limiting through holes when the connecting seats move back and forth, and a control signal input end of the linear motor is correspondingly connected with a control signal output end of the controller.
Preferably, in order to convert the front-back linear motion of the transmission push rod into the left-right linear motion required by the lock pin in a small space so that the lock pin can lock and unlock the cargo carrying plate, the crank arm transmission mechanism further comprises a transmission connecting rod, a connecting rod seat, a crank arm and a lock pin seat, the upper part of the connecting seat is fixedly connected with the lower part of the transmission connecting rod in the front-back direction, the connecting rod seat is fixedly arranged on the transmission connecting rod, the lock pin is fixedly connected with the lock pin seat, the crank arm is formed by connecting two integrally formed support arms, the included angle between the two support arms is 120 degrees and 150 degrees, and the connecting rod seat and the lock pin seat are respectively and rotatably connected with the two support arms; in order to ensure that the lock pin has the stress inserted into the locking through hole or the locking blind hole so as to ensure that the lock pin can be automatically in a locking state when the linear motor fails, two springs are respectively arranged between the two connecting seats and the fixing plate on the corresponding side plate and are used for enabling the corresponding connecting seats to have the stress for driving the lock pin to be inserted into the locking through hole or the locking blind hole; in order to manually control the lock pin when the linear motor fails, the middle section of the transmission push rod is connected with one end of a manual control rod in the front-back direction, a handle is installed at the other end of the manual control rod, and the handle is located at the front end or the rear end of the system rack. The lock pin is arranged in the limiting through hole and limited so that the lock pin can only move left and right, when the transmission push rod drives the connecting rod seat and the transmission connecting rod to move front and back, the two support arms of the crank arm and the connecting rod seat and the lock pin seat can rotate in a self-adaptive mode, the lock pin is driven to move left and right, and the locking and unlocking functions are achieved.
Further, in order to more accurately detect whether the lock pin is locked or not so as to further improve the reliability of locking and unlocking the cargo carrying plate, a first position sensor for detecting whether the lock pin is inserted into the locking through hole or the locking blind hole is installed on the lock pin seat, a second position sensor for detecting whether the transmission connecting rod moves to the position required by the lock pin inserted into the locking through hole or the locking blind hole is installed on the transmission connecting rod, and a signal output end of the first position sensor and a signal output end of the second position sensor are respectively and correspondingly connected with a signal input end of the controller.
Preferably, in order to facilitate control of pushing and disengaging of the cargo carrying plate, the cargo pushing and disengaging device comprises a cargo pushing rack and a cargo pushing and placing control device, the cargo pushing rack comprises a bearing seat, a rotary driving seat, a lead screw and a guide rod, the lead screw is preferably a ball screw, the bearing seat and the rotary driving seat with a built-in bearing are respectively installed on a bottom plate of the system rack, a rotary power output end of the rotary driving device is arranged on the rotary driving seat, the lead screw and the guide rod which are axially in the front-rear direction are parallel to each other and close to each other, one end of the lead screw is connected with the bearing, the other end of the lead screw is connected with a rotary power output end of the rotary driving device, and two ends of the guide rod are respectively fixedly connected with the bearing seat and the rotary driving seat; the cargo pushing and releasing control device comprises a moving seat, a nut, a lock tongue, an electromagnet and a pressure spring, wherein the moving seat is provided with an inner cavity, the electromagnet and the pressure spring are both arranged in the inner cavity, the electromagnet comprises an electromagnet metal column and an electromagnet coil in the vertical direction, the electromagnet metal column is arranged in the electromagnet coil, a lock tongue hole is formed in the moving seat, the lock tongue penetrates through the lock tongue hole, the outer end and the inner end of the lock tongue are arranged outside the moving seat and in the inner cavity of the moving seat, the inner end of the lock tongue is connected with one end of the electromagnet metal column, the two ends of the vertical pressure spring are respectively in contact with the inner end of the lock tongue and the lower cavity wall of the inner cavity of the moving seat, the nut is arranged on the moving seat and sleeved on the screw rod through a screw hole of the nut, and the moving seat is connected with the, the guide structure is used for enabling the movable seat to move in the axial direction of the guide rod and not to rotate; a control signal input end of the rotation driving device and a power supply input end of the electromagnet coil are respectively and correspondingly connected with a control signal output end of the controller; the goods carrying base plate is provided with a goods pushing through hole or a goods pushing blind hole for the bolt to be inserted from bottom to top.
Preferably, in order to provide a large driving force, reduce power consumption and improve power-to-weight ratio, the rotary driving device comprises a hydraulic motor, a hydraulic control valve and a speed reducer, the hydraulic motor is connected with an external oil pipe after being connected with the hydraulic control valve, a rotating shaft of the hydraulic motor is connected with a rotary power input end of the speed reducer, a rotary power output end of the speed reducer is connected with a screw rod, and a control signal input end of the hydraulic control valve is correspondingly connected with a control signal output end of the controller. The external oil pipe is provided with high-pressure hydraulic oil by an oil pressure system of the unmanned helicopter, and the unmanned helicopter can be ensured to smoothly push out a 300kg cargo container unit to take off the cargo to finish throwing when rolling for 15 degrees and pitching for 15 degrees simultaneously due to higher power weight; the hydraulic control valve is controlled by an electric signal to realize the forward or reverse movement of the hydraulic motor; the hydraulic motor and the hydraulic control valve can be replaced by a servo motor, but the power consumption is large and the power weight is low.
Further, in order to detect the specific position of the cargo pushing and placing control device so as to improve the control precision of pushing and releasing as much as possible, a third position sensor is installed at one end, close to the bearing seat, of the guide rod, a fourth position sensor is installed in the middle section of the guide rod, a fifth position sensor is installed at a position, close to the rotary driving seat, of the rotary driving seat or on the guide rod or on the movable seat, the third position sensor, the fourth position sensor and the fifth position sensor are respectively used for detecting the limit position, close to the bearing seat, of the movable seat, the position, moving to the middle point of the screw rod, of the movable seat and the limit position, close to the rotary driving seat, of the movable seat, and a signal output end of the third position sensor, a signal output end of the fourth position sensor and a signal output end of the fifth position sensor are respectively communicated with a signal output end of the controller The number input ends are correspondingly connected; in order to facilitate processing and accurate guiding, the guiding structure comprises an axial groove and a convex block, the axial groove is arranged on the outer wall of one side of the lead screw, the axial groove is close to the lead screw, the convex block is arranged on the moving seat, the convex block is close to the outer wall of the lead screw, and the convex block is arranged in the axial groove.
The invention has the beneficial effects that:
the invention can stably lock the cargo carrying plate and the system frame, unlock the cargo carrying plate according to the requirement, and push the cargo carrying plate at regular time and separate the cargo carrying plate from the system frame to realize the cargo removal, so long as two or more groups of cargos are respectively and fixedly arranged on two or more cargo carrying plates, the functions of keeping the height stability before the cargo is thrown, accurately controlling the time during the throwing and distributing the cargos at multiple points can be simultaneously realized, the cargo installation is more convenient, the loading capacity is larger, the cargo removal is rapid, the throwing is accurate, and the stability of the cargos is not influenced even if the unmanned helicopter inclines or even turns over in the flying process.
The linear motor is used as the driving device of the cargo locking and unlocking mechanism, so that the transmission push rod can be directly pushed to move back and forth without conversion between rotary motion and linear motion, the two crank arm transmission mechanisms are driven to synchronously act through the same transmission push rod, and the lock pins on two sides are driven to be simultaneously inserted into or separated from the locking through holes or the locking blind holes, so that the locking and unlocking functions between the cargo carrying plate and the system frame are synchronously realized from two sides of the cargo carrying plate, the locking stability between the cargo carrying plate and the system frame is improved, the cost of the linear motor is saved compared with independent control, and the power consumption of the system is effectively reduced.
The invention designs a goods pushing and releasing control device comprising a moving seat, a nut, a spring bolt, an electromagnet and a pressure spring, wherein when the electromagnet is not electrified, the pressure spring jacks the spring bolt upwards to enable the spring bolt to be inserted into a goods pushing through hole or a goods pushing blind hole of a goods carrying substrate, so that a goods carrying plate can be pushed to move back and forth along with the movement of the moving seat when the moving seat moves back and forth, the goods pushing function is realized, if the pushing force is lost due to failure in the goods pushing process, the spring bolt can limit the goods carrying plate under the action of the pressure spring, the problem of wrong releasing caused by the self-sliding of the goods carrying plate is avoided, after the goods are pushed in place, the electromagnet is electrified, the spring bolt overcomes the elasticity of the pressure spring to move downwards under the action of the electromagnet to separate from the goods pushing through hole or the goods pushing blind hole of the goods carrying substrate, the goods carrying plate and goods.
When the two system frames and the four cargo carrying plates are arranged in the unmanned helicopter and correspond to the cabin doors on the two sides, one-way transportation and back-and-forth delivery functions can be realized, simultaneous fixed-point delivery can be realized, and multi-time multi-point delivery can also be realized, and 9 delivery tasks such as left cabin front cargo delivery, left cabin rear cargo delivery, left cabin simultaneous delivery, right cabin front cargo delivery, right cabin rear cargo delivery, right cabin simultaneous delivery, two-side front cargo delivery, two-side rear cargo delivery, two-side simultaneous delivery and the like can be completed as required, so that the unmanned helicopter is very convenient to apply.
Drawings
Fig. 1 is a perspective view of an automatic cargo delivery system for an unmanned helicopter according to the present invention;
fig. 2 is a front view of the automatic cargo delivery system for the unmanned helicopter according to the present invention;
fig. 3 is a perspective view of the automatic cargo delivery system for an unmanned helicopter according to the present invention with the cargo carrying plate removed;
fig. 4 is a perspective view of a system frame of the automatic cargo delivery system for the unmanned helicopter according to the present invention;
fig. 5 is one of perspective views of a cargo carrying board of the cargo automatic delivery system for an unmanned helicopter according to the present invention, which is shown in a top view;
fig. 6 is a second perspective view of the cargo carrying board of the automatic cargo delivery system for an unmanned helicopter according to the present invention, which is shown in a bottom view;
fig. 7 is a front view of a cargo board of the automatic cargo delivery system for an unmanned helicopter according to the present invention;
fig. 8 is a side view, on a larger scale than fig. 7, of a cargo carrying board of the automatic cargo delivery system for an unmanned helicopter according to the present invention;
fig. 9 is a perspective view of the cargo locking and unlocking mechanism of the automatic cargo delivery system for an unmanned helicopter according to the present invention, in which two cargo locking and unlocking mechanisms are shown;
fig. 10 is a perspective view of a crank arm transmission mechanism of a cargo locking and unlocking mechanism of the automatic cargo delivery system for the unmanned helicopter according to the present invention;
fig. 11 is a perspective view of a pushing and releasing device of the automatic cargo delivery system for an unmanned helicopter according to the present invention;
fig. 12 is a second perspective view of the cargo pushing and unloading device of the cargo automatic loading system for an unmanned helicopter according to the present invention, which is different from the perspective view of fig. 11;
fig. 13 is a partial cross-sectional perspective view of a connecting portion of a cargo pushing frame and a cargo pushing control device of a cargo pushing and releasing device of the automatic cargo delivery system for an unmanned helicopter according to the present invention, wherein the scale of the perspective view is larger than that of fig. 11 and 12.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1-3, the automatic cargo delivery system for an unmanned helicopter of the present invention comprises a system frame 2, a cargo carrying plate 1, a cargo locking and unlocking mechanism 5, a cargo pushing and releasing device 3, and a controller (not shown), wherein the direction in which the cargo carrying plate 1 is pushed to move is set as a front-back direction, the system frame 2 comprises a horizontal bottom plate 20 (the bottom plate 20 in the figure is a plurality of strip plates in a left-right direction) and two vertical side plates 21 respectively located at the left and right sides of the bottom plate 20, the cargo carrying plate 1 for loading cargo comprises a horizontal cargo carrying base plate 10, the left and right sides of the cargo carrying base plate 10 are respectively located on the two side plates 21 and can move back and forth, the cargo locking and unlocking mechanism 5 is mounted on the system frame 2 and located below the cargo carrying base plate 10 and is used for controlling the locking and unlocking between the cargo carrying plate 1 and the system frame 2, the cargo pushing and releasing device 3 is mounted on the system frame 2 and located below the cargo carrying base plate 10 and is used for controlling the The pushing of the cargo carrying plate 1 and the separation between the cargo carrying plate 1 and the system frame 2 are controlled, and the control signal input end of the cargo locking and unlocking mechanism 5 and the control signal input end of the cargo pushing and separating device 3 are respectively and correspondingly connected with the control signal output end of the controller. As shown in fig. 5 and 6, in order to facilitate the installation of the cargo, the cargo substrate 10 is provided with a plurality of vertical installation through holes 12 for installing the cargo; in order to make the loading base plate 10 slide easily for pushing and removing the goods, the two side plates 21 of the system frame 2 are provided with convex arc-shaped sliding strips 22 with convex upper surfaces being convex arc-shaped surfaces, and the left and right sides of the loading base plate 10 are respectively arranged on the two arc-shaped sliding strips 22.
As shown in fig. 1-3, in order to make the system suitable for the two side hatches in the unmanned helicopter to respectively throw goods, a system frame 2, two cargo carrying plates 1, two cargo locking and unlocking mechanisms 5, and a cargo pushing and unloading device 3 form a cargo throwing unit, the automatic cargo throwing system for the unmanned helicopter comprises two cargo throwing units, and one cargo throwing unit is positioned right behind the other cargo throwing unit; in each cargo throwing unit, one cargo carrying plate 1 is positioned right behind the other cargo carrying plate 1, the two cargo locking and unlocking mechanisms 5 are respectively used for controlling the locking and unlocking between the two corresponding cargo carrying plates 1 and the system frame 2, and the cargo pushing and releasing device 3 is used for controlling the pushing of the two corresponding cargo carrying plates 1 and the separation between the two corresponding cargo carrying plates 1 and the system frame 2.
As shown in fig. 1 to fig. 3, the basic working principle of the automatic cargo delivery system for an unmanned helicopter according to the present invention is as follows:
firstly, fixedly installing two system frames 2 on a bottom plate in an unmanned helicopter by using bolts, enabling the two system frames 2 to respectively correspond to two electric cabin doors of the unmanned helicopter, and installing two goods pushing and taking-off devices 3 back to back and enabling the two goods pushing and taking-off devices to be positioned in the middle of the unmanned helicopter; the cargo carrying plate 1 can be formed independently and can also be used as a bottom plate of a cargo box body, if the cargo carrying plate 1 is formed independently, bulk cargos are stacked on a cargo carrying base plate 10 of the cargo carrying plate 1 and covered with a mooring net, the cargos are fixed through the mounting through holes 12, the cargos and the cargo carrying plate 1 are integrally thrown in a preset place, if the cargo carrying plate is formed integrally, the cargos are arranged in the cargo box body and a box cover is covered, the process is generally finished in a workshop or a storehouse, and the loading can be finished on a helicopter under special conditions; a cargo carrying plate 1 and corresponding cargos form a cargo unit, 1-4 cargo units can be loaded according to needs, and a loading scheme is formulated according to the release sequence of the cargo unit planned by a task (such as the number of release places, the number and weight of release materials, whether a target place has landing conditions, and the like); the system frame 2 is fixed and used repeatedly when and after the goods are put in, and the goods carrying unit is put in integrally; after the goods are loaded, the goods locking and unlocking mechanism 5 acts to lock the goods carrying plate 1 and the system frame 2, and the whole goods unit cannot move in the front, back, left, right, up and down directions; the unmanned helicopter starts to fly, and because the whole cargo unit is completely positioned and cannot move, the unmanned helicopter can fly obliquely or roll over as required, and the installation stability of the cargo unit is not influenced; according to the type of delivery, the system has 2 use scenes, namely single-way transportation and round-trip delivery: during one-way transportation, the unmanned helicopter arrives at a designated place to land, all cargo units are put out of the cabin, and a plurality of cargo units can be put out of the cabin sequentially or simultaneously at two sides; when the unmanned helicopter is delivered back and forth, the unmanned helicopter reaches the upper part of a target site, descends the height and keeps a low altitude (the height is not more than 5 m) hovering state, 1 cargo unit is delivered in a single time, all the cargo units are delivered for multiple times, and if the delivery site is more than one, the delivery can be performed in multiple times according to the delivery site; in the releasing process, when the unmanned helicopter flies to a position close to a goods releasing place, the goods locking and unlocking mechanism 5 starts to execute unlocking action, after unlocking is completed, the cargo carrying plate 1 and the whole goods unit can only move in the front-back direction, then the goods pushing module of the goods pushing and releasing device 3 starts to act to push the cargo carrying plate 1 in the front-back direction, so that the goods unit moves towards the direction close to the hatch door on the corresponding side, when the cargo carrying plate moves to the edge, most of the goods unit is arranged outside the hatch door, the goods releasing module of the goods pushing and releasing device 3 starts to act to release the control on the cargo carrying plate 1, and at the moment, the goods unit quickly breaks away from the system frame 2 under the self weight of the goods unit, falls to the releasing place and completes fixed-point releasing of the goods; when the system breaks down and the cargo units cannot be automatically thrown out of the cabin, the unmanned helicopter is returned or landed nearby, and after the unmanned helicopter lands and shuts down, ground personnel manually unlock the cargo units, so that manual unloading of materials is realized. According to actual needs, under the condition of installing four cargo units, the four cargo units can be respectively subjected to 9 throwing tasks such as left-cabin front cargo throwing, left-cabin rear cargo throwing, left-cabin simultaneous throwing, right-cabin front cargo throwing, right-cabin rear cargo throwing, right-cabin simultaneous throwing, two-side front cargo throwing, two-side rear cargo throwing and two-side simultaneous throwing, and the application is very convenient. Description of the drawings: the front, back, left and right of the 9 launching tasks are different from the front, back, left and right of the structural description of the system, wherein the front and back of the 9 launching tasks are the flight direction of the unmanned helicopter, and the front and back of the structural description of the system are the moving direction of the cargo carrying plate 1, so that the front and back of the 9 launching tasks are just the left and right of the structural description of the system, and the left and right of the 9 launching tasks are just the front and back of the structural description of the system.
As shown in fig. 1 to fig. 13, the following also discloses more specific optimized structures of the present invention, and one or more of the following specific structures can be combined with the above structures in an overlapping manner to form a new more optimized technical solution according to actual needs.
In order to better limit the cargo carrying plate 1 so that the cargo carrying plate can only move in the front-back direction, the cargo carrying plate 1 further comprises L-shaped limiting strips 11 with axial front-back directions and L-shaped radial sections, the upper parts of the L-shaped limiting strips 11 are respectively connected with the lower surfaces of the left side and the right side of the cargo carrying base plate 10 and are respectively positioned at the inner sides of two side plates 21 of the system frame 2, convex strips 23 with axial front-back directions are arranged on the inner walls of the two side plates 21 of the system frame 2, and the two convex strips 23 are respectively arranged in L-shaped gaps of the L-shaped limiting strips 11 so that the cargo carrying plate 1 can move back and forth and cannot move up and down and left and right; vertical barrier strips are further arranged on the side plates 21 of the two system frames 2 near the end connected with each other, and the barrier strips are used for blocking the cargo carrying plate 1. The L-shaped limiting strips 11, the convex strips 23 and the cargo carrying base plate 10 are matched with each other for limiting, so that the cargo carrying plate 1 can only move forwards and backwards and can not move upwards, downwards, leftwards and rightwards, and the accurate limiting function is realized by a simple structure.
In order to facilitate synchronous control of locking and unlocking of two L-shaped limiting strips 11 of the same cargo carrying plate 1 positioned on two sides by one driving device so as to improve locking stability and reduce cost, the cargo locking and unlocking mechanism 5 comprises a linear motor 54, a transmission push rod 55 and a crank arm transmission mechanism 50, wherein the linear motor 54 is installed on a bottom plate 20 of a system frame 2, the axial direction of a driving shaft of the linear motor 54 is the front-back direction, the axial direction of the transmission push rod 55 is the left-right direction, a rotating shaft of the linear motor 54 is connected with the middle section of the transmission push rod 55, the lower parts of two side plates 21 of the system frame 2 are respectively provided with a strip-shaped hole (not marked in the figure and used for limiting the transmission push rod 55 to move in a small distance), two ends of the transmission push rod 55 respectively penetrate through the strip-shaped holes of the corresponding two side plates 21 and can move back and forth, the two crank, the crank arm transmission mechanism 50 comprises a connecting seat 507 and a lock pin 504, the two connecting seats 507 are respectively connected with two ends of the transmission push rod 55, the positions, corresponding to the two lock pins 504, on the two side plates 21 are respectively provided with a left-right direction limiting through hole 24, the position, corresponding to the lock pin 504, on the L-shaped limiting strip 11 is provided with a left-right direction locking through hole 14 (or a locking blind hole), the lock pin 504 can be inserted into the corresponding locking through hole 14 after passing through the corresponding limiting through hole 24, the crank arm transmission mechanism 50 can drive the corresponding lock pin 504 to move left and right under the limiting effect of the corresponding limiting through hole 24 when the connecting seats 507 move back and forth, and the control signal input end of the linear motor 54 is correspondingly connected with the control signal output end of the. When the device is operated, the linear motor 54 drives the transmission push rod 55 to move forwards or backwards under the control of the controller, the transmission push rod 55 drives the two corresponding connecting seats 507 to synchronously move forwards and backwards, under the action of the crank arm transmission mechanism 50, the two lock pins 504 are synchronously inserted into or withdrawn from the locking through holes 14, so that the two sides of the cargo carrying plate 1 are synchronously locked or unlocked, when the cargo carrying plate 1 is locked, the cargo carrying plate 1 cannot move forwards and backwards as the lock pins 504 simultaneously pass through the corresponding limiting through holes 24 and the corresponding locking through holes 14, and when the cargo carrying plate 1 is unlocked, the lock pins 504 only pass through the limiting through holes 24 but not pass through the locking through holes 14, so that the cargo carrying; in both the locked and unlocked states, the locking pin 504 passes through the limit through-hole 24, which is also a condition for the crank arm drive mechanism 50 to perform its driving function.
In order to convert the front-back linear motion of the transmission push rod 55 into the left-right linear motion required by the lock pin 504 in a small space so that the lock pin 504 can lock and unlock the cargo carrying board 1, the crank arm transmission mechanism 50 further comprises a transmission link 506, a link seat 500, a crank arm 502 and a lock pin seat 503, the upper part of the connecting seat 507 is fixedly connected with the lower part of the front-back transmission link 506, the link seat 500 is fixedly arranged on the transmission link 506, the lock pin 504 is fixedly connected with the lock pin seat 503, the crank arm 502 is formed by connecting two integrally formed support arms 501 with each other, the included angle between the two support arms 501 is 150 degrees, preferably 135 degrees, and the link seat 500 and the lock pin seat 503 are respectively and rotatably connected with the two support arms 501 through pin shafts. When in use, the connecting seat 507 moves back and forth to drive the transmission connecting rod 506 and the connecting rod seat 500 to move back and forth, the included angle between the connecting rod seat 500 and the lock pin 504 changes along with the change of the included angle, the change is self-adaptive through the rotary connection between the two arms 501 of the crank arm 502 and the connecting rod seat 500 and the lock pin seat 503, because the lock pin 504 is limited in the left and right direction by the limit through hole 24, therefore, when the angle between the link seat 500 and the lock pin 504 is 90 °, the lock pin 504 is farthest away from the transmission link 506, and at this time, the lock pin 504 is inserted into the lock through hole 14 to realize the locking function, when the included angle between the link seat 500 and the lock pin 504 is greater than or less than 90 degrees, the distance between the lock pin 504 and the transmission link 506 is reduced until the lock pin 504 is separated from the locking through hole 14 to realize the unlocking function, the transmission function of the two linear movements in the mutually perpendicular directions is thus achieved in a simple manner with as small a volume as possible.
In order to make the latch 504 have stress to be inserted into the locking through hole 14 to ensure that the latch 504 is automatically in a locking state when the linear motor 54 fails, two springs 51 are respectively installed between the two connection seats 507 and the fixing plate on the corresponding side plate 21 and are used to make the corresponding connection seats 507 have stress to drive the latch 504 to be inserted into the locking through hole 14. This structure can be easily implemented using the prior art, and is generally implemented using the extension elasticity of the spring 51.
In order to manually control the lock pin 504 when the linear motor 54 fails, the middle section of the transmission push rod 55 is connected to one end of the manual control lever 53 in the front-rear direction, the other end of the manual control lever 53 is provided with a handle 56, and the handle 56 is located at the front end or the rear end of the system frame 2. When the linear motor 54 or other electronic devices are in failure, the manual control rod 53 can be manually pulled or pushed by the handle 56 to overcome the control force of the linear motor 54 on the transmission push rod 55 to drive the transmission push rod 55 to move back and forth, so that the linear motor 54 is replaced to realize corresponding locking or unlocking functions, for example, when the automatic control is in failure, manual unlocking is required, and the manual control rod 53 and the handle 56 can be used for realizing the corresponding locking or unlocking functions.
Also shown in fig. 9 are spring positioning rods 52 for positioning mounting springs 51, and also shown in fig. 10 are positioning rod mounting holes 508 provided in the coupling seats 507 for mounting the spring positioning rods 52, which are conventional adaptive structures for providing the coupling seats 507 with stress for driving the corresponding lock pins 504 into the corresponding lock through holes 14.
In order to more accurately detect whether the lock pin 504 is locked or not so as to further improve the reliability of locking and unlocking the cargo board 1, a first position sensor 505 for detecting whether the lock pin 504 is inserted into the locking through hole 14 is installed on the lock pin seat 503, a second position sensor 509 for detecting whether the transmission link 506 moves to a position required for inserting the lock pin 504 into the locking through hole 14 is installed on the transmission link 506, and a signal output end of the first position sensor 505 and a signal output end of the second position sensor 509 are respectively connected with a signal input end of the controller correspondingly. The first position sensor 505 and the second position sensor 509 may be conventional position sensors, such as hall switches.
In order to facilitate the control of pushing and separating of the cargo carrying plate 1, the cargo pushing and separating device 3 comprises a cargo pushing rack 30 and a cargo pushing and placing control device 31, the cargo pushing rack 30 comprises a bearing seat 300, a rotary driving seat 305, a lead screw 303 and a guide rod 302, the lead screw 303 preferably adopts a ball lead screw, the bearing seat 300 and the rotary driving seat 305 with built-in bearings are respectively installed on the bottom plate 20 of the system rack 2, the rotary power output end of the rotary driving device (the structure of which is shown below) is arranged on the rotary driving seat 305, the lead screw 303 and the guide rod 302 which are axially in the front-back direction are parallel and close to each other, one end of the lead screw 303 is connected with the bearings, the other end of the lead screw 303 is connected with the rotary power output end of the rotary driving device, and two ends of the guide rod 302 are respectively; the cargo pushing control device 31 comprises a moving seat 310, a nut 314, a locking tongue 311, an electromagnet 313 and a pressure spring 312, the moving seat 310 is provided with an inner cavity, the electromagnet 313 and the pressure spring 312 are both arranged in the inner cavity, the electromagnet 313 comprises a vertical electromagnet metal column and an electromagnet coil (the specific structures of the electromagnet metal column and the electromagnet coil are not shown in the figure and are conventional electromagnets), the electromagnet metal column is arranged in the electromagnet coil, a locking tongue hole (not marked in the figure) is arranged on the moving seat 310, the locking tongue 311 passes through the locking tongue hole, the outer end and the inner end of the locking tongue 311 are arranged outside the moving seat 310 and in the inner cavity of the moving seat 310, the inner end of the locking tongue 311 is connected with one end of the electromagnet metal column, the two ends of the vertical pressure spring 312 are respectively contacted with the inner end of the locking tongue 311 and the cavity wall at the lower part of the inner cavity of the moving seat 310, the nut, the moving seat 310 is connected with the guide rod 302 through a guide structure for enabling the moving seat 310 to move in the axial direction of the guide rod 302 and not to rotate; the control signal input end of the rotation driving device and the power supply input end of the electromagnet coil are respectively and correspondingly connected with the control signal output end of the controller; the cargo substrate 10 is provided with a cargo pushing through hole 13 (or a cargo pushing blind hole) for inserting the bolt 311 from bottom to top. When the device is used, the rotation driving device generates forward or reverse rotation power under the control of the controller, the rotation power drives the lead screw 303 to rotate, and the nut 314 is sleeved on the lead screw 303 and cannot rotate, so that the lead screw 303 rotates to drive the nut 314 to move in the axial direction, namely the front-back direction, of the lead screw 303, so as to drive the movable seat 310 and the bolt 311 to move back and forth, and according to the control of the rotation speed of the rotation driving device, the movement distance of the movable seat 310 can be accurately controlled, so that the movable seat 310 can be accurately moved to a required position. When the cargo carrying plate 1 needs to be pushed, if the bolt 311 is not positioned right below the corresponding cargo pushing through hole 13, the movable seat 310 and the bolt 311 are firstly moved to the position right below the corresponding cargo pushing through hole 13 of the cargo carrying base plate 10 and stop moving, then the power supply of the electromagnet 313 is cut off by controlling the electromagnet 313, the bolt 311 bounces upwards under the action of the elastic force of the pressure spring 312 and is inserted into the cargo pushing through hole 13, and the process can also be finished before the cargo is needed to be pushed, so that the preparation is prepared in advance for the cargo pushing; then, the screw 303 is driven to rotate by the rotary driving device so that the movable seat 310 moves towards the direction of the corresponding cabin door, when the movable seat 310 moves to a proper position, for example, most of the cargo carrying plate 1 is arranged outside the cabin door, the movable seat 310 stops moving, then the power supply of the electromagnet 313 is switched on by controlling the electromagnet 313, the bolt 311 overcomes the elastic force of the pressure spring 312 to move downwards under the action of the electromagnet 313 to exit the cargo pushing through hole 13, at the moment, the corresponding cargo unit is quickly separated from the system frame 2 under the action of the self weight of the corresponding cargo unit, and the purpose of cargo fixed-point delivery is realized. In the above structure, the pressure spring 312 may also be a tension spring, and two ends of the tension spring need to be respectively fixedly connected to the inner end of the latch bolt 311 and the cavity wall of the lower portion of the inner cavity of the movable seat 310, and the corresponding control modes of the electromagnet 313 are opposite.
In order to provide larger propelling force, reduce electric energy consumption and improve power-to-weight ratio, the rotary driving device comprises a hydraulic motor (not marked in the figure), a hydraulic control valve (not marked in the figure) and a speed reducer (not shown in the figure and arranged in a rotary driving seat 305), the hydraulic motor is connected with the hydraulic control valve and then connected with an external oil pipe, a rotating shaft of the hydraulic motor is connected with a rotary power input end of the speed reducer, a rotary power output end of the speed reducer is connected with a lead screw 303, and a control signal input end of the hydraulic control valve is correspondingly connected with a control signal output end of the controller. The external oil pipe is provided with high-pressure hydraulic oil by an oil pressure system of the unmanned helicopter, and the unmanned helicopter can be ensured to smoothly push out a 300kg cargo container unit to finish delivery when rolling 15 degrees and pitching 15 degrees simultaneously due to higher power weight; the hydraulic drive system 4 is composed of a hydraulic motor, a hydraulic control valve, adaptive auxiliary parts such as a related oil pipe, a self-sealing joint, an oil pipe connector and an oil supply and return pressure sensor, the specific structure of the hydraulic drive system is not described herein any more, and the hydraulic drive system 4 can also be replaced by a servo motor, but the power consumption is large and the power weight ratio is low.
In order to detect the specific position of the cargo pushing and placing control device 31 to improve the control accuracy of pushing and releasing cargo as much as possible, a third position sensor 301 is installed at one end of the guide rod 302 close to the bearing seat 300, a fourth position sensor 304 is installed at the middle section of the guide rod 302, a fifth position sensor 306 is installed on the rotary driving seat 305 (the fifth position sensor 306 can also be installed at a position on the guide rod 302 close to the rotary driving seat 305 or on the movable seat 310 as long as the corresponding function can be realized), the third position sensor 301, the fourth position sensor 304 and the fifth position sensor 306 are respectively used for detecting the limit position of the movable seat 310 close to the bearing seat 300, the position of the movable seat 310 moving to the middle point of the screw rod 303 and the limit position of the movable seat 310 close to the rotary driving seat 305, the signal output end of the third position sensor 301, The signal output end of the fourth position sensor 304 and the signal output end of the fifth position sensor 306 are respectively and correspondingly connected with the signal input end of the controller. By arranging the third position sensor 301, the fourth position sensor 304 and the fifth position sensor 306, the real-time position of the movable seat 310 can be detected more accurately, so that more powerful guarantee is provided for the precise control of the movable seat 310; the third position sensor 301, the fourth position sensor 304 and the fifth position sensor 306 may be conventional position sensors, such as hall switches.
For convenience of processing and accurate guiding, the guiding structure comprises an axial groove 307 arranged on the outer wall of the guiding rod 302 on the side close to the lead screw 303 and a lug 315 arranged on the outer wall of the moving seat 310 close to the guiding rod 302, wherein the lug 315 is arranged in the axial groove 307.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (10)
1. The utility model provides an automatic dispensing system of goods for unmanned helicopter which characterized in that: the cargo pushing and releasing device comprises a system frame, a cargo carrying plate, a cargo locking and releasing mechanism, a cargo pushing and releasing device and a controller, wherein the direction in which the cargo carrying plate is pushed to move is a front-back direction, the system frame comprises a transverse bottom plate and two vertical side plates which are respectively positioned at the left side and the right side of the bottom plate, the cargo carrying plate used for carrying cargos comprises a transverse cargo carrying base plate, the left side and the right side of the cargo carrying base plate are respectively arranged on the two side plates and can move back and forth, the cargo locking and releasing mechanism is arranged on the system frame and positioned below the cargo carrying base plate and is used for controlling the locking and the unlocking between the cargo carrying plate and the system frame, the cargo pushing and releasing device is arranged on the system frame and positioned below the cargo carrying base plate and is used for controlling the pushing of the cargo carrying plate and the releasing between the cargo carrying plate and the system frame, the control signal input end of the cargo locking and unlocking mechanism and the control signal input end of the cargo pushing and releasing device are respectively and correspondingly connected with the control signal output end of the controller.
2. The automatic cargo delivery system for an unmanned helicopter according to claim 1, comprising: convex arc-shaped sliding strips with convex arc-shaped upper surfaces are arranged above the two side plates of the system frame, and the left side and the right side of the cargo carrying base plate are respectively arranged on the two arc-shaped sliding strips.
3. The automatic cargo delivery system for an unmanned helicopter according to claim 1, comprising: the system frame, the two cargo carrying plates, the two cargo locking and unlocking mechanisms and the cargo pushing and unloading device form a cargo throwing unit, the automatic cargo throwing system for the unmanned helicopter comprises the two cargo throwing units, and one cargo throwing unit is positioned right behind the other cargo throwing unit; in each cargo throwing unit, one cargo carrying plate is positioned right behind the other cargo carrying plate, the two cargo locking and unlocking mechanisms are respectively used for controlling the locking and unlocking between the two cargo carrying plates and the system frame, and the cargo pushing and releasing device is used for controlling the pushing of the two cargo carrying plates and the releasing between the two cargo carrying plates and the system frame.
4. The automatic cargo delivery system for unmanned helicopters according to claim 1, 2 or 3, characterized in that: the goods carrying plate further comprises L-shaped limiting strips with axial front-back directions and L-shaped radial sections, the upper portions of the L-shaped limiting strips are connected with the lower surfaces of the left side and the right side of the goods carrying base plate respectively and are located on the inner sides of the two side plates of the system frame respectively, protruding strips with axial front-back directions are arranged on the inner walls of the two side plates of the system frame, and the two protruding strips are arranged in the L-shaped notches of the L-shaped limiting strips respectively to enable the goods carrying plate to move back and forth and not to move up and down and left and right.
5. The automatic cargo delivery system for an unmanned helicopter of claim 4, comprising: the goods locking and unlocking mechanism comprises a linear motor, a transmission push rod and a crank arm transmission mechanism, the linear motor is installed on a bottom plate of the system frame, the axial direction of a driving shaft of the linear motor is the front-back direction, the axial direction of the transmission push rod is the left-right direction, a rotating shaft of the linear motor is connected with the middle section of the transmission push rod, the lower parts of two side plates of the system frame are respectively provided with a strip-shaped hole in the front-back direction, two ends of the transmission push rod respectively penetrate through the strip-shaped holes of the two corresponding side plates and can move back and forth, the two crank arm transmission mechanisms are respectively arranged at the outer sides of the two side plates, each crank arm transmission mechanism comprises a connecting seat and a lock pin, the two connecting seats are respectively connected with two ends of the transmission push rod, and the positions of the two side plates corresponding to the two, the L-shaped limiting strip is provided with a locking through hole or a locking blind hole in the left-right direction at a position corresponding to the lock pin, the lock pin can be inserted into the corresponding locking through hole or the corresponding locking blind hole after penetrating through the corresponding limiting through hole, the crank arm transmission mechanism can drive the corresponding lock pin to move left and right under the limiting action of the corresponding limiting through hole when the connecting seat moves back and forth, and the control signal input end of the linear motor is correspondingly connected with the control signal output end of the controller.
6. The automatic cargo delivery system for an unmanned helicopter of claim 5, comprising: the crank arm transmission mechanism further comprises a transmission connecting rod, a connecting rod seat, a crank arm and a lock pin seat, the upper part of the connecting seat is fixedly connected with the lower part of the transmission connecting rod in the front-back direction, the connecting rod seat is fixedly arranged on the transmission connecting rod, the lock pin is fixedly connected with the lock pin seat, the crank arm is formed by mutually connecting two integrally formed support arms, the included angle between the two support arms is 120 degrees and 150 degrees, and the connecting rod seat and the lock pin seat are respectively and rotatably connected with the two support arms; the two springs are respectively arranged between the two connecting seats and the fixing plate on the corresponding side plate and are used for enabling the corresponding connecting seats to have stress for driving the lock pins to be inserted into the locking through holes or the locking blind holes; the middle section of transmission push rod is connected with the one end of the manual control pole of fore-and-aft direction, the handle is installed just to the other end of manual control pole the handle is located the front end or the rear end of system's frame.
7. The automatic cargo delivery system for an unmanned helicopter of claim 6, comprising: the lock pin seat is provided with a first position sensor for detecting whether the lock pin is inserted into the locking through hole or the locking blind hole, the transmission connecting rod is provided with a second position sensor for detecting whether the transmission connecting rod moves to the position required by the lock pin inserted into the locking through hole or the locking blind hole, and the signal output end of the first position sensor and the signal output end of the second position sensor are respectively and correspondingly connected with the signal input end of the controller.
8. The automatic cargo delivery system for unmanned helicopters according to claim 1, 2 or 3, characterized in that: the goods pushing and releasing device comprises a goods pushing rack and a goods pushing and releasing control device, the goods pushing rack comprises a bearing seat, a rotary driving seat, a screw rod and a guide rod, the bearing seat and the rotary driving seat with built-in bearings are respectively arranged on a bottom plate of the system rack, the rotary power output end of the rotary driving device is arranged on the rotary driving seat, the screw rod and the guide rod which are axially in the front-back direction are parallel and close to each other, one end of the screw rod is connected with the bearings, the other end of the screw rod is connected with the rotary power output end of the rotary driving device, and two ends of the guide rod are respectively fixedly connected with the bearing seat and the rotary driving seat; the cargo pushing and releasing control device comprises a moving seat, a nut, a lock tongue, an electromagnet and a pressure spring, wherein the moving seat is provided with an inner cavity, the electromagnet and the pressure spring are both arranged in the inner cavity, the electromagnet comprises a vertical electromagnet metal column and an electromagnet coil, the electromagnet metal column is arranged in the electromagnet coil, a lock tongue hole is arranged on the moving seat, the lock tongue penetrates through the lock tongue hole, the outer end and the inner end of the lock tongue are arranged outside the moving seat and in the inner cavity of the moving seat, the inner end of the lock tongue is connected with one end of the electromagnet metal column, two ends of the vertical pressure spring are respectively contacted with the inner end of the lock tongue and the lower cavity wall of the inner cavity of the moving seat, the nut is arranged on the moving seat and sleeved on the screw rod through a screw hole per se, and the moving seat is connected with the guide rod through a guide, the guide structure is used for enabling the movable seat to move in the axial direction of the guide rod and not to rotate; the control signal input end of the rotation driving device and the power supply input end of the electromagnet coil are respectively and correspondingly connected with the control signal output end of the controller; the goods carrying base plate is provided with a goods pushing through hole or a goods pushing blind hole for the bolt to be inserted from bottom to top.
9. The automatic cargo delivery system for an unmanned helicopter according to claim 8, wherein: the rotary driving device comprises a hydraulic motor, a hydraulic control valve and a speed reducer, the hydraulic motor is connected with an external oil pipe after being connected with the hydraulic control valve, a rotating shaft of the hydraulic motor is connected with a rotary power input end of the speed reducer, a rotary power output end of the speed reducer is connected with the screw rod, and a control signal input end of the hydraulic control valve is correspondingly connected with a control signal output end of the controller.
10. The automatic cargo delivery system for an unmanned helicopter according to claim 8, wherein: a third position sensor is arranged at one end of the guide rod close to the bearing seat, a fourth position sensor is arranged at the middle section of the guide rod, a fifth position sensor is arranged on the rotary driving seat or the guide rod close to the rotary driving seat or the movable seat, the third position sensor, the fourth position sensor and the fifth position sensor are respectively used for detecting the limit position of the movable seat close to the bearing seat, the position of the movable seat moving to the middle point of the screw rod and the limit position of the movable seat close to the rotary driving seat, and the signal output end of the third position sensor, the signal output end of the fourth position sensor and the signal output end of the fifth position sensor are respectively and correspondingly connected with the signal input end of the controller; the guide structure comprises an axial groove and a convex block, wherein the axial groove is formed in the guide rod and is close to the outer wall of one side of the lead screw, the convex block is arranged on the moving seat and is close to the outer wall of the guide rod, and the convex block is arranged in the axial groove.
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| CN113998130A (en) * | 2021-10-25 | 2022-02-01 | 庆安集团有限公司 | Electric control locking device for limiting |
| CN114033254A (en) * | 2021-11-18 | 2022-02-11 | 庆安集团有限公司 | Multidirectional locking device for automatic lifting of civil aircraft container type freight system |
| CN117465671A (en) * | 2023-12-27 | 2024-01-30 | 四川省天域航通科技有限公司 | Cargo conveying system for air-drop and air-delivery unmanned aerial vehicle and control method |
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| CN113998130A (en) * | 2021-10-25 | 2022-02-01 | 庆安集团有限公司 | Electric control locking device for limiting |
| CN113998130B (en) * | 2021-10-25 | 2024-01-12 | 庆安集团有限公司 | Electric control locking device for limiting |
| CN114033254A (en) * | 2021-11-18 | 2022-02-11 | 庆安集团有限公司 | Multidirectional locking device for automatic lifting of civil aircraft container type freight system |
| CN113928568A (en) * | 2021-11-19 | 2022-01-14 | 中国直升机设计研究所 | Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle |
| CN113928568B (en) * | 2021-11-19 | 2023-04-18 | 中国直升机设计研究所 | Mechanical self-locking type electromagnetic throwing device for unmanned aerial vehicle |
| CN117465671A (en) * | 2023-12-27 | 2024-01-30 | 四川省天域航通科技有限公司 | Cargo conveying system for air-drop and air-delivery unmanned aerial vehicle and control method |
| CN117465671B (en) * | 2023-12-27 | 2024-04-02 | 四川省天域航通科技有限公司 | Cargo conveying system for air-drop and air-delivery unmanned aerial vehicle and control method |
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