Modularized combined array type automatic throwing device, working method and unmanned aerial vehicle

Abstract

The invention discloses a modular combined array type automatic throwing device which comprises a plurality of throwing units arranged in an array mode, each throwing unit comprises a barrel of a tubular structure, a top plate is arranged at the top of each barrel, and holes correspondingly communicated with the barrels in a matched mode are formed in the top plates; a hanging frame is arranged in the barrel body and used for hanging a throwing object, a driving mechanism used for driving the hanging frame to release the throwing object is arranged on the top plate, an opening is formed in the side wall of the barrel body, and the opening is used for enabling a part of the structure of the hanging frame to retreat from the interior of the barrel body when the hanging frame releases the throwing object; according to the unmanned aerial vehicle throwing device, rapid filling and automatic throwing of thrown objects are achieved, the throwing units are modularized and can be combined and arranged according to different use requirements, control over the throwing frequency and the throwing number is more flexible, the throwing stability, reliability and accuracy are improved, and the unmanned aerial vehicle throwing operation requirements in various complex environments are met.

Description

Technical Field

[0001] The invention relates to a modular combination array type automatic throwing device, a working method and an unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicle automatic throwing. Background Art

[0002] With the continuous development of drone technology, drones are being used more and more widely in fields such as power inspection, emergency rescue, and material delivery. However, in actual applications, the stability, reliability, and accuracy of drone dropping devices have always been technical difficulties. Summary of the invention

[0003] The purpose of the present invention is to provide a modular combination array automatic throwing device, a working method and a drone, aiming to improve the throwing stability, reliability and throwing accuracy, and meet the requirements of drone throwing operations in various complex environments.

[0004] The technical solution adopted by the present invention is as follows: A modular combination array automatic throwing device includes a plurality of throwing units arranged in an array, wherein the throwing unit includes a cylinder with a tubular structure, a top plate is arranged on the top of the cylinder, and holes corresponding to and communicating with the cylinder are formed on the top plate; a mounting rack is arranged inside the cylinder, the mounting rack is used to mount throwing objects, a driving mechanism for driving the mounting rack to release the throwing objects is arranged on the top plate, and an opening is formed on the side wall of the cylinder, the opening is used for part of the structure of the mounting rack to exit the cylinder when the mounting rack releases the throwing objects.

[0005] As a preferred embodiment of the present invention, the mounting frame is a U-shaped structure, and the open end of the U-shaped mounting frame faces the inner circumferential surface of the cylinder, a notch for mounting projectiles is formed on the bottom arm plate of the U-shaped mounting frame, and the top bend of the U-shaped mounting frame is elastically hinged to the top plate through a spring hinge. When no projectiles are mounted, the spring hinge pulls the mounting frame to make the bottom arm plate of the mounting frame withdraw from the interior of the cylinder.

[0006] As a preferred embodiment of the present invention, a rack buckle is provided on the top arm plate of the mounting rack, and a fixed buckle is rotatably provided on the top plate, the fixed buckle is an L-shaped structure, and the corner of the L-shaped structure fixed buckle is rotatably connected to the top plate, one end of the L-shaped structure fixed buckle serves as a buckle end to cooperate with the rack buckle, and the rack buckle 6 is formed with a limiting groove to cooperate with the buckle end of the fixed buckle 7, and the other end of the L-shaped structure fixed buckle serves as a driving end to cooperate with the driving mechanism.

[0007] As a preferred embodiment of the present invention, a limit block which is snap-fitted with the mounting bracket is arranged inside the cylinder, and the limit block is used to limit the position of the mounting bracket when no projectile is mounted.

[0008] As a preferred embodiment of the present invention, the driving mechanism includes a power source and a linear connecting rod, a movable hole is formed on the linear connecting rod, a guide column is provided at the driving end of the fixed buckle, and the guide column is engaged in the movable hole. The power source is used to drive the linear connecting rod to move linearly, and the linear connecting rod drives the fixed buckle to rotate to the throwing position, so that the buckle end of the fixed buckle is disengaged from the bracket buckle.

[0009] As a preferred embodiment of the present invention, the bottom of the linear connecting rod is slidably connected to the top plate via a linear guide rail.

[0010] As a preferred embodiment of the present invention, the power source includes a steering gear, a rocker arm is arranged on the output shaft of the steering gear, a column cooperating with the rocker arm is arranged on the linear connecting rod, the steering gear is used to drive the rocker arm to rotate and swing back and forth, and the rocker arm drives the linear connecting rod to move linearly through the column.

[0011] As a preferred embodiment of the present invention, a return spring is connected between the driving end of the fixed buckle and the top plate, and a mechanical limit column is arranged at the bottom of the fixed buckle; after the fixed buckle is rotated to the throwing position, the return spring is used to pull the fixed buckle back to the pre-throwing position and is limited by the mechanical limit column, and the driving end of the fixed buckle drives the linear connecting rod through the guide column to return to the pre-throwing position.

[0012] As a preferred embodiment of the present invention, the fixing buckles of some throwing units share a set of driving mechanisms.

[0013] A working method of a modular combination array type automatic throwing device, comprising: Loading process: The projectile is inserted into the cylinder from bottom to top. The tail wing of the projectile first pushes up the top arm plate of the mounting frame. The mounting frame rotates under the action of the spring hinge, and the bottom arm plate of the mounting frame enters the cylinder through the opening. The notch on the bottom arm plate of the mounting frame passes through the neck of the projectile and supports the tail wing at the upper end of the neck of the projectile; the reset spring provides a counterclockwise pre-tightening force for the fixed buckle. When the mounting buckle is about to be in place, the mounting buckle will push the fixed buckle, and the fixed buckle rotates around its own axis while maintaining the pre-tightening force. When the mounting buckle is in place, the fixed buckle will automatically pop into the limit groove of the mounting buckle under the action of the pre-tightening force provided by the reset spring, and ensure that the limit groove of the mounting buckle and the fixed buckle always maintain a certain limit overlap. At this time, the mounting buckle on the top arm plate of the mounting frame is clamped on the fixed buckle, and the tail wing of the projectile is mounted on the notch of the bottom arm plate of the mounting frame, and the loading of the projectile is completed. Casting process: The power source drives the linear connecting rod to move in a linear manner, and the linear connecting rod drives the fixed buckle to rotate to the throwing position, so that the fixed buckle is disengaged from the bracket buckle. Since the bracket buckle no longer has the locking effect of the fixed buckle, the mounting frame flips over under the action of the spring hinge. After the mounting frame flips over, the bottom arm plate of the mounting frame exits the cylinder through the opening, and the tail wing of the thrown object is disengaged from the bottom arm plate of the mounting frame. Under the action of gravity, the thrown object falls downward to complete the throwing; under the action of the reset spring, the fixed buckle rotates back to the position before throwing. At the same time, the driving end of the fixed buckle drives the linear connecting rod to return to the position before throwing through the guide column.

[0014] A drone comprises a drone body and the above-mentioned modular combination array type automatic throwing device, wherein the modular combination array type automatic throwing device is connected to the drone body and driven to fly by the drone body.

[0015] The present invention is beneficial in that: (1) Realized rapid loading and automatic throwing of projectiles; (2) The throwing units are modular and can be combined and arranged according to different usage requirements; (3) It can realize one throw or multiple throws at a time, and the control of the number of throws and the number of throws is more flexible; (4) It has a self-locking function to ensure that the thrown objects will not fall during transportation; (5) The stability, reliability and accuracy of throwing are improved to meet the needs of UAV throwing operations in various complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention before throwing; Figure 2 yes Figure 1 A local enlarged schematic diagram in FIG. Figure 3 It is a structural schematic diagram of the spring hinge of the present invention; Figure 4 It is a schematic diagram of the structure of the present invention when throwing; Figure 5 yes Figure 4 A local enlarged schematic diagram in FIG. Figure 6 It is a structural schematic diagram of the mechanical limit column of the present invention.

[0017] Meaning of the reference numerals in the figures: 1- barrel, 2- top plate, 3- mounting frame, 4- throwing object, 5- spring hinge; 6-hanging bracket buckle, 7-fixing buckle, 8-limiting block, 9-linear connecting rod, 10-guide column; 11-servo, 12-rocker arm, 13-column, 14-return spring, 15-mechanical limit column. DETAILED DESCRIPTION

[0018] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Embodiment 1

[0020] like Figure 1-6 As shown, the present embodiment is a modular combination array type automatic throwing device, comprising a plurality of throwing units arranged in an array, the throwing unit comprising a barrel 1 of a tubular structure, a top plate 2 being arranged on the top of the barrel 1, and a hole corresponding to and communicating with the barrel 1 being formed on the top plate 2; a mounting rack 3 being arranged inside the barrel 1, the mounting rack 3 being used for mounting a throwing object 4, a driving mechanism being arranged on the top plate 2 for driving the mounting rack 3 to release the throwing object 4, an opening being formed on the side wall of the barrel 1, the opening being used for a part of the structure of the mounting rack 3 to exit the inside of the barrel 1 when the mounting rack 3 releases the throwing object 4.

[0021] In this embodiment, the mounting frame 3 is a U-shaped structure, and the open end of the U-shaped mounting frame 3 faces the inner circumference of the cylinder 1. A notch for mounting the projectile 4 is formed on the bottom arm plate of the U-shaped mounting frame 3, and the tail of the projectile 4 is mounted at the notch. In this embodiment, the notch is a U-shaped notch; the top bend of the U-shaped mounting frame 3 is elastically hinged to the top plate 2 through a spring hinge 5. When the projectile 4 is not mounted, the spring hinge 5 pulls the mounting frame 3 to make the bottom arm plate of the mounting frame 3 withdraw from the inside of the cylinder 1, such as Figure 5 shown.

[0022] In this embodiment, a rack buckle 6 is provided on the top arm plate of the mounting rack 3, and a fixed buckle 7 is rotatably provided on the top plate 2. The fixed buckle 7 is an L-shaped structure. The corner of the L-shaped fixed buckle 7 is rotatably connected to the top plate 2. One end of the L-shaped fixed buckle 7 serves as a buckle end to cooperate with the rack buckle 6. The rack buckle 6 is formed with a limiting groove to cooperate with the buckle end of the fixed buckle 7. The other end of the L-shaped fixed buckle 7 serves as a driving end to cooperate with the driving mechanism. A limiting block 8 to cooperate with the rack buckle 6 is provided inside the cylinder 1, and the limiting block 8 is used to limit the position of the mounting rack 3 when the projectile 4 is not mounted.

[0023] The driving mechanism in this embodiment includes a power source and a linear connecting rod 9, a movable hole is formed on the linear connecting rod 9, a guide column 10 is set at the driving end of the fixed buckle 7, the guide column 10 is fitted in the movable hole, the diameter of the guide column 10 is smaller than the width of the movable hole, and the guide column 10 has a certain range of motion in the movable hole; the power source is used to drive the linear connecting rod 9 to move linearly, and the linear connecting rod 9 drives the fixed buckle 7 to rotate to the throwing position, so that the buckle end of the fixed buckle 7 is disengaged from the bracket buckle 6, thereby releasing the thrown object 4.

[0024] In order to ensure the linear motion stability of the linear connecting rod 9, in this embodiment, the bottom of the linear connecting rod 9 is slidably connected to the top plate 2 through a linear guide rail, so that the linear connecting rod 9 can only move linearly left and right.

[0025] In this embodiment, the power source includes a servo 11, a rocker arm 12 is arranged on the output shaft of the servo 11, and a column 13 cooperating with the rocker arm 12 is arranged on the linear connecting rod 9. The servo 11 is used to drive the rocker arm 12 to rotate and swing back and forth within a certain angle range, and the rocker arm 12 drives the linear connecting rod 9 to move linearly through the column 13.

[0026] In this embodiment, a return spring 14 is connected between the driving end of the fixed buckle 7 and the top plate 2, and a mechanical limit column 15 is set at the bottom of the fixed buckle 7; after the fixed buckle 7 is rotated to the throwing position, the return spring 14 is used to pull the fixed buckle 7 back to the pre-throwing position and limit it through the mechanical limit column 15. At the same time, the driving end of the fixed buckle 7 drives the linear connecting rod 9 through the guide column 10 to return to the pre-throwing position.

[0027] The fixing buckles 7 of some throwing units in the plurality of throwing units may share a set of driving mechanisms, for example Figure 1 and 2 The one servo 11 shown can control the fixed buckles 7 of a row of two throwing units; of course, in actual application, one servo 11 can also control the fixed buckles 7 of a row of multiple throwing units, or one servo 11 can only control the fixed buckle 7 of one throwing unit.

[0028] The throwing units in this embodiment can be continuously combined and arranged to form arrays of different shapes and specifications, and are not limited to the styles shown in the drawings.

[0029] Embodiment 2

[0030] refer to Figure 1-6 As shown, this embodiment is a working method of a modular combination array type automatic throwing device, comprising: Loading process: Insert the projectile 4 into the cylinder 1 from bottom to top. During this process, the tail wing of the projectile 4 first pushes up the top arm plate of the mounting frame 3, and the mounting frame 3 rotates under the action of the spring hinge 5. The bottom arm plate of the mounting frame 3 enters the cylinder 1 through the opening, and the U-shaped notch on the bottom arm plate of the mounting frame 3 passes through the neck of the projectile 4, and supports the tail wing at the upper end of the neck of the projectile 4; because the driving end of the fixing buckle 7 is connected to the reset spring 14, the reset spring 14 provides a pre-tightening force for the fixing buckle 7 to rotate counterclockwise when viewed from top to bottom, and ensures that the fixing buckle 7 always maintains the pre-tightening force counterclockwise. During the loading process, when the limit slot of the rack buckle 6 is about to be in place upwards, the rack buckle 6 will push the fixed buckle 7, and the fixed buckle 7 will rotate around its own axis while maintaining the preload force. When the limit slot of the rack buckle 6 is in place, the fixed buckle 7 will automatically bounce into the limit slot of the rack buckle 6 under the action of the preload force provided by the reset spring 14, and ensure that the limit slot of the rack buckle 6 and the fixed buckle 7 always maintain a certain limit overlap. At this time, the rack buckle 6 on the top arm plate of the mounting frame 3 is clamped on the fixed buckle 7, and the tail wing of the projectile 4 is mounted on the U-shaped notch of the bottom arm plate of the mounting frame 3, and the loading of the projectile 4 is completed.

[0031] Casting process: The power source drives the linear connecting rod 9 to move linearly. Specifically, the steering gear 11 drives the rocker arm 12 to rotate and swing. The rocker arm 12 drives the linear connecting rod 9 to move linearly through the column 13. The linear connecting rod 9 drives the fixed buckle 7 to rotate to the throwing position, so that the fixed buckle 7 is disengaged from the rack buckle 6. Since the rack buckle 6 no longer has the blocking effect of the fixed buckle 7, the mounting frame 3 is flipped under the action of the spring hinge 5, and the flipping position of the mounting frame 3 is limited by the limit block 8. After the mounting frame 3 is flipped, the bottom arm plate of the mounting frame 3 exits the cylinder 1 through the opening, and the tail wing of the projectile 4 is disengaged from the bottom arm plate of the mounting frame 3. Under the action of gravity, the projectile 4 falls downward to complete the throwing.

[0032] Due to the action of the return spring 14, the fixed buckle 7 rotates back to the position before throwing, and the mechanical limit column 15 prevents the fixed buckle 7 from rotating beyond the limit. At the same time, the driving end of the fixed buckle 7 drives the linear connecting rod 9 to return to the position before throwing through the guide column 10, which is convenient for the subsequent loading of the throwing object 4.

[0033] Embodiment 3

[0034] A drone comprises a drone body and a modular combination array type automatic throwing device as described in Example 1, wherein the modular combination array type automatic throwing device is connected to the drone body and driven to fly by the drone body.

[0035] The present invention has the following advantages: (1) Realized rapid loading and automatic throwing of projectiles; (2) The throwing units are modular and can be combined and arranged according to different usage requirements; (3) It can realize one throw or multiple throws at a time, and the control of the number of throws and the number of throws is more flexible; (4) It has a self-locking function to ensure that the thrown objects will not fall during transportation; (5) The stability, reliability and accuracy of throwing are improved to meet the needs of UAV throwing operations in various complex environments.

[0036] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present invention, it should be noted that: unless otherwise clearly stipulated and limited, the terms "installation", "connection", "setting", "forming" and "matching" should be understood in a broad sense; for example: it can be a fixed connection, setting, or a detachable connection, setting, or an integrated structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two components; for those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0038] In the description of the present invention, reference to terms such as "embodiment", "specific example" or "practical application" means that the specific features, structures, materials or characteristics described in combination with the embodiment are included in at least one embodiment or example of the present invention; the schematic expressions of the above terms do not necessarily refer to the same embodiment or example, and the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation shall fall within the protection scope of the present invention.

Claims

1. A modular combination array type automatic throwing device, comprising a plurality of throwing units arranged in an array, characterized in that: The throwing unit includes a cylinder with a tubular structure, a top plate is arranged on the top of the cylinder, and holes corresponding to and communicating with the cylinder are formed on the top plate; a mounting rack is arranged inside the cylinder, the mounting rack is used to mount throwing objects, a driving mechanism for driving the mounting rack to release the throwing objects is arranged on the top plate, and an opening is formed on the side wall of the cylinder, and the opening is used for part of the structure of the mounting rack to exit the cylinder when the mounting rack releases the throwing objects.

2. A modular combination array type automatic throwing device according to claim 1, characterized in that: The mounting frame is a U-shaped structure, and the open end of the U-shaped mounting frame faces the inner circumferential surface of the cylinder. A notch for mounting projectiles is formed on the bottom arm plate of the U-shaped mounting frame. The top bend of the U-shaped mounting frame is elastically hinged to the top plate through a spring hinge. When no projectiles are mounted, the spring hinge pulls the mounting frame to make the bottom arm plate of the mounting frame withdraw from the interior of the cylinder.

3. A modular combination array type automatic throwing device according to claim 2, characterized in that: A rack buckle is arranged on the top arm plate of the mounting rack, and a fixed buckle is rotatably arranged on the top plate, the fixed buckle is an L-shaped structure, and the corner of the L-shaped structure fixed buckle is rotatably connected to the top plate, one end of the L-shaped structure fixed buckle serves as a buckle end to cooperate with the rack buckle, and the rack buckle is formed with a limiting groove to cooperate with the buckle end of the fixed buckle, and the other end of the L-shaped structure fixed buckle serves as a driving end to cooperate with the driving mechanism.

4. A modular combination array type automatic throwing device according to claim 3, characterized in that: A limit block that is snap-fitted with the mounting bracket is arranged inside the cylinder, and the limit block is used to limit the position of the mounting bracket when no projectile is mounted on it.

5. The modular combination array type automatic throwing device according to claim 3, characterized in that: The driving mechanism includes a power source and a linear connecting rod, a movable hole is formed on the linear connecting rod, a guide column is arranged at the driving end of the fixed buckle, and the guide column is fitted in the movable hole. The power source is used to drive the linear connecting rod to move linearly, and the linear connecting rod drives the fixed buckle to rotate to the throwing position, so that the buckle end of the fixed buckle is disengaged from the bracket buckle.

6. A modular combination array type automatic throwing device according to claim 5, characterized in that: The bottom of the linear connecting rod is slidably connected to the top plate through a linear guide rail.

7. The modular combination array type automatic throwing device according to claim 5, characterized in that: The power source comprises a steering gear, a rocker arm is arranged on the output shaft of the steering gear, a column matched with the rocker arm is arranged on the linear connecting rod, the steering gear is used to drive the rocker arm to rotate and swing back and forth, and the rocker arm drives the linear connecting rod to move linearly through the column.

8. The modular combination array type automatic throwing device according to claim 5, characterized in that: A return spring is connected between the driving end of the fixed buckle and the top plate, and a mechanical limit column is set at the bottom of the fixed buckle; after the fixed buckle rotates to the throwing position, the return spring is used to pull the fixed buckle back to the pre-throwing position and limit it through the mechanical limit column, and the driving end of the fixed buckle drives the linear connecting rod through the guide column to return to the pre-throwing position.

9. The modular combination array type automatic throwing device according to claim 5, characterized in that: The fixing buckles of some throwing units share a set of driving mechanisms.

10. A working method of a modular combination array type automatic throwing device according to claim 8, characterized in that: include: Loading process: The projectile is inserted into the cylinder from bottom to top. The tail wing of the projectile first pushes up the top arm plate of the mounting frame. The mounting frame rotates under the action of the spring hinge, and the bottom arm plate of the mounting frame enters the cylinder through the opening. The notch on the bottom arm plate of the mounting frame passes through the neck of the projectile and supports the tail wing at the upper end of the neck of the projectile; the reset spring provides a counterclockwise pre-tightening force for the fixed buckle. When the mounting buckle is about to be in place, the mounting buckle will push the fixed buckle, and the fixed buckle rotates around its own axis while maintaining the pre-tightening force. When the mounting buckle is in place, the fixed buckle will automatically pop into the limit groove of the mounting buckle under the action of the pre-tightening force provided by the reset spring, and ensure that the limit groove of the mounting buckle and the fixed buckle always maintain a certain limit overlap. At this time, the mounting buckle on the top arm plate of the mounting frame is clamped on the fixed buckle, and the tail wing of the projectile is mounted on the notch of the bottom arm plate of the mounting frame, and the loading of the projectile is completed. Casting process: The power source drives the linear connecting rod to move in a linear manner, and the linear connecting rod drives the fixed buckle to rotate to the throwing position, so that the fixed buckle is disengaged from the bracket buckle. Since the bracket buckle no longer has the locking effect of the fixed buckle, the mounting frame flips over under the action of the spring hinge. After the mounting frame flips over, the bottom arm plate of the mounting frame exits the cylinder through the opening, and the tail wing of the thrown object is disengaged from the bottom arm plate of the mounting frame. Under the action of gravity, the thrown object falls downward to complete the throwing; under the action of the reset spring, the fixed buckle rotates back to the position before throwing. At the same time, the driving end of the fixed buckle drives the linear connecting rod to return to the position before throwing through the guide column.

11. A drone, characterized in that: It comprises an unmanned aerial vehicle body and a modular combination array type automatic throwing device as described in any one of claims 1 to 9, wherein the modular combination array type automatic throwing device is connected to the unmanned aerial vehicle body.

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