A firefighting drone with automatic ammunition reloading function

Abstract

The present application belongs to the technical field of fire extinguishing bomb launching device, and particularly relates to a fire extinguishing unmanned aerial vehicle with automatic bomb changing function. The present application comprises a machine body and a mounting seat mounted on the machine body, wherein a launching part for launching fire extinguishing bombs is mounted on the mounting seat; with the launching part as a boundary, bomb magazines for loading fire extinguishing bombs are symmetrically arranged on both sides of the launching part; the fire extinguishing unmanned aerial vehicle further comprises a transfer assembly mounted on the mounting seat and spatially avoiding the launching path of the launching part, wherein the transfer assembly is used for transferring the fire extinguishing bombs in the bomb magazines to the bomb inlet of the launching part. The present application can ensure the bomb carrying amount, is lower in height, is more conducive to transportation, and can always ensure the balance of the machine body during the fire extinguishing process, thereby effectively improving the controllability and safety of the fire extinguishing unmanned aerial vehicle.

Description

Technical Field

[0001] This invention belongs to the technical field of fire extinguishing projectile launching devices, specifically relating to a fire extinguishing drone with automatic ammunition reloading function. Background Technology

[0002] As a new industrial technology, drones have been increasingly widely used in various emergency rescue scenarios. Many domestic organizations have successfully used drones for fire scene reconnaissance and monitoring, and for dropping rescue supplies, with very significant results. Among these, firefighting drones are characterized by their high mobility and flexibility, enabling them to reach the fire scene immediately. Especially in high-risk situations such as firefighting at heights or along densely packed high-voltage power transmission lines, using drones to replace some human labor can reduce the need for firefighters to work at heights, making their importance self-evident.

[0003] Currently, firefighting drones are generally divided into two types: bomb-dropping and shooting. Bomb-dropping firefighting drones, as described in Chinese Patent Publication No. "CN215098277U" entitled "High-altitude Multi-launch Firefighting Drone" and Chinese Patent Publication No. "CN112386832A" entitled "A Fire Rescue Drone," use a storage box to hold fire extinguishing bombs. During use, they fire one or more bombs at a time. The problems with bomb-dropping firefighting drones are: firstly, the fire extinguishing bombs in the storage box are prone to rolling; especially as the number of bombs dropped increases, the remaining space for movement of the bombs in the storage box gradually increases, making the swaying of the bombs more obvious, resulting in low stability and safety; secondly, they rely entirely on gravity for bomb dropping, which is not conducive to precise firefighting. Shooting firefighting drones have the advantages of fixed and stable fire extinguishing bombs and high firefighting accuracy, and are therefore more widely used. Firefighting drones are categorized into single-shot and multi-shot types. Due to the long reload time of the fire extinguishing bombs and the need to return to the ground to reload, the application of single-shot drones is becoming increasingly limited. Multi-shot drones, as described in Chinese Patent Publication No. CN106581906A ("A Fire Extinguishing Device for High-Rise Buildings Based on a Drone") and Chinese Patent Publication No. CN210284612U ("High-Altitude Multi-Launching Firefighting Drone"), achieve fire extinguishing by mounting a vertical or rotary magazine on the drone's belly. However, a problem with rotary magazines is that the fire extinguishing bombs themselves are quite heavy. As the bombs are fired sequentially and the magazine rotates, the empty side becomes lighter, causing an imbalance in weight on both sides of the magazine, leading to a sharp decrease in maneuverability and operational safety. On the other hand, while vertical magazines can solve the aforementioned imbalance problem, both rotary magazines and vertical magazines are often placed in the center to accommodate the launching devices. This increases the overall height of the UAV, which is very inconvenient for transport. Currently, to balance the above problems of multi-shot UAVs, the ammunition load per UAV is generally low, which also prevents the actual firefighting efficiency from being improved. In addition, considering the firing function, multi-shot UAVs must integrate the gun barrel, launching devices, and even the magazine into a single design. This requires the gun barrel's elevation to drive all components synchronously, meaning that the power requirements are high. Therefore, current multi-shot UAVs typically do not have gun barrel elevation capabilities, which greatly affects their firing flexibility. Therefore, this issue urgently needs to be addressed. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a fire-fighting drone with an automatic ammunition-changing function. While ensuring the ammunition capacity, it has a lower altitude, which is more conducive to transportation, and at the same time, it can always maintain the balance of the aircraft during the fire-fighting process, thereby effectively improving the maneuverability and safety of the fire-fighting drone.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A fire-fighting drone with automatic ammunition reloading function is characterized by: a body, a sensing module and a mounting base mounted on the body, wherein a launching section for launching fire extinguishing shells is installed on the mounting base; ammunition magazines for loading fire extinguishing shells are symmetrically arranged on both sides of the launching section, with the launching section as the boundary; the fire-fighting drone also includes a transfer assembly mounted on the mounting base and spatially avoiding the launching path of the launching section, wherein the transfer assembly is used to transfer fire extinguishing shells in the ammunition magazines to the inlet of the launching section.

[0007] Preferably, the magazine is a delivery belt, delivery magazine, or delivery wheel that can transport fire extinguishing shells to a designated location; the transfer assembly includes a linear drive unit that can reciprocate linearly along the firing direction of the launcher and a planar four-bar linkage that can swing horizontally, the linear drive unit being mounted on a mounting base; one of the bars of the planar four-bar linkage is located at the stationary end of the linear drive unit, and a shell-retrieving part for receiving fire extinguishing shells from the shell-retrieving end of the magazine is installed on the opposite side of the bar; the planar four-bar linkage is driven by a swinging power source to generate a horizontal swinging motion.

[0008] Preferably, the planar four-bar linkage includes a transmission seat, and the transmission seat and the mounting seat are connected to each other by a horizontal link; both ends of the horizontal link are hinged to the transmission seat and the mounting seat, and there are at least two horizontal links that are parallel to each other, so that the horizontal link, the transmission seat and the mounting seat together form a planar four-bar linkage; the swing power source is a swing motor, and the end of the horizontal link is in dynamic engagement with the output shaft of the swing motor.

[0009] Preferably, the root is the end of the horizontal connecting rod that mates with the mounting seat. A driven worm gear is arranged at the root of the horizontal connecting rod, and a driving worm is set at the output shaft of the swing motor. A worm gear transmission pair is formed between the driving worm and the driven worm gear.

[0010] Preferably, the linear drive unit includes a gear and rack transmission pair, wherein the driving gear in the gear and rack transmission pair is fixed at the transmission seat and forms a power engagement with the drive motor at the transmission seat, and the driven rack meshes with the driving gear; the end of the driven rack near the firing port of the firing unit is taken as the starting end, and the bullet-taking unit is installed at the tail end of the driven rack.

[0011] Preferably, when the magazine is a transport wheel, the rotation axis of the magazine is parallel to the gun barrel axis of the firing part; the ammunition taking part includes a guide seat, and a gripper with an axis parallel to the gun barrel axis is arranged at the guide seat. A positioning tail cone for inserting into the central hole at the tail of the fire extinguishing projectile coaxially along the axis of the fire extinguishing projectile is also arranged on the guide seat; there is a gap between the positioning tail cone and the gripper along the direction of the gun barrel axis.

[0012] Preferably, the gripper includes two sets of gripping arms, with meshing transmission gears arranged at the bottom of the two sets of gripping arms. The axes of the two sets of transmission gears are parallel to the gun barrel axis, and one set of transmission gears forms a power engagement with a transmission motor located in the guide seat.

[0013] Preferably, the magazine includes a cartridge and a rotating drum coaxially sleeved inside the cartridge; a front bearing and a rear bearing are respectively arranged at both ends of the rotating drum, thereby forming a rotary fit with the inner wall of the cartridge; a reduction motor is arranged at the end of the rotating drum near the head of the fire extinguishing bomb, thereby driving the rotating drum to generate a rotary motion; a groove for inserting fire extinguishing bombs is recessed on the outer wall of the rotating drum, and the grooves are evenly distributed in sequence along the circumference of the rotating drum.

[0014] Preferably, the magazine is mounted on the mounting frame of the fuselage, and the mounting frame is fitted onto the fuselage and has space clearance with the mounting position of the mount; the gun barrel of the firing section is horizontally rotated and fitted onto the positioning plate via the mounting base, and the pitch adjustment action of the gun barrel is generated by the pitch motor at the positioning plate; the positioning plate is mounted on the belly of the fuselage, and the rotation axis of the pitch motor is perpendicular to the axis of the gun barrel.

[0015] Preferably, the top of the mount is provided with an upward-facing mounting groove, and the groove cavity of the mounting groove forms a mating cavity that mates with the mount.

[0016] Preferably, the barrel is cylindrical in shape, and the tail end of the barrel forms the projectile inlet; a firing cover for opening and closing the projectile inlet is arranged at the projectile inlet, and the firing cover is horizontally hinged to a mounting platform on the outer wall of the barrel via an extension arm; the firing part also includes a linear actuator, one end of which is horizontally hinged to the mounting platform, and the other end extends toward the projectile inlet and is horizontally hinged to the firing cover; a conductive ring is coaxially arranged on the inner end face of the firing cover that abuts against the tail end of the fire extinguishing projectile, so as to form an electrical connection with the trigger plate at the tail end of the fire extinguishing projectile.

[0017] Preferably, the ammunition magazine is a conveyor belt, a conveyor magazine, or a conveyor wheel that can transport fire extinguishing ammunition to a designated position; the transfer assembly includes an "n"-shaped slide rail system consisting of a set of transverse horizontal slide rails and two sets of longitudinal horizontal slide rails connected end to end; after the ammunition taking part, which acts as a slider, takes an ammunition from the ammunition magazine, it first moves backward along the first longitudinal horizontal slide rail parallel to the axis of the launching part so as to pull out the fire extinguishing ammunition from the ammunition magazine; then, it moves laterally along the transverse horizontal slide rail perpendicular to the axis of the launching part to the rear of the ammunition inlet of the launching part, and then moves forward along the second longitudinal horizontal slide rail parallel to the axis of the launching part until the ammunition taking part is in the ammunition inlet of the launching part is realized.

[0018] The beneficial effects of this invention are as follows:

[0019] 1) Through the above solution, on the one hand, the present invention can achieve the layout function of a centrally located launch unit and separate bomb bays on the left and right sides, thereby achieving the balance, stability and safety of the aircraft during flight by relying on the left and right separate bomb bays; at the same time, since the bomb bays are located on both sides of the launch unit, the overall height is lower, which is more conducive to actual transportation. On the other hand, since the bomb bay adopts a symmetrical separate structure, a transfer assembly is required for transfer, so that the transfer process of fire extinguishing bombs from the bomb bay to the launch unit can be realized during flight.

[0020] Thus, this invention ensures sufficient ammunition capacity while maintaining a lower altitude, making it easier to transport, and also maintains the aircraft's balance throughout the firefighting process, thereby effectively improving the maneuverability and safety of firefighting drones.

[0021] 2) Regarding the magazine, it can be a delivery belt, a delivery magazine, or a delivery wheel. Its purpose is to work with the transfer assembly to achieve the process of transferring the magazine from point C to point D. Here, point C is the designated height of the magazine, while point D is the inlet of the launcher.

[0022] Furthermore, for the reloading assembly, one of the core components, a slide rail structure could be considered. For example, the retrieval unit could be installed in an "n"-shaped slide rail system consisting of a transverse horizontal slide rail and two sets of longitudinal horizontal slide rails. After retrieving the extinguishing projectile from point C, the retrieval unit would first move backward along the first longitudinal horizontal slide rail (i.e., the axial direction of the launching section) to pull out the extinguishing projectile. Then, it would move laterally along the transverse horizontal slide rail (i.e., perpendicular to the launching section's axis) to the rear of the launching section's inlet, and finally, rely on the second longitudinal horizontal slide rail for feeding. Alternatively, the corners of the "n"-shaped slide rail system could be smoothly rounded to form a U-shaped track, which would also achieve the reloading function.

[0023] The most preferred embodiment of this invention is to divide the transfer assembly into a linear drive unit and a planar four-bar linkage. The linear drive unit is used to move the ammunition retrieval unit away from the ammunition retrieval port, while the planar four-bar linkage is the essence, used to swing and push the ammunition retrieval unit to point D in the ammunition magazine with minimal stroke and in a manner that minimizes impact on the aircraft's flight attitude, while ensuring that the ammunition retrieval unit still contacts the tail of the fire extinguishing ammunition in an accurate posture. Ultimately, this achieves precise ammunition retrieval, transport, and loading functions, making it highly flexible and convenient to use, and exhibiting extremely high operational stability.

[0024] 3) In the design, the planar four-bar linkage is formed by two horizontal connecting rods, a set of transmission seats and a set of mounting seats. At this time, the mounting seats form the base point, the two horizontal connecting rods form the swing rods, and the transmission seats form the loading point of the ammunition picking unit. By relying on the hinge between the transmission seats and the horizontal connecting rods, the translational ammunition picking, transportation and loading effect of the ammunition picking unit is realized, with significant results.

[0025] 4) More specifically, the power source for the entire planar four-bar linkage is a swing motor and a worm gear transmission pair, in order to further ensure the reliability and stability of the operation; and to avoid affecting the stability of the aircraft flight due to excessive amplitude of movement or excessive swing speed.

[0026] 5) For the linear drive unit, the core component is a gear and rack transmission pair. During operation, the driven rack of the linear drive unit ensures the large stroke of the ammunition-retrieving unit, that is, it can move back a sufficient distance from point C and, after translating to point D, still maintain a sufficient distance in the axial direction of the launching part to pull out the fire extinguishing ammunition. At the same time, when the fire extinguishing ammunition is loaded from the ammunition-retrieving unit into the ammunition inlet of the launching part, the driven rack must be able to avoid the mounting base to ensure the stability and reliability of the driven rack's movement.

[0027] 6) For the ammunition magazine, a transport wheel is preferred to further reduce structural complexity and facilitate the design of the aircraft's center of gravity. Considering that the ammunition handling section uses a claw gripper to hold cylindrical fire extinguishing shells, and the gripping position is biased towards the tail of the fire extinguishing shell, a positioning tail cone is specially designed to avoid the cantilever effect of the fire extinguishing shell causing the gripping of the fire extinguishing shell to be skewed, thus ensuring that the fire extinguishing shell can be loaded into the barrel of the firing section in an accurate posture.

[0028] 7) As a further preferred option of the above scheme, the mounting point of the ammunition magazine is actually different from the mounting points of the loading rack and the launcher. The advantage of this mounting method is that, as a multi-ammunition structure, the weight of the ammunition magazine accounts for a large proportion of the overall weight of the machine. Moving it outside the launcher ensures the ease of pitch movement of the launcher, thereby improving the convenience of pitch adjustment. Because the ammunition magazine is externally located, a transfer or conveying assembly is required to achieve the transfer effect of the fire extinguishing ammunition.

[0029] 8) For the gun barrel, the firing cover serves two purposes: firstly, it prevents the fire extinguishing projectile from falling out; secondly, it relies on the conductive ring to achieve the effect of electrically igniting the fire extinguishing projectile. It is very convenient to use and has a higher cost-performance ratio. Attached Figure Description

[0030] Figure 1 This is a diagram illustrating the working state of the present invention;

[0031] Figure 2 and Figure 3 A flowchart for adjusting the elevation of the gun barrel in the firing section;

[0032] Figure 4 This is a schematic diagram of the gun barrel structure;

[0033] Figure 5 A schematic diagram of the positioning plate and pitch motor;

[0034] Figure 6This is a structural diagram of the reprinting component;

[0035] Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 15 , Figure 17 , Figure 18 , Figure 19 , Figure 20 , Figure 21 , Figure 22 and Figure 23 The flowchart for the actions of the reprinting component;

[0036] Figure 11 for Figure 10 Rear view;

[0037] Figure 12 This is a schematic diagram of the gripper structure;

[0038] Figure 13 This is a top view of a planar four-bar linkage.

[0039] Figure 14 This is a diagram showing the coordination between the horizontal connecting rod and the swing motor.

[0040] Figure 16 for Figure 15 Rear view;

[0041] Figure 24 This is a schematic diagram of the structure with the launch cover open.

[0042] Figure 25 This is an end view of the launch cover;

[0043] Figure 26 This is a schematic diagram of the magazine structure;

[0044] Figure 27 This is a schematic diagram of the rotating drum inside the magazine.

[0045] The actual correspondence between the reference numerals and component names in this invention is as follows:

[0046] A - Machine body; B - Fire extinguishing bomb;

[0047] 10-Planar four-bar linkage; 11-Hanger seat; 11a-Mounting slot; 12-Transmission seat; 13-Horizontal linkage; 14-Oscillating motor; 15-Through slot;

[0048] 20-Firing section; 21-Barrel; 22-Mounting base; 23-Positioning plate; 24-Elevation motor; 25-Firing rear cover; 25a-Conductive ring; 26-Directional push rod;

[0049] 30-Magazine magazine; 31-Magazine cartridge; 32-Drum; 32a-Magazine slot; 33-Front bearing; 34-Rear bearing; 35-Gear motor;

[0050] 40 - Linear stroke drive unit; 41 - Driven rack;

[0051] 50 - Retrieval section; 51 - Guide seat; 52 - Clamping arm; 53 - Drive motor; 54 - Positioning tail cone;

[0052] 60 - Installation frame. Detailed Implementation

[0053] For ease of understanding, this section combines... Figure 1-27 The specific structure and operation of the present invention are further described below:

[0054] The actual assembly structure of the present invention is referenced. Figure 1-3 As shown. During assembly, the aircraft body A is used as the carrier. A sensing module, such as a camera module for image acquisition or a temperature module for temperature sensing, is installed on the lower front of the aircraft body A. This allows for real-time viewing of the images or site temperature detected by the drone, facilitating observation and rapid capture of fire points. The cannon barrel 21 of the firing unit 20 is mounted on the belly of the aircraft body A via a positioning plate 23, while the mounting base 11 is fixed to the bottom of the mounting base 22 via a mounting groove 11a. (The last sentence appears to be incomplete and possibly refers to a different assembly process.) Figure 5 The pitch motor 24, mounted on one of the positioning plates 23, is paired with the mounting base 22, which causes the launching unit 20 and the transfer assembly to pitch and rotate together; the launching unit 20 uses a gun barrel 21 so that it is placed in the center of the abdomen of the fuselage A.

[0055] In addition, such as Figure 7-11 As shown, the ammunition magazine 30, loaded with fire extinguishing bombs B, is independently mounted on both sides of the fuselage A via the mounting frame 60. This is because the ammunition magazine 30 is relatively heavy, which would not only cause excessive load on the pitch joint (i.e., mounting base 22) during installation but also affect the overall height of the aircraft. Placing it entirely on one side would affect the balance of the drone. Therefore, the ammunition magazine 30 is symmetrically distributed on both sides of the overall structure. Considering the loading capacity of the ammunition magazine 30, it is designed as a rotatable drum 32, so that the fire extinguishing bombs B can be rotated to a designated position during operation, thereby facilitating the transfer of components to replace the fire extinguishing bombs B.

[0056] Reprinted components are like Figure 15-23 As shown, it is installed diagonally below the launching section 20, via... Figure 6 The four horizontal connecting rods 13 shown, together with the mounting base 11 and the transmission base 12, form two sets of planar four-bar linkages 10, one upper and one lower. Of course, in actual design, the number of planar four-bar linkages 10 can also be one or three sets, as long as the corresponding horizontal swing function can be achieved. Figure 6In this regard, the mounting base 11 and the transmission base 12 are common points, and every two horizontal connecting rods 13 cooperate with each other to form a set of planar four-bar linkages 10. The planar four-bar linkages 10 are used to cooperate with the linear drive unit 40 to form a transfer assembly in order to complete the filling of the fire extinguishing shell B; the transfer assembly and the gun barrel 21 are assembled as a whole, so they can move synchronously with the pitch adjustment of the gun barrel 21.

[0057] A more detailed description is as follows:

[0058] I. Launching Section 20

[0059] Launching section 20 Figure 4 The image shows a gun barrel 21, and the gun barrel 21 is fixed as shown in the image. Figure 5 On the mounting base 22 shown, the entire assembly can pitch relative to the fuselage A under the action of the pitch motor 24. A brake is installed at the front end of the gun barrel 21 to reduce the recoil generated by firing the fire extinguishing shell B. Meanwhile, as... Figure 4 and Figure 24 As shown, the firing rear cover 25 is fixed to the breech end of the barrel 21 and serves as the trigger seat for the fire extinguishing projectile B. One end of the direct-acting push rod 26 is fixed to the mounting hole of the firing rear cover 25, and the other end is fixed to the firing rear cover 25. The firing rear cover 25 can be opened and closed by the direct-acting push rod 26. Compared with the transmission structure of an electric motor, the direct-acting push rod 26 is more compact, simpler, and lighter.

[0060] like Figure 25 As shown, the firing cover 25 has a conductive ring 25a at the rear, which makes contact with the two trigger plates at the tail of the fire extinguishing projectile B, thus achieving an electric firing effect. Due to the annular structure of the conductive ring 25a, the fire extinguishing projectile B can be installed at any angle relative to the axis of the barrel 21, ensuring reliable contact between the conductive ring 25a and the trigger plates, and triggering the fire extinguishing projectile B through current to achieve the firing function.

[0061] II. Magazine 30

[0062] Ammunition magazine 30 Figure 1-11 As mentioned above, in actual design there are two sets. Figure 26-27 As can be seen, each magazine 30 includes a core rotating drum 32 and a sleeve-shaped cartridge 31 into which the drum 32 can be inserted and rotated.

[0063] like Figure 25As shown, the drum 32 features a hollow design in the middle to reduce weight. Three cartridge slots 32a are circumferentially distributed on the outer wall of the drum 32, and the rear bearing 34 is installed between the geared motor 35 and the cartridge slots 32a. The outer sides of both the cartridge slots 32a and the rear bearing 34 are in contact with the inner wall of the cartridge cylinder 31. The end of the drum 32 is connected to the output shaft of the geared motor 35, so that the rotation of the output shaft of the geared motor 35 causes the three circumferentially distributed cartridge slots 32a to rotate around the axis of the cartridge cylinder 31 under the rolling action of the rear bearing 34 and the front bearing 33 at the front end of the drum 32, ultimately driving the corresponding fire extinguishing cartridge B to the designated position, that is, rotating the fire extinguishing cartridge B to the designated height of the cartridge compartment 30.

[0064] III. Reprint Components

[0065] The transfer assembly is one of the core components of this invention. The external shape of the transfer assembly is shown in the figure. Figure 6 As shown, it includes a linear drive unit 40 and a planar four-bar linkage 10.

[0066] Planar four-bar linkage 10 reference Figure 6 and Figure 13-14 As shown. The mounting base 11 adopts a U-shaped clamping structure, that is, it is fixedly mounted on both sides of the mounting base 22 and can rotate with the rotation of the gun barrel 21. Four horizontal connecting rods 13, the mounting base 11 and the transmission base 12 form two pairs of double-position planar four-bar linkages for picking and loading projectiles, that is, planar four-bar linkage components 10. Bearing seats can be arranged at the hinge positions at both ends of the horizontal connecting rods 13 to ensure the strength and stability of the mechanism. Driven by the drive motor inside the transmission base 12, the driven rack 41 extends and retracts back and forth by means of the gear and rack transmission. The projectile picking part 50 is installed at the tail of the driven rack 41 and moves to the designated position as the driven rack 41 extends and retracts, thereby picking up and loading the fire extinguishing projectile B.

[0067] The planar four-bar linkage 10 provides overall structural stability, smooth transmission, and low cost and weight. The ammunition magazine 30 is placed on both sides due to space constraints; placing it directly at the bottom would significantly increase the load on the pitch joint and the overall height of the drone, while mounting it entirely on one side would affect the drone's balance. The planar four-bar linkage 10, combined with the linear drive unit 40, forms a telescopic, dual-position automatic ammunition retrieval and loading assembly, enabling ammunition retrieval and loading in both left and right directions. It also boasts advantages such as high strength, compact structure, and high transmission efficiency.

[0068] More specifically, such as Figure 6As shown, on the one hand, the stationary end of the linear drive unit 40, i.e., the location of the driving gear, ensures the left and right movement of the entire driven rack 41; on the other hand, through holes or through slots 15 can be designed in the middle of the mounting base 11 and the transmission base 12, so that while ensuring overall strength, the structure is more compact, and it is more convenient for the driven rack 41 to generate a predetermined linear motion in a smaller volume. The mounting base 11 is driven by a double-headed motor, i.e., a swing motor 14, which drives the driving worm gear to work, and then... Figure 13-14 The driven worm gear is rotated, ultimately causing the horizontal linkage 13 to swing. According to the planar four-bar linkage principle, the transmission seat 12 can rotate and translate to the ammunition compartments 30 on both sides of the gun barrel 21 and move to the tail end of the firing tube through the transition of the swing motor 14 via the worm gear system, thereby realizing the ammunition picking and loading actions.

[0069] Of course, a slide rail mechanism can also be used to achieve the action of the cartridge 50. However, since it can only be used to translate the transmission seat 12, the overall structure formed by the slide rail mechanism is relatively large and the cost-effectiveness is relatively low. It can be used as a reference.

[0070] Furthermore, the front end of the mounting base 22 protrudes to mate with the internal pipe of the driven rack 41. For the retrieval unit 50, refer to... Figure 12 and Figure 24-25 As shown, the ammunition handling unit 50, on the one hand, uses a positioning tail cone 54 located on the guide seat 51 to guide the fire extinguishing projectile B, thus functioning similarly to a lathe tail cone. Simultaneously, the positioning tail cone 54 also reduces the cantilever bending moment of the fire extinguishing projectile B on the gun barrel 21 when holding the projectile B. On the other hand, a drive motor 53 is arranged at the ammunition handling unit 50 to achieve... Figure 12 The driving function of the two sets of clamping arms 52 shown is to achieve Figure 11 The clamping arms shown open and Figure 16 The clamping arm 52 is shown in the closing operation. Of course, the gear drive method between the clamping arm 52 and the drive motor 53 is smaller in construction and relatively simpler in transmission compared to the reverse lead screw drive structure.

[0071] To facilitate a further understanding of the invention, the following is combined with... Figure 7-23 The actual ammunition changing process of this invention is as follows:

[0072] The initial state of the present invention is as follows Figure 23 As shown; subsequently, during reloading or the first loading, the firing cover 25 opens under the action of the linear push rod 26, and the grippers of the ammunition retrieval section 50 open, as shown. Figure 7 and Figure 12 As shown. Then, the linear drive unit 40 actuates, causing the take-up unit 50 to extend under the action of the gear and rack transmission, as shown. Figure 8As shown. Then, the swing motor 14 inside the mounting base 11 operates, driving the transmission base 12 to produce the following effect via a worm gear transmission: Figure 13-14 The swinging motion shown will eventually result in... Figure 10-11 The device moves to the designated position as shown. Then, under the action of the driven rack 41, the retrieval unit 50 retracts to the tail end of the magazine 30; the grippers begin to clamp the fire extinguishing shell B, and the positioning tail cone 54, along with the retraction of the driven rack 41, inserts into the center hole at the tail end of the fire extinguishing shell B, as shown. Figure 15-16 As shown. Then, under the action of the drive motor and the driving gear, the driven rack 41 performs a reset and extension action, causing the expendable take-up part 50 to move together with the clamped fire extinguishing expendable B, thus... Figure 12 The fire extinguishing shell B is shown being pulled out of the magazine 30 in preparation for subsequent relocation. After the planar four-bar linkage 10 is reset, the fire extinguishing shell B moves to be coaxial with the gun barrel 21, as shown. Figure 18 As shown. At this time, the driven rack 41 retracts, and the fire extinguishing projectile B enters the gun barrel 21, as... Figure 19 As shown. When the fire extinguishing projectile B travels to the point where the gripper interferes with the muzzle of the gun barrel 21, the gripper releases. At this time, under the action of the gun barrel 21 and the positioning tail cone 54, the fire extinguishing projectile B can still maintain its coaxiality with the gun barrel 21, as shown. Figure 20 As shown. Then, the driven rack 41 continues to retract until the entire fire extinguishing projectile B is as shown. Figure 21 The cannon barrel 21 is shown to be inserted into the cannon barrel. Then, the driven rack 41 extends again, causing the ammunition-collecting part 50, equipped with a positioning tail cone 54 and grippers, to move away from the cannon barrel 21, providing space for the closing action of the firing cover 25 and subsequent firing operations, as shown. Figure 22 As shown. Finally, the launch cover 25 closes under the action of the direct-acting push rod 26. At this time, the conductive ring 25a contacts the trigger plate at the tail end of the fire extinguishing projectile B, as shown. Figure 23 As shown.

[0073] After each firing, the reloading operation described above can be restarted. If the outer casing of the fire extinguishing shell B needs to be pulled out, this can also be done with the assistance of the shell extraction unit 50. Of course, a more preferred embodiment of the present invention is that, in conjunction with the elevation motor 24, with the rear cover 25 open, the barrel 21 generates a... Figure 2 The backward tilting motion shown allows the outer casing to fall off using gravity. The elevation motion of the barrel 21 itself can adjust the firing angle online to ensure firing accuracy; and since the barrel 21 does not need to be mounted on the heavier magazine 30, the ease of adjustment and reliability of use are further improved accordingly.

[0074] In addition, to further ensure the flight stability of the UAV, the ammunition retrieval operation of the ammunition retrieval unit 50 can be carried out sequentially on both sides of the ammunition compartment 30, which will not be described in detail here.

[0075] In summary, the technical advantages of this invention can be briefly described as follows:

[0076] 1. No need to return to the ground to reload, greatly improving reloading efficiency;

[0077] 2. It carries a large number of fire extinguishing bombs (B type) and is lighter overall;

[0078] 3. It is applicable to a variety of occasions, especially for high-altitude fire operations, and has a higher firefighting efficiency compared to other drones;

[0079] 4. Carries multiple fire extinguishing bombs (B) and can be automatically reloaded;

[0080] 5. It is structurally safer and more stable, has reliable transmission, is lightweight, and requires further reduced costs;

[0081] 6. The planar four-bar linkage 10 has a compact overall structure, is lightweight, and operates stably and reliably.

[0082] 7. The loading and unloading assembly can achieve dual-position ammunition retrieval from both the left and right sides, ensuring a compact structure and high balance while retrieving and loading ammunition;

[0083] 8. During the loading process, the ammunition take-up unit 50 can completely align the fire extinguishing ammunition B with the gun barrel 21, resulting in high loading accuracy;

[0084] 9. The independent design of the ammunition magazine 30 means that when the gun barrel 21 is in pitch motion, only the gun barrel 21 and the loading assembly need to be considered, without having to consider the coordinated action of the ammunition magazine 30. Pitch adjustment is more precise and convenient, and the structural reliability is higher.

[0085] Of course, those skilled in the art will recognize that the present invention is not limited to the details of the exemplary embodiments described above, but also includes the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0086] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0087] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A fire extinguishing unmanned aerial vehicle with automatic ammunition changing function, characterized in that: The fire extinguishing unmanned aerial vehicle comprises a body (A), an induction module arranged on the body (A), and a mounting seat (11); a launching part (20) for launching fire extinguishing bombs is arranged on the mounting seat (11); the launching part (20) is used as a boundary, and bomb magazines (30) for loading the fire extinguishing bombs are symmetrically arranged on both sides of the launching part (20); the fire extinguishing unmanned aerial vehicle further comprises a transfer assembly which is arranged on the mounting seat (11) and is spatially avoided from the launching path of the launching part (20), and the transfer assembly is used for transferring the fire extinguishing bombs in the bomb magazines (30) to the bomb inlet of the launching part (20). The bomb magazine (30) is a conveying bomb chain, a conveying bomb magazine or a conveying rotating wheel which can convey the fire extinguishing bombs to a specified position; the transfer assembly comprises a straight stroke driving part (40) which can make a reciprocating linear motion along the launching direction of the launching part (20) and a planar four-bar linkage member (10) which can make a swinging action along the horizontal direction, and the straight stroke driving part (40) is arranged on the mounting seat (11); one rod body of the planar four-bar linkage member (10) is located at the static part end of the straight stroke driving part (40), and a bomb taking part (50) for taking the fire extinguishing bomb from the bomb taking end of the bomb magazine (30) is arranged on the opposite rod body of the rod body.

2. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 1, characterized in that: The planar four-bar linkage member (10) comprises a transmission seat (12), and the transmission seat (12) and the mounting seat (11) are connected with each other through horizontal connecting rods (13); the two ends of the horizontal connecting rods (13) are hingedly connected to the transmission seat (12) and the mounting seat (11), and the horizontal connecting rods (13) are at least two parallel rods, so that the horizontal connecting rods (13), the transmission seat (12) and the mounting seat (11) jointly form the planar four-bar linkage member (10); the swinging power source is a swinging motor (14), and the rod ends of the horizontal connecting rods (13) and the output shaft of the swinging motor (14) are in power cooperation.

3. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 2, characterized in that: The end of the horizontal connecting rod (13) matched with the mounting seat (11) is taken as a root, a driven worm wheel is arranged at the root of the horizontal connecting rod (13), a driving worm is arranged at the output shaft of the swinging motor (14), and the driving worm and the driven worm wheel form a worm and gear transmission pair.

4. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 1 or 2 or 3, characterized in that: The straight stroke driving part (40) comprises a gear and rack transmission pair, a driving gear in the gear and rack transmission pair is fixed to the transmission seat (12) and is in power cooperation with a driving motor at the transmission seat (12), and a driven rack (41) is engaged with the driving gear; the end of the driven rack (41) close to the launching port of the launching part (20) is taken as a leading end, and the bomb taking part (50) is arranged at the tail end of the driven rack (41).

5. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 1 or 2 or 3, characterized in that: When the bomb magazine (30) is a conveying rotating wheel, the rotation axis of the bomb magazine (30) is parallel to the barrel (21) axis of the launching part (20); the bomb taking part (50) comprises a guide seat (51), the guide seat (51) is arranged with a clamping jaw whose axis is parallel to the barrel (21) axis, and the guide seat (51) is further arranged with a positioning tail vertebra which is used for coaxially inserting into a central hole at the tail part of the fire extinguishing bomb along the axial direction of the fire extinguishing bomb; along the barrel (21) axis direction, the positioning tail vertebra and the clamping jaw have a spacing.

6. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 5, characterized in that: The clamping jaw comprises two sets of clamping arms (52), the bottoms of the two sets of clamping arms (52) are arranged with transmission gears meshing with each other, the axes of the two sets of transmission gears are parallel to the axis of the barrel (21), and one set of transmission gears is in power cooperation with a transmission motor (53) in the guide seat (51).

7. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 5, characterized in that: The cartridge (30) comprises a cartridge barrel (31) and a rotating drum (32) coaxially sleeved in the cartridge barrel (31); the two ends of the rotating drum (32) are respectively arranged with a front bearing (33) and a rear bearing (34), so as to form a rotary cooperation with the inner cavity wall of the cartridge barrel (31); one end of the rotating drum (32) close to the head of the fire extinguishing bomb is arranged with a speed reducer motor (35), so as to drive the rotating drum (32) to generate a rotary action; the outer wall of the rotating drum (32) is recessed with a cartridge groove (32a) for placing the fire extinguishing bomb, and each cartridge groove (32a) is sequentially and uniformly distributed along the circumference of the rotating drum (32).

8. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 1 or 2 or 3, characterized in that: The cartridge (30) is installed on the mounting frame (60) of the machine body (A), the mounting frame (60) is assembled on the machine body (A) and avoids each other in space between the mounting position of the mounting seat (11); the barrel (21) of the launching part (20) is horizontally and rotatably cooperated with the positioning plate (23) through the mounting seat (22), and the pitching motor (24) at the positioning plate (23) generates the pitching adjustment action of the barrel (21); the positioning plate (23) is installed on the abdomen of the machine body (A), and the rotation axis of the pitching motor (24) is perpendicular to the axis of the barrel (21).

9. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 8, characterized in that: The top end of the mounting seat (11) is provided with an installation groove (11a) with an opening upward, and the groove cavity of the installation groove (11a) forms a matching cavity matched with the mounting seat (22).

10. The unmanned fire extinguishing drone with automatic ammunition changing function according to claim 1 or 2 or 3, characterized in that: The barrel (21) is in the shape of a straight cylinder, and the tail end barrel port forms a bullet inlet; the bullet inlet is arranged with a launching rear cover (25) for opening and closing the bullet inlet, and the launching rear cover (25) is horizontally hinged to the installation table on the outer wall of the barrel (21) through an extension arm; the launching part (20) further comprises a straight push rod (26), one end of the straight push rod (26) is horizontally hinged to the installation table, and the other end extends to the bullet inlet and is horizontally hinged to the launching rear cover (25); The inner end surface of the launching rear cover (25) for abutting against the tail end of the fire extinguishing bomb is coaxially provided with a conductive ring (25a), so as to form an electrical connection cooperation with the trigger piece of the tail end of the fire extinguishing bomb.

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