Dual-station loading and unloading assembly, loading and unloading device and loading and unloading system

Abstract

This invention belongs to the technical field of fire extinguishing projectile launching devices, specifically relating to a dual-station ammunition changing and loading assembly, a loading device, and an ammunition changing system. The invention includes a swinging component and a linear drive unit capable of reciprocating linear motion. The ammunition-taking section at the moving end of the linear drive unit can generate a linear pulling action to remove the fire extinguishing projectile along the magazine axis and a linear loading action to load the fire extinguishing projectile along the barrel axis of the launching section. The swinging component drives the ammunition-taking section to perform a horizontal swinging action to transfer the fire extinguishing projectile from the magazine to the inlet of the launching section. This invention can be installed on a target vehicle, thereby realizing a dual-station ammunition changing function in the horizontal direction, which facilitates a balanced distribution of the magazine and thus ensures the vehicle's attitude balance during fire extinguishing. Furthermore, this invention can effectively reduce the overall height of the vehicle while ensuring the ammunition capacity, achieving multiple benefits.

Description

Technical Field

[0001] This invention belongs to the technical field of fire extinguishing projectile launching devices, specifically relating to a dual-station projectile changing and reloading assembly, a reloading device, and a projectile changing system. 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 dual-station ammunition loading and unloading assembly that can be installed on the target vehicle to realize the dual-station ammunition loading function in the horizontal direction, so as to facilitate the even distribution of the ammunition magazine and thus ensure the balance of the vehicle's attitude during the firefighting process. In addition, this invention can also effectively reduce the height of the entire vehicle while ensuring the ammunition carrying capacity, achieving multiple benefits.

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

[0006] A dual-station ammunition loading and unloading assembly is characterized by: including a swinging component and a linear drive unit capable of reciprocating linear motion; the ammunition picking unit located at the moving end of the linear drive unit can generate a linear pulling action to pull out the fire extinguishing ammunition along the axial direction of the magazine and a linear loading action to load the fire extinguishing ammunition along the axial direction of the gun barrel of the firing unit; the swinging component is used to drive the ammunition picking unit to perform a horizontal swinging action to transfer the fire extinguishing ammunition in the magazine to the ammunition inlet of the firing unit.

[0007] Preferably, the linear drive unit includes a driving gear and a driven rack that mesh with each other. The driving gear is installed in the transmission seat of the swing member and is driven by a drive motor to generate a rotational motion. The take-up part is installed at the tail end of the driven rack. The swing member includes a mounting seat that can be installed on a carrier and a transmission seat located behind the mounting seat. The horizontal connecting rods are at least two parallel rods, and both ends of the horizontal connecting rods are hinged to the transmission seat and the mounting seat, so that the horizontal connecting rods, the transmission seat and the mounting seat together form a planar four-bar linkage swing member. The swing member is driven by a swing power source.

[0008] 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. The swing power source is a swing motor. 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.

[0009] Preferably, both the mounting base and the transmission base are provided with through slots to avoid the movement path of the driven rack.

[0010] Preferably, the ammunition handling unit includes a guide seat, and a gripper with its axis parallel to the gun barrel axis is arranged at the guide seat. A positioning tail cone is also arranged on the guide seat for insertion into the central hole at the tail of the fire extinguishing projectile along the axial direction of the fire extinguishing projectile. Along the axial direction of the gun barrel, there is a gap between the positioning tail cone and the gripper.

[0011] 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.

[0012] Preferably, the transfer device uses the dual-station ammunition transfer assembly, characterized in that: it includes a firing section, the barrel of the firing section is horizontally rotated and fitted onto a positioning plate via a mounting base, and the elevation adjustment action of the barrel is generated by an elevation motor at the positioning plate; the positioning plate is mounted on a carrier, and the rotation axis of the elevation motor is perpendicular to the barrel axis; the top of the mounting base is provided with an upward-facing mounting groove, and the groove cavity of the mounting groove forms a mating cavity that mates with the mounting base.

[0013] 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.

[0014] Preferably, the ammunition changing system uses the aforementioned transfer device, characterized in that: the ammunition magazine is a transport chain, transport magazine, or transport wheel that can transport fire extinguishing ammunition to a designated position, and the ammunition magazine is symmetrically arranged along the vertical plane containing the gun barrel axis.

[0015] Preferably, when the magazine is a delivery wheel, the rotation axis of the magazine is parallel to the gun barrel axis of the firing part; the magazine includes a magazine and a rotating drum coaxially sleeved inside the magazine; a front bearing and a rear bearing are respectively arranged at both ends of the rotating drum, so as to form a rotational fit with the inner wall of the magazine; a reduction motor is arranged at the end of the rotating drum near the head of the fire extinguishing shell, so as to drive the rotating drum to generate a rotational action; a groove for putting fire extinguishing shells 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.

[0016] The beneficial effects of this invention are as follows:

[0017] 1) Through the above solution, the present invention relies on splitting the dual-station ammunition changing and transfer assembly into a linear drive unit and a swinging component. The linear drive unit is used to move the ammunition picking unit away from the ammunition picking port; while the swinging component is the essence, used to swing and push the ammunition picking unit to the ammunition compartment with the minimum stroke and in a manner that does not affect the vehicle's travel posture the least, and to ensure that the ammunition picking unit still contacts the tail of the fire extinguishing ammunition in an accurate posture, ultimately achieving the functions of accurate ammunition picking, transporting and loading, which is very flexible and convenient to use, and has extremely high working stability.

[0018] Thus, this invention can be installed on any work site, such as a drone, a manned aircraft, or a high-altitude work tower, to provide ammunition magazines and enable dual-station ammunition changing in the horizontal direction. This obviously helps to evenly distribute the ammunition magazines, thereby ensuring the balance of the vehicle's attitude during firefighting. In addition, this invention can also effectively reduce the height of the entire vehicle while ensuring the ammunition capacity, which is beneficial for actual transportation, achieving multiple benefits.

[0019] 2) In the design, the planar four-bar linkage, also known as the swing component, 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.

[0020] 3) More specifically, the power source for the entire planar four-bar linkage, i.e. the swinging component, is the swinging motor and worm gear transmission pair, in order to further ensure the reliability and stability of the operation; and to avoid affecting the stability of the vehicle's movement due to excessive amplitude of movement or excessive swinging speed.

[0021] 4) 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 picking unit, that is, it can move back far enough from the ammunition magazine and, after translating to the ammunition inlet, still have enough space in the axial direction of the launching unit to pull out the fire extinguishing ammunition. At the same time, when the ammunition picking unit loads the fire extinguishing ammunition into the ammunition inlet of the launching unit, the driven rack must be able to avoid the mounting base to ensure the stability and reliability of the driven rack's movement.

[0022] 5) For the ammunition magazine, a transport wheel is preferred to further reduce structural complexity and facilitate the design of the vehicle'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.

[0023] 6) As a further preferred option of the above scheme, the mounting point of the 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-missile structure, the magazine's weight 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 magazine is externally mounted, a dual-station magazine transfer assembly is required to achieve the transfer effect of the fire extinguishing ammunition.

[0024] 7) 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.

[0025] 8) In view of the above, the ammunition changing system of the present invention can realize the layout function of the launch unit being centered and the ammunition magazines being placed on the left and right sides, thereby achieving balance, stability and safety during the vehicle's movement by relying on the ammunition magazines placed on the left and right sides; at the same time, since the ammunition magazines are located on both sides of the launch unit, the overall height is lower, which is more conducive to actual transportation. In addition, since the ammunition magazines adopt a symmetrical split structure, a dual-station ammunition changing and transfer assembly is required for transfer, so that the transfer process of fire extinguishing ammunition from the ammunition magazine to the launch unit can be realized during the movement. Attached Figure Description

[0026] Figure 1 This is a diagram showing the working state of the invention when applied to a drone;

[0027] Figure 2 and Figure 3 A flowchart for adjusting the elevation of the gun barrel in the firing section;

[0028] Figure 4 This is a schematic diagram of the gun barrel structure;

[0029] Figure 5 A schematic diagram of the positioning plate and pitch motor;

[0030] Figure 6 This is a schematic diagram of the structure of the present invention;

[0031] 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 This is a flowchart of the operation of the present invention;

[0032] Figure 11 for Figure 10 Rear view;

[0033] Figure 12 This is a schematic diagram of the gripper structure;

[0034] Figure 13 This is a top view of the swinging component;

[0035] Figure 14 This is a diagram showing the coordination between the horizontal connecting rod and the swing motor.

[0036] Figure 16 for Figure 15 Rear view;

[0037] Figure 24 This is a schematic diagram of the structure with the launch cover open.

[0038] Figure 25 This is an end view of the launch cover;

[0039] Figure 26 This is a schematic diagram of the magazine structure;

[0040] Figure 27 This is a schematic diagram of the rotating drum inside the magazine.

[0041] The actual correspondence between the reference numerals and component names in this invention is as follows:

[0042] A - Vehicle; B - Fire extinguishing bomb;

[0043] 10-Swing component; 11-Hanger seat; 11a-Mounting slot; 12-Transmission seat; 13-Horizontal connecting rod; 14-Swing motor; 15-Through slot;

[0044] 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;

[0045] 30-Magazine magazine; 31-Magazine cartridge; 32-Drum; 32a-Magazine slot; 33-Front bearing; 34-Rear bearing; 35-Gear motor;

[0046] 40 - Linear stroke drive unit; 41 - Driven rack;

[0047] 50 - Retrieval section; 51 - Guide seat; 52 - Clamping arm; 53 - Drive motor; 54 - Positioning tail cone;

[0048] 60 - Installation frame. Detailed Implementation

[0049] For ease of understanding, this section combines... Figure 1-27 The specific structure and operation of the present invention are further described below:

[0050] The actual assembly structure of the present invention is referenced. Figure 1-3 As shown, vehicle A is a drone, which is relatively easier to use and widely adopt. Of course, vehicle A can also be a manned aircraft, or even any static work site such as a high-altitude work tower, etc., which will not be elaborated here.

[0051] Taking a drone as an example, a sensing module, such as a camera module for image acquisition or a temperature sensor module, is installed on the lower front of the vehicle A, i.e., the drone. This allows for real-time monitoring of the drone's detected images or the ambient temperature, facilitating observation and rapid detection of fire points. The barrel 21 of the firing unit 20 is mounted on the belly of the vehicle 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. 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 dual-station ammunition loading 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 belly of the vehicle A.

[0052] 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 belly of the vehicle 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., the mounting base 22, during installation, but also affect the overall height of the aircraft. Placing the entire magazine on one side would affect the balance of the UAV. 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 replacement of the fire extinguishing bombs B by the dual-station ammunition loading and unloading assembly.

[0053] The dual-station cartridge transfer component is as follows: 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 upper and lower swing components 10. Of course, in actual design, the number of swing components 10 can also be one or three sets, as long as the corresponding horizontal swing function can be achieved; Figure 6 In this regard, the mounting base 11 and the transmission base 12 are common points, and every two horizontal connecting rods 13 cooperate with the common points to form a set of swing components 10. The swing components 10 are used to cooperate with the linear drive unit 40 to form a dual-station ammunition loading and transfer assembly in order to complete the filling of the fire extinguishing ammunition B; the dual-station ammunition loading and 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.

[0054] A more detailed description is as follows:

[0055] I. Launching Section 20

[0056] The launching section 20 of the transfer device, as shown Figure 4 The image shows a gun barrel 21, and the gun barrel 21 is fixed as shown in the image. Figure 5On the mounting base 22 shown, the entire assembly can pitch relative to the vehicle 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.

[0057] 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.

[0058] II. Magazine 30

[0059] The magazine of the reloading system is 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.

[0060] like Figure 25 As 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.

[0061] III. Dual-station loading and unloading component

[0062] The dual-station loading and unloading assembly is one of the core components of this invention. The external shape of the dual-station loading and unloading assembly is shown in the figure. Figure 6 As shown, it includes a linear drive unit 40 and a swing member 10.

[0063] Reference to swing component 10 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. The four horizontal connecting rods 13, the mounting base 11 and the transmission base 12 form two pairs of double-position planar four-bar linkage ammunition picking and loading mechanisms, that is, swinging 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 ammunition 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 ammunition B.

[0064] The swing component 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 swing component 10, combined with the linear drive unit 40, forms a telescopic, dual-position automatic ammunition loading and unloading assembly, enabling ammunition loading and unloading in both left and right directions. It also boasts advantages such as high strength, compact structure, and high transmission efficiency.

[0065] More specifically, such as Figure 6 As 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.

[0066] 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.

[0067] 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 24-25As 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.

[0068] 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:

[0069] 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 8 As 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 swinging component 10 returns to its original position, 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 21The 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.

[0070] 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.

[0071] In addition, to further ensure the stability of the drone's movement, the ammunition retrieval operation of the ammunition retrieval unit 50 can be performed sequentially on both sides of the ammunition compartment 30, which will not be described in detail here.

[0072] In summary, the technical advantages of this invention can be briefly described as follows:

[0073] 1. No need to return to the ground to reload, greatly improving reloading efficiency;

[0074] 2. It carries a large number of fire extinguishing bombs (B type) and is lighter overall;

[0075] 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;

[0076] 4. Carries multiple fire extinguishing bombs (B) and can be automatically reloaded;

[0077] 5. It is structurally safer and more stable, has reliable transmission, is lightweight, and requires further reduced costs;

[0078] 6. The swing component 10 has a compact overall structure, is lightweight, and operates stably and reliably.

[0079] 7. The dual-station ammunition loading and unloading assembly can achieve ammunition loading from both left and right positions, ensuring a compact structure and high balance while loading and unloading ammunition;

[0080] 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;

[0081] 9. The independent design of the ammunition magazine 30 means that when the barrel 21 is in pitch motion, only the barrel 21 and the dual-station ammunition loading and unloading 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.

[0082] 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.

[0083] 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.

[0084] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A dual station cartridge changeover assembly, characterized by: The device comprises a swing member (10) and a straight stroke driving part (40) capable of reciprocating linear motion; a bullet taking part (50) at the moving part end of the straight stroke driving part (40) can produce linear pulling action along the axial direction of the cartridge (30) to pull out the fire extinguishing bullet and produce linear loading action along the axial direction of the barrel (21) of the launching part (20) to load the fire extinguishing bullet; the swing member (10) is used to drive the bullet taking part (50) to produce horizontal swing action to transfer the fire extinguishing bullet in the cartridge (30) to the bullet loading port of the launching part (20); the bullet taking operation of the bullet taking part (50) is sequentially and reciprocally performed on the cartridges (30) located on both sides of the launching part (20); The straight stroke driving part (40) comprises a driving gear and a driven rack (41) engaged with each other, the driving gear is installed in the transmission seat (12) of the swing member (10) and is driven by a driving motor to produce rotary action, and the tail end of the driven rack (41) is installed with the bullet taking part (50); the swing member (10) comprises a mounting seat (11) capable of being mounted on a carrier and a transmission seat (12) located at the rear of the mounting seat (11), the horizontal connecting rods (13) are at least two parallel rods, and the two ends of the horizontal connecting rods (13) are hingedly connected to the transmission seat (12) and the mounting seat (11), so that the horizontal connecting rods (13), the transmission seat (12) and the mounting seat (11) jointly form a swing member (10) with a planar four-bar linkage structure; the swing member (10) is driven by a swing power source.

2. The dual station cartridge changeover assembly of claim 1, wherein: The end of the horizontal connecting rod (13) matched with the mounting seat (11) is taken as a root, the root of the horizontal connecting rod (13) is arranged with a driven worm wheel, the swing power source is a swing motor (14), a driving worm is arranged at the output shaft of the swing motor (14), and a worm and worm gear transmission pair is formed between the driving worm and the driven worm wheel.

3. The dual station cartridge changeover assembly of claim 2, wherein: The mounting seat (11) and the transmission seat (12) are both provided with a through groove (15) for avoiding the action path of the driven rack (41).

4. The dual station cartridge changeover assembly of claim 1 or 2 or 3, wherein: The bullet taking part (50) comprises a guide seat (51), the guide seat (51) is arranged with a clamping jaw with an axis parallel to the axis of the barrel (21), and the guide seat (51) is further arranged with a positioning tail vertebra (54) coaxial with the fire extinguishing bullet along the axial direction of the barrel (21) and inserted into the central hole at the tail part of the fire extinguishing bullet.

5. The dual station cartridge changeover assembly of claim 4, wherein: The clamping jaw comprises two groups of clamping arms (52), the bottoms of the two groups of clamping arms (52) are arranged with transmission gears engaged with each other, the axes of the two groups of transmission gears are parallel to the axis of the barrel (21), and one of the transmission gears is in power cooperation with a transmission motor (53) located in the guide seat (51).

6. A reloading apparatus employing the dual station cartridge change reloading assembly of claim 1, characterized by: The launching part (20) includes a barrel (21) which is horizontally pivoted to a positioning plate (23) through a mounting base (22) and is adjusted in elevation by an elevation motor (24) at the positioning plate (23); the positioning plate (23) is mounted on a carrier, and the rotation axis of the elevation motor (24) is perpendicular to the axis of the barrel (21); the mounting base (11) is provided at the top end with an installation slot (11a) with an upward opening, and the slot cavity of the installation slot (11a) forms a matching cavity matched with the mounting base (22).

7. The republishing device of claim 6, wherein: The barrel (21) is in the shape of a straight cylinder, and the tail end of the barrel forms a bullet inlet; a launching rear cover (25) for opening and closing the bullet inlet is arranged at the bullet inlet, and the launching rear cover (25) is horizontally hinged to the mounting table at the outer wall of the barrel (21) through an extension arm; the launching part (20) further includes a straight push rod (26) which is horizontally hinged at one end to the mounting table and is horizontally hinged at the other end to the launching rear cover (25) in the direction of the bullet inlet; 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) to form an electrical connection with the trigger piece at the tail end of the fire extinguishing bomb.

8. A reload system applying the transfer device as claimed in claim 6, characterized in that: The cartridge (30) is a delivery link, a delivery magazine or a delivery rotating wheel which can deliver the fire extinguishing bomb to a designated position, and the cartridge (30) is arranged in a vertical plane along the axis of the barrel (21) in a face symmetry.

9. The cartridge exchange system of claim 8, wherein: When the cartridge (30) is a delivery rotating wheel, the rotation axis of the cartridge (30) is parallel to the axis of the barrel (21) of the launching part (20); the cartridge (30) includes a bullet cylinder (31) and a rotating drum (32) coaxially sleeved in the bullet cylinder (31); the two ends of the rotating drum (32) are respectively provided with a front bearing (33) and a rear bearing (34) to form a rotation matching with the inner cavity wall of the bullet cylinder (31); one end of the rotating drum (32) close to the head of the fire extinguishing bomb is provided with a speed reducer motor (35) to drive the rotating drum (32) to rotate; the outer wall of the rotating drum (32) is recessed with bullet grooves (32a) for the fire extinguishing bomb, and the bullet grooves (32a) are sequentially and uniformly distributed along the circumference of the rotating drum (32).

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