An airdrop unmanned aerial vehicle parachute opening device and a working method thereof

Abstract

The present application relates to the technical field of air-drop unmanned transport machine, and provides an air-drop unmanned plane parachute opening device and a working method thereof, which comprises a parachute rope recovery assembly, a parachute opening cable assembly and a parachute opening hook assembly. The parachute opening cable assembly is connected to the parachute rope recovery assembly in the middle, and the parachute opening hook assembly is arranged in the middle of the parachute opening cable assembly. The parachute opening cable assembly comprises a crimping cable, a rear flight limiting ring and a front flight limiting ring, and the parachute opening hook assembly is arranged between the front flight limiting ring and a slide code assembly. The parachute opening cable assembly and the parachute opening hook assembly are used for forcibly opening the parachute. The parachute rope recovery assembly comprises a slide code assembly, an electric control lock and a rope recovery mechanism. The rope recovery mechanism provides a constant recovery force through a coil spring. When the electric control lock is unlocked, the rope recovery mechanism drives the slide code assembly to move along the parachute opening cable into the cargo compartment, so as to realize the recovery of the parachute rope. The present application aims to solve the problem of forced parachute opening of the tail air-drop unmanned plane, and avoid the problems of the parachute rope floating around the tail cabin door, beating the tail fuselage and affecting the closing of the tail cabin door after the parachute opening.

Description

TECHNICAL FIELD

[0001] The present application relates to the unmanned transport machine technical field, specifically, it relates to a kind of unmanned plane parachute opening device and its working method. BACKGROUND

[0002] Unmanned transport machine is by tail cabin door opening, air-drop supplies along slide rail slide out cargo hold, open parachute, utilize the air resistance of parachute to make air-drop supplies safe landing, parachute is the core equipment of air-drop supplies safe landing, and parachute opening device is the key component of guaranteeing that parachute can normally open.

[0003] Current unmanned plane air-drop technology belongs to technical blank, air-drop is completed, and parachute rope will be left in the vicinity of tail cabin door, which affects the safety of aircraft structure and mechanism, and may also affect cabin door closing, causing flight safety. The traditional parachute opening device generally adopts delay timer parachute opening, and its principle is to use delay electronic equipment to set the required parachute opening height and speed to trigger parachute opening. However, the reliability of this method is relatively low. At the same time, in order to meet the parachute opening, a set of power supply system needs to be added, and the system is complex. Another way is to use forced parachute opening, and to use pulley reversing and motor drive to provide recovery force to recover the parachute rope into the cabin. The above-mentioned methods all have the disadvantages of large weight, large size, complex system and high cost. SUMMARY

[0004] The present application provides a kind of air-drop unmanned plane parachute opening device and parachute opening device, solve the problem that parachute rope is in the vicinity of tail cabin door after tail air-drop unmanned plane forced parachute opening, and the problem that it affects tail cabin door closing.

[0005] The present application is realized by using the following technical solutions:

[0006] It comprises a parachute rope recovery assembly, a parachute opening cable assembly and a parachute opening hook assembly, the parachute opening cable assembly is connected to the parachute rope recovery assembly in the middle, and the parachute opening hook assembly is arranged in the middle of the parachute opening cable assembly.

[0007] The parachute rope recovery assembly and the parachute opening cable assembly are arranged horizontally, and the parachute opening hook assembly is arranged vertically, the front end of the parachute opening cable assembly is installed on the front end frame of the fuselage, the rear end of the parachute opening cable assembly 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.

[0008] The parachute opening cable assembly comprises a crimped cable, a rear flight limiting ring and a front flight limiting ring, and the parachute opening hook assembly is installed between the front flight limiting ring and the slide code assembly. The parachute opening hook assembly comprises a parachute opening hook, a parachute rope and a parachute opening pull-off rope, and the parachute opening pull-off rope is connected to the parachute bag sealing rope. The parachute opening cable assembly and the parachute opening hook assembly are used to forcibly open the parachute. The rear flight limiting ring comprises a torsional spring hole.

[0009] The umbrella rope recovery assembly comprises a sliding code assembly, an electric control lock and a rope collecting mechanism, the rope collecting mechanism is connected with the sliding code assembly through a rope, the rope collecting mechanism provides a constant recovery force through a coil spring, when the electric control lock is unlocked, the rope collecting mechanism drives the sliding code assembly to move along the parachute opening cable into the cargo compartment, and the umbrella rope recovery is realized.

[0010] As a preferred technical solution:

[0011] The rope collecting mechanism comprises a shell and a shell cover, the shell has a receiving space inside, a rotating disc, a coil spring and a rope are installed in the shell, the rotating disc is used for receiving the rope, the coil spring is used for providing a constant recovery force, and the rope is used for connecting the sliding code assembly.

[0012] As a preferred technical solution:

[0013] A first aluminum sleeve, a second aluminum sleeve and a third aluminum sleeve are further installed on the rope end, the first aluminum sleeve is used for fixing the rope on the rotating disc, and the second aluminum sleeve and the third aluminum sleeve are used for forming a loop at the end of the rope.

[0014] As a preferred technical solution:

[0015] The rope collecting mechanism is connected through a screw and is installed on the side wall of the middle part of the fuselage.

[0016] As a preferred technical solution:

[0017] The umbrella rope recovery assembly further comprises an electric control lock, an electric control lock rope, a first loop and a second loop, and the electric control lock is installed on the rear side wall of the fuselage through a bolt assembly.

[0018] As a preferred technical solution:

[0019] The electric control lock rope is press-fitted and formed through the fourth aluminum sleeve. One end of the electric control lock rope is connected with the first loop, and the other end of the electric control lock rope is connected with the electric control lock. The first loop is connected with the sliding code assembly.

[0020] As a preferred technical solution:

[0021] The umbrella opening steel cable assembly comprises a crimped steel cable, a steel cable mounting seat, a vertical hinge joint, a tension adjusting rod, a steel cable extension joint, a first wear-resistant bushing, a second wear-resistant bushing, a pre-flight limiting ring, a post-flight limiting ring, a steel cable ear joint, a bolt with a hole, a slotted nut, a split pin, a hasp, a double torsion spring, and a hasp shaft.

[0022] As a preferred technical solution:

[0023] The second wear-resistant bushing is arranged in the steel cable ear joint.

[0024] As a preferred technical solution:

[0025] The steel cable mounting seat, the vertical hinge joint, the steel cable extension joint, and the steel cable ear joint are connected through the bolt with a hole. The slotted nut and the split pin are connected at the end of the bolt with a hole.

[0026] As a preferred technical solution:

[0027] The two ends of the umbrella opening steel cable assembly are respectively connected to the front end frame of the fuselage and the rear end frame of the fuselage through a bolt assembly.

[0028] As a preferred technical solution:

[0029] The crimped steel cable further comprises a steel cable ear joint, a steel cable external thread joint, and a steel cable. The crimped steel cable is formed through a steel cable ear joint, a steel cable external thread joint, and a steel cable crimping process. The steel cable ear joint is provided with a first steel cable observation hole, and the steel cable external thread joint is provided with a second steel cable observation hole.

[0030] As a preferred technical solution:

[0031] The thread of the steel cable external thread joint is a right-handed thread, and the thread of the steel 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 arranged in the middle of the tension adjusting rod for a cylindrical tool to extend into the tension adjusting hole. The tension adjusting rod is rotated counterclockwise or clockwise to adjust the tension of the umbrella opening steel cable assembly.

[0032] As a preferred technical solution:

[0033] The steel cable outer thread joint is provided with a first fuse hole, and the steel cable extension joint is provided with a second fuse hole. After the parachute opening steel cable assembly is tension adjusted, the first fuse passes through the first fuse hole and the tension adjustment hole. The second fuse passes through the second fuse hole and the tension adjustment hole.

[0034] As a preferred technical solution:

[0035] The pre-flight limiting ring is connected with the compression steel cable at the steel cable outer thread joint through a bolt assembly, used to limit the forward movement of the parachute hook assembly. The post-flight limiting ring is connected with the compression steel cable at the steel cable ear joint through a bolt assembly.

[0036] As a preferred technical solution:

[0037] The slide code assembly further comprises a slide code pulley end, a slide code ear end, a pulley, a bearing, a pulley shaft, a buffer pad, a buckle slot and a third wear-resistant bushing. The slide code assembly is installed on the parachute opening steel cable assembly through a bolt assembly. The pulley is connected to the slide code pulley end through the pulley shaft and the bearing. Two pulleys, the pulley shaft and the bearing are arranged side by side. The slide code ear end is connected with the rope through the second ring. The slide code assembly has the unlocking distance with the post-flight limiting ring.

[0038] As a preferred technical solution:

[0039] The buffer pad is arranged symmetrically at the groove positions at both ends of the slide code assembly. A third wear-resistant bushing is arranged inside the buffer pad, which improves the service life of the slide code assembly.

[0040] As a preferred technical solution:

[0041] The parachute hook assembly comprises a hook, a canopy rope and a parachute opening breaking rope. One end of the canopy rope is connected with the hook. The other end of the canopy rope is connected with the parachute opening breaking rope through binding. The parachute opening breaking rope is connected with the canopy envelope rope through binding.

[0042] As a preferred technical solution:

[0043] The buckle and the double torsion spring are connected through a bolt assembly. Two buckles and two double torsion springs are arranged symmetrically. One end of the buckle is buckled tightly with the buckle slot of the slide code assembly. One end of the double torsion spring is inserted into the torsion spring hole of the post-flight limiting ring. The other end of the double torsion spring is attached to the buckle. The double torsion spring can rotate around the buckle shaft.

[0044] As a preferred technical solution:

[0045] Initial state: the rope collecting mechanism connects the slide code assembly through the second ring, and the buckle is buckled with the buckle slot of the slide code assembly under the constant pull force provided by the coil spring of the rope collecting mechanism. The electric control lock rope is connected to the first ring through the fourth aluminum sleeve, and the other end of the electric control lock rope is connected to the electric control lock. The first ring is connected to the slide code assembly. At this time, the buckle bears the constant pull force provided by the coil spring.

[0046] Air drop state: when the air drop task starts, the plurality of parachute hook assemblies arranged on the parachute cable assembly hit the slide code assembly in turn, and when the first parachute hook assembly hits the slide code assembly, the buckle is unlocked under the action of the torsional spring, and the buckle rotates by 180 degrees around the buckle shaft. The electric control lock rope is still connected to the electric control lock. When the air drop task is completed, that is, the slide code assembly completes all the hits, the electric control lock rope is still connected to the electric control lock.

[0047] Recycling state: the electric control lock is powered on and unlocked, and the electric control lock disconnects the connection between the electric control lock and the electric control lock rope. The slide code assembly moves into the cargo compartment with the parachute hook under the pull force of the coil spring until the parachute rope enters the cargo compartment.

[0048] As a preferred technical solution:

[0049] The shell is provided with a shell shaft notch for mounting the fixed end of the coil spring, and the rotating disc is provided with a rotating disc lower notch for passing through the movable end of the coil spring.

[0050] As a preferred technical solution:

[0051] The electric control lock realizes the functions of power-on unlocking, parachute opening and locking signal feedback.

[0052] As a preferred technical solution:

[0053] The electric control lock realizes manual locking.

[0054] As a preferred technical solution:

[0055] The application further provides an umbrella rope recycling method, which utilizes the unmanned aerial vehicle parachute opening device for air drop, and comprises the following steps:

[0056] S1: the unmanned aerial vehicle performs a task, packs complete materials into a designated position in a cargo compartment, and installs the parachute hook assembly at a corresponding position of the parachute cable assembly;

[0057] S2: manual locking, manually operating the slide assembly to the vicinity of the rear limit ring, using the buckle to lock, and then operating the electric control lock to manually lock the electric control lock rope;

[0058] S3: the unmanned aerial vehicle takes off to transport materials until the air drop task is performed, the parachute hook assembly and the cargo move rearward, the parachute hook assembly is blocked when it moves to the position of the slide assembly, the cargo continues to pass through the tail hatch door, the parachute rope is pulled straight by the cargo, the parachute pull-off rope releases the parachute package sealing rope constraint, further pulls out the parachute in the parachute package, and the parachute pull-off rope is pulled off until it is pulled off;

[0059] S4: the slide assembly and the rear limit ring have the unlocking distance, during air drop, the first parachute hook assembly moves rearward to drive the slide assembly to move rearward, when the slide assembly is close to the rear limit ring, the buckle is unlocked;

[0060] S5: when the air drop task is completed, the electric control lock rope is still connected to the electric control lock;

[0061] S6: manually opening the electric control lock, manually sending an opening instruction to the power supply management module to the flight computer through the ground station; the flight computer can also be installed with a predetermined logic to send an opening instruction to the power supply management module;

[0062] S7: the power supply module receives the opening instruction of the electric control lock, and the power supply module supplies power to the electric control lock;

[0063] S8: the electric control lock is unlocked after being powered on;

[0064] S9: the slide assembly moves into the cargo compartment with the parachute hook under the action of the return force of the coil spring;

[0065] S10: until the parachute rope is completely in the cargo compartment, the task is completed.

[0066] As described above, due to the adoption of the above technical scheme, the beneficial effects of the present application are:

[0067] 1. The present application realizes forced opening of the parachute, and the parachute opening reliability is high;

[0068] 2. The present application realizes parachute rope recovery without affecting the closing of the tail hatch door;

[0069] 3. The present application is light in weight and simple in system;

[0070] 4. The present application realizes parachute opening state detection. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1Structure diagram of the unmanned aerial vehicle parachute opening device.

[0072] Figure 2 Structure diagram of the parachute opening hook assembly.

[0073] Figure 3 Transverse sectional view of the slide code assembly.

[0074] Figure 4 Structure diagram of the rope collecting mechanism Figure 1 .

[0075] Figure 5 Structure diagram of the rope collecting mechanism Figure 2 .

[0076] Figure 6 Structure diagram of the rope collecting mechanism Figure 3 .

[0077] Figure 7 Longitudinal sectional view of the rope collecting mechanism.

[0078] Figure 8 Structure diagram of the unmanned aerial vehicle parachute rope recovery assembly.

[0079] Figure 9 Working principle diagram of the slide code assembly Figure 1 .

[0080] Figure 10 Working principle diagram of the slide code assembly Figure 2 .

[0081] Figure 11 Longitudinal sectional view of the parachute cable assembly Figure 1 .

[0082] Figure 12 Longitudinal sectional view of the parachute cable assembly Figure 2 .

[0083] Figure 13 Structure diagram of the parachute cable assembly Figure 1 .

[0084] Figure 14 Structure diagram of the parachute cable assembly Figure 2 .

[0085] Figure 15 Installation position diagram of the unmanned aerial vehicle parachute opening device.

[0086] Figure 16The figure is a schematic diagram of the process of the parachute opening device of the UAV according to the present invention.

[0087] Icons: 1-coil spring, 2-coil spring fixed end, 3-coil spring movable end, 4-rope, 5-second aluminum sleeve, 6-third aluminum sleeve, 7-first aluminum sleeve, 8-turntable upper notch, 9-housing cover shaft, 10-housing cover, 11-turntable, 12-housing, 13-housing shaft notch, 14-steel cable, 15-housing shaft, 16-turntable lower notch, 17-buckle, 18-unlocking distance, 19-double torsion spring, 20-rear flight limit ring, 21-crimped steel cable, 22 - Rear limit ring torsion spring hole, 23- third wear-resistant bushing, 24- buffer pad, 25- buckle groove, 26- buckle shaft, 27- pulley, 28- bearing, 29- pulley shaft, 30- sliding code with ear end, 31- cable mounting seat, 32- vertical hinge head, 33- cotter pin, 34- cable with ear joint, 35- front limit ring, 36- cable external thread joint, 37- tension adjustment hole, 38- tension adjustment rod, 39- cable extension joint, 40- open Slot nut, 41-bolt with hole, 42-second wear-resistant bushing, 43-fuse hole, 44-first steel cable observation hole, 45-first wear-resistant bushing, 46-slide pulley end, 47-second steel cable observation hole, 48-first fuse hole, 49-second fuse hole, 50-left-hand thread, 51-second fuse, 52-first fuse, 53-right-hand thread, 54-hook, 55-hook ring, 56-parachute rope, 57-parachute breaking rope, 58- Parachute bag sealing rope, 59-parachute bag, 60-front fuselage frame, 61-middle fuselage side wall, 62-rear fuselage side wall, 63-rear fuselage frame, 64-parachute rope recovery assembly, 65-parachute hook assembly, 66-parachute cable assembly, 67-tail door, 68-cargo hold, 69-cargo, 70-rope collection mechanism, 71-electric lock, 72-electric lock rope, 73-fourth aluminum sleeve, 74-first ring, 75-second ring, 76-sliding code assembly. DETAILED DESCRIPTION

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0089] Example 1

[0090] like Figure 1 As shown, this embodiment provides a parachute opening device for a drone, including a parachute rope recovery assembly 64 , a parachute opening hook assembly 65 and a parachute opening cable assembly 66 .

[0091] As Figure 8 and Figure 15 shown, the umbrella rope recovery assembly 64 includes a rope recovery mechanism 70, a sliding code assembly 76, an electric control lock 71, an electric control lock rope 72, a fourth aluminum sleeve 73, a first ring 74 and a second ring 75. Specifically, the rope recovery mechanism 70 provides a constant force recovery force, one end of the rope recovery mechanism 70 is connected to the middle side wall 61 of the body through a bolt assembly, and the rope recovery 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 body through a bolt assembly, and the electric control lock 71 realizes the functions of power-on unlocking, opening and closing signal feedback.

[0092] The electric control lock rope 72 is crimped and formed through the fourth aluminum sleeve 73. One end of the electric control lock rope 72 is connected to the first ring 74, and the other end of the electric control lock rope 72 is connected to the electric control lock 71. The first ring 74 is connected to the sliding code assembly 76.

[0093] As Figures 4-8 shown, the rope recovery mechanism 70 includes a shell 12, a rotating disc 11, a shell cover 10, a coil spring 1 and a rope 4, the shell 12 has a receiving space inside, the rotating disc 11, the coil spring 1 and the rope 4 are installed inside the shell 12, further, the shell cover 10 is provided with a shell cover shaft 9, the shell 12 is provided with a shell shaft 15, and the shell cover shaft 9 and the shell shaft 15 are used to install the rotating disc 11. The shell 12 is provided with a shell shaft notch 13, the shell shaft notch 13 is used to install the fixed end 2 of the coil spring 1, and the rotating disc 11 is provided with a rotating disc lower notch 16 for passing through the movable end 3 of the coil spring 1.

[0094] The rotating disc 11 is used to accommodate the rope 4, the coil spring 1 is used to provide a constant recovery force, and the rope 4 is used to connect the sliding code assembly 76.

[0095] The end of the rope 4 is also provided with a first aluminum sleeve 7, a second aluminum sleeve 5 and a third aluminum sleeve 6, the first aluminum sleeve 7 is used to fix the rope 4 on the rotating disc 11, the rope passes through the rotating disc upper notch 8 of the rotating disc 11, and the second aluminum sleeve 5 and the third aluminum sleeve 6 are used to form a ring at the end of the rope 4.

[0096] As Figure 3 , Figure 9 and Figure 10As shown, the slide assembly 76 includes slide pulley end 46, slide band ear end 30, pulley 27, bearing 28, pulley shaft 29, buffer pad 24 and third wear sleeve 23, the slide assembly 76 is installed on the parachute opening cable assembly 66 through bolt assembly. The pulley 27 is connected on the slide pulley end 46 through the pulley shaft 29 and the bearing 28, two pulleys 27, pulley shaft 29 and bearing 28 are arranged side by side. The slide band ear end 30 is connected with the rope 4 through the second ring 75. The slide assembly 76 has the unlocking distance 18 with the after-limiting ring 20.

[0097] The slide assembly 76 is arranged symmetrically at both ends of the groove position of the buffer pad 24, the third wear sleeve 23 is arranged inside the buffer pad 24, which improves the service life of the slide assembly 76.

[0098] As shown in Figure 2 and Figure 15 As shown, the parachute opening hook assembly 65 includes hook 54, parachute rope 56, parachute opening pull rope 57, parachute bag sealing rope 58 and parachute bag 59, one end of the parachute rope 56 is connected with the hook ring 55 of the hook 54, the other end of the parachute rope 56 is connected with the parachute opening pull rope 57 through binding, and the parachute opening pull rope 57 is connected with the parachute bag sealing rope 58 through binding.

[0099] Further, as shown in Figure 1 A plurality of the parachute opening hook assembly 65 is installed on the parachute opening cable assembly 66, and is between the slide assembly 76 and the forward-limiting ring 35.

[0100] As shown in Figures 10-15 The parachute opening cable assembly 66 includes crimped cable 21, cable mounting seat 31, vertical hinge 32, tension adjusting rod 38, cable extension joint 39, first wear sleeve 45, second wear sleeve 42, forward-limiting ring 35, after-limiting ring 20 and buckle 17. The vertical hinge 32 is connected with the cable mounting seat 31 at both ends of the parachute opening cable assembly 66, which is symmetrically arranged, the first wear sleeve 45 is arranged in the cable mounting seat 31, the first wear sleeve 45 is arranged at one end of the vertical hinge 32, the second wear sleeve 42 is arranged at the other end of the vertical hinge 32, and the first wear sleeve 45 is arranged in the cable extension joint 39. The second wear sleeve 42 is arranged in the cable band ear joint 34. Further, the cable mounting seat 31, the vertical hinge 32, the cable extension joint 39 and the cable band ear joint 34 are connected through the bolt with hole 41. The slotted nut 40 and split pin 33 are connected at the end of the bolt with hole 41. The two ends of the parachute opening cable assembly 66 are connected with the front end frame 60 of the fuselage and the rear end frame 63 of the fuselage through bolt assembly respectively.

[0101] The crimped steel cable 21 further includes a steel cable lug connector 34, a steel cable externally threaded connector 36, and a steel cable 14. The crimped steel cable 21 is formed by crimping the steel cable lug connector 34, the steel cable externally threaded connector 36, and the steel cable 14. The steel cable lug connector 34 is provided with a first steel cable observation hole 44, and the steel cable externally threaded connector 36 is provided with a second steel cable observation hole 47.

[0102] The threads of the externally threaded cable connector 36 are right-handed 53, while the threads of the cable extension connector 39 are left-handed 50. The tension adjustment rod 38 has a left-handed thread at one end and a right-handed thread at the other. A tension adjustment hole 37 is provided in the center of the tension adjustment rod 38, allowing a cylindrical tool to be inserted into the tension adjustment hole 37 and rotated counterclockwise or clockwise to adjust the tension of the parachute cable assembly 66.

[0103] Furthermore, the externally threaded cable connector 36 is provided with a first fuse hole 48, and the cable extension connector 39 is provided with a second fuse hole 49. After the tension of the parachute cable assembly 66 is adjusted, the first fuse 52 passes through the first fuse hole 48 and the tension adjustment hole 37. The second fuse 51 passes through the second fuse hole 49 and the tension adjustment hole 37.

[0104] The pre-flight limit ring 35 is connected to the crimped steel cable 21 at the steel cable external thread joint 36 via a bolt assembly to limit the forward movement of the parachute hook assembly 65. The post-flight limit ring 20 is connected to the crimped steel cable at the steel cable ear joint 34 via a bolt assembly.

[0105] Example 2

[0106] like Figure 16 As shown, the present invention further provides a parachute rope recovery method, which utilizes the above-mentioned drone parachute opening device for airdrop.

[0107] Specifically including: initial state, airdrop state and recovery state.

[0108] Initial State: The rope-collecting mechanism 70 is connected to the sliding assembly 76 via the second ring 75. Under the constant pullback force provided by the coil spring 1, one end of the buckle 17 is fastened to the buckle slot 25 of the sliding assembly 76. The electric lock cord 72 is crimped into a ring shape by the fourth aluminum sleeve 73. One end of the electric lock cord 72 is connected to the first ring 74, and the other end is connected to the electric lock 71. The first ring 74 is connected to the sliding assembly 76. At this point, the buckle 17 is in a locked state, subject to the constant pullback force provided by the coil spring 1.

[0109] Drop state: When the drop task starts, the plurality of parachute hook assemblies 65 arranged on the parachute cable assembly 66 hit the slide assembly 76 in turn. When the first parachute hook assembly hits the slide 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 lock rope 72 is still connected to the electric control lock 71. When the drop task is completed, that is, the slide assembly 76 completes all the hits, the electric control lock rope 72 is still connected to the electric control lock 71.

[0110] Recycling state: The electric control lock 71 is powered on and unlocked, and the electric control lock 71 is disconnected from the electric control lock rope 72. The slide assembly 76 moves into the cargo compartment under the action of the return force of the coil spring 1 with the parachute hook assembly 65 until the parachute rope is fully entered into the cargo compartment.

[0111] Further, as shown in the figure, the parachute rope recycling method comprises the following steps: Figure 16

[0112] S1: The unmanned aerial vehicle performs a task, packs the complete material into the designated position in the cargo compartment, and installs the parachute hook assembly 65 at the corresponding position of the parachute cable assembly 66;

[0113] S2: Manual locking, manually operating the slide assembly 76 to the vicinity of the rear limiting ring 20, locking the buckle 17, and then manually locking the electric control lock 71 to connect the electric control lock rope 72;

[0114] S3: The unmanned aerial vehicle takes off to transport the material until the drop task is performed. The parachute hook assembly 65 and the cargo 69 move rearward, and when the parachute hook assembly 65 moves to the position of the slide assembly 76, it is blocked, the cargo continues to pass through the tail hatch door 67, the parachute rope 56 is straightened by the cargo 69, the parachute pull-off rope 57 releases the parachute package sealing rope 58, further pulls out the parachute in the parachute package, until the parachute pull-off rope 57 is pulled off;

[0115] S4: The slide assembly 76 and the rear limiting ring 20 have the unlocking distance 18. When the first parachute hook assembly moves rearward to drive the slide assembly 76 to move rearward during the drop, the buckle 17 is unlocked when the slide assembly 76 approaches the rear limiting ring 20;

[0116] S5: When the drop task is completed, that is, the slide assembly 76 completes all the hits, the electric control lock rope 72 is still connected to the electric control lock 71;

[0117] ​S6: the electric control lock 71 is opened manually, and the opening instruction is sent to the power supply management module by the ground station or the flight tube computer with a predetermined logic;

[0118] S7: the power supply module receives the opening instruction of the electric control lock 71, and supplies power to the electric control lock 71;

[0119] S8: the electric control lock 71 is opened after being powered on;

[0120] S9: the slide code assembly moves into the cargo compartment with the opening parachute hook assembly 65 under the back pull of the coil spring 1;

[0121] S10: until the parachute rope is completely entered into the cargo compartment 68, the task is completed.

[0122] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An air-drop UAV parachute opening device, characterized in that: comprising a parachute cord recovery assembly (64), a parachute opening cable assembly (66) and a parachute opening hook assembly (65), the parachute opening cable assembly (66) is connected with the parachute cord recovery assembly (64), and the parachute opening hook assembly (65) is arranged in the middle of the parachute opening cable assembly (66); the parachute cord recovery assembly (64), the parachute opening cable assembly (66) are arranged horizontally, and the parachute opening hook assembly (65) is arranged vertically, the front end and the rear end of the parachute opening cable assembly (66) are respectively installed on a front end frame (60) and a rear end frame (63) of a fuselage, and the parachute cord recovery assembly (64) is installed on a side wall of the fuselage; the parachute opening cable assembly (66) comprises a crimped cable (21), an after-flight limiting ring (20) and a front-flight limiting ring (35), the parachute opening hook assembly (65) is installed between the front-flight limiting ring (35) and a sliding code assembly (76); the parachute opening hook assembly (65) comprises a hook (54), a parachute cord (56) and a parachute opening pull-off cord (57), the parachute opening pull-off cord (57) is connected with a parachute bag sealing cord (58), and the parachute opening cable assembly (66) and the parachute opening hook assembly (65) are used for forcibly opening a parachute; the parachute cord recovery assembly (64) comprises the sliding code assembly (76), an electric control lock (71) and a cord recovery mechanism (70), the cord recovery mechanism (70) is connected with the sliding code assembly (76) through a rope (4), the cord recovery mechanism (70) provides a constant recovery force through a coil spring (1), when the electric control lock (71) is unlocked, the cord recovery mechanism (70) drives the sliding code assembly (76) to move along the parachute opening cable assembly (66) into a cargo compartment, and the parachute cord recovery is realized; the parachute opening cable assembly (66) further comprises a buckle (17), a double torsional spring (19) and a buckle shaft (26); the sliding code assembly (76) comprises a buckle groove (25); the parachute opening cable assembly (66) further comprises the after-flight limiting ring (20); the after-flight limiting ring (20) comprises an after-flight limiting ring torsional spring hole (22); the buckle (17) and the double torsional spring (19) are connected through a bolt assembly, two buckles (17) and two double torsional springs (19) are arranged symmetrically, one end of the buckle (17) is buckled tightly with the buckle groove (25) of the sliding code assembly (76), one end of the double torsional spring (19) is inserted into the after-flight limiting ring torsional spring hole (22), and the other end of the double torsional spring (19) is attached to the buckle (17), and the double torsional spring (19) can rotate around the buckle shaft (26).

2. The air-drop UAV parachute opening device according to claim 1, characterized in that: the cord recovery mechanism (70) comprises a shell (12) and a shell cover (10), the shell (12) has an accommodation space inside, and a rotating disc (11), a coil spring (1) and a rope (4) are installed in the accommodation space; the rotating disc (11) is used for accommodating the rope (4), the coil spring (1) is used for providing a constant recovery force, and the rope (4) is used for connecting the sliding code assembly (76). ​ ​ ​ ​ The rope (4) end is also provided with a first aluminum sleeve (7), a second aluminum sleeve (5) and a third aluminum sleeve (6), the first aluminum sleeve (7) is used to fix the rope (4) on the rotating disc (11), and the second aluminum sleeve (5) and the third aluminum sleeve (6) are used to form a loop at the end of the rope (4). The shell (12) is provided with a shell shaft notch (13) for installing the fixed end (2) of the coil spring (1), and the rotating disc (11) is provided with a rotating disc lower notch (16) for passing through the movable end (3) of the coil spring (1). The rope collecting mechanism (70) is connected by screws and installed on the middle side wall (61) of the unmanned aerial vehicle body.

3. The parachute opening device of the aerial delivery unmanned aerial vehicle according to claim 1, wherein: The parachute rope recovery assembly (64) further comprises an electric control lock (71), an electric control lock rope (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 body through a bolt assembly, the electric control lock (71) realizes the functions of power-on unlocking, parachute opening and locking signal feedback; The electric control lock rope (72) is formed by crimping the fourth aluminum sleeve (73), and the two ends of the electric control lock rope (72) are connected with the first loop (74) and the electric control lock (71) respectively, and the first loop (74) is connected with the slide code assembly (76).

4. The parachute opening device of the aerial delivery unmanned aerial vehicle according to claim 1, wherein: The parachute opening cable assembly (66) comprises a crimped cable (21), a cable mounting seat (31), a vertical hinge joint (32), a cable ear 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 limiting ring (35), a post-flight limiting 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 the two ends of the parachute opening cable assembly (66) are connected with the vertical hinge joints (32) and are symmetrically arranged, the cable mounting seats (31) are provided with the first wear-resistant bushings (45) therein; the vertical hinge joints (32) are provided with the first wear-resistant bushings (45) at one end and the second wear-resistant bushings (42) at the other end; the cable extension joint (39) is provided with the first wear-resistant bushing (45) therein; and the cable ear joint (34) is provided with the second wear-resistant bushing (42) therein; The cable mounting seat (31), the vertical hinge joint (32), the cable extension joint (39) and the cable ear joint (34) are connected by the bolt with a hole (41), and the slotted nut (40) and the split pin (33) are connected at the end of the bolt with a hole (41); The two ends of the parachute opening cable assembly (66) are connected to the front end frame (60) and the rear end frame (63) of the body by bolt assemblies.

5. The parachute opening device of the aerial delivery unmanned aerial vehicle according to claim 4, wherein: The crimped steel cable (21) further comprises a steel cable ear joint (34), a steel cable external thread joint (36) and a steel cable (14); the crimped steel cable (21) is formed by a steel cable ear joint (34), a steel cable external thread joint (36) and a steel cable (14) crimping process, the steel cable ear joint (34) is provided with a first steel cable observation hole (44), and the steel cable external thread joint (36) is provided with a second steel cable observation hole (47); The thread of the steel cable external thread joint (36) is a right-handed thread, 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); the middle part of the tension adjusting rod (38) is provided with a tension adjusting hole (37), a cylindrical tool is inserted into the tension adjusting hole (37), the tension adjusting rod (38) is rotated counterclockwise or clockwise, and the tension of the parachute opening steel cable assembly (66) is adjusted. The steel cable external thread joint (36) is provided with a first fuse hole (48), the steel cable extension joint (39) is provided with a second fuse hole (49), and 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 air-drop unmanned aerial vehicle parachute opening device according to claim 5, wherein: The pre-flight limiting ring (35) is connected to the crimped steel cable (21) at the steel cable external thread joint (36) through a bolt assembly, and is used for limiting the movement of the parachute opening hook assembly (65) to the front of the flight, and the post-flight limiting ring (20) is connected to the crimped steel cable (21) at the steel cable ear joint (34) through a bolt assembly.

7. The air-drop unmanned aerial vehicle parachute opening device according to claim 1, wherein: The slide code assembly (76) further comprises a slide code pulley end (46), a slide code 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 slide code assembly (76) is installed on the parachute opening steel cable assembly (66) through a bolt assembly, the pulley (27) is connected to the slide code pulley end (46) through the pulley shaft (29) and the bearing (28), two pulleys (27), the pulley shaft (29) and the bearing (28) are arranged side by side, the slide code ear end (30) is connected to the rope (4) through a second ring (75), and the slide code assembly (76) has an unlocking distance (18) with the post-flight limiting ring (20); The buffer pads (24) are arranged in a position symmetrical to the grooves at both ends of the slide code assembly (76), the third wear-resistant bushings (23) are arranged in the buffer pads (24), and the service life of the slide code assembly (76) is improved.

8. The air-drop unmanned aerial vehicle parachute opening device according to claim 1, wherein: The umbrella opening hook assembly (65) comprises a hook (54), an umbrella rope (56), and an umbrella opening breaking rope (57). One end of the umbrella rope (56) is connected to the hook (54), and the other end of the umbrella rope (56) is connected to the umbrella opening breaking rope (57) by binding. The umbrella opening breaking rope (57) is connected to the umbrella bag sealing rope (58) by binding.

9. An aerial delivery UAV parachute deployment apparatus operating method, characterized by, An airdrop drone parachute opening device according to any one of claims 1 to 8 is used, wherein the drone parachute opening device comprises a parachute rope recovery assembly (64), a parachute opening hook assembly (65) and a parachute opening steel cable assembly (66); the parachute rope recovery assembly (64) comprises a rope collection mechanism (70), a second ring (75), a sliding code assembly (76), a coil spring (1), an electric lock rope (72), a fourth aluminum sleeve (73), a first ring (74) and an electric lock (71); the parachute opening steel cable assembly (66) comprises a buckle (17), a buckle groove (25), a buckle shaft (26) and a double torsion spring (19); the parachute opening hook assembly (65) comprises a parachute rope (56); The airdrop drone parachute opening device includes the following states: initial state, airdrop state, and recovery state; Initial state: the rope-collecting mechanism (70) is connected to the sliding code assembly (76) through the second ring (75), and under the action of the constant pull-back force provided by the coil spring (1) on the rope-collecting mechanism (70), one end of the buckle (17) is fastened with the buckle groove (25) of the sliding code assembly (76), and the electric control lock rope (72) is crimped into a ring through the fourth aluminum sleeve (73), one end of the electric control lock rope (72) is connected to the first ring (74), and the other end of the electric control lock rope (72) is connected to the electric control lock (71), and the first ring (74) is connected to the sliding code assembly (76). At this time, the buckle (17) bears the constant pull-back force provided by the coil spring (1); Airdrop state: when the airdrop mission begins, the plurality of parachute opening hook assemblies (65) arranged on the parachute opening cable assembly (66) hit the slide assembly (76) in sequence. When the parachute opening hook assembly (65) hits the slide assembly (76), the buckle (17) is unlocked under the action of the double torsion spring (19). The buckle (17) rotates 180 degrees around the buckle shaft (26). The electric control lock rope (72) is still connected to the electric control lock (71). When the airdrop mission is completed, that is, the slide assembly (76) completes all the collisions, the electric control lock rope (72) is still connected to the electric control lock (71). Recovering state: the electric lock (71) is powered on to unlock, the electric lock (71) is disconnected from the electric lock rope (72), and the sliding code assembly (76) moves into the cargo hold with the parachute hook assembly (65) under the pull-back force of the coil spring (1) until all the parachute ropes (56) enter the cargo hold.

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