Unmanned aerial vehicle mounted vertical throwing device

Abstract

The unmanned aerial vehicle mounting vertical putting device comprises a vertically-arranged containing cylinder, a plurality of movable limiting blocks are arranged on the outer wall of the lower portion of the containing cylinder in the circumferential direction at intervals, notches corresponding to the movable limiting blocks are formed in the side wall of the containing cylinder, and the multiple movable limiting blocks are jointly connected to a synchronous transmission mechanism; the synchronous transmission mechanism drives the movable limiting blocks to synchronously and radially stretch out and draw back at the notches and comprises a rotating ring coaxially arranged on the outer side of the containing cylinder in a sleeving mode, a plurality of guiding chutes are formed in the circumferential end face of the rotating ring at equal angles, and a preset inclination angle is formed between the guiding chutes and the radial plane of the rotating ring. The guide pin shafts are embedded in the guide chutes, and the rotating ring rotates to drive the multiple movable limiting blocks to cooperatively stretch out and draw back in the radial direction of the containing cylinder. According to the invention, the delivery and release mechanism is simplified, the number of parts is reduced, the reliability and environmental adaptability are improved, and a high-reliability solution is provided for the precise delivery task of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention belongs to the technical field of drone payload mounting and dropping, and particularly relates to a vertical dropping device for drone mounting. Background Art

[0002] At present, the mainstream technical solutions of drone mounting devices can be divided into two categories: mounting cabin type and mounting hook type, but both have significant defects, which are specifically manifested as follows: Mounting cabin type device: 1) It adopts a closed cabin structure, and a mechanical push rod or a folding door is arranged inside to achieve dropping. Its transmission chain is long and the number of components is large, resulting in high manufacturing and maintenance costs; 2) The cabin size is fixed, and there is a problem of poor compatibility with special-shaped or oversized items, which is likely to cause jamming or even mechanism damage; 3) The overall weight accounts for too high a proportion of the drone's effective payload, seriously restricting the endurance and mission flexibility; 4) The exposed mechanical parts are easily affected by the environment, and dust and rain are easy to invade, resulting in transmission failure and insufficient environmental adaptability; 5) The dropping process depends on the coupled control of the cabin door opening speed and the drone hovering state, and the landing point deviation is large, making it difficult to meet the accurate dropping requirements. Mounting hook type device: 1) It fixes the item through an electromagnet or a mechanical buckle, and the hanging state is significantly affected by the air flow disturbance, which is likely to cause the drone attitude to become unstable; 2) Mounting and releasing require manual close-range operation, with low automation and limited practicability in high-risk environments; 3) It can only achieve "loose-off" dropping, lacking precise control and only applicable to simple and low-requirement dropping tasks.

[0003] In addition, the existing mechanical switch or single-way control cabin door design generally has problems such as single function and fixed action logic, and cannot achieve multi-unit independent control or time-sharing dropping. Summary of the Invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a vertical dropping device for drone mounting with a simple structure, light weight, high reliability and adaptable to various mission scenarios.

[0005] The technical solution adopted by the present invention is as follows: The drone is equipped with a vertical dropping device, which includes a vertically arranged receiving cylinder. A plurality of moving limit blocks are evenly spaced circumferentially on the outer wall of the lower part of the receiving cylinder. A notch corresponding to the moving limit blocks is provided on the side wall of the receiving cylinder. The plurality of moving limit blocks are jointly connected to a synchronous transmission mechanism. The synchronous transmission mechanism is used to drive each moving limit block to synchronously expand and contract radially at the notch. It includes a rotating ring coaxially sleeved outside the receiving cylinder and a driving component for driving the rotating ring to reciprocate at a set angle. A plurality of guiding inclined grooves are equally angled on the circumferential end surface of the rotating ring. The guiding inclined grooves form a preset inclination angle with the radial plane of the rotating ring. A guiding pin shaft is fixedly connected to the outer end of the moving limit block. The guiding pin shaft is embedded in the guiding inclined groove. When the rotating ring rotates, relative movement occurs between the guiding inclined groove and the guiding pin shaft, so as to realize the coordinated expansion and contraction action of the plurality of moving limit blocks along the radial direction of the receiving cylinder.

[0006] Further, at least two arc-shaped guide rail grooves are circumferentially spaced on the rotating ring. The center of curvature of each arc-shaped guide rail groove coincides with the rotation axis of the rotating ring. A cylindrical positioning pin is matched and arranged in the arc-shaped guide rail groove. The positioning pin is fixedly installed on the fixed base and embedded in the arc-shaped guide rail groove of the rotating ring to form a sliding pair.

[0007] Further, a guiding base that is slidably matched with the outer side of the moving limit block is also provided. The guiding base is fixedly installed on the fixed base. A linear chute is radially opened on the guiding base along the receiving cylinder. The guiding pin shaft of the moving limit block penetrates through the linear chute to form a sliding pair.

[0008] Further, the drone-mounted vertical dropping devices are arranged in pairs. A driving device is installed between two drone-mounted vertical dropping devices. The receiving cylinders of the two dropping devices are arranged symmetrically in a mirror image. A connecting rod is rotatably connected to each rotating ring through a pin shaft. The other end of the connecting rod is provided with a strip-shaped groove extending along the length direction. The output end of the driving device is connected with a driving rod. The driving rod simultaneously passes through the strip-shaped grooves on the two connecting rods. The length of the strip-shaped groove satisfies that when the driving rod pushes one of the connecting rods to move, a relative sliding displacement is generated in the strip-shaped groove of the other connecting rod.

[0009] Further, the driving device is any one of a servo motor, an electromagnetic controller, a hydraulic or pneumatic cylinder, and a linear push rod motor.

[0010] Further, it further includes a protective housing fixedly installed on the central plate of the drone. The receiving cylinder is fixedly installed in the protective housing. A dropping port corresponding to the inner cavity of the receiving cylinder is provided on the protective housing. A closed cavity is formed between the protective housing and the outer wall of the receiving cylinder.

[0011] The beneficial effects of the present invention are as follows: (1) Through the integrated design of the synchronous transmission mechanism, the complex structure of traditional multi-motor separate control is simplified to a single driving source (driving servo) to control the coordinated movement of multiple moving limit blocks, significantly reducing the number of components and the levels of the transmission chain, and reducing the manufacturing cost and maintenance difficulty; (2) Through the synchronous radial expansion and contraction of multiple moving limit blocks, the stable release of the suspended load can be completed, supporting the up-and-down installation of the suspended load, guiding the suspended load to fall vertically, and achieving precise delivery; (3) There is no internal mechanical constraint in the inner cavity of the accommodating cylinder, and the suspended load is only fixed by the annular supporting platform formed by multiple moving limit blocks, avoiding the redundant weight brought by the traditional fully enclosed structure of the cabin body, and at the same time being adaptable to suspended loads of different sizes and shapes, with significantly better compatibility than traditional rigid cabins; (4) Adopting a symmetric double-link layout, through the floating connection structure of the driving rod and the strip groove, a single driving servo can control two sets of delivery devices, and can support multiple modes such as single-side independent delivery, double-side synchronous delivery, and time-sharing sequence delivery without increasing the driving components, meeting the requirements of multi-target and multi-batch delivery; (5) The closed cavity design of the protective housing completely isolates the driving execution mechanism (moving limit block, transmission component) from the external environment, and can effectively resist sand intrusion, rain erosion, and electromagnetic interference, and is applicable to harsh working conditions such as plateaus, deserts, and coasts; (6) The overall structure is simple and the layout is compact, reducing the overall weight, and significantly improving the effective payload capacity and endurance time of the unmanned aerial vehicle. Description of the Drawings

[0012] Figure 1 It is a three-dimensional structure schematic diagram of Embodiment 1 of the present invention.

[0013] Figure 2 It is a structural schematic diagram of Embodiment 1 of the present invention from a top view angle.

[0014] Figure 3 It is a structural schematic diagram of the cooperation between the moving limit block and the guiding base of the present invention.

[0015] Figure 4 It is a structural schematic diagram of Embodiment 2 of the present invention.

[0016] Figure 5 It is a structural schematic diagram of Embodiment 3 of the present invention. Detailed Embodiments

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Embodiment 1 As Figures 1 - 3 shown, the vertical dropping device mounted on the drone in this embodiment includes a vertically arranged cylindrical receiving cylinder 1. A plurality of moving limit blocks 2 are circumferentially and evenly spaced on the outer wall of the lower part of the receiving cylinder 1. In this embodiment, the number of moving limit blocks 2 is four. A notch corresponding to the moving limit block 2 is provided on the side wall of the receiving cylinder 1. The plurality of moving limit blocks 2 are commonly connected to a synchronous transmission mechanism. The synchronous transmission mechanism is used to drive the moving limit blocks 2 to achieve synchronous radial displacement at the notch, so that each moving limit block 2 extends into the inner cavity of the receiving cylinder 1 to form a supporting platform to support the bottom edge of the mounted object. When each moving limit block 2 radially exits synchronously outward, the limit constraint on the mounted object is released, realizing the vertical release of the mounted object. The synchronous transmission mechanism includes a rotating ring 3 coaxially sleeved outside the receiving cylinder 1 and a driving component for driving the rotating ring to reciprocally rotate at a set angle. A plurality of guiding inclined grooves 4 are equiangularly opened on the circumferential end surface of the rotating ring 3. The guiding inclined grooves 4 form a preset inclination angle with the radial plane of the rotating ring 3. A guiding pin shaft 5 is fixedly connected to the outer end of the moving limit block 2, and the guiding pin shaft 5 is embedded in the guiding inclined groove 4. When the driving component drives the rotating ring to rotate around the axis of the receiving cylinder, relative movement occurs between the guiding inclined groove 4 and the guiding pin shaft 5. Through the constraint effect of the groove wall on the guiding pin shaft 5, the circumferential rotational movement of the rotating ring 3 is converted into the synchronous radial displacement of the moving limit block 2, thereby realizing the coordinated telescopic action of the plurality of moving limit blocks 2 along the radial direction of the receiving cylinder. This structure realizes multi-point synchronous locking through a single power source, ensuring the stability and reliability of the dropping of the mounted object.

[0019] In this embodiment, at least two arc guide grooves 6 (four arc guide grooves 6 are provided in this embodiment) are circumferentially spaced on the rotating ring 3. The center of curvature of each arc guide groove 6 coincides with the rotation axis of the rotating ring 3. A cylindrical positioning pin 7 is matched in the arc guide groove 6. The positioning pin 7 is fixedly installed on the fixed base and embedded in the arc guide groove 6 of the rotating ring 3 to form a sliding pair. When the driving component drives the rotating ring 3 to rotate around the axis of the receiving cylinder, the positioning pin 7 makes sliding contact with the groove wall of the arc guide groove 6. Through the constraint of the positioning pin 7 on the rotating ring 3, it is ensured that the rotating ring 3 only rotates smoothly along the set circumferential trajectory, effectively improving the movement accuracy and anti-eccentric load capacity of the rotating ring 3.

[0020] In this embodiment, a guiding base 8 which is slidably engaged with the outer side of the movable limiting block 2 is further provided. The guiding base 8 is fixedly installed on the fixed base body. A linear chute is radially formed in the guiding base 8 along the accommodating cylinder 1. The guiding pin shaft 5 of the movable limiting block 2 penetrates through the linear chute to form a sliding pair. When the rotating ring 3 drives the movable limiting block 2 to move radially, the side wall of the linear chute contacts the guiding pin shaft 5, restricting the degree of freedom of the movable limiting block 2 in the non-radial direction and forcing it to perform pure radial telescopic movement along a preset linear trajectory, eliminating the risks of deflection and jamming of the movable limiting block 2 during the movement process, and ensuring the geometric consistency and dynamic stability of the synchronous movement of multiple groups of limiting units.

[0021] Embodiment 2 As Figure 4 shown, the difference between this embodiment and Embodiment 1 is that the UAV-mounted vertical dropping devices are arranged in pairs. A steering gear 11 is installed between two UAV-mounted vertical dropping devices. The accommodating cylinders 1 of the two dropping devices are arranged in mirror symmetry. A connecting rod 9 is rotatably connected to each rotating ring 3 through a pin shaft. A strip-shaped groove 10 extending along the length direction is provided at the other end of the connecting rod 9. The output end of the steering gear 11 is connected with a driving rod. The driving rod simultaneously passes through the strip-shaped grooves 10 on the two connecting rods 9. The length of the strip-shaped groove 10 is such that when the driving rod pushes one of the connecting rods 9 to move, a relative sliding displacement is generated in the strip-shaped groove 10 of the other connecting rod 9. This symmetric linkage mechanism, through mechanical motion distribution and stroke decoupling design, reduces the number of driving components while ensuring the action independence and coordination accuracy of the double dropping units. In practical applications, the length of the strip-shaped groove 10 can be adjusted to achieve multiple modes such as single-side independent dropping, double-side synchronous dropping, and time-sharing sequence dropping.

[0022] It should be noted that as a feasible option, an electromagnetic controller, a hydraulic or pneumatic cylinder (motor), or a linear push rod motor combined with a connecting rod design can be used to replace the steering gear. The reasonable replacement of the power source is within the protection scope of the present invention.

[0023] Embodiment 3 As Figure 5As shown in the figure, the difference between this embodiment and Embodiment 2 is that it further includes a protective housing 12. The protective housing 12 is fixedly installed at the position of the drone central plate and is in close contact with the central plate, so that the center of gravity is evenly distributed to avoid shaking during delivery. Four drone-mounted vertical delivery devices are installed in the protective housing 12 and are grouped in pairs according to the arrangement method of Embodiment 2. The receiving cylinder 1 is fixedly installed on the protective housing 12. The protective housing 12 adopts a split structure design, including an upper cover plate, a side wall frame and a lower cover plate. Through holes are provided on the upper cover plate and the lower cover plate of the protective housing 12 corresponding to the inner cavity of the receiving cylinder 1. A closed cavity is formed between the outer wall of the protective housing 12 and the receiving cylinder 1. The moving limit block 2, the synchronous transmission mechanism, the guiding base 8, and the driving servo 11 are all integrated in the inner cavity of the protective housing 12. Physical isolation of the driving actuator is achieved through the closed cavity to realize dust prevention, waterproofing, electromagnetic interference prevention and mechanical protection.

[0024] The above content is only an example and description of the structure of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them. As long as they do not deviate from the structure of the present invention or exceed the scope defined by this claim book, they should all fall within the protection scope of the present invention.

Claims

1. Vertical dropping device mounted on a drone, characterized in that: It includes a vertically arranged receiving cylinder (1). A plurality of moving limit blocks (2) are circumferentially and evenly spaced on the outer wall of the lower part of the receiving cylinder (1). Notches corresponding to the moving limit blocks (2) are provided on the side wall of the receiving cylinder (1). The plurality of moving limit blocks (2) are jointly connected to a synchronous transmission mechanism. The synchronous transmission mechanism is used to drive each moving limit block (2) to synchronously expand and contract radially at the notch. It includes a rotating ring (3) coaxially sleeved outside the receiving cylinder (1) and a driving component for driving the rotating ring (3) to reciprocally rotate at a set angle. A plurality of guiding inclined slots (4) are equiangularly arranged on the circumferential end face of the rotating ring (3). The guiding inclined slots (4) form a preset inclination angle with the radial plane of the rotating ring (3). A guiding pin shaft (5) is fixedly connected to the outer end of the moving limit block (2). The guiding pin shaft (5) is embedded in the guiding inclined slot (4). When the rotating ring (3) rotates, relative movement occurs between the guiding inclined slot (4) and the guiding pin shaft (5), so as to realize the coordinated expansion and contraction action of the plurality of moving limit blocks (2) along the radial direction of the receiving cylinder (1).

2. The drone-mounted vertical dropping device according to claim 1, wherein: At least two arc-shaped guide rail slots (6) are circumferentially spaced on the rotating ring (3). The center of curvature of each arc-shaped guide rail slot (6) coincides with the rotation axis of the rotating ring (3). A cylindrical positioning pin (7) is matched and arranged in the arc-shaped guide rail slot (6). The positioning pin (7) is fixedly installed on a fixed base and is embedded in the arc-shaped guide rail slot (6) of the rotating ring (3) to form a sliding pair.

3. The vertical dropping device mounted on the drone according to claim 1, characterized in that: A guiding base (8) which is slidably matched with the moving limit block (2) is further provided outside the moving limit block (2). The guiding base (8) is fixedly installed on a fixed base. A linear chute is provided on the guiding base (8) along the radial direction of the receiving cylinder (1). The guiding pin shaft (5) of the moving limit block (2) penetrates through the linear chute to form a sliding pair.

4. The vertical dropping device mounted on a drone according to any one of claims 1-3, characterized in that: The drone-mounted vertical dropping devices are arranged in pairs. A driving device is installed between two drone-mounted vertical dropping devices. The receiving cylinders (1) of the two dropping devices are arranged in mirror symmetry. A connecting rod (9) is rotatably connected to each rotating ring (3) through a pin shaft. A strip-shaped slot (10) extending along the length direction is provided at the other end of the connecting rod (9). The output end of the driving device is connected with a driving rod. The driving rod simultaneously passes through the strip-shaped slots (10) on the two connecting rods (9). The length of the strip-shaped slot (10) satisfies that when the driving rod pushes one connecting rod (9) to move, a relative sliding displacement is generated by the driving rod in the strip-shaped slot (10) of the other connecting rod (9).

5. The drone-mounted vertical delivery device according to claim 4, characterized in that: The driving device is any one of a servo motor (11), an electromagnetic controller, a hydraulic or pneumatic cylinder, and a linear push rod motor.

6. The drone-mounted vertical delivery device according to claim 4, wherein: It further includes a protective housing (12) fixedly installed on the central plate of the drone. The receiving cylinder (1) is fixedly installed in the protective housing (12). A dropping port corresponding to the inner cavity of the receiving cylinder (1) is provided on the protective housing (12). A closed cavity is formed between the outer wall of the protective housing (12) and the receiving cylinder (1).

7. The vertical dropping device mounted on a drone according to any one of claims 1-3, characterized in that: It further includes a protective housing (12) fixedly installed on the center board of the drone. The receiving cylinder (1) is fixedly installed inside the protective housing (12). A delivery opening corresponding to the inner cavity of the receiving cylinder (1) is provided on the protective housing (12). A closed cavity is formed between the outer wall of the protective housing (12) and the receiving cylinder (1).

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