A throwable quad-rotor range-extended grenade and a flight control method thereof

Abstract

The present application belongs to the technical field of ammunition research, and particularly relates to a throwing type four-rotor range-extended grenade and a flight control method thereof. The grenade structure comprises a flight unit, a control unit and a combat unit. The flight unit is responsible for providing an additional driving force in the air after the grenade is thrown, so as to extend the throwing distance of the grenade. The control unit is used for triggering the flight unit after the grenade is thrown, controlling the flight process of the grenade and detonating the combat unit of the grenade. The combat unit is used for exerting the fighting force of the grenade. The range-extended grenade provided by the present application can obtain a certain initial speed or height directly after being thrown, without the need of a mother machine or a launching cylinder tool. The ground preparation time is not needed, the arrival time is significantly shortened, and the battlefield survival rate is greatly improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ammunition, and particularly relates to a throwing type four-rotor range-increasing hand grenade and a flight control method thereof. BACKGROUND

[0002] The unmanned aerial vehicle carries a warhead to carry out high-altitude concealed precision attack, which has been effectively applied and tested in actual combat, and the effect is surprising compared with traditional weapons. In the future, it will be developed and used by various countries, and competition breakthroughs will be made in the directions of secrecy, precision, warhead capacity, speed, portability and voyage. At present, the use modes of portable small concealed unmanned aerial vehicles mainly include three types of air release type, barrel shooting type, ground static take-off type and hand holding take-off type. The air release type and the barrel shooting type can provide a certain initial speed or height for the unmanned aerial vehicle, but they need a mother machine or a launching barrel. The ground static take-off type and the hand holding take-off type need a certain ground preparation time and arrival time. Although the CH-817 micro attack unmanned aerial vehicle developed by China and the PHOLOP and Drone40 self-explosion unmanned aerial vehicles developed by foreign countries are all called "flying hand grenades", they are essentially ground-controlled unmanned aerial vehicles carrying warheads, and their advantages and disadvantages are the same as those introduced above. The advantages of the hand grenade are portability and speed, and the disadvantage is that ordinary people can only throw 30-60 m. SUMMARY

[0003] The application aims to design a throwing type rotor-guided unmanned hand grenade to solve the problem of insufficient throwing range of a traditional hand grenade.

[0004] The technical scheme is that the application provides a throwing type four-rotor range-increasing hand grenade, which comprises a flight unit, a control unit and a warhead unit. The flight unit provides additional driving force in the air after the hand grenade is thrown to prolong the throwing distance of the hand grenade. The control unit is used for triggering the flight unit after the hand grenade is thrown, controlling the flight process of the hand grenade and detonating the warhead unit of the hand grenade. The warhead unit is used for exerting the fighting force of the hand grenade.

[0005] Preferably, the flight unit at least comprises a rotor motor, a rotor support arm and a paddle. The rotor motor is arranged at the end of the rotor support arm, and the paddle is arranged on the rotor motor. The paddle provides flight power for the hand grenade under the driving of the rotor motor.

[0006] Preferably, the control unit at least comprises: a pull ring, an insulating rod, a control box, an electrode switch, a solenoid valve, a support arm lock pin, and an igniting part; the control box serves as the control center of the entire grenade, after the pull ring is pulled, the insulating rod is separated from the electrode switch to realize the closure of the electrode switch; the electrode switch serves as the total control switch of the grenade, after the electrode switch is triggered, the control box operates, controls the solenoid valve according to the established control logic to realize the movement of the support arm lock pin, so that the rotor support arm in the flight unit is unfolded, and the flight control of the flight unit is realized, and the igniting part is ignited under the control of the control box according to the established control logic.

[0007] Preferably, the combat unit at least comprises: a grenade shell, a combat unit, a partition plate, and a battery.

[0008] The upper part of the grenade shell is matched with a sealing dam and a rotor support arm to form the installation space of the control unit and the flight unit, the lower part of the grenade shell is matched with the partition plate to form the installation space of the battery and the combat unit, and the battery provides electric energy for the control unit and the flight unit.

[0009] Preferably, the grenade shell and the partition wall also provide explosion fragments for the combat unit.

[0010] Preferably, the grenade shell adopts a uniform multi-petal structure design above the partition plate and below the sealing dam, and the rotor support arms are staggered with the grenade shell.

[0011] Another aspect of the present application also provides a flight control method of the grenade, after the grenade is thrown at a certain initial elevation angle, when the gyroscope in the control box senses that the trajectory elevation angle of the grenade is a certain setting angle, the solenoid valve is driven to retract the support arm lock pin, so that the rotor support arm is unfolded; when the gyroscope in the control box senses that the trajectory elevation angle of the grenade is 0°, the grenade has reached the highest point without power, at this time, the control box starts to control the rotor motor to operate, the blades rotate, the grenade has power, at this time, the grenade flies to the predetermined target landing point under the control of the control box and ignites the combat unit.

[0012] Preferably, the control program in the control box can be edited, the four-rotor system is controlled according to the control logic that ''a certain throwing angle corresponds to a certain landing distance'', so that the range-extended grenade flies to the predetermined target landing point.

[0013] Preferably, when the gyroscope in the control box senses a large acceleration impact in the flight process, the control box controls the combat unit to be ignited.

[0014] Beneficial technical effects: compared with the structure of the traditional grenade, the range-extended grenade designed in the present application has at least the following advantages:

[0015] 1. The extended-range hand grenade can be directly thrown to obtain a certain initial speed or height without the need for a mother machine or launching cylinder tool, and the physical quality requirement of the thrower is low; at the same time, due to the design of the control logic, no ground preparation time is needed, which can significantly shorten the arrival time and improve the battlefield survival rate.

[0016] 2. The extended-range hand grenade can be flexibly deformed and folded in daily non-combat state, and the rotor is unfolded to provide power after being thrown, which is convenient for carrying and throwing, and greatly improves the agility and concealment;

[0017] 3. The extended-range hand grenade has good sealing performance and is suitable for various environments such as desert, water area, high cold, salt fog, etc., and has stronger environmental adaptability than general unmanned aerial vehicles.

[0018] 4. The throwing type four-rotor hand grenade controls its trajectory through a control box with a small gyroscope set in advance, a certain throwing angle corresponds to a certain landing point distance, and the throwing angle can be effectively mastered through repeated training of the thrower, so that the landing point distance can reach 500m through range extension, which significantly improves the throwing range of the hand grenade. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the extended-range hand grenade of the present application;

[0020] Figure 2 It is an appearance diagram of the extended-range hand grenade of the present application;

[0021] Figure 3 It is a flight schematic diagram of the extended-range hand grenade of the present application;

[0022] Figure 4 It is a schematic diagram of the sealing device in the extended-range hand grenade.

[0023] Among them, 1 is a sealing pile; 2 is a rotor motor; 3 is an insulating rod; 4 is a rotor arm; 5 is an arm fixing rod; 6 is an electromagnetic valve support; 7 is an arm fixing ring; 8 is a battery; 9 is a hand grenade shell; 10 is a warhead; 11 is an initiation part; 12 is a partition; 13 is an arm lock pin; 14 is an electromagnetic valve; 15 is a control box; 16 is an electrode switch; 17 is a paddle; 18 is a pull ring. DETAILED DESCRIPTION

[0024] The present application will be described in detail below in conjunction with the drawings or specific implementation cases. It should be noted that some (but not all) of the disclosed examples are shown in the drawings. In fact, many different examples can be described and these examples should not be understood as being limited to the examples set forth herein. On the contrary, these examples are described so that the positive effects of the present application are more embodied, and the details not described herein are regarded as known or conventional technical means in the art.

[0025] Referring to the drawings Figure 1 , Figure 3This invention specifically designs a throwable quadcopter extended-range grenade. The system device mainly consists of: a sealing stack 1, a rotor motor 2, an insulating rod 3, a rotor support arm 4, a support arm fixing rod 5, a solenoid valve support 6, a support arm fixing ring 7, a battery 8, a grenade casing 9, a warhead 10, a detonator 11, a partition 12, a support arm locking pin 13, a solenoid valve 14, a control box 15, an electrode switch 16, blades 17, and a pull ring 18; wherein:

[0026] In the device, the pull ring 18 is fixed directly above the sealing stack 1, and the two together form a sealing device, such as Figure 4 As shown, the sealing stack 1 not only includes a frustum mechanism but also covers the sealing strip between each rotor arm 4 and the grenade casing 9. The sealing stack 1 is bonded to the grenade, and its function is to ensure the sealing of the internal mechanism of the grenade. The pull ring 18 is used to open the grenade with fingers during use, causing the sealing stack 1 and the insulating rod 3 below it to detach from the grenade body. The grenade casing 9 is evenly divided into 8 petal shapes above the partition 12 and below the sealing stack 1, each petal occupying a 45° circumference. Four of these petals are still grenade casings 9, and the other four petals are filled with four rotor arms 4 of the same shape. The rotor arms 4 and grenade casings 9 are staggered, meaning that the rotor arms 4 are spaced 45° apart. The sides of the rotor arms 4 are bonded to the grenade casing 9 through the sealing strip of the sealing stack 1. The base of the rotor arm 4 is flexibly hinged to the grenade casing 9 using prestressed spring plates. The initial position of the spring plates is the rotor arm 4 in flight deployment posture, as shown in the figure. Figure 3The arm fixing rod 5 is fixed at one end of the rotor arm 4 and has an arm fixing ring 7 at the other end. When the rotor arm 4 is folded around the spring sheet flexible hinge, the arm fixing rod 5 is pushed to make the arm fixing ring 7 fit on the electromagnetic valve support 6, so as to fix the rotor arm 4. The rotor motor 2 is arranged at the tail end of the rotor arm 4. When the rotor arm 4 is unfolded in the flight state, the rotor motor 2 is parallel to the vertical line of the grenade. Two blades 17 are arranged on each rotor motor 2. When the rotor arm 4 is not unfolded, the blades 17 are folded downward under the action of gravity. The electromagnetic valve 14 is fixed above the partition plate 12 through four electromagnetic valve supports 6. The electromagnetic valve 14 is used to retract the arm locking pin 13 under the control of the control box 15, so that the arm fixing ring 7 is not constrained, and the rotor arm 4 is unfolded under the action of the pre-tension of the spring sheet. The control box 15 is fixed above the electromagnetic valve 14 and is the control center of the whole grenade. The control box 15 has a micro gyroscope inside, which can sense the attitude angle and acceleration of the grenade. The control box 15 extends the positive and negative electrodes of the electrode switch 16 at both ends. The electrode switch 16 controls the on-off of the whole grenade power supply. The positive and negative electrodes of the electrode switch 16 have a pre-tension of mutual approach. The electrodes are separated by the insulating rod 3 at ordinary times. At this time, the power supply of the grenade is disconnected. The insulating rod 3 is fixed below the circular table of the sealing pile 1. When the pull ring 18 is pulled, the sealing pile 1 and the insulating rod 3 below are separated from the grenade shell 9. At this time, the positive and negative electrodes of the electrode switch 16 approach each other under the action of the pre-tension, and the power supply of the grenade is connected. After the control box 15 is connected to the power supply, according to the attitude angle data sensed by the gyroscope inside the control box 15, according to the control logic that "a certain throwing angle corresponds to a certain landing distance", the arm locking pin 13 is retracted by driving the electromagnetic valve 14, so as to control the rotor arm 4 to unfold at the appropriate time, control the four rotors to fly according to the control logic, and control the detonation part 11 to detonate the warhead 10 at the appropriate time. The ring-shaped battery 8 is fixed below the partition plate 12 and provides power supply for the control box 15, the electromagnetic valve 14, the rotor motor 2 and the detonation part 11. The ring-shaped battery 8 is arranged below the partition plate 12. On the one hand, it can reduce the center of the grenade, which is conducive to flight. On the other hand, it can add the remaining energy to the warhead 10. The detonation part 11 is arranged in the middle of the ring-shaped battery 8. The remaining places inside the grenade shell 9 below the partition plate 12 are for the warhead 10. The detonation part 11 is controlled by the control box 15 to detonate the warhead 10 at the appropriate time.

[0027] The following describes the throwing type four-rotor range increasing grenade designed by the application in combination with the system device use method and process:

[0028] 1. The range increasing grenade has good sealing performance and is suitable for various environments such as desert, water area, high cold, salt fog, etc.

[0029] 2. When the range increasing grenade is needed, it is quickly taken out, the throwing hand holds the grenade shell 9, the pull ring hand uses the index finger to hold the pull ring and pulls it out.

[0030] 3. When the pull ring 18 is pulled, the sealing stack 1 and the insulating rod 3 under the pull ring 18 are separated from the grenade shell 9, at this time, the positive and negative electrodes of the electrode switch 16 are close to each other under the prestress, and the power supply of the grenade is turned on;

[0031] 4. The thrower throws the range-enhanced grenade according to the control logic that "a certain throwing angle corresponds to a certain landing distance" and a large amount of throwing experience;

[0032] 5. Generally, the throwing trajectory of the range-enhanced grenade is a parabola under the condition of no power, and the trajectory angle theoretically experiences the process of "throwing angle (departure) -> zero (maximum height) -> negative throwing angle (landing)", so preferably, when the gyroscope in the control box 15 senses that the trajectory angle of the range-enhanced grenade is 10°, the electromagnetic valve 14 is driven to retract the branch lock pin 13, so that the rotor branch 4 is unfolded;

[0033] In the specific implementation process, when the gyroscope in the control box 15 senses that the trajectory angle of the range-enhanced grenade is 0°, it indicates that the range-enhanced grenade has reached the highest point under the condition of no power, at this time, the control box 15 starts to drive the rotor motor 2 to operate, the blade 17 rotates, and the range-enhanced grenade has power, so that energy can be saved;

[0034] After the range-enhanced grenade has power, the control box 15 controls the four-rotor system according to the control logic that "a certain throwing angle corresponds to a certain landing distance", so that the range-enhanced grenade flies to the predetermined landing point;

[0035] When the gyroscope in the control box 15 senses a large acceleration impact, the control box 15 controls the detonation part 11 to detonate the warhead 10.

[0036] The key points of the design of the present application are concentrated in the following aspects:

[0037] 1. The control box 15 is the control center of the whole grenade, and a micro gyroscope is arranged in the control box 15, which can sense the running attitude angle and acceleration of the grenade;

[0038] 2. According to the attitude angle data sensed by the gyroscope in the control box 15, according to the control logic that "a certain throwing angle corresponds to a certain landing distance", the rotor branch 4 is unfolded at the appropriate time by driving the electromagnetic valve 14 to retract the branch lock pin 13, and the four-rotor system is controlled to fly according to the control logic, so that the range-enhanced grenade flies to the predetermined landing point, and when the gyroscope senses a large acceleration impact, the control box 15 controls the detonation part 11 to detonate the warhead 10;

[0039] 3. The rotor branch 4 is integrated with the grenade shell 9 in the folded state, maintaining the streamline shape, and the rotor branch 4 base and the grenade shell 9 are flexibly connected by prestressed spring sheets, and the initial position of the spring sheet is the flight unfolded attitude of the rotor branch 4.

[0040] The present application aims to design a portable four-rotor hand grenade of throwing type, which can be directly thrown to provide a certain initial speed or height without the need of a mother machine or a launching tube tool, can shorten the arrival time without the need of ground preparation time, improve the battlefield survival rate, can be folded in normal times, unfolded to provide power after being thrown, be convenient to carry and throw, greatly improve the agility and concealment, and have good sealing performance, be suitable for various environments such as deserts, water areas, high cold, salt fog, etc., and have strong environmental adaptability than general unmanned aerial vehicles. The throwing type four-rotor hand grenade controls its trajectory through a control box with a small gyroscope set in advance, a certain throwing angle corresponds to a certain landing point distance, the landing point distance can be effectively mastered through repeated training of the throwing angle by the thrower, and through the range increasing, the landing point can reach 500 m.

Claims

1. A throwable quadcopter extended-range grenade, characterized in that, The grenade includes a flight unit, a control unit, and a combat unit. The flight unit is responsible for providing additional propulsion in the air after the grenade is thrown, thereby extending the throwing distance. The control unit is used to trigger the flight unit after the grenade is thrown, control the grenade's flight process, and detonate the grenade's combat unit. The combat unit is responsible for maximizing the grenade's combat effectiveness. The flight unit includes: a rotor motor, a rotor arm, and blades; the rotor motor is arranged at the end of the rotor arm, and blades are arranged on the rotor motor, and the blades provide flight power for the grenade under the drive of the rotor motor. The control unit includes: a pull ring, an insulating rod, a control box, an electrode switch, a solenoid valve, a support arm locking pin, and a detonator; The pull ring is fixed directly above the sealing stack, and the two together form a sealing device. The insulating rod is fixed directly below the truncated cone of the sealing stack. The control box serves as the control center of the entire grenade. The positive and negative poles of the electrode switches extend from both ends of the control box. The positive and negative poles of the electrode switches have a pre-stress that allows them to come into contact with each other. Normally, they are separated by the insulating rod, and at this time, the power supply to the grenade is disconnected. The grenade casing is evenly divided into 8 petal shapes above the partition and below the sealing stack, each petal occupying a 45° circumference. Four of these petals are still grenade casings, while the other four are filled with four rotor arms of the same shape. The rotor arms and grenade casings are staggered. The sides of the rotor arms and the grenade casings are bonded together by the sealing tape at the joint of the sealing stack. The rotor arm base and the grenade casing are flexibly hinged by a prestressed spring plate. The initial position of the spring plate is the rotor arm in flight deployment posture. One end of the arm fixing rod is fixed to the rotor arm, and the other end has an arm fixing ring. After the rotor arm is folded up around the spring plate, the arm fixing rod is pushed to put the arm fixing ring on the arm locking pin, thus fixing the rotor arm. After the pull ring is pulled open, it causes the insulating rod to disengage from the electrode switch, thereby closing the electrode switch. The electrode switch serves as the main control switch for the grenade. When the electrode switch is triggered, the control box operates and controls the solenoid valve according to the predetermined control logic to retract the arm locking pin, thereby removing the constraint of the arm fixing ring and enabling the rotor arm in the flight unit to unfold. It is also responsible for the flight control of the flight unit. The detonator detonates the warhead under the predetermined logic control of the control box.

2. The throwable quadcopter extended-range grenade as described in claim 1, characterized in that, The combat unit includes: a grenade casing, a warhead, a partition, and a battery; The upper part of the grenade casing, together with the sealing stack and rotor support arm, forms the installation space for the control unit and flight unit. The lower part of the grenade casing, together with the partition, forms the installation space for the battery and warhead. The battery provides power to the control unit and flight unit.

3. The throwable quadcopter extended-range grenade as described in claim 2, characterized in that, The grenade casing and rotor arm also provide explosive fragments for the warhead.

4. The throwable quadcopter extended-range grenade as described in claim 2, characterized in that, The grenade casing adopts a uniformly distributed multi-lobed structure design above the partition and below the sealing stack, with the rotor arms and grenade casing distributed alternately.

5. A flight control method for a throwable quadcopter extended-range grenade as described in any one of claims 1 to 4, characterized in that, After the grenade is thrown at a certain initial elevation angle, when the gyroscope in the control box senses that the grenade's trajectory elevation angle is a certain set angle, it drives the solenoid valve to retract the support arm locking pin, causing the rotor support arm to unfold. When the gyroscope in the control box senses that the grenade's trajectory elevation angle is 0°, the grenade is at its highest point without power. At this time, the control box starts to control the rotor motor to operate, the blades rotate, and the grenade becomes powered. At this time, under the control of the control box, the grenade flies to the predetermined target landing point and detonates the combat unit.

6. The flight control method for the throwable quadcopter extended-range grenade as described in claim 5, characterized in that, When the gyroscope inside the control box senses a high-acceleration impact during flight, the control box detonates the warhead.

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