Electromagnetic throwing lock and mobile platform
By adopting electromagnetic throwing locks in the drone throwing device and using the electromagnet drive lock hook and double lock hook linkage mechanism, the problems of complex operation, high failure rate and slow response speed in the existing technology are solved, and efficient load cargo loading and unloading with low failure rate are achieved, and the loading status is monitored in real time.
Patent Information
- Application Number
- CN202510261118.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-06
- Publication Date
- 2025-04-04
AI Technical Summary
The existing drone throwing device has problems such as complex operation, inability to monitor the load status in real time, high failure rate, and slow response speed when loading and unloading cargo.
The electromagnetic throwing and throwing lock is adopted, and the lock hook is driven by the electromagnetic magnet to eliminate the failure risk of the traditional servo gear structure, and the design of manual operation ports, double lock hook linkage mechanisms, induction switches and other designs are added to achieve fast response, low failure rate and real-time status monitoring.
It improves the response speed and load capacity of the throwing device, reduces the failure rate, realizes efficient loading and unloading of loaded cargo, timely monitors the load status, and reduces system costs.
Smart Images
Figure CN119749852A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of unmanned aerial vehicle throwing, and in particular to an electromagnetic throwing lock and a mobile platform. Background Art
[0002] With the emergence of multi-rotor drone structures, the drone industry has entered a stage of rapid development. As a flying platform, drones can be equipped with throwing devices and are widely used in power line stringing, rescue, police, fire fighting, and movable horizontal bar suspension. However, as the scope of application of throwers continues to expand, their defects are becoming increasingly prominent. When loading cargo, it is necessary to operate the load items and the throwing device at the same time. When the throwing device is not started, the cargo cannot be loaded. If the load cargo needs to be temporarily unloaded or the electric equipment fails, it cannot be directly unloaded manually. The thrower needs to be started by the controller to unload the cargo. There is no signal feedback when the load cargo is loaded and unloaded, and it is impossible to monitor whether the load cargo has been loaded or dropped on the drone or other mobile platform. The servo and its rocker mechanism use a gear structure, which has a high failure rate and high product manufacturing cost. In addition, the response of the throwing lock driven by the servo is determined by the structural characteristics of the servo itself, and it is impossible to achieve a very fast response speed. Summary of the invention
[0003] Technical problem to be solved by the invention
[0004] The technical problem to be solved by the present invention is to provide an electromagnetic throwing lock with large thrust, strong load capacity for throwing objects, fast response, and low failure rate. When the throwing lock or controller fails or there are other needs, it can be convenient to load or unload the load without relying on the control circuit and power supply. When loading the throwing load, the loading can be completed by pushing the hook in, which is more efficient and faster. The throwing lock is equipped with a feedback switch to monitor whether the throwing device on the mobile platform has loaded or unloaded the goods. The cost of the throwing lock driven by the electromagnet is lower than that of the steering gear drive.
[0005] The technical problem to be solved by the present invention is to provide a mobile platform suitable for realizing a multi-channel integrated throwing device.
[0006] Technical Solution
[0007] To solve the above problems, the technical solution provided by the present invention is:
[0008] An electromagnetic throwing lock comprises a lock shell and an electromagnet, wherein the electromagnet comprises an iron core, a coil and a reset spring, wherein the iron core passes through the coil, and the manual end of the iron core protrudes out of the coil and the lock shell, and the execution end of the iron core is rotatably connected to the driving end of a first lock hook and is provided with a reset spring, the first lock hook is hinged to the lock shell, the execution end of the first lock hook is provided with a buckle protrusion and is matched with a second lock hook, the second lock hook is hinged to the lock shell, the second lock hook is provided with a buckle notch matched with the buckle protrusion, the opposite side of the buckle notch is provided with a torsion spring for compression, the same side of the buckle notch is provided with a buckle arc petal and after rotation, the load hook is hooked in the hook notch of the lock shell, the side of the buckle arc petal facing the hook notch is an inclined surface, and the second lock hook is matched with an induction switch.
[0009] Electromagnetic drive replaces servo: It adopts electromagnet drive, which eliminates the risk of mechanical wear, reduces the failure rate, and improves the response speed (millisecond level) compared to the traditional servo gear structure, meeting the needs of emergency casting.
[0010] Manual operation: The manual end of the iron core is exposed, allowing direct manual push-pull unlocking in the event of power outage or failure, ensuring reliability in emergency situations.
[0011] Double locking hook linkage mechanism: The first locking hook and the second locking hook form a secondary locking through the buckle protrusion / notch, combined with the torsion spring compression and the inclined guide of the buckle arc petal to ensure the self-locking and quick release of the load hook in the lock shell notch, thereby improving the casting stability.
[0012] Status monitoring function: The induction switch detects the position of the second lock hook in real time and feedbacks the load loading / unloading status, making it easier for the UAV platform to monitor the operation process.
[0013] Optionally, the first lock hook is provided with a limiting protrusion, and the inner wall of the lock housing contacts and limits the position of the limiting protrusion.
[0014] The limiting protrusion contacts and limits the inner wall of the lock housing to prevent the first lock hook from over-travel movement, avoid structural deformation or jamming, and enhance mechanical durability.
[0015] Optionally, the inner side of the buckle arc petal is adapted to the load hook.
[0016] The inner shape of the buckle arc petal matches the load hook, increasing the contact area, dispersing stress and preventing local wear.
[0017] Optionally, the tip of the buckle arc petal is a rounded structure.
[0018] The rounded corners of the tip reduce the friction resistance with the hook, avoid scratching the surface, extend the life of the component, and improve the smoothness of the hook sliding in.
[0019] Optionally, the second lock hook is rotatably connected to the lock housing via a second pin shaft, the torsion spring is buckled on the second pin shaft, the compression end of the torsion spring abuts against the second lock hook, and the limiting end of the torsion spring abuts against the limiting column protrusion of the lock housing.
[0020] The torsion spring is fixed by the second pin shaft to ensure that the compression end of the torsion spring always effectively abuts against the second lock hook, thereby avoiding elastic failure caused by vibration and maintaining the stability of automatic resetting of the lock hook.
[0021] Optionally, a sensing flap is provided at the other end of the buckle notch of the second lock hook and is in limiting contact with the sensing spring of the sensing switch.
[0022] The limit-interference design between the induction flap and the induction spring ensures that the switch state is accurately switched when the second lock hook is in place, avoiding false alarms or missed alarms.
[0023] Optionally, the contact surface of the sensing flap is an outwardly convex curved surface.
[0024] The convex arc surface reduces the contact wear between the sensing flap and the spring, increases the service life of the sensing element, and reduces mechanical noise.
[0025] Optionally, a wear-resistant coating is provided at the abutment portion between the first locking hook and the second locking hook.
[0026] The contact surface of the lock hook is coated with a wear-resistant coating (such as ceramic or Teflon), which significantly reduces the wear during high-frequency locking / unlocking actions and is suitable for long-term high-load operation scenarios.
[0027] A mobile platform comprises the electromagnetic throwing lock and a throwing device frame, on which a throwing controller and a plurality of mounting rods are arranged, wherein the throwing controller is electrically connected to the electromagnet, and the throwing lock is installed on the mounting rods.
[0028] The design of the thrower frame and mounting rod supports the parallel installation of multiple locks, which is convenient for building a multi-channel throwing system (such as throwing multiple rescue bags at the same time). The throwing controller uniformly manages the power supply of the electromagnet to achieve precise timing control, reduce system complexity and wiring costs, and adapt to space-constrained mobile platforms such as drones.
[0029] Beneficial Effects
[0030] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:
[0031] The technical solution provided by the present invention directly drives the lock hook through an electromagnet, abandons the complex gear structure of the traditional steering gear, eliminates the risk of gear wear, jamming and other faults, improves mechanical stability, and reduces the failure rate by more than 70%. The manual end of the iron core is exposed, and can be directly manually unlocked when the power is off or the circuit fails, avoiding the problem of "unable to unload in an emergency" caused by the single driving mode of the traditional electric throwing lock. The electromagnet can control the action of the lock hook by turning on and off the power, and the response time is shortened from the 100 milliseconds of the steering gear to the millisecond level, meeting the needs of emergency throwing scenarios. The buckle linkage design of the first lock hook and the second lock hook, combined with the compression of the torsion spring and the self-locking of the buckle arc flap, can withstand greater load impact and is suitable for the suspension of heavy rescue materials or power equipment. The induction switch cooperates with the induction flap of the second lock hook to feedback the locking / release status of the hook to the controller in real time, solving the problem of "blind operation" of the traditional throwing lock, and facilitating the UAV platform to realize automatic monitoring of the operation process. When the load hook is pushed into the notch of the lock shell, the inclined surface of the buckle arc flap automatically guides and locks, without the need to start the throwing equipment in advance, and the loading efficiency is improved by more than 50%. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 Schematic diagram of the internal structure of an electromagnetic throwing lock proposed in an embodiment of the present invention Figure 1 ;
[0033] Figure 2 Schematic diagram of the internal structure of an electromagnetic throwing lock proposed in an embodiment of the present invention Figure 2 ;
[0034] Figure 3 An oblique top view schematic diagram of a mobile platform proposed in an embodiment of the present invention;
[0035] Figure 4 A schematic diagram of an oblique upward view of a mobile platform provided by an embodiment of the present invention;
[0036] 1. Casting lock; 11. Iron core; 12. Coil; 13. Reset spring; 14. First lock hook; 141. Limiting protrusion; 142. First pin shaft; 143. Buckle protrusion; 15. Second lock hook; 151. Second pin shaft; 152. Buckle notch; 153. Induction flap; 154. Buckle arc flap; 16. Torsion spring; 17. Induction switch; 171. Induction spring; 18. Load hook; 19. Mounting hole; 120. Lock shell; 1201. Limiting column protrusion; 1202. Limiting shell protrusion; 1203. Hook notch; 2. Casting device frame; 3. Fixing hole; 4. Casting controller; 5. Wiring harness; 6. Mounting rod. DETAILED DESCRIPTION
[0037] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
[0038] Example
[0039] Combined with Figure 1-2 , an electromagnetic throwing lock, including a lock shell 120 and an electromagnet. The lock shell 120 is made of aluminum alloy, and the electromagnet is fixedly installed inside. The iron core 11 of the electromagnet is a cylindrical magnetic steel, and its manual end extends to the outside of the lock shell 120 to form a push-pull handle. The execution end is hinged to the first lock through a pin shaft. The reset spring 13 is sleeved on the execution end of the iron core 11 to keep the iron core 11 in a retracted state under normal conditions. The electromagnet includes an iron core 11, a coil 12 and a reset spring 13. The electromagnet is located at the top of the lock shell 120. The lock shell 120 is a rectangular parallelepiped, and a mounting hole 19 is provided on the top and is fixed to the mounting rod 6 with screws. A mounting rib is provided on the top of the lock shell 120 to fix the outer shell of the coil 12.
[0040] The iron core 11 passes through the coil 12, and the manual end of the iron core 11 protrudes out of the coil 12 and the lock housing 120. The lock housing 120 is provided with a through hole for passing the manual end of the iron core 11. The execution end of the iron core 11 is rotatably connected to the driving end of the first lock hook 14 and is provided with a reset spring 13. The execution end of the iron core 11 is fixed with a limit ring piece, and the reset spring 13 is connected to the outer shell of the coil 12 and the limit ring piece. After the iron core 11 moves to the left, it can be elastically reset to the right by the reset spring 13. The driving end of the first lock hook 14 is an extension rod, which protrudes into the execution end of the iron core 11 and is limited by a pin shaft. The end of the extension rod is slightly larger and is used for limiting to prevent it from coming out.
[0041] The first lock hook 14 is hinged to the lock housing 120 through a first pin shaft 142, the first pin shaft 142 is located on the left side of the first lock hook 14, a limiting protrusion 141 is provided on the right side of the first lock hook 14, and a limiting shell protrusion 1202 is provided on the inner wall of the lock housing 120 to contact and limit the position with the limiting protrusion 141. The first lock hook 14 is vertical and swings left and right through the first pin shaft 142. The first lock hook 14 is hinged to the inner side of the lock housing 120, and its driving end is rotatably connected with the execution end of the iron core 11, and a buckle protrusion 143 is provided on the execution end. A limiting shell protrusion 1202 is provided on the inner wall of the lock housing 120, which contacts and limits the limiting protrusion 141 of the first lock hook 14, limiting its swing angle to no more than 30°.
[0042] The left side of the execution end (bottom) of the first lock hook 14 is provided with a buckle protrusion 143 and matched with a second lock hook 15. The second lock hook 15 is hinged to the lock housing 120 through a second pin shaft 151, and the second lock hook 15 is arranged horizontally. The second lock hook 15 is provided with a buckle notch 152 matched with the buckle protrusion 143. The buckle notch 152 is located at the right end of the second lock hook 15. The opposite side of the buckle notch 152 (i.e. the top of the second lock hook 15) is provided with a torsion spring 16 for compression. The same side of the buckle notch 152 (i.e. the bottom of the second lock hook 15) is provided with a buckle arc petal 154, which hooks the load hook 18 in the hook notch 1203 of the lock housing 120 after rotation. The buckle arc petal 154 is almost parallel to the second lock hook 15. The second lock hook 15 is hinged to the lock housing 120 through a second pin shaft 151, and one end thereof is provided with a buckle notch 152 matched with the buckle protrusion 143, and the other end is provided with a buckle arc petal 154. The inner side of the buckle arc petal 154 is an arc-shaped concave surface matching the load hook 18, and the tip adopts an R2 rounded corner design. The second pin 151 is equipped with a torsion spring 16, whose pressing end abuts against the second lock hook 15, forcing the buckle notch 152 to always press against the first lock hook 14.
[0043] The right end of the opposite side of the buckle notch 152 (i.e. the top of the second lock hook 15) is an arc surface, and the upper end of the corresponding buckle protrusion 143 is a matching concave arc surface. The arc surface and the concave arc surface cooperate to have rotation space when the second lock hook 15 rotates and will not get stuck.
[0044] The side of the buckle arc petal 154 facing the hook notch 1203 is an inclined surface, more specifically an inclined arc surface. In a broad sense, if only the attribute of "inclination" is considered, the inclined arc surface can be considered as a special inclined surface because it also has an inclination angle relative to the horizontal plane. The right end of the inclined surface is higher and the left end is lower. When the load hook 18 is hooked into the hook notch 1203, the second lock hook 15 rotates counterclockwise due to the force of the inclined surface. The buckle arc petal 154 makes way for the hook notch 1203 so that the load hook 18 reaches the deepest part of the hook notch 1203. After reaching the position, the second lock hook 15 rotates clockwise to reset and is locked with the first lock hook 14.
[0045] The inner side of the buckle arc petal 154 is adapted to the load hook 18. The part of the load hook 18 used for hooking is a thin rod structure, and the inner side of the buckle arc petal 154 is a circular concave part adapted to the thin rod structure.
[0046] The tip of the buckle arc petal 154 is a rounded structure.
[0047] The second lock hook 15 is rotatably connected to the lock housing 120 via a second pin shaft 151 . A torsion spring 16 is buckled on the second pin shaft 151 . The compression end of the torsion spring 16 abuts against the second lock hook 15 , and the limiting end of the torsion spring 16 abuts against the limiting column protrusion 1201 of the lock housing 120 .
[0048] The second lock hook 15 is provided with a sensing switch 17. The other end of the buckle notch 152 of the second lock hook 15 is provided with a sensing flap 153 and is limitedly abutted with the sensing spring 171 of the sensing switch 17. The sensing switch 17 is connected to the throwing controller 4.
[0049] The contact surface of the induction flap 153 is an outwardly convex arc surface. The connection between the induction flap 153 and the second lock hook 15 is a groove to prevent the induction spring 171 from interfering with the connection portion and affecting the triggering of the induction switch 17. The induction flap 153 extends from the opposite side of the buckle notch 152 of the second lock hook, and its contact surface is an outwardly convex arc surface, which conflicts with the spring of the micro switch (induction switch 17) in the lock housing 120. The contact surface of the first lock hook 14 and the second lock hook 15 is sprayed with a tungsten carbide wear-resistant coating.
[0050] A wear-resistant coating is provided at the abutment portion between the first locking hook 14 and the second locking hook 15 .
[0051] Combined with Figure 3-4 A mobile platform includes an electromagnetic throwing lock 1 and a throwing device frame 2. The throwing device frame 2 is provided with a throwing controller 4 and a plurality of mounting rods 6. The throwing controller 4 is electrically connected to the electromagnet through a wiring harness 5. The throwing lock 1 is mounted on the mounting rod 6. The throwing device frame 2 is provided with fixing holes 3 for mounting screws. In this embodiment, three mounting rods 6 are provided, the throwing lock 1 is mounted on both ends of the mounting rod 6, and the throwing device frame 2 is connected to the middle of the mounting rod 6.
[0052] Working principle:
[0053] The controller drives the electromagnet coil 12 to make the iron core 11 move linearly. The front end of the iron core 11 is hinged with the first lock hook 14, which drives the first lock hook 14 to rotate, so that the second lock hook 15 is unhooked, and the load hook 18 mounted on the second lock hook 15 is detached from the second lock hook 15 after the second lock hook 15 is unhooked, thereby realizing the throwing function.
[0054] When loading, the load hook 18 is inserted into the second lock hook 15 from bottom to top. Due to the action of the electromagnet's reset spring 13, the first lock hook 14 will automatically lock when the second lock hook 15 is hooked into the buckle, ensuring that the load is fixed on the throwing lock 1. When necessary, the iron core 11 can be directly pulled out manually to temporarily unload the loaded goods. The second lock hook 15 will trigger the sensor switch 17 in the locked and unhooked positions to identify whether the load has been mounted in the throwing device.
[0055] Casting phase:
[0056] Electromagnetic drive unlocking: The controller energizes the electromagnet coil 12 (24V-8A in this embodiment, which can be matched with different electromagnet specifications, and the applicable electrical parameter range is large and not fixed to a certain value), and the iron core 11 extends outward under the action of the magnetic force, pushing the first lock hook 14 to swing counterclockwise, and its buckle protrusion 143 disengages from the buckle notch 152 of the second lock hook 15. The second lock hook 15 rotates rapidly clockwise under the action of the torsion spring 16, and the buckle arc petal 154 releases the load hook 18 to complete the casting. Response speed: It takes 15ms from power-on to complete unlocking of the lock hook, and the load (50kg) is separated from the drone under the action of gravity. Status reset: After casting, the induction petal 153 presses the micro switch spring, and the controller displays the "unloaded" state. Emergency manual operation: If the power supply of the electromagnet fails, the operator directly pulls the manual end of the iron core 11 outward to force the first lock hook 14 to disengage from the second lock hook 15 to achieve manual operation. No power is required during the entire process. The emergency operation is limited to use on the ground and is only used for unloading cargo on the ground. It cannot be operated when throwing in the air.
[0057] Load capacity test: simulate the flight state of the drone on the vibration table (frequency 20Hz, amplitude ±5mm), the throwing lock 1 can stably carry a load of 15kg without abnormal unlocking. Life test: 5000 consecutive locking / release cycles, the wear-resistant coating does not peel off, and the lock hook matching clearance changes less than 0.1mm. Environmental adaptability: at a low temperature of -20℃ and a humidity of 85%, the electromagnet drive response time remains within 20ms, and the induction switch 17 is triggered correctly.
[0058] Application scenario examples:
[0059] A firefighting drone is equipped with 4 sets of electromagnetic throwing locks 1, and each lock is independently controlled. When performing wildfire rescue missions, the drone flies above the fire scene, identifies the position of trapped people through the camera, and the controller synchronously calculates the timing of throwing. When approaching the target point, the 4 throwing locks 1 synchronously release the fire bomb hook within 50ms to accurately deliver materials. If a channel of the aerial thrower fails and cannot drop the load, the drone should land, and the ground personnel will manually unload the cargo, and then load the load onto several other normally working channels on the thrower to continue the mission, without affecting the rescue efficiency throughout the process.
[0060] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.
Claims
1. An electromagnetic throwing lock, characterized in that: It includes a lock shell and an electromagnet, the electromagnet includes an iron core, a coil and a reset spring, the iron core passes through the coil, the manual end of the iron core protrudes out of the coil and the lock shell, the execution end of the iron core is rotatably connected to the driving end of the first lock hook and a reset spring is provided, the first lock hook is hinged to the lock shell, the execution end of the first lock hook is provided with a buckle protrusion and is matched with a second lock hook, the second lock hook is hinged to the lock shell, the second lock hook is provided with a buckle notch matching with the buckle protrusion, the opposite side of the buckle notch is provided with a torsion spring for compression, the same side of the buckle notch is provided with a buckle arc petal and the load hook is hooked in the hook notch of the lock shell after rotation, the side of the buckle arc petal facing the hook notch is an inclined surface, and the second lock hook is matched with an induction switch.
2. An electromagnetic throwing lock according to claim 1, characterized in that: The first lock hook is provided with a limiting protrusion, and the inner wall of the lock housing contacts and limits the position of the limiting protrusion.
3. The electromagnetic throwing lock according to claim 1, characterized in that: The inner side of the buckle arc petal is adapted to the load hook.
4. An electromagnetic throwing lock according to claim 3, characterized in that: The tip of the buckle arc petal is a rounded structure.
5. The electromagnetic throwing lock according to claim 1, characterized in that: The second lock hook is rotatably connected to the lock housing via a second pin shaft, the second pin shaft is buckled with the torsion spring, the compression end of the torsion spring abuts against the second lock hook, and the limiting end of the torsion spring abuts against the limiting column convex of the lock housing.
6. The electromagnetic throwing lock according to claim 1, characterized in that: The other end of the buckle notch of the second lock hook is provided with a sensing flap which is in limiting contact with the sensing spring of the sensing switch.
7. An electromagnetic throwing lock according to claim 6, characterized in that: The contact surface of the sensing flap is an outwardly convex arc surface.
8. An electromagnetic throwing lock according to any one of claims 1 to 7, characterized in that: A wear-resistant coating is provided at the abutment portion between the first locking hook and the second locking hook.
9. A mobile platform, comprising the electromagnetic throwing lock according to any one of claims 1 to 8, characterized in that: The device comprises a thrower frame, on which a throw controller and a plurality of mounting rods are arranged, the throw controller is electrically connected to the electromagnet, and a throw lock is installed on the mounting rod.