Parachute opening device for airdrop unmanned aerial vehicle and working method of parachute opening device

Abstract

The invention relates to the technical field of air-drop unmanned aerial vehicles, and provides an air-drop unmanned aerial vehicle parachute opening device and a working method thereof, and the air-drop unmanned aerial vehicle parachute opening device comprises a parachute cord recovery assembly, a parachute opening steel cable assembly and a parachute opening hook assembly. The middle of the parachute opening steel cable assembly is connected with the parachute cord recovery assembly and provided with the parachute opening hook assembly. The parachute opening steel cable assembly comprises a crimping steel cable, a post-navigation stop ring and a pre-navigation stop ring, and a parachute opening hook assembly is installed between the pre-navigation stop ring and the sliding code assembly. The parachute opening steel cable assembly and the parachute opening hook assembly are used for forcibly opening the parachute. The parachute cord recycling assembly comprises a sliding weight assembly, an electric control lock and a cord winding mechanism, the cord winding mechanism provides constant recycling force through a coil spring, and after the electric control lock is unlocked, the cord winding mechanism drives the sliding weight assembly to move into the cargo compartment along the parachute opening steel cable, and parachute cord recycling is achieved. According to the invention, the problems of forced parachute opening of the tail air-drop unmanned aerial vehicle and influence on closing of the tail cabin door due to the fact that the parachute cord floats near the tail cabin door after parachute opening and the tail fuselage is beaten are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned transport aircraft, and in particular, to an umbrella-opening device for an unmanned aerial vehicle and a working method thereof. Background Art

[0002] The unmanned transport aircraft relies on the opening of the rear hatch. The airdropped supplies slide out of the cargo hold along the slide rail, open the parachute, and use the air resistance of the parachute to make the airdropped supplies land safely. The parachute is the core equipment for the safe landing of the airdropped supplies, and the umbrella-opening device is the key component to ensure the normal opening of the parachute.

[0003] Currently, the unmanned aerial vehicle airdrop technology is a technical blank. After the airdrop is completed, the parachute-opening rope will be left near the rear hatch, affecting the safety of the aircraft structure and mechanism. At the same time, it may affect the closing of the hatch, causing flight safety. The traditional umbrella-opening device generally uses a time delay device to open the parachute. Its principle is to use a time delay electronic device to set the required parachute-opening height and speed to trigger the opening of the parachute. However, the reliability of this method of opening the parachute is relatively low. At the same time, in order to meet the requirement of opening the parachute, a set of power supply system needs to be added, and the system is complex. Another method is to use forced parachute opening, and use a pulley commutation and a motor drive to provide a recovery force to retract the parachute rope into the cabin. The above methods all have the disadvantages of large weight, large volume, complex system, and high cost. Summary of the Invention

[0004] The present invention provides an airdrop unmanned aerial vehicle umbrella-opening device and an umbrella-opening device, which solve the problems that after the forced parachute opening of the rear airdrop unmanned aerial vehicle, the parachute rope flutters and whips the rear fuselage and the rear hatch near the rear hatch, affecting the closing of the rear hatch, etc.

[0005] The present invention is implemented by the following technical solutions: It includes a parachute rope recovery assembly, an umbrella-opening steel cable assembly, and an umbrella-opening hook assembly. The middle of the umbrella-opening steel cable assembly is connected to the parachute rope recovery assembly, and the umbrella-opening hook assembly is arranged in the middle of the umbrella-opening steel cable assembly; The parachute rope recovery assembly and the umbrella-opening steel cable assembly are arranged horizontally, the umbrella-opening hook assembly is arranged vertically, the front end of the umbrella-opening steel cable assembly is installed on the front end frame of the fuselage, the rear end of the umbrella-opening steel cable is installed on the rear end frame of the fuselage, and the parachute rope recovery assembly is installed on the side wall of the fuselage.

[0006] The umbrella-opening steel cable assembly includes a crimped steel cable, an aft limit ring, and a forward limit ring. The umbrella-opening hook assembly is installed between the forward limit ring and the sliding code assembly. The umbrella-opening hook assembly includes an umbrella-opening hook, a parachute rope, and an umbrella-opening breaking rope, and the umbrella-opening breaking rope is connected to the umbrella pack sealing rope. The umbrella-opening steel cable assembly and the umbrella-opening hook assembly are used to forcibly open the parachute. The aft limit ring includes a torsion spring hole.

[0007] The parachute cord recovery assembly includes a sliding code assembly, an electric control lock, and a cord winding mechanism. The cord winding mechanism is connected to the sliding code assembly through a rope. The cord winding mechanism provides a constant recovery force through a torsion spring. When the electric control lock is unlocked, the cord winding mechanism drives the sliding code assembly to move into the cargo hold along the parachute opening cable, realizing the recovery of the parachute cords.

[0008] As a preferred technical solution: The cord winding mechanism includes a housing and a housing cover. The interior of the housing has a receiving space. A turntable, a torsion spring, and a rope are installed inside the housing. The turntable is used to wind the rope, the torsion spring is used to provide a constant recovery force, and the rope is used to connect the sliding code assembly. As a preferred technical solution: First aluminum sleeves, second aluminum sleeves, and third aluminum sleeves are also installed at the ends of the rope. The first aluminum sleeve is used to fix the rope on the turntable, and the second aluminum sleeve and the third aluminum sleeve are used to form a loop at the end of the rope.

[0009] As a preferred technical solution: The cord winding mechanism is connected by screws and installed on the side wall of the middle part of the fuselage.

[0010] As a preferred technical solution: The parachute cord recovery assembly further includes an electric control lock, an electric control lock rope, a first loop, and a second loop. The electric control lock is installed on the rear side wall of the fuselage through a bolt assembly.

[0011] As a preferred technical solution: The electric control lock rope is formed by crimping through a fourth aluminum sleeve. One end of the electric control lock rope is connected to the first loop, the other end of the electric control lock rope is connected to the electric control lock. The first loop is connected to the sliding code assembly.

[0012] As a preferred technical solution: The parachute opening cable assembly includes a crimped cable, a cable mounting seat, a vertical hinge joint, a tension adjusting rod, a cable extension joint, a first wear-resistant bushing, a second wear-resistant bushing, a pre-flight limit ring, a post-flight limit ring, a cable lug joint, a perforated bolt, a slotted nut, a split pin, a buckle, a double torsion spring, and a buckle shaft. The cable mounting seats at both ends of the parachute opening cable assembly are connected with the vertical hinge joints, arranged symmetrically. The first wear-resistant bushing is arranged inside the cable mounting seat, the first wear-resistant bushing is arranged at one end of the vertical hinge joint, the second wear-resistant bushing is arranged at the other end of the vertical hinge joint, and the first wear-resistant bushing is arranged inside the cable extension joint.

[0013] As a preferred technical solution: The second wear-resistant bushing is arranged inside the cable lug joint.

[0014] As a preferred technical solution: The cable mounting seat, the vertical hinge joint, the cable extension joint and the cable lug joint are connected by the perforated bolt. A slotted nut and a split pin are connected to the end of the perforated bolt.

[0015] As a preferred technical solution: Both ends of the parachute-opening cable assembly are respectively connected to the front end frame and the rear end frame of the fuselage through bolt assemblies.

[0016] As a preferred technical solution: The crimped cable further includes a cable lug joint, a cable external thread joint and a cable. The crimped cable is formed by the cable lug joint, the cable external thread joint and the cable crimping process. The cable lug joint is provided with a first cable observation hole, and the cable external thread joint is provided with a second cable observation hole.

[0017] As a preferred technical solution: The thread of the cable external thread joint is a right-handed thread, and the thread of the cable extension joint is a left-handed thread. One end of the tension adjusting rod is a left-handed thread, and the other end is a right-handed thread. A tension adjusting hole is provided in the middle of the tension adjusting rod for a cylindrical tool to extend into the tension adjusting hole, and the tension adjusting rod is rotated counterclockwise or clockwise to adjust the tension of the parachute-opening cable assembly.

[0018] As a preferred technical solution: The cable external thread joint is provided with a first fuse hole, and the cable extension joint is provided with a second fuse hole. After the tension of the parachute-opening cable assembly is adjusted, the first fuse passes through the first fuse hole and the tension adjusting hole. The second fuse passes through the second fuse hole and the tension adjusting hole.

[0019] As a preferred technical solution: The pre-flight stop ring is connected to the crimped cable at the cable external thread joint through a bolt assembly to limit the forward movement of the parachute-opening hook assembly. The post-flight stop ring is connected to the crimped cable at the cable lug joint through a bolt assembly.

[0020] As a preferred technical solution: The sliding code assembly further includes a sliding code pulley end, a sliding code lug end, a pulley, a bearing, a pulley shaft, a buffer pad, a buckle groove and a third wear-resistant bushing. The sliding code assembly is installed on the parachute-opening cable assembly through a bolt assembly. The pulley is connected to the sliding code pulley end through the pulley shaft and the bearing, and the two pulleys, the pulley shaft and the bearing are arranged in parallel. The sliding code lug end is connected to the rope through the second loop. The sliding code assembly and the post-flight stop ring have the unlocking distance.

[0021] As a preferred technical solution: Buffer pads are symmetrically arranged at the positions of the grooves at both ends of the slip code component, and a third wear-resistant bushing is arranged inside the buffer pad to improve the service life of the slip code component.

[0022] As a preferred technical solution: The parachute-opening hook assembly includes a hook, a parachute rope, and a parachute-opening breaking rope. One end of the parachute rope is connected to the hook, the other end of the parachute rope is connected to the parachute-opening breaking rope through bundling, and the parachute-opening breaking rope is connected to the parachute pack sealing rope through bundling.

[0023] As a preferred technical solution: The buckle is connected to the double torsion spring through a bolt assembly, and the two buckles and the two double torsion springs are symmetrically arranged. One end of the buckle is buckled with the buckle groove of the slip code component. One end of the double torsion spring is inserted into the torsion spring hole of the post-flight limit ring. The other end of the double torsion spring is attached to the buckle, and the double torsion spring can rotate around the buckle shaft.

[0024] As a preferred technical solution: Initial state: The rope winding mechanism connects the slip code component through the second loop. Under the action of the constant return force provided by the spiral spring in the rope winding mechanism, one end of the buckle is buckled with the buckle groove of the slip code component. The electric control lock rope is pressed into a ring through the fourth aluminum sleeve. One end of the electric control lock rope is connected to the first loop, and the other end of the electric control lock rope is connected to the electric control lock. The first loop is connected to the slip code component. At this time, the buckle bears the constant return force provided by the spiral spring.

[0025] Air drop state: At the beginning of the air drop mission, multiple parachute-opening hook assemblies arranged on the parachute-opening steel cable assembly successively impact the slip code component. When the first parachute-opening hook assembly impacts the slip code component, the buckle is unlocked under the action of the torsion spring, and the buckle rotates 180 degrees around the buckle shaft. The electric control lock rope is still connected to the electric control lock. When the air drop mission is completed, that is, when the slip code component has completed all impacts, the electric control lock rope is still connected to the electric control lock.

[0026] Recovery state: The electric control lock is powered on to unlock, and the electric control lock disconnects the connection with the electric control lock rope. Under the action of the return force of the spiral spring, the slip code component moves the parachute-opening hook into the cargo hold until all the parachute ropes enter the cargo hold.

[0027] As a preferred technical solution: A housing shaft notch is provided on the housing for installing the fixed end of the spiral spring of the spiral spring, and a lower notch of the turntable is provided on the turntable for passing through the movable end of the spiral spring of the spiral spring.

[0028] As a preferred technical solution: The electric control lock realizes the function of unlocking when powered on, and has the functions of parachute opening and locking signal feedback.

[0029] As a preferred technical solution: The electric control lock realizes manual locking.

[0030] As a preferred technical solution: The present invention further provides a method for recovering the parachute rope, which uses the above-mentioned drone parachute opening device for aerial delivery, and includes the following steps: S1: The drone executes the task, packs the complete supplies and assembles them at the designated position in the cargo hold, and installs the parachute opening hook assembly at the corresponding position of the parachute opening cable assembly; S2: Manually lock, manually operate the sliding code assembly to near the aft limit ring, use the buckle to lock, and then operate the electric control lock to manually lock and connect the electric control lock rope; S3: The drone takes off and transports the supplies until the aerial delivery task is executed. The parachute opening hook assembly and the cargo move rearward. When the parachute opening hook assembly moves to the position of the sliding code assembly, it is blocked. The cargo continues to pass through the tail cargo door. The parachute rope is straightened by the cargo, and the parachute opening break rope releases the restraint of the parachute pack sealing rope, and further pulls out the parachute in the parachute pack until the parachute opening break rope is pulled off; S4: The sliding code assembly and the aft limit ring have the unlocking distance. During aerial delivery, the first parachute opening hook assembly moves rearward to drive the sliding code assembly to move rearward. When the sliding code assembly is close to the aft limit ring, the buckle is unlocked; S5: When the aerial delivery task is completed, that is, when the sliding code assembly has completed all impacts, the electric control lock rope is still connected to the electric control lock; S6: Manually open the electric control lock, and manually send an unlocking instruction to the power supply management module through the ground station to the flight control computer; alternatively, the flight control computer can send an unlocking instruction to the power supply management module according to a predetermined logic; S7: The power supply module receives the instruction to open the electric control lock, and the power supply module supplies power to the electric control lock; S8: The electric control lock unlocks after being powered on; S9: Under the action of the return force of the coil spring, the sliding code assembly drives the parachute opening hook to move into the cargo hold; S10: Until all the parachute ropes enter the cargo hold, the task ends.

[0031] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are: 1. The present invention realizes forced opening of the parachute, and the reliability of parachute opening is high; 2. The present invention realizes the recovery of the parachute ropes without affecting the closing of the rear cabin door; 3. The present invention is light in weight and has a simple system; 4. The present invention realizes the detection of the parachute opening state. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of the parachute opening device for the unmanned aerial vehicle according to the present invention.

[0033] Figure 2 It is a schematic structural diagram of the parachute opening hook assembly according to the present invention.

[0034] Figure 3 It is a transverse sectional view of the sliding code assembly according to the present invention.

[0035] Figure 4 It is a schematic structural diagram of the rope winding mechanism according to the present invention Figure 1 .

[0036] Figure 5 It is a schematic structural diagram of the rope winding mechanism according to the present invention Figure 2 .

[0037] Figure 6 It is a schematic structural diagram of the rope winding mechanism according to the present invention Figure 3 .

[0038] Figure 7 It is a longitudinal sectional view of the rope winding mechanism according to the present invention.

[0039] Figure 8 It is a schematic structural diagram of the parachute rope recovery assembly for the unmanned aerial vehicle according to the present invention.

[0040] Figure 9 It is a schematic diagram of the working principle of the sliding code assembly according to the present invention Figure 1 .

[0041] Figure 10 It is a schematic diagram of the working principle of the sliding code assembly according to the present invention Figure 2 .

[0042] Figure 11 It is a longitudinal sectional view of the parachute opening cable assembly according to the present invention Figure 1 .

[0043] Figure 12 It is a longitudinal sectional view of the parachute opening cable assembly according to the present invention Figure 2 .

[0044] Figure 13 It is a schematic structural diagram of the parachute opening cable assembly according to the present invention Figure 1 .

[0045] Figure 14Schematic diagram of the structure of the parachute-opening cable assembly according to the present invention Figure 2 。

[0046] Figure 15 Schematic diagram of the installation position of the drone parachute-opening device according to the present invention

[0047] Figure 16 Schematic diagram of the process of the drone parachute-opening device according to the present invention

[0048] Icons: 1 - Volute spring, 2 - Fixed end of volute spring, 3 - Movable end of volute spring, 4 - Rope, 5 - Second aluminum sleeve, 6 - Third aluminum sleeve, 7 - First aluminum sleeve, 8 - Notch on the turntable, 9 - Shaft of the housing cover, 10 - Housing cover, 11 - Turntable, 12 - Housing, 13 - Notch of the housing shaft, 14 - Cable, 15 - Housing shaft, 16 - Notch under the turntable, 17 - Buckle, 18 - Unlock spacing, 19 - Double torsion spring, 20 - Post-flight limit ring, 21 - Crimped cable, 22 - Twisted spring hole of the post-flight limit ring, 23 - Third wear-resistant bushing, 24 - Buffer pad, 25 - Buckle groove, 26 - Buckle shaft, 27 - Pulley, 28 - Bearing, 29 - Pulley shaft, 30 - Ear end of the sliding code, 31 - Cable mounting seat, 32 - Vertical hinge joint, 33 - Split pin, 34 - Cable ear joint, 35 - Pre-flight limit ring, 36 - External threaded joint of the cable, 37 - Tension adjustment hole, 38 - Tension adjustment rod, 39 - Cable extension joint, 40 - Slotted nut, 41 - Bolt with hole, 42 - Second wear-resistant bushing, 43 - Fuse hole, 44 - First cable observation hole, 45 - First wear-resistant bushing, 46 - Pulley end of the sliding code, 47 - Second cable observation hole, 48 - First fuse hole, 49 - Second fuse hole, 50 - Left-handed thread, 51 - Second fuse, 52 - First fuse, 53 - Right-handed thread, 54 - Hook, 55 - Hook ring, 56 - Parachute rope, 57 - Parachute-opening breaking rope, 58 - Parachute-pack sealing rope, 59 - Parachute pack, 60 - Front end frame of the fuselage, 61 - Side wall of the middle part of the fuselage, 62 - Rear side wall of the fuselage, 63 - Rear end frame of the fuselage, 64 - Parachute rope recovery assembly, 65 - Parachute-opening hook assembly, 66 - Parachute-opening cable assembly, 67 - Tail hatch, 68 - Cargo hold, 69 - Cargo, 70 - Rope winding mechanism, 71 - Electric control lock, 72 - Electric control lock rope, 73 - Fourth aluminum sleeve, 74 - First ring, 75 - Second ring, 76 - Sliding code assembly Detailed implementation manners

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention

[0050] Embodiment 1

[0051] As Figure 1 shown, this embodiment proposes an unmanned aerial vehicle parachute opening device, which includes a parachute rope recovery assembly 64, a parachute opening hook assembly 65 and a parachute opening steel cable assembly 66.

[0052] As Figure 8 and Figure 15 shown, the parachute rope recovery assembly 64 includes a rope winding mechanism 70, a sliding code assembly 76, an electric control lock 71, an electric control locking rope 72, a fourth aluminum sleeve 73, a first ring 74 and a second ring 75. Specifically, the rope winding mechanism 70 provides a constant pulling force for recovery. One end of the rope winding mechanism 70 is connected to the side wall 61 of the middle part of the fuselage through a bolt assembly, and the rope winding mechanism 70 is connected to the sliding code assembly 76 through the second ring 75. The electric control lock 71 is installed on the rear side wall 62 of the fuselage through a bolt assembly. The electric control lock 71 realizes the function of unlocking when powered on, and has the functions of parachute opening and locking signal feedback.

[0053] The electric control locking rope 72 is formed by crimping through the fourth aluminum sleeve 73. One end of the electric control locking rope 72 is connected to the first ring 74, and the other end of the electric control locking rope 72 is connected to the electric control lock 71. The first ring 74 is connected to the sliding code assembly 76.

[0054] As Figures 4 - 8 shown, the rope winding mechanism 70 includes a housing 12, a turntable 11, a housing cover 10, a torsion spring 1 and a rope 4. The housing 12 has a receiving space inside. The turntable 11, the torsion spring 1 and the rope 4 are installed inside the housing 12. Further, a housing cover shaft 9 is provided on the housing cover 10, and a housing shaft 15 is provided on the housing 12. The housing cover shaft 9 and the housing shaft 15 are used for installing the turntable 11. A housing shaft notch 13 is provided on the housing 12, and the housing shaft notch 13 is used for installing the fixed end 2 of the torsion spring 1 of the torsion spring 1. The turntable 11 is provided with a turntable lower notch 16 for passing through the movable end 3 of the torsion spring 1 of the torsion spring 1.

[0055] The turntable 11 is used for storing the rope 4, the torsion spring 1 is used for providing a constant recovery force, and the rope 4 is used for connecting the sliding code assembly 76; First aluminum sleeves 7, second aluminum sleeves 5 and third aluminum sleeves 6 are further installed at the end of the rope 4. The first aluminum sleeves 7 are used for fixing the rope 4 on the turntable 11. The rope passes through the upper notch 8 of the turntable of the turntable 11. The second aluminum sleeves 5 and the third aluminum sleeves 6 are used for making the end of the rope 4 form a loop.

[0056] As Figure 3 、 Figure 9 and Figure 10As shown, the slip code assembly 76 includes a slip code pulley end 46, a slip code belt ear end 30, a pulley 27, a bearing 28, a pulley shaft 29, a buffer pad 24, and a third wear-resistant bushing 23. The slip code assembly 76 is mounted on the parachute-opening cable assembly 66 through a bolt assembly. The pulley 27 is connected to the slip code pulley end 46 through the pulley shaft 29 and the bearing 28, and the two pulleys 27, the pulley shaft 29, and the bearing 28 are arranged side by side. The slip code belt ear end 30 is connected to the rope 4 through the second loop 75. The slip code assembly 76 has the unlocking distance 18 from the post-flight limiting ring 20.

[0057] The buffer pads 24 are symmetrically arranged at the groove positions at both ends of the slip code assembly 76, and the third wear-resistant bushing 23 is arranged inside the buffer pads 24 to improve the service life of the slip code assembly 76.

[0058] As Figure 2 and Figure 15 As shown, the parachute-opening hook assembly 65 includes a hook 54, a suspension line 56, a parachute-opening breaking rope 57, a parachute-pack sealing rope 58, and a parachute pack 59. One end of the suspension line 56 is connected to the hook ring 55 of the hook 54, and the other end of the suspension line 56 is connected to the parachute-opening breaking rope 57 through tying. The parachute-opening breaking rope 57 is connected to the parachute-pack sealing rope 58 through tying.

[0059] Further, as Figure 1 shown, a plurality of the parachute-opening hook assemblies 65 are mounted on the parachute-opening cable assembly 66 and are located between the slip code assembly 76 and the pre-flight limiting ring 35.

[0060] As Figures 10 - 15 shown, the parachute-opening cable assembly 66 includes a crimped cable 21, a cable mounting seat 31, a vertical hinge joint 32, a tension adjusting rod 38, a cable extension joint 39, a first wear-resistant bushing 45, a second wear-resistant bushing 42, a pre-flight limiting ring 35, a post-flight limiting ring 20, and a buckle 17. The vertical hinge joints 32 are connected to the cable mounting seats 31 at both ends of the parachute-opening cable assembly 66 and are arranged symmetrically. The first wear-resistant bushing 45 is arranged inside the cable mounting seat 31, the first wear-resistant bushing 45 is arranged at one end of the vertical hinge joint 32, the second wear-resistant bushing 42 is arranged at the other end of the vertical hinge joint 32, and the first wear-resistant bushing 45 is arranged inside the cable extension joint 39. The second wear-resistant bushing 42 is arranged inside the cable belt ear joint 34. Further, the cable mounting seat 31, the vertical hinge joint 32, the cable extension joint 39, and the cable belt ear joint 34 are connected through the perforated bolt 41. The slotted nut 40 and the split pin 33 are connected to the end of the perforated bolt 41. Both ends of the parachute-opening cable assembly 66 are respectively connected to the front end frame 60 and the rear end frame 63 of the fuselage through bolt assemblies.

[0061] The crimped cable 21 further includes a cable lug joint 34, a cable external thread joint 36 and a cable 14. The crimped cable 21 is formed by the crimping process of the cable lug joint 34, the cable external thread joint 36 and the cable 14. The cable lug joint 34 is provided with a first cable observation hole 44, and the cable external thread joint 36 is provided with a second cable observation hole 47.

[0062] The thread of the cable external thread joint 36 is a right-handed thread 53, and the thread of the cable extension joint 39 is a left-handed thread 50. One end of the tension adjusting rod 38 is a left-handed thread, and the other end is a right-handed thread. A tension adjusting hole 37 is provided in the middle of the tension adjusting rod 38 for a cylindrical tool to extend into the tension adjusting hole 37 to rotate the tension adjusting rod 38 counterclockwise or clockwise to adjust the tension of the parachute-opening cable assembly 66.

[0063] Furthermore, the cable external thread joint 36 is provided with a first fuse hole 48, and the cable extension joint 39 is provided with a second fuse hole 49. After the tension of the parachute-opening cable assembly 66 is adjusted, the first fuse 52 passes through the first fuse hole 48 and the tension adjusting hole 37. The second fuse 51 passes through the second fuse hole 49 and the tension adjusting hole 37.

[0064] The pre-flight stop ring 35 is connected to the crimped cable 21 at the cable external thread joint 36 through a bolt assembly to limit the forward movement of the parachute-opening hook assembly 65. The post-flight stop ring 20 is connected to the crimped cable at the cable lug joint 34 through a bolt assembly.

[0065] Embodiment 2

[0066] As Figure 16 shown, the present invention further provides a method for recovering the parachute ropes, which uses the above-mentioned drone parachute-opening device for airdropping.

[0067] Specifically, it includes: an initial state, an airdrop state and a recovery state.

[0068] Initial state: The rope winding mechanism 70 is connected to the sliding code assembly 76 through the second loop 75. Under the action of the constant return tension provided by the torsion spring 1 of the rope winding mechanism 70, one end of the buckle 17 is fastened to the buckle groove 25 of the sliding code assembly 76. The electric cable lock 72 is crimped into a ring through the fourth aluminum sleeve 73. One end of the electric cable lock 72 is connected to the first loop 74, and the other end of the electric cable lock 72 is connected to the electric cable lock 71. The first loop 74 is connected to the sliding code assembly 76. At this time, the buckle 17 bears the constant return tension provided by the torsion spring 1 and is in a locked state.

[0069] Airdrop state: When the airdrop mission starts, multiple parachute-opening hook assemblies 65 arranged on the parachute-opening cable assembly 66 sequentially impact the sliding code assembly 76. When the first parachute-opening hook assembly impacts the sliding code assembly 76, the buckle 17 is unlocked under the action of the double torsion spring 19, and the buckle 17 rotates 180 degrees around the buckle shaft 26. The electric control rope 72 is still connected to the electric control lock 71. When the airdrop mission is completed, that is, when the sliding code assembly 76 has completed all impacts, the electric control rope 72 is still connected to the electric control lock 71.

[0070] Recovery state: The electric control lock 71 is powered on to unlock, and the electric control lock 71 disconnects the connection with the electric control rope 72. Under the pulling force of the return spring 1 of the sliding code assembly 76, the sliding code assembly 76 drives the parachute-opening hook assembly 65 to move into the cargo hold until all the parachute ropes enter the cargo hold.

[0071] Further, as Figure 16 shown, the parachute rope recovery method includes the following steps: S1: The unmanned aerial vehicle (UAV) executes the mission, packs the complete supplies and assembles them at the designated position in the cargo hold, and installs the parachute-opening hook assembly 65 at the corresponding position of the parachute-opening cable assembly 66. S2: Manually lock, manually operate the sliding code assembly 76 near the post-flight limit ring 20, use the buckle 17 to lock, and then operate the electric control lock 71 to manually lock and connect the electric control rope 72. S3: The UAV takes off to transport supplies until the airdrop mission is executed. The parachute-opening hook assembly 65 and the cargo 69 move rearward. When the parachute-opening hook assembly 65 moves to the position of the sliding code assembly 76, it is blocked. The cargo continues to pass through the tail cargo door 67. The parachute rope 56 is straightened by the cargo 69, the parachute-opening break rope 57 releases the restraint of the parachute pack sealing rope 58, and further pulls out the parachute in the parachute pack until the parachute-opening break rope 57 is broken. S4: There is an unlocking distance 18 between the sliding code assembly 76 and the post-flight limit ring 20. During airdrop, the first parachute-opening hook assembly moves rearward to drive the sliding code assembly 76 to move rearward. When the sliding code assembly 76 is close to the post-flight limit ring 20, the buckle 17 is unlocked. S5: When the airdrop mission is completed, that is, when the sliding code assembly 76 has completed all impacts, the electric control rope 72 is still connected to the electric control lock 71. S6: Manually open the electric control lock 71. Manually send an unlocking instruction to the power supply management module through the ground station to the flight control computer; alternatively, the flight control computer can send an unlocking instruction to the power supply management module according to the preset logic. S7: The power supply module receives the instruction to open the electric control lock 71, and the power supply module supplies power to the electric control lock 71. S8: The electric control lock 71 unlocks after being powered on; S9: Under the pulling force of the return spring 1, the sliding code assembly drives the parachute-opening hook assembly 65 to move into the cargo hold; S10: The task ends until all the parachute ropes enter the cargo hold 68.

[0072] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An opening parachute device for an airdropping unmanned aerial vehicle, characterized in that: It includes a parachute rope recovery component (64), an opening parachute cable component (66) and an opening parachute hook component (65). The opening parachute cable component (66) is connected to the parachute rope recovery component (64), and the opening parachute hook component (65) is arranged in the middle of the opening parachute cable component (66); The parachute rope recovery component (64) and the opening parachute cable component (66) are horizontally arranged, and the opening parachute hook component (65) is vertically arranged. The front end and the rear end of the opening parachute cable component (66) are respectively installed on the front end frame (60) and the rear end frame (63) of the fuselage, and the parachute rope recovery component (64) is installed on the side wall of the fuselage; The opening parachute cable component (66) includes a crimped cable (21), an after-flight limit ring (20) and a before-flight limit ring (35). The opening parachute hook component (65) is installed between the before-flight limit ring (35) and the sliding code component (76); The opening parachute hook component (65) includes a hook (54), a parachute rope (56) and an opening parachute breaking rope (57). The opening parachute breaking rope (57) is connected to the parachute pack sealing rope (58). The opening parachute cable component (66) and the opening parachute hook component (65) are used to forcibly open the parachute; The parachute rope recovery component (64) includes a sliding code component (76), an electric control lock (71) and a rope winding mechanism (70). The rope winding mechanism (70) is connected to the sliding code component (76) through a rope (4). The rope winding mechanism (70) provides a constant recovery force through a torsion spring (1). When the electric control lock (71) is unlocked, the rope winding mechanism (70) drives the sliding code component (76) to move into the cargo hold along the opening parachute cable component (66) to realize the recovery of the parachute rope.

2. The opening parachute device for an airdropping unmanned aerial vehicle according to claim 1, characterized in that: The rope winding mechanism (70) includes a housing (12) and a housing cover (10). The housing (12) has a receiving space inside, and a turntable (11), a torsion spring (1) and a rope (4) are installed in the receiving space; The turntable (11) is used to receive the rope (4), the torsion spring (1) is used to provide a constant recovery force, and the rope (4) is used to connect the sliding code component (76); First aluminum sleeves (7), second aluminum sleeves (5) and third aluminum sleeves (6) are also installed at the ends of the rope (4). The first aluminum sleeve (7) is used to fix the rope (4) on the turntable (11), and the second aluminum sleeve (5) and the third aluminum sleeve (6) are used to make the end of the rope (4) form a loop; A housing shaft notch (13) is provided on the housing (12), and the housing shaft notch (13) is used to install the fixed end (2) of the torsion spring (1) of the torsion spring (1). The turntable (11) is provided with a turntable lower notch (16) for passing through the movable end (3) of the torsion spring (1) of the torsion spring (1); The rope winding mechanism (70) is installed on the middle side wall (61) of the unmanned aerial vehicle fuselage through screw connection.

3. The opening parachute device for an airdropping unmanned aerial vehicle according to claim 1, characterized in that: The parachute cord recovery assembly (64) further includes an electric control lock (71), an electric control cord (72), a first loop (74), a fourth aluminum sleeve (73), and a second loop (75). The electric control lock (71) is installed on the rear side wall (62) of the fuselage through a bolt assembly. The electric control lock (71) realizes the function of unlocking when powered on and has the function of feedback of parachute opening and locking signals. The electric control cord (72) is formed by crimping through the fourth aluminum sleeve (73). The two ends of the electric control cord (72) are respectively connected to the first loop (74) and the electric control lock (71), and the first loop (74) is connected to the sliding code assembly (76).

4. The parachute opening device for an airdrop unmanned aerial vehicle according to claim 1, wherein: The parachute opening cable assembly (66) includes a crimped cable (21), a cable mounting seat (31), a vertical hinge joint (32), a cable lug joint (34), a tension adjusting rod (38), a cable extension joint (39), a first wear-resistant bushing (45), a second wear-resistant bushing (42), a pre-flight stop ring (35), a post-flight stop ring (20), a bolt with a hole (41), a slotted nut (40), a split pin (33), and a buckle (17). The cable mounting seats (31) at both ends of the parachute opening cable assembly (66) are connected to the vertical hinge joints (32) and are symmetrically arranged. The first wear-resistant bushing (45) is arranged inside the cable mounting seat (31). The first wear-resistant bushing (45) is arranged at one end of the vertical hinge joint (32), and the second wear-resistant bushing (42) is arranged at the other end. The first wear-resistant bushing (45) is arranged inside the cable extension joint (39). The second wear-resistant bushing (42) is arranged inside the cable lug joint (34). The cable mounting seat (31), the vertical hinge joint (32), the cable extension joint (39), and the cable lug joint (34) are connected by a bolt with a hole (41), and the slotted nut (40) and the split pin (33) are connected to the end of the bolt with a hole (41). Both ends of the parachute opening cable assembly (66) are respectively connected to the front end frame (60) and the rear end frame (63) of the fuselage through bolt assemblies.

5. The parachute opening device for an airdrop unmanned aerial vehicle according to claim 4, wherein: The crimped cable (21) further includes a cable lug joint (34), a cable external thread joint (36), and a cable (14). The crimped cable (21) is formed by a crimping process of the cable lug joint (34), the cable external thread joint (36), and the cable (14). The cable lug joint (34) is provided with a first cable observation hole (44), and the cable external thread joint (36) is provided with a second cable observation hole (47). The thread of the steel cable external thread joint (36) is a right-handed thread, and the thread of the steel cable extension joint (39) is a left-handed thread (50). One end of the tension adjusting rod (38) is a left-handed thread (50), and the other end is a right-handed thread (53). A tension adjusting hole (37) is provided in the middle of the tension adjusting rod (38) for a cylindrical tool to extend into the tension adjusting hole (37) and rotate the tension adjusting rod (38) counterclockwise or clockwise to adjust the tension of the parachute-opening steel cable assembly (66). The steel cable external thread joint (36) is provided with a first fuse hole (48), and the steel cable extension joint (39) is provided with a second fuse hole (49). After the tension of the parachute-opening steel cable assembly (66) is adjusted, the first fuse (52) passes through the first fuse hole (48) and the tension adjusting hole (37), and the second fuse (51) passes through the second fuse hole (49) and the tension adjusting hole (37).

6. The airdrop UAV parachute-opening device according to claim 5, characterized in that: The pre-flight stop ring (35) is connected to the crimped steel cable (21) at the steel cable external thread joint (36) through a bolt assembly to limit the forward movement of the parachute-opening hook assembly (65), and the post-flight stop ring (20) is connected to the crimped steel cable (21) at the steel cable lug joint (34) through a bolt assembly.

7. The airdrop UAV parachute-opening device according to claim 1, characterized in that: The sliding code assembly (76) further includes a sliding code pulley end (46), a sliding code lug end (30), a pulley (27), a bearing (28), a pulley shaft (29), a buffer pad (24) and a third wear-resistant bushing (23). The sliding code assembly (76) is installed on the parachute-opening steel cable assembly (66) through a bolt assembly. The pulley (27) is connected to the sliding code pulley end (46) through the pulley shaft (29) and the bearing (28). The two pulleys (27), the pulley shaft (29) and the bearing (28) are arranged in parallel. The sliding code lug end (30) is connected to the rope (4) through a second loop (75). The sliding code assembly (76) and the post-flight stop ring (20) have an unlocking distance (18). Buffer pads (24) are symmetrically arranged at the groove positions at both ends of the sliding code assembly (76), and third wear-resistant bushings (23) are arranged inside the buffer pads (24) to improve the service life of the sliding code assembly (76).

8. The airdrop UAV parachute-opening device according to claim 1, characterized in that: The parachute-opening hook assembly (65) includes a hook (54), a parachute rope (56), and a parachute-opening breaking rope (57). One end of the parachute rope (56) is connected to the hook (54), the other end of the parachute rope (56) is connected to the parachute-opening breaking rope (57) by tying, and the parachute-opening breaking rope (57) is connected to the parachute pack sealing rope (58) by tying.

9. The airdrop UAV parachute-opening device according to claim 4 or claim 7, characterized in that: The parachute-opening cable assembly (66) includes a buckle (17), a double torsion spring (19), and a buckle shaft (26); the sliding code assembly (76) includes a buckle groove (25); the parachute-opening cable assembly (66) includes an after-flight limiting ring (20); further, the after-flight limiting ring (20) includes an after-flight limiting ring torsion spring hole (22); the buckle (17) is connected to the double torsion spring (19) through a bolt assembly, two buckles (17) and two double torsion springs (19) are symmetrically arranged, one end of the buckle (17) is fastened to the buckle groove (25) of the sliding code assembly (76), one end of the double torsion spring (19) is inserted into the after-flight limiting ring torsion spring hole (22), the other end of the double torsion spring (19) is attached to the buckle (17), and the double torsion spring (19) can rotate around the buckle shaft (26).

10. A working method of a parachute opening device for an airdropped unmanned aerial vehicle, characterized in that, The air-dropping UAV parachute-opening device according to any one of claims 1 to 9, the UAV parachute-opening device includes a parachute rope recovery assembly (64), a parachute-opening hook assembly (65), and a parachute-opening cable assembly (66); the parachute rope recovery assembly (64) includes a rope winding mechanism (70), a second loop (75), a sliding code assembly (76), a coil spring (1), an electronically controlled rope lock (72), a fourth aluminum sleeve (73), a first loop (74), and an electronically controlled lock (71); the parachute-opening cable assembly (66) includes a buckle (17), a buckle groove (25), a buckle shaft (26), and a double torsion spring (19); the parachute-opening hook assembly (65) includes a parachute rope (56). The air-dropping UAV parachute-opening device includes the following states: initial state, air-dropping state, and recovery state. Initial state: The rope winding mechanism (70) is connected to the sliding code assembly (76) through the second loop (75). Under the action of the constant return force provided by the coil spring (1) of the rope winding mechanism (70), one end of the buckle (17) is fastened to the buckle groove (25) of the sliding code assembly (76). The electronically controlled rope lock (72) is crimped into a ring through the fourth aluminum sleeve (73). One end of the electronically controlled rope lock (72) is connected to the first loop (74), the other end of the electronically controlled rope lock (72) is connected to the electronically controlled lock (71), and the first loop (74) is connected to the sliding code assembly (76). At this time, the buckle (17) bears the constant return force provided by the coil spring (1). Air-dropping state: When the air-dropping mission starts, multiple parachute-opening hook assemblies (65) arranged on the parachute-opening cable assembly (66) sequentially impact the sliding code assembly (76). When the parachute-opening hook assembly (65) impacts the sliding code assembly (76), the buckle (17) is unlocked under the action of the double torsion spring (19), and the buckle (17) rotates 180 degrees around the buckle shaft (26). The electronically controlled rope lock (72) is still connected to the electronically controlled lock (71); when the air-dropping mission is completed, that is, when the sliding code assembly (76) has completed all impacts, the electronically controlled rope lock (72) is still connected to the electronically controlled lock (71). Recovery state: The electric control lock (71) is energized to unlock, the electric control lock (71) disconnects the connection with the electric control lock rope (72), and under the pulling force of the return spring (1), the sliding code assembly (76) drives the parachute-opening hook assembly (65) to move into the cargo compartment until all of the parachute ropes (56) enter the cargo compartment.

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