Aerial dynamic object throwing device

Abstract

The invention belongs to the technical field of mechatronics, mainly solves the technical problems of mechanical composition and electrical control of devices, adopts a CAD (computer aided design) platform to design mechanical parts, adopts an Altium Designer platform to design a control circuit board, and compiles control software by C language. A photoelectric encoder, a magneto-rheological damper, a conductive slip ring, an actuator, an electromagnetic door lock, an electromagnet and other devices are selected for measurement and control of the device, and state control, length metering, speed detection, speed adjustment, object throwing and the like in the object throwing process are all achieved through cooperation of a controller and a mechanical structure.

Description

1. Technical field:

[0001] The aerial dynamic object delivery device of the present invention belongs to the technical field of mechatronics and is used for positioning and delivering objects by unmanned aerial vehicles. It utilizes high-speed CPU chip for dynamic data processing and motion control, uses catapult mode cable to deliver objects, utilizes CPLD chip for rapid length measurement and speed detection, and uses magnetorheological element for damping control. The device technology also involves digital design and numerical control processing of mechanical parts. 2. Background technology:

[0002] With the development of Beidou positioning technology, it has become possible for drones to locate and deliver objects. The domestic STC32-bit CPU chip technology has become a global leader. Magnetorheological dampers, high-resolution photoelectric encoders, electric door locks, conductive slip rings, etc. all have high-quality brand products. The digital design and CNC processing of mechanical parts are mature and complete. The above technologies provide strong support for the research and development of this project. 3. Summary of the invention:

[0003] Existing drones all use a long-distance throwing method, which has the disadvantages of inaccurate delivery position and easy damage of the dropped objects. The present invention uses a cable-tied delivery method, firstly ejecting a delivery box tied with a cable to the vicinity of the target position, and then throwing the object in the delivery box to the target position at a short distance.

[0004] The task of the present invention is accomplished in this way: the controller is powered on, the feeding door is opened, the drone pushes the object into the object box, the winding wheel is locked, and the fixed length signal of the drone is waited for. After receiving the fixed length information, the controller sets the pay-off length, releases the electromagnet on the side of the winding wheel, the actuator is triggered to pop up the object box, the photoelectric encoder measures the speed, the controller PID is adjusted, the magnetorheological damper adjusts the pay-off speed, and the pay-off is constant. When the pay-off length is close to the set length, the magnetorheological damper increases the damping, and the pay-off speed slows down. When the pay-off length reaches the set length, The magnetorheological damper brakes, closes the electromagnet beside the winding wheel, locks the pay-off wheel, unlocks the electromagnetic door lock, opens the discharge door, energizes the electromagnet, pushes the object out of the object pusher, closes the discharge door, locks the electromagnet, unlocks the electromagnet beside the winding wheel, stops damping by the magnetorheological damper, and starts the rope-collecting motor. When the delivery box returns to the specified position of the drone, the recovery motor is turned off, the electromagnet beside the winding wheel is turned off, the winding wheel is locked, the electromagnet of the inlet door lock loses power, the inlet door opens, and the drone pushes the object into the delivery box again. The above process is repeated to complete the delivery again. 4. Description of the drawings:

[0005] Figure 1 This is the overall structure of the present invention.

[0006] Figure 2 The invention discloses a mechanical structure of the object-dropping box.

[0007] Figure 3 The present invention discloses a mechanical structure of a rope guide. V. Specific implementation methods:

[0008] With reference to the accompanying drawings, the aerial dynamic object throwing device of the present invention comprises an object throwing box (1), a cable (8), a rope guide (3), a winding wheel edge (4), a rope collecting motor (5), a winding wheel (6), a winding wheel shaft (7), a stop electromagnet (2), a magnetorheological damper (9), a conductive slip ring (10), a controller (11), and an actuator (12). The controller (11) is powered on, the electromagnetic door lock (14) of the entry door (20) (21) is released, the entry door (20) (21) is opened, and the drone pushes the object into the object box (1). After the object enters the object box, the entry door is closed and locked, and the drone position signal information is waited for. After receiving the information, the line length is set, the stop electromagnet (2) is released, the magnetorheological damper (9) is released, and the actuator (12) is fired to pop out the object box (1); during the line release process, the photoelectric encoder (30) in the rope guide measures the length and speed, and the controller (11) outputs the PID adjustment signal to the magnetorheological damper (9) to release the line steadily. When the line release length approaches the set value, the magnetorheological damper (9) starts Braking, when the line-release length reaches the set value, the stop electromagnet (2) is locked and the line-release is completed; the object-discharging electromagnetic door lock (14) is unlocked, the object-discharging door (22) (23) is opened, and the electromagnet (19) pushes the object-pushing plate (17) to throw out the object; after the object is thrown out, the object-discharging door (22) (23) is automatically closed under the action of the spring door shaft (13), and the electromagnetic door lock (14) is powered to lock the object-discharging door (22) (23); the stop electromagnet (2) is released, the damping of the magnetorheological damper (9) is released, the rope-collecting motor (5) is started, and the object-discharging box (1) is retracted; when the object-discharging box (1) returns to the specified position, the rope-collecting motor (5) is turned off, and the stop electromagnet (2) is locked to complete one object delivery.

[0009] The object throwing box (1) is composed of a spring door shaft (13), an electromagnetic door lock (14), a cover (15), a partition (16), an object pushing plate (17), a cable socket (18), an electromagnet (19), a cable (8), a right object entry door (20), a left object entry door (21), a lower object exit door (22), and an upper object exit door (13). The function of the object throwing box (1) is to ensure the safety of objects and to implement close-range object throwing.

[0010] The rope guide (3) is composed of a rope inlet and outlet (24), a guide wheel (25), a guide wheel shaft (26), a bottom plate (27), a guide wheel bracket (28), a length measuring wheel (29), and a photoelectric encoder bracket (31). During the launching process, the guide wheel (25) stabilizes the cable (8) in a straight state to ensure that the length measuring wheel (29) can accurately measure the length, and the rope inlet and outlet (24) ensures that the cable (8) is not damaged when entering and exiting the rope guide (3).

Claims

1. An aerial dynamic throwing device (FIG. 1), which comprises a throwing box (1), a cable (8), a rope guide (3), a winding wheel edge (4), a rope collecting motor (5), a winding wheel (6), a winding wheel shaft (7), a stop electromagnet (2), a magnetorheological damper (9), a conductive slip ring (10), a controller (11), and an actuator (12); the cable (8) is a multi-core cable with a steel wire rope inside, and the controller (11) is connected to a measuring and controlling element in the throwing box (1) through the cable (8); the winding wheel shaft (7) is a hollow shaft, and the cable (8) is connected to a moving contact of the conductive slip ring (10) through the hollow shaft, and a measuring and controlling signal of the controller (11) is connected to a static contact of the conductive slip ring (10), and the controller (11) is connected to the actuator (12) through a wire.

2. The object throwing box (FIG. 2) is a box for storing objects to be thrown, and has two doors. The left door is a door for throwing objects into the object throwing box, and the front door is a door for entering objects. The door panels (20), (21), (22), and (23) are connected to the cover (15) through a door closing shaft (13) with a built-in spring. The partition (16) is equipped with an electromagnetic door lock (14). The object throwing push plate (17) is connected to the electromagnet (19). The electromagnet (19) and the cable seat (18) are installed on the cover (15). The cable (8) is tied to the cable seat (18). The actuator (12) is installed on the lower right side of the object throwing box.

3. The rope guide (Fig. 3) is a rope speed detection mechanism for the casting process. The cable (8) enters and exits the mechanism through the left and right inlets (24). The guide wheel (25) is installed on the floor (27) through the guide wheel shaft (26) and the bracket (28). The photoelectric encoder (30) is equipped with a length measuring wheel (29) and is installed on the floor (27) through the photoelectric encoder bracket (31).

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