Autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing spaceflight equipment

Abstract

The invention discloses an autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing spaceflight equipment. The autonomous rapid anti-overturning loading and unloading device comprises a vertical cable descending system, a horizontal pushing system and a balance releasing system. Wherein the bottom-layer goods, the middle-layer goods and the top-layer goods are all arranged in the vertical cable descending system; the balance release system is connected with the middle part of the vertical cable descending system; and the horizontal pushing system is connected with the bottom of the vertical cable descending system. According to the unmanned automatic loading and unloading system, unmanned intervention full-automatic loading and unloading can be achieved, and the unmanned automatic loading and unloading problem of vertical take-off and landing spaceflight equipment is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of aerospace transportation systems, and in particular relates to an autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment. Background Art

[0002] Flight-based aerospace transportation technology is applied to point-to-point cargo transportation. Through a full-process three-dimensional transportation guarantee system, it supports the rapid transportation of large-scale and batched operable goods in a short period of time and meets the needs of cargo transportation in designated areas. Loading and unloading is the key bottleneck link in the application of flight-based aerospace transportation technology in the automatic and rapid transportation of goods.

[0003] Aerospace equipment that takes off and lands vertically has a large slenderness ratio, thin structure, and high loading and unloading height. It is difficult to complete autonomous loading and unloading under such harsh conditions. The unloading process must be fast and stable without causing collision and damage to the rocket body structure. The whole unloading process must be unmanned, and the unloading system must be lightweight. Designing under so many constraints is difficult.

[0004] The starship of SpaceX in the United States mainly uses the loading equipment at the launch site and the loading and unloading equipment on the arrow to complete the rapid loading of emergency materials. After arriving at the target landing point, the cargo hold materials are unloaded autonomously through the lifting device. The loading and unloading mainly adopts a set of independent simple elevator lifting systems, which mainly realize the lifting and lowering of cargo through ropes. There is no research on the loading and unloading technology of vertical take-off and landing aerospace equipment in China, which is in a blank stage. The loading and unloading method of aviation equipment is to open the hatch on the belly before horizontal take-off and after horizontal landing, and the hatch is connected to the ground. The cargo enters or is dragged out through the track connecting the hatch and the ground. The height of loading and unloading is much lower than that of vertical take-off and landing aerospace equipment, and the aviation equipment is in a flat state, and the unloading process is highly stable. Therefore, the loading and unloading of vertical take-off and landing aerospace equipment is more difficult. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide an autonomous, rapid, anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, which can realize fully automatic loading and unloading without human intervention, and solve the problem of unmanned autonomous loading and unloading of vertical take-off and landing aerospace equipment.

[0006] The object of the present invention is achieved through the following technical scheme: an autonomous, rapid, anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, comprising: a vertical cable-dropping system, a horizontal pushing system and a balanced release system; wherein the bottom layer cargo, the middle layer cargo and the top layer cargo are all arranged in the vertical cable-dropping system; the balanced release system is connected to the middle part of the vertical cable-dropping system; the horizontal pushing system is connected to the bottom of the vertical cable-dropping system.

[0007] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, during unloading, the horizontal pushing system pushes the bottom layer of cargo horizontally to both sides of the rocket body, and the cables of the balanced release system automatically hook and lock the bottom layer of cargo and release the bottom layer of cargo to the ground; the vertical rappelling system moves the middle layer of cargo vertically to the bottom layer, and the horizontal pushing system pushes the middle layer of cargo horizontally to both sides of the rocket body, and the cables of the balanced release system automatically hook and lock the middle layer of cargo and release the bottom layer of cargo to the ground; the vertical rappelling system moves the top layer of cargo vertically to the bottom layer, and the horizontal pushing system pushes the top layer of cargo horizontally to both sides of the rocket body, and the cables of the balanced release system automatically hook and lock the top layer of cargo and release the top layer of cargo to the ground.

[0008] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, during loading, the ropes of the balanced release system automatically hook and lock the top layer of cargo on the ground and pull the top layer of cargo to the horizontal pushing system, the horizontal pushing system pushes the top layer of cargo to the vertical rappelling system, and the vertical rappelling system moves the top layer of cargo vertically to the top layer; the ropes of the balanced release system automatically hook and lock the middle layer of cargo on the ground and pull the middle layer of cargo to the horizontal pushing system, the horizontal pushing system pushes the middle layer of cargo to the vertical rappelling system, and the vertical rappelling system moves the middle layer of cargo vertically to the middle layer; the ropes of the balanced release system automatically hook and lock the bottom layer of cargo on the ground and pull the bottom layer of cargo to the horizontal pushing system, and the horizontal pushing system pushes the bottom layer of cargo to the bottom layer of the vertical rappelling system.

[0009] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, the vertical rope descending system includes a first pulley, a second pulley, a lifting belt, a stepper motor, a dual-output shaft reducer, a bearing seat and a support frame; wherein the balance release system is connected to the middle part of the support frame; the horizontal pushing system is connected to the bottom of the support frame; the first pulley is arranged at the upper part of the support frame, the second pulley is arranged at the lower part of the support frame, one end of the lifting belt is sleeved on the first pulley, and the other end of the lifting belt is sleeved on the second pulley; the bottom layer cargo, the middle layer cargo and the top layer cargo are all arranged on the lifting belt; wherein the bottom layer cargo is located at the bottom of the lifting belt, the middle layer cargo is located in the middle of the lifting belt, and the top layer cargo is located at the top of the lifting belt; the stepper motor is connected to the dual-output shaft reducer, the dual-output shaft reducer is connected to the second pulley, and the second pulley is connected to the bottom of the support frame through the bearing seat.

[0010] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, the vertical rope descending system also includes a locking mechanism and a servo; wherein, the top and bottom of the bottom layer of cargo are both provided with servo and locking mechanism; wherein, the servo and locking mechanism are connected; the top and bottom of the middle layer of cargo are both provided with servo and locking mechanism; wherein, the servo and locking mechanism are connected; the top and bottom of the top layer of cargo are both provided with servo and locking mechanism; wherein, the servo and locking mechanism are connected.

[0011] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, the horizontal pushing system includes a vertical guide rail, a slider, a horizontal guide rail, a first outward extending guide rail, a second outward extending guide rail, a first connecting rod, a second connecting rod, a first oblique-stayed belt, a second oblique-stayed belt, a first lead screw and a guide rail servo; wherein, one end of the vertical guide rail is connected to the support frame, and the other end of the vertical guide rail is connected to the middle part of the horizontal guide rail; one end of the horizontal guide rail is connected to one end of the first outward extending guide rail, and the other end of the horizontal guide rail is connected to one end of the second outward extending guide rail; one end of the first connecting rod is rotatably connected to the middle part of the first outward extending guide rail, and the other end of the first connecting rod is rotatably connected to the middle part of the first outward extending guide rail. One end is connected to the middle part of the vertical guide rail through the slider; one end of the second connecting rod is rotatably connected to the middle part of the second extending guide rail, and the other end of the second connecting rod is connected to the middle part of the vertical guide rail through the slider; one end of the first diagonal belt is connected to the other end of the first extending guide rail, and the other end of the first diagonal belt is connected to the support frame; one end of the second diagonal belt is connected to the other end of the second extending guide rail, and the other end of the second diagonal belt is connected to the support frame; the guide rail servo is arranged on the support frame; one end of the first lead screw is connected to the guide rail servo, and the other end of the first lead screw is connected to the slider.

[0012] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, the balance release system includes a first crossbeam, a first servo, a lifting frame and two reel devices; wherein, one side of the first crossbeam is connected to the middle part of the support frame, and the other side of the first crossbeam is rotatably connected to the rotating shaft of the lifting frame; the first servo is connected to the rotating shaft of the lifting frame, and the first servo is used to drive the lifting frame to rotate counterclockwise; two reel devices are arranged side by side on the lifting frame, and the two reel devices are used to automatically hook and lock the cargo.

[0013] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, the drum device includes a second servo, a first drum, a second drum, a first sling, a second sling, a first bearing seat, a second bearing seat and a dual-output reducer; wherein, the second servo, the first bearing seat and the second bearing seat are all arranged on the lifting frame; the output shaft of the second servo is connected to the dual-output reducer; one output shaft of the dual-output reducer is connected to the first bearing seat, and the other output shaft of the dual-output reducer is connected to the second bearing seat; the first drum is sleeved on the outer surface of one output shaft of the dual-output reducer, and the second drum is sleeved on the outer surface of the other output shaft of the dual-output reducer; the first sling is wrapped around the first drum, and the second sling is wrapped around the second drum.

[0014] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, the balance release system also includes reinforcing ribs; wherein, reinforcing ribs are arranged at the bottom of the lifting frame.

[0015] In the above-mentioned autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, one end of the horizontal guide rail is hinged to one end of the first extension guide rail, and the other end of the horizontal guide rail is hinged to one end of the second extension guide rail.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) The present invention aims at the demand of unloading cargo from the top layer of rockets. By studying and optimizing the cargo loading and unloading process and loading and unloading layout of the cargo loading and unloading mechanism at the top layer of rockets, a more efficient, more reliable and more adaptable loading and unloading mechanism design scheme for different types of cargo is found, thereby improving the loading and unloading speed and efficiency.

[0018] (2) The present invention can shorten the time a rocket stays on the ground and improve its operational efficiency;

[0019] (3) The present invention gets rid of the bottleneck of existing manual unloading intervention by introducing advanced automation and intelligent technology. This can realize the automated control and management of the cargo loading and unloading process. This can reduce manual intervention and operating costs, and improve the reliability and safety of the entire process. Automation and intelligence can also improve the loading accuracy and uniformity of cargo and reduce the unbalanced torque during the rocket flight. While achieving efficient and automated cargo loading and unloading, it is necessary to ensure the safety and stability of the entire process to avoid accidents and risks;

[0020] (4) The present invention adopts a laterally symmetrical rapid loading and unloading method, which solves the problem of force balance during the loading and unloading process, making the loading and unloading process stable and safe, and at the same time, the loading and unloading process is faster and more efficient;

[0021] (5) The present invention realizes the integrated design of loading and unloading functions through the reversible structural mechanism design, fully utilizes the gravitational potential energy to move the goods, and further improves the unloading efficiency; the loading and unloading system is made lighter through the thin-wall, hollow and miniaturized design; the loading and unloading process is more resistant to overturning through the ground slope and wind resistance adaptability design. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0023] Figure 1 2 is a schematic structural diagram of an autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment provided by an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a vertical rappelling system provided by an embodiment of the present invention;

[0025] Figure 3 It is a structural schematic diagram of a horizontal push system provided by an embodiment of the present invention;

[0026] Figure 4 is a work flow chart of a balanced release system provided by an embodiment of the present invention;

[0027] Figure 5 is a schematic structural diagram of a balanced release system provided by an embodiment of the present invention;

[0028] Figure 6 It is a schematic diagram of the anti-overturning performance analysis provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Figure 1 Schematic diagram of the structure of the autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment provided by an embodiment of the present invention. Figure 1As shown, the autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment includes a vertical cable-dropping system, a horizontal pushing system and a balanced release system; wherein the bottom layer cargo, the middle layer cargo and the top layer cargo are all arranged in the vertical cable-dropping system; the balanced release system is connected to the middle part of the vertical cable-dropping system; and the horizontal pushing system is connected to the bottom of the vertical cable-dropping system.

[0031] During unloading, the horizontal pushing system pushes the bottom cargo horizontally to both sides of the arrow body, and the cables of the balanced release system automatically hook and lock the bottom cargo and release the bottom cargo to the ground; the vertical rappelling system moves the middle cargo vertically to the bottom layer, and the horizontal pushing system pushes the middle cargo horizontally to both sides of the arrow body, and the cables of the balanced release system automatically hook and lock the middle cargo and release the bottom cargo to the ground; the vertical rappelling system moves the top cargo vertically to the bottom layer, and the horizontal pushing system pushes the top cargo horizontally to both sides of the arrow body, and the cables of the balanced release system automatically hook and lock the top cargo and release the top cargo to the ground.

[0032] During loading, the ropes of the balanced release system automatically hook and lock the top layer of cargo on the ground and pull the top layer of cargo onto the horizontal pushing system, and the horizontal pushing system pushes the top layer of cargo to the vertical rappelling system, and the vertical rappelling system moves the top layer of cargo vertically to the top layer; the ropes of the balanced release system automatically hook and lock the middle layer of cargo on the ground and pull the middle layer of cargo onto the horizontal pushing system, and the horizontal pushing system pushes the middle layer of cargo to the vertical rappelling system, and the vertical rappelling system moves the middle layer of cargo vertically to the middle layer; the ropes of the balanced release system automatically hook and lock the bottom layer of cargo on the ground and pull the bottom layer of cargo onto the horizontal pushing system, and the horizontal pushing system pushes the bottom layer of cargo to the bottom layer of the vertical rappelling system.

[0033] like Figure 2As shown, the vertical rappelling system includes a first pulley 1-11, a second pulley 1-12, a lifting belt 1-3, a stepper motor 1-4, a dual-output shaft reducer 1-5, a bearing seat 1-6 and a support frame 1-8; wherein the balance release system is connected to the middle of the support frame 1-8; the horizontal push system is connected to the bottom of the support frame 1-8; the first pulley 1-11 is arranged on the upper part of the support frame 1-8, the second pulley 1-12 is arranged on the lower part of the support frame 1-8, one end of the lifting belt 1-3 is sleeved on the first pulley 1-11, and the other end of the lifting belt 1-3 is sleeved On the second pulley 1-12; the bottom cargo 1-71, the middle cargo 1-72 and the top cargo 1-73 are all arranged on the lifting belt 1-3; wherein, the bottom cargo 1-71 is located at the bottom of the lifting belt 1-3, the middle cargo 1-72 is located in the middle of the lifting belt 1-3, and the top cargo 1-73 is located at the top of the lifting belt 1-3; the stepper motor 1-4 is connected to the dual-output shaft reducer 1-5, the dual-output shaft reducer 1-5 is connected to the second pulley 1-12, and the second pulley 1-12 is connected to the bottom of the support frame 1-8 through the bearing seat 1-6.

[0034] The stepper motor 1-4 is located at the bottom of the system and is firmly connected to the support frame 1-8 through the dual output shaft reducer 1-5 and the bearing seat 1-6 to ensure smooth and efficient power transmission. The cargo is suspended on two sets of symmetrically distributed lifting belts, and the support frame 1-8 provides rigid support for the entire system to ensure the stability and structural balance of each component during the lifting process.

[0035] The vertical rappelling system also includes a locking mechanism 1-2 and a steering gear 1-9; wherein, the top and bottom of the bottom cargo 1-71 are both provided with a steering gear 1-9 and a locking mechanism 1-2; wherein, the steering gear 1-9 and the locking mechanism 1-2 are connected; the top and bottom of the middle cargo 1-72 are both provided with a steering gear 1-9 and a locking mechanism 1-2; wherein, the steering gear 1-9 and the locking mechanism 1-2 are connected; the top and bottom of the top cargo 1-73 are both provided with a steering gear 1-9 and a locking mechanism 1-2; wherein, the steering gear 1-9 and the locking mechanism 1-2 are connected.

[0036] The vertical rope descent system uses the stepper motor 1-4 as the core power source, and drives the lifting belt 1-3 to achieve precise lifting of the cargo in the vertical direction. The power output of the stepper motor is first transmitted to the dual-output shaft reducer 1-5, and then further transmitted to the lifting belt 1-3 through the pulley, so that it can stably reciprocate up and down, thereby achieving precise vertical rope descent of the cargo. In order to further improve the positioning accuracy of the system, there are servos 1-9 at the top and bottom of the cargo to drive the locking mechanism 1-2 to achieve precise positioning and locking of the container during the lifting process. This design not only improves the safety of the container during the lifting process, but also enhances the overall stability and operating accuracy of the system.

[0037] like Figure 3 As shown, the horizontal pushing system includes a vertical guide rail 2-1, a slider 2-2, a horizontal guide rail 2-3, a first extending guide rail 2-41, a second extending guide rail 2-42, a first connecting rod 2-51, a second connecting rod 2-52, a first diagonal belt 2-61, a second diagonal belt 2-62, a first lead screw 2-7 and a guide rail servo 2-8; wherein, one end of the vertical guide rail 2-1 is connected to the support frame 1-8, and the other end of the vertical guide rail 2-1 is connected to the middle part of the horizontal guide rail 2-3; one end of the horizontal guide rail 2-3 is connected to one end of the first extending guide rail 2-41, and the other end of the horizontal guide rail 2-3 is connected to one end of the second extending guide rail 2-42; one end of the first connecting rod 2-51 is rotatably connected to the middle part of the first extending guide rail 2-41, and the other end of the first connecting rod 2-51 is rotatably connected to the middle part of the first extending guide rail 2-41. One end is connected to the middle part of the vertical guide rail 2-1 through the slider 2-2; one end of the second connecting rod 2-52 is rotatably connected to the middle part of the second extending guide rail 2-42, and the other end of the second connecting rod 2-52 is connected to the middle part of the vertical guide rail 2-1 through the slider 2-2; one end of the first diagonal belt 2-61 is connected to the other end of the first extending guide rail 2-41, and the other end of the first diagonal belt 2-61 is connected to the support frame 1-8; one end of the second diagonal belt 2-62 is connected to the other end of the second extending guide rail 2-42, and the other end of the second diagonal belt 2-62 is connected to the support frame 1-8; the guide rail servo 2-8 is arranged on the support frame 1-8, one end of the first lead screw 2-7 is connected to the guide rail servo 2-8, and the other end of the first lead screw 2-7 is connected to the slider 2-2. One end of the horizontal guide rail 2-3 is hinged to one end of the first outward extending guide rail 2-41, and the other end of the horizontal guide rail 2-3 is hinged to one end of the second outward extending guide rail 2-42.

[0038] The vertical guide rails 2-1 are fixedly installed on both sides of the system to provide vertical guidance for the slider 2-2 so that the slider can move smoothly along the vertical guide rails. The horizontal guide rails 2-3 at the bottom of the system are hinged with the extension rails to provide support for horizontal movement. The connecting rod connects the extension rails through the sliders, so that the extension rails can be flexibly retracted and extended within a 90-degree range, enhancing the operational flexibility of the system. The diagonal belt is installed at the bottom of the frame to provide additional support through the tensioning structure to prevent the system from shaking during operation, thereby improving the stability of the overall structure.

[0039] The power system that drives the extension guide rail to fold and unfold is composed of the first lead screw 2-7 and the guide rail servo 2-8. The first lead screw 2-7 is arranged vertically in the center of the horizontal push system to make the sliders on both sides of the system move synchronously. The guide rail servo 2-8 is installed above the first lead screw to accurately control the position of the slider to ensure that the extension guide rail can run smoothly during the folding and unfolding process.

[0040] In the non-working state, the extended guide rail remains vertical and parallel to the axis of the rocket body. When in the working state, the guide rail servo drives the screw module to drive the slider downward, causing the left and right extended guide rails to be synchronously unfolded to the outside of the rocket body until they are perpendicular to the rocket body. Subsequently, the trolley moves along the horizontal guide rail and the unfolded extended guide rail to push the container to the outside of the rocket body, preparing for the next step of balanced release operation.

[0041] like Figure 5 As shown, the balanced release system includes a first crossbeam 3-1, a first steering gear 3-2, a lifting frame 3-3 and two reel devices; wherein, one side of the first crossbeam 3-1 is connected to the middle part of the support frame 1-8, and the other side of the first crossbeam 3-1 is rotatably connected to the rotating shaft of the lifting frame 3-3; the first steering gear 3-2 is connected to the rotating shaft of the lifting frame 3-3, and the first steering gear 3-2 is used to drive the lifting frame 3-3 to rotate counterclockwise; the two reel devices are arranged side by side on the lifting frame 3-3, and the two reel devices are used to automatically hook and lock the cargo.

[0042] The drum device includes a second steering gear 3-4, a first drum 3-51, a second drum 3-52, a first sling 3-61, a second sling 3-62, a first bearing seat 3-71, a second bearing seat 3-72 and a dual-output reduction box 3-8; wherein the second steering gear 3-4, the first bearing seat 3-71 and the second bearing seat 3-72 are all arranged on the lifting frame 3-3; the output shaft of the second steering gear 3-4 is connected to the dual-output reduction box 3-8; the dual-output reduction box 3-8 is connected to the first bearing seat 3-71 and the second bearing seat 3-72. One output shaft of the dual-output reducer 3-8 is connected to the first bearing seat 3-71, and the other output shaft of the dual-output reducer 3-8 is connected to the second bearing seat 3-72; the first reel 3-51 is sleeved on the outer surface of one output shaft of the dual-output reducer 3-8, and the second reel 3-52 is sleeved on the outer surface of the other output shaft of the dual-output reducer 3-8; the first sling 3-61 is wound around the first reel 3-51, and the second sling 3-62 is wound around the second reel 3-52.

[0043] The balanced release system also includes reinforcing ribs 3-9; wherein, reinforcing ribs 3-9 are provided at the bottom of the lifting frame 3-3.

[0044] A first crossbeam 3-1 is arranged on the top of the balanced release system. The crossbeam spans the proximal end of the support frame 3-3, with the end close to the arrow body as the proximal end and the end away from the arrow body as the distal end, and is used to support and fix the first servo 3-2. The system slings are evenly distributed at the four corners of the support frame to achieve balanced hanging. Four reinforcing ribs 3-9 are evenly distributed at the bottom of the support frame. The long right-angle side of each reinforcing rib is hinged to the support frame, and the opening and closing state is controlled by an electromagnetic adsorption device. The two output ends of the dual-output reduction box 3-8 are respectively connected to the shafts of the reels on both sides, and the input end is connected to the second servo 3-4, thereby realizing the synchronous drive of the drum. The system is equipped with a total of four drums, each of which is provided with two symmetrically distributed bearing seats to support and position the drum to ensure its smooth operation.

[0045] like Figure 4 As shown, in the non-working state, the balance release system is completely folded and maintained parallel to the arrow body. After entering the working state, the first steering gear 3-2 first drives the lifting frame 3-3 to rotate counterclockwise until the lifting frame is perpendicular to the arrow body. Subsequently, through the coordinated cooperation of the drum and the second steering gear 3-4, the spreader is quickly released downward and accurately docked with the standard container. Then, the reinforcement rib 3-9 is unfolded to improve the structural strength and rigidity of the system. Finally, the trolley of the horizontal push system is withdrawn and reset, and the spreader continues to release downward, and finally the container is placed steadily on the ground.

[0046] Aluminum alloy is the preferred material for autonomous, rapid and anti-overturning loading and unloading devices of vertical take-off and landing aerospace equipment.

[0047] The hatch opening method adopts the side-opening hatch door method, and several rotating hinges are set along the longitudinal direction of the load level. The hatch door rotates about a certain angle to provide ample operating space for unloading. The two hatch doors are symmetrically designed to improve wind resistance and unloading stability. Reinforcement ribs are added at the load-level hatch door position to compensate for the stiffness and strength loss caused by opening the hatch door. Key movable parts such as hatch doors are installed with thermal sealing devices. The thermal sealing devices must be able to adapt to the aerodynamic deformation of this return process and ensure that the thermal sealing function can be maintained within a certain deformation range. Therefore, a dynamic and static combination and point-line-surface multi-dimensional coupling sealing design scheme is adopted.

[0048] During the rocket landing and cargo release process, horizontal forces (wind, inertia, slope, cargo oblique pulling force, etc.) act on the rocket body, generating a tipping moment that causes it to overturn. The greater the horizontal force and the higher the rocket, the greater the tipping moment and the greater the danger. The rocket's own weight and the support frame fulcrum generate an anti-tipping moment to counteract this tipping moment. The heavier the rocket, the greater the anti-tipping moment and the more stable the rocket. The magnitude of the rocket's stability is expressed by the ratio of the anti-tipping moment to the tipping moment relative to the tipping edge, that is, the "stability safety factor."

[0049] During the rocket landing and cargo release process, there are multiple factors that affect the stability and anti-overturning performance of the rocket. Main factor 1: Since the main body of the rocket is relatively high, although the size of each cargo can be kept consistent, their weight cannot be exactly the same. Therefore, during the operation of the horizontal push system, the cargo moves to the outside of the main body of the rocket, so the overall center of gravity of the rocket will move, which will cause the rocket to overturn under extreme conditions. Main factor 2: During the operation of the horizontal push system, the movement will also generate inertial force, and the magnitude of this inertial force will also affect the movement of the center of gravity of the rocket. Main factor 3: Since the field operation site is not flat, this factor will also directly affect the distribution of the center of gravity of the rocket. Main factor 4: The wind load at the landing site will greatly affect the anti-overturning performance of the rocket. When the wind load is too large, the rocket will be blown over.

[0050] like Figure 6 As shown in the figure, in order to determine the stability safety factor during rocket landing and cargo release, the overall anti-overturning moment equation of the rocket system is established with wind load, inertial force, and the gravity of the rocket and cargo as independent variables. By programming this equation, the anti-overturning performance of the rocket system at any time can be calculated in real time, and the efficiency of the rocket landing and cargo release can be optimized.

[0051] This embodiment aims at the demand of unloading cargo from the top of the rocket. By studying and optimizing the cargo loading and unloading process and loading and unloading layout of the rocket's high-level cargo loading and unloading mechanism, a more efficient, more reliable, and more suitable loading and unloading mechanism design scheme for different types of cargo is found to improve the loading and unloading speed and efficiency. The rocket's residence time on the ground can be shortened and its operational efficiency can be improved. By introducing advanced automation and intelligent technology, the bottleneck of existing manual unloading intervention can be eliminated. To achieve automated control and management of the cargo loading and unloading process. This can reduce manual intervention and operating costs and improve the reliability and safety of the entire process. Automation and intelligence can also improve the loading accuracy and uniformity of cargo and reduce the unbalanced torque during the rocket's flight. While achieving efficient and automated cargo loading and unloading, it is necessary to ensure the safety and stability of the entire process to avoid accidents and risks.

[0052] The present embodiment proposes an autonomous loading and unloading method suitable for slender and thin-walled aerospace equipment, which can realize fully automatic loading and unloading without human intervention, and solve the problem of unmanned autonomous loading and unloading of vertical take-off and landing aerospace equipment; the present embodiment overcomes the poor stability of aerospace equipment with a relatively large slenderness, adopts a laterally symmetrical rapid loading and unloading method, solves the problem of force balance in the loading and unloading process, and makes the loading and unloading process stable and safe, while the loading and unloading process is faster and more efficient; the present embodiment realizes the integrated design of loading and unloading functions through the reversible structural mechanism design, fully utilizes the gravitational potential energy to move the goods, and further improves the unloading efficiency; the loading and unloading system is made lighter through the thin-walled, hollow and miniaturized design; the loading and unloading process has strong anti-overturning ability through the ground slope and wind adaptability design.

[0053] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment, characterized in that include: Vertical rappelling system, horizontal pushing system and balanced release system; among them, The bottom layer cargo, the middle layer cargo and the top layer cargo are all arranged in the vertical rope descending system; The balance release system is connected to the middle part of the vertical rappelling system; The horizontal pushing system is connected to the bottom of the vertical rappelling system.

2. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 1 is characterized by: During unloading, the horizontal pushing system pushes the bottom cargo horizontally to both sides of the arrow body, and the cables of the balanced release system automatically hook and lock the bottom cargo and release the bottom cargo to the ground; the vertical rappelling system moves the middle cargo vertically to the bottom layer, and the horizontal pushing system pushes the middle cargo horizontally to both sides of the arrow body, and the cables of the balanced release system automatically hook and lock the middle cargo and release the bottom cargo to the ground; the vertical rappelling system moves the top cargo vertically to the bottom layer, and the horizontal pushing system pushes the top cargo horizontally to both sides of the arrow body, and the cables of the balanced release system automatically hook and lock the top cargo and release the top cargo to the ground.

3. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 1 is characterized by: During loading, the ropes of the balanced release system automatically hook and lock the top layer of cargo on the ground and pull the top layer of cargo onto the horizontal pushing system, and the horizontal pushing system pushes the top layer of cargo to the vertical rappelling system, and the vertical rappelling system moves the top layer of cargo vertically to the top layer; the ropes of the balanced release system automatically hook and lock the middle layer of cargo on the ground and pull the middle layer of cargo onto the horizontal pushing system, and the horizontal pushing system pushes the middle layer of cargo to the vertical rappelling system, and the vertical rappelling system moves the middle layer of cargo vertically to the middle layer; the ropes of the balanced release system automatically hook and lock the bottom layer of cargo on the ground and pull the bottom layer of cargo onto the horizontal pushing system, and the horizontal pushing system pushes the bottom layer of cargo to the bottom layer of the vertical rappelling system.

4. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 1 is characterized by: The vertical rope descent system comprises a first pulley (1-11), a second pulley (1-12), a lifting belt (1-3), a stepper motor (1-4), a dual-output shaft reducer (1-5), a bearing seat (1-6) and a support frame (1-8); wherein: The balanced release system is connected to the middle part of the support frame (1-8); The horizontal pushing system is connected to the bottom of the support frame (1-8); The first pulley (1-11) is arranged on the upper part of the support frame (1-8), the second pulley (1-12) is arranged on the lower part of the support frame (1-8), one end of the lifting belt (1-3) is sleeved on the first pulley (1-11), and the other end of the lifting belt (1-3) is sleeved on the second pulley (1-12); The bottom layer cargo (1-71), the middle layer cargo (1-72) and the top layer cargo (1-73) are all arranged on the lifting belt (1-3); wherein the bottom layer cargo (1-71) is located at the bottom of the lifting belt (1-3), the middle layer cargo (1-72) is located in the middle of the lifting belt (1-3), and the top layer cargo (1-73) is located at the top of the lifting belt (1-3); The stepper motor (1-4) is connected to the dual-output shaft reducer (1-5), the dual-output shaft reducer (1-5) is connected to the second pulley (1-12), and the second pulley (1-12) is connected to the bottom of the support frame (1-8) through the bearing seat (1-6).

5. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 4 is characterized in that: The vertical rope descent system further comprises a locking mechanism (1-2) and a steering gear (1-9); wherein: A steering engine (1-9) and a locking mechanism (1-2) are provided on the top and bottom of the bottom cargo (1-71); wherein the steering engine (1-9) and the locking mechanism (1-2) are connected; A steering gear (1-9) and a locking mechanism (1-2) are provided on the top and bottom of the middle-layer cargo (1-72); wherein the steering gear (1-9) and the locking mechanism (1-2) are connected; A steering engine (1-9) and a locking mechanism (1-2) are provided on the top and bottom of the top cargo (1-73); wherein the steering engine (1-9) and the locking mechanism (1-2) are connected.

6. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 4 is characterized by: The horizontal pushing system comprises a vertical guide rail (2-1), a slider (2-2), a horizontal guide rail (2-3), a first outward extending guide rail (2-41), a second outward extending guide rail (2-42), a first connecting rod (2-51), a second connecting rod (2-52), a first inclined belt (2-61), a second inclined belt (2-62), a first lead screw (2-7) and a guide rail steering gear (2-8); wherein, One end of the vertical guide rail (2-1) is connected to the support frame (1-8), and the other end of the vertical guide rail (2-1) is connected to the middle part of the horizontal guide rail (2-3); One end of the horizontal guide rail (2-3) is connected to one end of the first outward extending guide rail (2-41), and the other end of the horizontal guide rail (2-3) is connected to one end of the second outward extending guide rail (2-42); One end of the first connecting rod (2-51) is rotatably connected to the middle part of the first outwardly extending guide rail (2-41), and the other end of the first connecting rod (2-51) is connected to the middle part of the vertical guide rail (2-1) through the slider (2-2); One end of the second connecting rod (2-52) is rotatably connected to the middle part of the second outwardly extending guide rail (2-42), and the other end of the second connecting rod (2-52) is connected to the middle part of the vertical guide rail (2-1) through the slider (2-2); One end of the first diagonal belt (2-61) is connected to the other end of the first outwardly extending guide rail (2-41), and the other end of the first diagonal belt (2-61) is connected to the support frame (1-8); One end of the second diagonal belt (2-62) is connected to the other end of the second outwardly extending guide rail (2-42), and the other end of the second diagonal belt (2-62) is connected to the support frame (1-8); The guide rail servo (2-8) is arranged on the support frame (1-8); One end of the first lead screw (2-7) is connected to the guide rail servo (2-8), and the other end of the first lead screw (2-7) is connected to the slider (2-2).

7. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 4 is characterized by: The balance release system comprises a first crossbeam (3-1), a first steering gear (3-2), a lifting frame (3-3) and two reel devices; wherein: One side of the first crossbeam (3-1) is connected to the middle part of the support frame (1-8), and the other side of the first crossbeam (3-1) is rotatably connected to the rotation axis of the lifting frame (3-3); The first steering gear (3-2) is connected to the rotating shaft of the lifting frame (3-3), and the first steering gear (3-2) is used to drive the lifting frame (3-3) to rotate counterclockwise; Two reel devices are arranged side by side on the lifting frame (3-3), and the two reel devices are used to automatically hook and lock the goods.

8. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 7 is characterized by: The reel device comprises a second steering gear (3-4), a first reel (3-51), a second reel (3-52), a first sling (3-61), a second sling (3-62), a first bearing seat (3-71), a second bearing seat (3-72) and a dual-output reduction box (3-8); wherein: The second steering gear (3-4), the first bearing seat (3-71) and the second bearing seat (3-72) are all arranged on the supporting frame (3-3); The output shaft of the second steering gear (3-4) is connected to the dual-output reduction gearbox (3-8); One output shaft of the dual-output reduction gearbox (3-8) is connected to the first bearing seat (3-71), and the other output shaft of the dual-output reduction gearbox (3-8) is connected to the second bearing seat (3-72); The first reel (3-51) is sleeved on the outer surface of one output shaft of the dual-output reduction gearbox (3-8), and the second reel (3-52) is sleeved on the outer surface of the other output shaft of the dual-output reduction gearbox (3-8); The first sling (3-61) is wound around the first reel (3-51), and the second sling (3-62) is wound around the second reel (3-52).

9. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 7 is characterized by: The balanced release system further comprises reinforcing ribs (3-9); wherein the bottom of the lifting frame (3-3) is provided with reinforcing ribs (3-9).

10. The autonomous rapid anti-overturning loading and unloading device for vertical take-off and landing aerospace equipment according to claim 6 is characterized by: One end of the horizontal guide rail (2-3) is hinged to one end of the first outward extending guide rail (2-41), and the other end of the horizontal guide rail (2-3) is hinged to one end of the second outward extending guide rail (2-42).

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