Auxiliary delivery device of fire-fighting unmanned aerial vehicle

Abstract

The application discloses an auxiliary delivery device of a fire-fighting unmanned plane, which comprises a base, a first load box, a first gear rack, a first gear, a first guide rail, a first motor and a connecting piece. The base is located below the fire-fighting unmanned plane, one end of the connecting piece is fixed on the fire-fighting unmanned plane, and the other end is fixed on the base. The first motor is fixed at the bottom of the base, the output end of the first motor is arranged to pass through the through hole at the bottom of the base and is in transmission connection with the first gear. The first guide rail is fixed on the base, the first load box is fixed on the first gear rack, the first gear rack is in transmission connection with the first gear, and the first gear rack is driven by the first gear to move linearly on the first guide rail. The application can realize accurate delivery, improve the delivery accuracy of the fire-fighting unmanned plane, and improve the efficiency and safety of rescue work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fire-fighting unmanned aerial vehicles, and particularly relates to an auxiliary delivery device of a fire-fighting unmanned aerial vehicle. BACKGROUND

[0002] With the development of technology, it has become feasible to use fire-fighting robots to participate in search, rescue and fire extinguishing at a fire scene. It has become an important rescue application mode to use a fire-fighting unmanned aerial vehicle to air-drop a ground robot or supplies. A traditional air-drop mode of the fire-fighting unmanned aerial vehicle is vertical drop or aerial throwing, which is suitable for open scenes. In a high-rise building scene, due to the interference of the building, the fire-fighting unmanned aerial vehicle is usually dropped to the roof, which has safety hazards and is limited in helping rescue work, and the landing position is also prone to errors, which reduces the efficiency of rescue work. Therefore, how to improve the drop accuracy of the fire-fighting unmanned aerial vehicle and improve the efficiency and safety of rescue work is very important. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an auxiliary delivery device of a fire-fighting unmanned aerial vehicle, which can realize accurate delivery, improve the drop accuracy of the fire-fighting unmanned aerial vehicle, and improve the efficiency and safety of rescue work.

[0004] To solve the above technical problem, the present application discloses an auxiliary delivery device of a fire-fighting unmanned aerial vehicle, which comprises a base, a first material loading box, a first rack, a first gear, a first guide rail, a first motor and a connecting piece.

[0005] The base is located below the fire-fighting unmanned aerial vehicle, one end of the connecting piece is fixed on the fire-fighting unmanned aerial vehicle, and the other end is fixed on the base.

[0006] The first motor is fixed at the bottom of the base, and the output end of the first motor passes through the through hole at the bottom of the base and is in transmission connection with the first gear.

[0007] The first guide rail is fixed on the base, the first material loading box is fixed on the first rack, the first rack is in transmission connection with the first gear, and the first rack is driven by the first gear to move linearly on the first guide rail.

[0008] As an optional embodiment, at least one second motor is further fixed on the fire-fighting unmanned aerial vehicle; the connecting piece comprises four connecting rods.

[0009] The upper ends of all the connecting rods are hinged to the fire-fighting unmanned aerial vehicle, the lower ends of all the connecting rods are hinged to the base, two of the connecting rods are distributed on one side of the base, and the other two connecting rods are distributed on the other side of the base, and the two connecting rods on the same side are not parallel.

[0010] At least one of the links is connected to the output of the second motor.

[0011] As another optional implementation, it also includes a second cargo box, a second rack, a second gear, a third motor, and a second guide rail;

[0012] The third motor is fixed to the bottom of the base, and its output end passes through the through hole at the bottom of the base and is connected to the second gear.

[0013] The second guide rail is fixed on the base, the second cargo box is fixed on the second rack, the second rack is connected to the second gear, and the second rack is driven by the second gear to move linearly on the second guide rail;

[0014] The linear motion direction of the first rack and the second rack is the length direction of the base, and the first rack and the second rack are symmetrically distributed in the transverse direction of the base.

[0015] As another optional implementation, the angular velocity of the first link and the second link during movement is 0.223-0.447 rad / s.

[0016] As another optional implementation, the frequency of the control signal output by the flight control system of the firefighting drone is greater than 5Hz.

[0017] As another optional implementation, the first motor and / or the second motor is a DC geared motor.

[0018] As another alternative implementation, the bottom of the first rack is provided with a groove extending through both ends, and the top of the first guide rail is provided with an elongated protrusion, wherein the groove of the first rack is inserted into the elongated protrusion of the first guide rail.

[0019] As another optional implementation, a rack limiting member is also included; the rack limiting member is provided with a groove extending through both ends thereto, and a plurality of rotatable rollers are provided on the inner bottom surface of the groove, and the side of the first rack is inserted into the groove of the rack limiting member and the side of the rack contacts the rollers.

[0020] As another optional implementation, it also includes a connecting rod fixing seat and a rotating shaft; the connecting rod fixing seat is a U-shaped plate, and each of the two opposite side plates of the U-shaped plate is provided with a first through hole for insertion with the rotating shaft, and the lower end of the connecting rod is provided with a second through hole for insertion with the rotating shaft; the U-shaped plate extends into the base from the side plate near the base, and the extension plate is fixed to the bottom surface of the base.

[0021] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0022] The auxiliary delivery device of this invention is mounted on a fire-fighting drone used for delivering supplies. The supplies are loaded into a cargo box fixed on a guide rail. When the fire-fighting drone reaches the floor where supplies need to be delivered for rescue, the transmission structure of the motor, guide rail, and gear rack brings the supplies closer to the target location. Even if there are wall obstacles, this embodiment can extend the rack to insert the supplies into the window between the walls, achieving precise delivery. This can improve the delivery accuracy of the fire-fighting drone and improve the efficiency and safety of rescue work. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of an auxiliary delivery device for a fire-fighting drone disclosed in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of a fire-fighting drone with an auxiliary delivery device disclosed in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a fire-fighting drone when the guide rail of an auxiliary delivery device is extended, as disclosed in an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the structure of a fire-fighting drone when the base of an auxiliary delivery device disclosed in an embodiment of the present invention is tilted to the right;

[0028] Figure 5 This is a schematic diagram of the structure of a fire-fighting drone when the base of an auxiliary delivery device disclosed in an embodiment of the present invention is tilted to the left;

[0029] Figure 6 This is a schematic diagram of the structure of a base disclosed in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of a rack and motor structure disclosed in an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of a guide rail disclosed in an embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of another type of guide rail disclosed in an embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of the structure of a rack limiting member disclosed in an embodiment of the present invention;

[0034] Figure 11 This is a schematic diagram of another rack and pinion limiting component disclosed in an embodiment of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] See Figure 1 The present invention discloses an auxiliary delivery device for a fire-fighting drone, comprising a base 1, a first cargo box 2, a first rack 3, a first gear 10, a first guide rail 7, a first motor 11, and a connector 12.

[0037] The base 1 is located below the firefighting drone, and one end of the connector 12 is fixed to the firefighting drone, while the other end is fixed to the base 1.

[0038] The first motor 11 is fixed to the bottom of the base 1, and its output end passes through the through hole at the bottom of the base 1 and is connected to the first gear 10 for transmission.

[0039] The first guide rail 7 is fixed on the base 1, the first cargo box 2 is fixed on the first rack 3, the first rack 3 is connected to the first gear 10, and the first rack 3 is driven by the first gear 10 to move linearly on the first guide rail 7.

[0040] The auxiliary delivery device of this invention is mounted on a fire-fighting drone used for delivering supplies. The supplies are loaded into a cargo box fixed on a guide rail. When the fire-fighting drone reaches the floor where supplies need to be delivered for rescue, the transmission structure of the motor, guide rail, and gear rack brings the supplies closer to the target location. Even if there are wall obstacles, this embodiment can extend the rack to insert the supplies into the window between the walls, achieving precise delivery. This can improve the delivery accuracy of the fire-fighting drone and improve the efficiency and safety of rescue work.

[0041] It should be noted that this invention can also be used for drones to deliver emergency medical supplies to high-rise buildings and other supplies.

[0042] In this embodiment, as Figure 6As shown, base 1 can be a sheet metal platform used to fix the entire device and provide a mounting platform for various structures. The sheet metal platform has multiple holes for fixing other structures. The length of the sheet metal platform is slightly longer than the distance between the landing gears of the fire-fighting drone. The sheet metal platform can be hollowed out in places where drilling is not required for fixing, reducing the overall weight of the sheet metal.

[0043] The primary function of the first rack 3 is to fix the cargo box, guide and move it, and move the cargo box to the designated position to complete the material transportation. The rack must be strong enough to prevent breakage during material transportation, and the coefficient of friction between the rack and the guide rail should be controlled within a small range to ensure smooth movement between them. Optionally, a limit block can be provided in the groove below the rack to limit the rack's movement distance within a set safety distance.

[0044] In an optional embodiment, at least one second motor 8 is also included, which is fixed to the firefighting drone; the connector 12 includes four links.

[0045] The upper ends of all the connecting rods are hinged to the firefighting drone, and the lower ends of all the connecting rods are hinged to the base 1. Two of the connecting rods are located on one side of the base 1, and the other two connecting rods are located on the other side of the base 1. The two connecting rods located on the same side are not parallel.

[0046] At least one of the links is connected to the output end of the second motor 8.

[0047] Through the cooperation of the second motor 8 and the connecting rod, the base 1 can be driven by the second motor 8 to tilt at an angle. In practical applications, the cargo box is equipped with an electronic door opening device on the side in the tilt direction. When the cargo box reaches the target position and is in a tilted state, opening the door opening device can quickly deliver the materials in the box to the precise position, which helps to improve delivery efficiency and accuracy.

[0048] In yet another optional embodiment, it also includes a second cargo box 15, a second rack 14, a second gear 16, a third motor (not shown in the figures), and a second guide rail 13;

[0049] The third motor is fixed to the bottom of the base 1, and its output end passes through the through hole at the bottom of the base 1 and is connected to the second gear 16 for transmission.

[0050] The second guide rail 13 is fixed on the base 1, the second cargo box 15 is fixed on the second rack 14, the second rack 14 is connected to the second gear 16, and the second rack 14 is driven by the second gear 16 to move linearly on the second guide rail 13.

[0051] The linear motion direction of the first rack 3 and the second rack 14 is the length direction of the base 1, and the first rack 3 and the second rack 14 are symmetrically distributed in the transverse direction of the base 1.

[0052] See appendix Figures 2-5 ,in Figure 2 Working status 1, Figure 3 Working status 2, Figure 4 Working status 3, Figure 5 This is operating state 4. When the firefighting drone is loaded with supplies and in flight, the linkage is in its initial state. At this time, the entire guiding device is horizontal, and the center of gravity of the entire firefighting drone is close to the center. This helps the firefighting drone maintain force balance during flight and improves flight stability. Figure 2 ;

[0053] When a firefighting drone needs to horizontally transport supplies to a target location, the linkage is in its initial state, keeping the entire guiding device horizontal. The first motor 11 drives the gears, which in turn drive the rack in the horizontal direction, thus achieving horizontal transport of the supplies. Figure 3 ;

[0054] When materials need to be transported at a certain angle, firstly, according to the different tilt angles required in actual transportation, the second motor 8 drives the connecting rod to rotate at the corresponding angle, causing the sheet metal platform to tilt at a certain angle. The first motor 11 drives the first gear 10 to move, which in turn drives the first rack 3 to move. The third motor drives the second gear 16 to move, which in turn drives the second rack 14 to move. When the cargo box reaches the designated position, the materials are put into operation, as shown in the diagram. Figure 4 As shown, when in Figure 4 In the indicated posture, the weight of the two cargo boxes is relatively even, and the two racks extend to the same distance, keeping the center of gravity near the center of the firefighting drone, which is beneficial for maintaining flight stability. After the materials in one cargo box are transported, the second motor 8 drives the connecting rod to rotate to the initial position, restoring the entire sheet metal platform from an inclined state to a flat state. Simultaneously, the first motor 11 drives the first rack 3 to move back, and the third motor drives the second rack 14 to move back, bringing the materials in both cargo boxes closer to the center position, and placing the center of gravity of the entire firefighting drone near the center. Then, the firefighting drone rotates as a whole, using the second motor 8 to drive the connecting rod to rotate, tilting the entire sheet metal platform at a certain angle. Then, the third motor drives the second rack 14 (while the first motor drives the first rack 3 in the opposite direction), allowing the other cargo box to reach the target position, completing the entire material transport.

[0055] The entire sheet metal platform transitions from a flat position to a tilted position in 1 to 2 seconds, and the speed from the flat position to the tilted position and from the tilted position to the flat position is the same. After multiple tests, under the existing flight control system, the fire-fighting drone maintains good stability when the angular velocity of the linkage rotation is set between 0.223 rad / s and 0.447 rad / s. Specifically, when the sheet metal platform of the fire-fighting drone tilts, the drone's center of gravity changes. The IMU in the flight control system measures and senses the tilt angle, compiles the tilt angle data into a digital signal, calculates a compensation direction and angle, transmits the compensation data back to the compiler, compiles it into a digital signal, and transmits it to the brushless motor to complete the compensation action, keeping the fire-fighting drone balanced. When the angular velocity of the linkage rotation exceeds 0.447 rad / s, the compensation angle provided by the flight control system is too large, and the motor is prone to overcompensation, causing the drone to stall in the compensation direction.

[0056] In yet another optional embodiment, the angular velocity of the link during movement is 0.223-0.447 rad / s.

[0057] In yet another optional embodiment, the frequency of the control signal output by the flight control system of the firefighting drone is greater than 5Hz.

[0058] After multiple tests, when the sheet metal platform tilts from a flat surface, if the frequency of the control signal output by the flight control system is greater than 5Hz, that is, when the flight control refreshes more than 5 times per second, the flight control can keep the stability of the fire-fighting drone within a controllable range.

[0059] In another alternative embodiment, the first motor 11 and / or the second motor 8 are DC geared motors. DC geared motors can provide lower speeds and higher torques, and can also effectively tilt the base 1 to drop heavier items.

[0060] In another optional embodiment, the bottom of the first rack 3 is provided with a groove extending through both ends thereto, such as... Figure 8 As shown, the top of the first guide rail 7 is provided with a long strip-shaped protrusion, and the groove of the first rack 3 is inserted into the long strip-shaped protrusion of the first guide rail 7.

[0061] In yet another alternative embodiment, such as Figure 1 , 9As shown, it also includes a first rack and pinion limiting member 5; the first rack and pinion limiting member 5 has a groove extending through both ends of it, and a plurality of rotatable rollers are provided on the inner bottom surface of the groove. The side of the first rack 3 is inserted into the groove of the first rack and pinion limiting member 5 and the side of the rack and pinion is in contact with the rollers. The first rack and pinion limiting member 5 is used to ensure that the first rack 3 does not move up and down during the movement, so as to balance the force on the guide rail and prevent deformation caused by uneven force. Limiting blocks are provided above and below the rollers, and the limiting blocks can ensure that the rollers do not move up and down in a certain fixed position.

[0062] In yet another alternative embodiment, such as Figure 1 , 11 As shown, the second rack stop 6 is I-shaped and, like the first rack stop 5, is used to ensure that the rack does not move up or down during movement. The number of racks can be set according to actual needs, such as... Figure 1 The number of racks is 4 (the first rack 3 includes two racks with single-sided transmission teeth, and the transmission teeth face and mesh with the first gear 10; the second rack 14 also includes two racks with single-sided transmission teeth, and the transmission teeth face and mesh with the second gear 16), which provides a more stable fixation for the cargo box compared to a structure with 2 racks.

[0063] In another optional embodiment, the system further includes a first connecting rod fixing seat 9 and a rotating shaft (not shown in the figures). The first connecting rod fixing seat 9 is a U-shaped plate, and each of the two opposite side plates of the U-shaped plate has a first through hole for insertion with the rotating shaft. The lower end of the connecting rod has a second through hole for insertion with the rotating shaft. An extension plate extends from the side plate of the U-shaped plate near the base 1 towards the base 1, and the extension plate is fixed to the bottom surface of the base 1. Optionally, the rotating shaft can be a bolt, further secured with a nut. A bearing can be provided at the connection between the first connecting rod fixing seat and the connecting rod to ensure the continuity of movement.

[0064] In another optional embodiment, a second connecting rod fixing seat 4 and a rotating shaft (not shown in the drawings) are also included. The second connecting rod fixing seat 4 is a U-shaped plate, and each of the two opposite side plates of the U-shaped plate is provided with a third through hole for insertion with the rotating shaft. The upper end of the connecting rod is provided with a fourth through hole for insertion with the rotating shaft. Optionally, the rotating shaft can be a bolt, which is then secured with a nut. A bearing can be provided at the connection between the second connecting rod fixing seat and the connecting rod to ensure the continuity of movement.

[0065] The content disclosed in the embodiments of this invention is only a preferred embodiment of the invention and is used only to illustrate the technical solutions of the invention, not to limit it. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. An auxiliary delivery device for firefighting drones, characterized in that, Includes a base, a first cargo box, a first rack, a first gear, a first guide rail, a first motor, and connecting parts; The base is located below the firefighting drone, and one end of the connector is fixed to the firefighting drone, while the other end is fixed to the base. The first motor is fixed to the bottom of the base, and its output end passes through the through hole at the bottom of the base and is connected to the first gear for transmission. The first guide rail is fixed on the base, the first cargo box is fixed on the first rack, the first rack is connected to the first gear, and the first rack is driven by the first gear to move linearly on the first guide rail. It also includes at least one second motor fixed to the firefighting drone; the connector includes four links; The upper ends of all the connecting rods are hinged to the firefighting drone, and the lower ends of all the connecting rods are hinged to the base. Two of the connecting rods are located on one side of the base, and the other two connecting rods are located on the other side of the base. The two connecting rods on the same side are not parallel to each other. At least one of the links is connected to the output end of the second motor in a transmission manner; It also includes a second cargo box, a second rack, a second gear, a third motor, and a second guide rail; The third motor is fixed to the bottom of the base, and its output end passes through the through hole at the bottom of the base and is connected to the second gear. The second guide rail is fixed on the base, the second cargo box is fixed on the second rack, the second rack is connected to the second gear, and the second rack is driven by the second gear to move linearly on the second guide rail; The linear motion direction of the first rack and the second rack is the length direction of the base, and the first rack and the second rack are symmetrically distributed in the transverse direction of the base.

2. The auxiliary delivery device according to claim 1, characterized in that, The angular velocity of the connecting rod during its movement is 0.223-0.447 rad / s.

3. The auxiliary delivery device according to claim 1, characterized in that, The flight control system of the firefighting drone outputs control signals at a frequency greater than 5Hz.

4. The auxiliary delivery device according to claim 1, characterized in that, The first motor and / or the second motor are DC geared motors.

5. The auxiliary delivery device according to claim 1, characterized in that, The bottom of the first rack has a groove extending through both ends, and the top of the first guide rail has an elongated protrusion. The groove of the first rack is inserted into the elongated protrusion of the first guide rail.

6. The auxiliary delivery device according to claim 1 or 5, characterized in that, It also includes a rack and pinion limiting member; the rack and pinion limiting member has a groove extending through both ends thereto, and a plurality of rotatable rollers are provided on the inner bottom surface of the groove, and the side of the first rack is inserted into the groove of the rack and pinion limiting member and the side of the rack is in contact with the rollers.

7. The auxiliary delivery device according to claim 1, characterized in that, It also includes a connecting rod fixing seat and a rotating shaft; the connecting rod fixing seat is a U-shaped plate, and each of the two opposite side plates of the U-shaped plate is provided with a first through hole for insertion with the rotating shaft, and the lower end of the connecting rod is provided with a second through hole for insertion with the rotating shaft; the U-shaped plate extends into the base from the side plate near the base, and the extension plate is fixed to the bottom surface of the base.

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