Unmanned aerial vehicle bullet changing system

Abstract

The invention discloses an unmanned aerial vehicle bullet changing system which comprises a mounting device used for being installed on an unmanned aerial vehicle and used for mounting or releasing bullet bottles; the parking platform is used for parking the unmanned aerial vehicle; the ammunition storage device is arranged below the parking platform and used for storing ammunition bottles; and the transfer device is arranged below the stopping platform, located on one side of the bullet storage device and used for transferring the bullet bottles in the bullet storage device to be close to the stopping platform or the mounting device so that the bullet bottles can be mounted by the mounting device. The unmanned aerial vehicle bullet changing system can be applied to mounting and bullet changing of bullet bottles in an unattended area, so that the unmanned aerial vehicle bullet changing system is applied to forest fire fighting; and automatic mounting can be achieved, manual work is not needed, and higher mounting efficiency is achieved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) ammunition reloading technology, and specifically relates to an UAV ammunition reloading system. Background Technology

[0002] Forest fires are a highly destructive and difficult-to-control natural disaster. They not only destroy trees and directly reduce forest area, but in severe cases, they can also damage forest structure, causing air pollution, soil erosion, and the reduction or even extinction of forest species. Drone technology, with its rapid response capabilities and spatial mobility (unrestricted by terrain), has become an important tool for firefighting applications.

[0003] Currently, the mainstream firefighting drones use externally mounted fire extinguishing bombs for firefighting. However, during the firefighting process, the fire extinguishing bombs need to be manually attached to the drone one by one. The drones are usually parked in unattended areas, which limits their use in firefighting. Summary of the Invention

[0004] The purpose of this invention is to disclose a drone ammunition reloading system to solve the technical problem that drone ammunition reloading requires manual operation in the prior art.

[0005] To achieve the above objectives, the present invention discloses a drone ammunition reloading system, comprising: Mounting device, used for mounting to a drone and for mounting or releasing cartridges; A parking platform for parking the aforementioned drone; A magazine storage device is located below the stopping platform and is used to store magazines; A transfer device is located below the parking platform and on one side of the ammunition storage device. It is used to transfer the ammunition bottles in the ammunition storage device to a location close to the parking platform or the mounting device so that they can be mounted by the mounting device.

[0006] As an optional implementation, the UAV reloading system further includes a centering device, which is installed on the parking platform to center the UAV parked on the parking platform.

[0007] As an optional implementation, the ammunition storage device includes an ammunition box and a pushing mechanism disposed inside the ammunition box. The ammunition box is provided with a pushing port, and the pushing mechanism and the pushing port are disposed opposite to each other for pushing the ammunition bottle out of the pushing port.

[0008] As an optional implementation, the ammunition storage device further includes a conveying mechanism for conveying the ammunition cartridge between the pushing mechanism and the pushing port.

[0009] As an optional implementation, the ammunition storage device further includes a support plate for supporting the ammunition cartridges.

[0010] As an optional implementation, the transfer device includes a support frame, a lifting drive mechanism disposed on the support frame, a transfer frame disposed on the lifting drive mechanism, a first rotation drive mechanism connected to the transfer frame, and a tray connected to the first rotation drive mechanism, the tray having a support position for supporting the bottle.

[0011] As an optional implementation, the tray is provided with a plurality of the support positions; The UAV ammunition reloading system includes multiple mounting devices, each mounting device corresponding to one ammunition bottle, or... The mounting device has multiple mounting positions, and each mounting position corresponds to clamping one of the cartridges.

[0012] As an optional implementation, the parking platform is provided with a through hole, and the transfer device further includes a swing arm, one end of which is connected to the output end of the first rotation drive mechanism, and the other end is connected to the tray.

[0013] As an optional implementation, the transfer device further includes a second rotation drive mechanism, the output end of which is connected to the tray, and the other end of the swing arm is mounted on the second rotation drive mechanism.

[0014] As an optional implementation, the mounting device includes a mounting frame, a locking pin slidably disposed on the mounting frame, and a telescopic drive component mounted on the mounting frame. The telescopic drive component is used to drive the locking pin to slide relative to the mounting frame, so as to realize the mounting or release of the bottle.

[0015] As an optional implementation, the mounting bracket is provided with a clearance groove for the locking pin; The telescopic drive component is an electromagnet, and the engagement or disengagement between the electromagnet and the locking pin enables the locking pin to release or attach to the spring bottle. The mounting device also includes an elastic element, which is sleeved on the locking pin and is used to apply an elastic force to the locking pin to disengage from the electromagnet.

[0016] Compared with the prior art, the beneficial effects of the UAV reloading system of the present invention are as follows: The drone ammunition reloading system of this invention features a parking platform for parking the drone and an ammunition storage device for storing ammunition cartridges, enabling real-time ammunition supply. A transfer device transports the cartridges to the parking platform or close to the drone, allowing the mounting device on the drone to quickly attach the cartridges. The entire ammunition reloading process is programmed and automated, requiring no manual intervention. Ammunition reloading can be performed immediately after the drone is parked on the parking platform, thus enhancing the practicality of drones in firefighting. Furthermore, the programmed cartridge attachment method is more efficient than manual attachment of cartridges to the drone. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a type of ejector bottle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of another type of ejector bottle according to an embodiment of the present invention; Figure 3 This is a schematic diagram of another type of the ejector bottle according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a canister placed on a support plate according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) ammunition reloading system according to an embodiment of the present invention; Figure 6 yes Figure 5 A schematic diagram of the ammunition storage device in the middle; Figure 7 yes Figure 6 A structural diagram of the ammunition storage device hidden behind the ammunition box from one perspective; Figure 8 yes Figure 6 A structural diagram of the ammunition storage device hidden behind the ammunition box from another perspective; Figure 9 yes Figure 5 A schematic diagram of the structure of the transfer device from one perspective; Figure 10 yes Figure 5 Another structural diagram of the transfer device in the diagram; Figure 11 yes Figure 9A structural diagram of the tray from one perspective; Figure 12 yes Figure 5 A structural schematic diagram of the longitudinal beams and mounting devices in the middle; Figure 13 yes Figure 12 A schematic diagram of the mounting device in the middle; Figure 14 yes Figure 13 A schematic diagram of the structure after the mounting device is hidden in the outer frame; Figure 15 This is a schematic diagram of the centering device from one perspective according to another embodiment of the present invention; Figure 16 yes Figure 15 A schematic diagram of the reorientation device from another perspective.

[0019] Explanation of key figure labels: 100-Centering device, 11-Front end, 12-Rear end, 13-Left side, 14-Right side, 15-First side, 16-Second side, 20-Front centering mechanism, 21-Front drive unit, 22-Front transmission assembly, 221-Front drive shaft, 222-First front conveyor belt, 223-Second front conveyor belt, 23-Front centering rod, 24-First connecting structure, 241-First connecting plate, 242-Second connecting plate, 30-Rear centering mechanism, 31-Rear drive unit, 32-Rear transmission assembly, 321-Rear drive shaft, 32 2-First rear conveyor belt, 323-Second rear conveyor belt, 33-Rear centering rod, 331-Groove, 34-Second connecting structure, 341-Third connecting plate, 342-Fourth connecting plate, 40-Left and right centering mechanism, 41-Left and right driving components, 42-Left and right transmission assembly, 421-Side transmission shaft, 422-First side conveyor belt, 423-Second side conveyor belt, 43-Side centering rod, 431-First straight section, 432-Inclined section, 433-Second straight section, 44-Third connecting structure, 441-Fifth connecting rod Plate, 442-Sixth connecting plate, 210-Front landing gear, 220-Rear landing gear; 200-UAV ammunition reloading system, 50-Hanging device, 51-Hanging position, 52-Mounting bracket, 521-Avoidance slot, 522-Sliding slot, 523-Mounting slot, 524-Inner frame, 525-Outer frame, 53-Locking pin, 54-Telescopic drive component, 55-Elastic component, 56-Limit pin, 60-Landing platform, 61-Through hole, 70-Ammunition storage device, 71-Ammunition box, 711-Push port, 73-Push mechanism, 73 1-Support rod, 732-Drive source, 733-Push rod, 734-Following block, 74-Conveying mechanism, 75-Position sensor, 76-Support plate, 80-Transfer device, 81-Support frame, 82-Lifting drive mechanism, 83-Transfer frame, 84-First rotation drive mechanism, 85-Pattern, 851-Base plate, 852-Following plate, 86-Support position, 87-Swing arm, 88-Second rotation drive mechanism, 300-UAV, 310-Longitudinal beam, 400-Bottle spring, 410-Bottle body, 420-Hook. Detailed Implementation

[0020] The technical solutions of 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0023] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0024] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0025] The technical solution of the present invention will be further described below with reference to the embodiments and accompanying drawings.

[0026] The drone 300 can grip the fire extinguisher 400 and carry it to the designated fire-fighting location for deployment, thus extinguishing forest fires. The fire extinguisher 400 can be shaped as follows: Figures 1 to 3 The shape shown includes a bottle body 410 and a hook 420 provided on the bottle body 410. The bottle body 410 contains fire extinguishing agent, and the hook 420 is used to cooperate with the mounting device 50 on the drone 300 to achieve mounting by the mounting device 50.

[0027] The bottle body 410 can be cylindrical in shape, in which case the bottom of the bottle has a flat surface, such as... Figure 1 As shown; or the bottle body 410 can be designed in a columnar shape and the bottle bottom in a hemispherical shape, as shown. Figure 2 As shown; or the entire bottle body 410 can be set into a spherical shape, such as Figure 3 As shown, this is not a limitation. When the bottom of the bottle body 410 is hemispherical or the entire bottle body 410 is spherical, then the support plate 76 is needed to support the spring bottle 400, as shown. Figure 4 As shown.

[0028] Please see Figures 5 to 13 In order to achieve automated and rapid loading of the UAV 300, the first embodiment of this application provides a UAV ammunition changing system 200, including a mounting device 50, a parking platform 60, an ammunition storage device 70, and a transfer device 80.

[0029] Please refer to Figure 5 The mounting device 50 is used to install onto the drone 300 and to mount or release the ammunition canisters 400; the landing platform 60 is used to park the drone 300; the ammunition storage device 70 is located below the landing platform 60 and is used to store the ammunition canisters 400; the transfer device 80 is located below the landing platform 60 and on one side of the ammunition storage device 70, and is used to transfer the ammunition canisters 400 in the ammunition storage device 70 to a location near the landing platform 60 or the mounting device 50 so that they can be mounted by the mounting device 50.

[0030] The aforementioned drone ammunition reloading system 200 includes a parking platform 60 for parking the drone 300 and an ammunition storage device 70 for storing ammunition cylinders 400, thus enabling real-time supply of ammunition cylinders 400. A transfer device 80 transports the ammunition cylinders 400 to the parking platform 60 or closer to the drone 300, allowing the mounting device 50 on the drone 300 to quickly attach the ammunition cylinders 400. The entire ammunition reloading process is programmed and automated, requiring no manual intervention. Ammunition reloading can be performed immediately after the drone 300 is parked on the parking platform 60, thereby enhancing the practicality of the drone 300 in firefighting. Furthermore, the programmed method of attaching the ammunition cylinders 400 is more efficient than manually attaching them to the drone 300.

[0031] The parking platform 60 is used to park the UAV 300. Furthermore, to achieve precise alignment between the mounting device 50 and the transfer device 80 on the UAV 300, the UAV reloading system 200 may also include a centering device 100 for centering the UAV 300. The centering device 100 accurately centers the UAV 300 on the parking platform 60 to achieve precise alignment with the transfer device 80. The centering device 100 may include a centering rod and a centering drive mechanism, such as a screw conveyor belt drive, to move the centering rod, which in turn drives the movement of the UAV 300 for centering.

[0032] Please see Figures 6 to 8The diagram below shows the structure of the ammunition storage device 70 according to an embodiment of the present invention. The ammunition storage device 70 includes an ammunition box 71 and a pushing mechanism 73 disposed inside the ammunition box 71. The ammunition box 71 is provided with a pushing port 711. The pushing mechanism 73 is disposed opposite to the pushing port 711 and is used to push the ammunition bottles out of the pushing port 711. That is, the ammunition bottles 400 are stored through the ammunition box 71 so that a certain number of ammunition bottles 400 can be provided when fire extinguishing is needed, in preparation for fire extinguishing. The pushing mechanism 73 pushes the ammunition bottles 400 one by one onto the transfer device 80 to realize the automation of ammunition supply.

[0033] In this embodiment, the cartridge box 71 can be configured as a cabinet or a box, and a push port 711 is provided on the side plate. In this way, the cabinet or box type cartridge box 71 prevents the cartridge 400 from being exposed to the environment and corroded by oxygen or moisture.

[0034] The pushing mechanism 73 can be configured as an electric push rod, a hydraulic push rod, or a motor driven to achieve linear motion via gear and rack transmission.

[0035] Specifically, please refer to Figure 7 and Figure 8 The pushing mechanism 73 of this embodiment includes a support rod 731, a drive source 732 disposed on the support rod 731, a push rod 733 connected to the drive source 732, and a contour block 734 disposed at the end of the push rod 733. Thus, under the drive of the drive source 732, the push rod 733 moves in a straight line. By setting the contour block 734 which is consistent with the shape of the bottle body 410, it can come into contact with the bottle body 410, so as to have sufficient contact area with the bottle body 410 and ensure the stability of the push.

[0036] The drive source 732 can be a drive mechanism such as an electric actuator, hydraulic cylinder, or pneumatic cylinder.

[0037] Understandably, in this embodiment, the push port 711 is positioned toward the push rod 733 so that, under the drive of the drive source 732, the push rod 733 pushes the bottle 400 out of the push port 711.

[0038] In addition, to ensure the continuity of ammunition cylinder 400 delivery and to continuously supply ammunition to the drone 300 without interruption, the ammunition storage device 70 also includes a conveying mechanism 74. The conveying mechanism 74 is used to convey ammunition cylinder 400 one by one between the pushing mechanism 73 and the pushing port 711. Thus, the conveying mechanism 74 can continuously and one by one convey the ammunition cylinder 400 between the pushing mechanism 72 and the conveying port. When the pushing mechanism 72 pushes out one ammunition cylinder 400 from the pushing port 711, the conveying mechanism 74 can continue to convey another ammunition cylinder 400, which can continuously deliver ammunition cylinder 400 to the drone 300, improve the ammunition dropping efficiency of the drone 300, and ensure firefighting efficiency.

[0039] Specifically, in this embodiment, the conveying mechanism 74 is a conveyor belt. It can be understood that, for different bottle body 410 structures, please refer to [reference needed]. Figure 4 The ammunition storage device 70 also includes a support plate 76, which supports the ammunition cartridges 400. Before placing the ammunition cartridges 400 onto the conveyor mechanism 74, the cartridges 400 can be placed on the support plate 76 first, and then the support plate 76 is placed on the conveyor belt to ensure the stability of the cartridges 400 during transport. This also ensures that the cartridges 400 remain upright so that the hook 420 can be attached by the mounting device 50.

[0040] Understandably, the support plate 76 is a contoured structure that matches the shape of the bottle bottom, thus providing stable support for the bottle body 410.

[0041] Understandably, when the bottle 400 is being transported by the conveyor belt, the conveyor belt will stop moving once the bottle 400 and the pushing mechanism 72 are aligned. After the pushing mechanism 72 pushes the bottle 400 out, the conveyor belt will continue to transport the bottle 400.

[0042] Furthermore, in order to accurately detect the delivery position of the cartridge 400, the cartridge storage device 70 also includes a position sensor 75. The position sensor 75 is used to detect whether the cartridge 400 is in the correct position. When the cartridge 400 is detected to be in the correct position, the push rod 733 is extended. The position sensor 75 can be a proximity switch or a reflective photoelectric sensor, etc.

[0043] In this embodiment, the pushing mechanism 72 is used to push a bottle 400 at the end of the conveyor belt in the conveying direction so that the position of the bottle 400 can be accurately detected by the position sensor 75.

[0044] Please see Figures 9 to 11The diagram below shows the structure of the transfer device 80 in this embodiment of the invention. The transfer device 80 includes a support frame 81, a lifting drive mechanism 82 mounted on the support frame 81, a transfer frame 83 mounted on the lifting drive mechanism 82, a first rotation drive mechanism 84 connected to the transfer frame 83, and a tray 85 connected to the first rotation drive mechanism 84. The tray 85 has a support position 86 for supporting the cartridge 400. Thus, after the cartridge 400 is pushed out by the pushing mechanism 72, it is received by the tray 85 in the transfer device 80. Specifically, the cartridge 400 is pushed onto the support position 86 of the tray 85. The first rotation drive mechanism 84 drives the tray 85 to rotate so that the cartridge 400 on the tray 85 is aligned with the mounting position 51 on the mounting device 50, or drives the empty support position 86 to align with the pushing port 711 for continued loading. The lifting drive mechanism 82 drives the tray 85 to rise so that the tray 85 is close to the parking platform 60 or the drone 300. Finally, the drone 300 is mounted on the mounting device 50.

[0045] Furthermore, to improve the efficiency of ammunition delivery, the tray 85 is provided with multiple support positions 86; the UAV ammunition changing system 100 includes multiple mounting devices 50, one mounting device 50 corresponding to one ammunition bottle 400, or the mounting device 50 has multiple mounting positions 51, one mounting position 51 holding one ammunition bottle 400. Thus, by providing multiple support positions 86 on the tray 85 and multiple mounting positions 51 on the UAV ammunition changing system 100, one support position 86 can support one ammunition bottle 400. One support position 86 corresponds to one mounting position 51, and multiple ammunition bottles 400 can be delivered to the UAV 300 at one time, improving the ammunition loading efficiency.

[0046] Specifically, during loading, the first rotation drive mechanism 84 can drive the tray 85 to rotate 360 ​​degrees. After loading a support position 86, the tray 85 can be adjusted to the next empty support position 86 under the drive of the first rotation drive mechanism 84, until all support positions 86 are loaded.

[0047] In some embodiments, the tray 85 may be provided with two, three, four, or more support positions 86, which is not limited here; correspondingly, the drone 300 may be provided with two, three, four, or more mounting positions 51. When the UAV 300 is parked on the parking platform 60, it is supported by the landing gear. The mounting position 51 is located on the fuselage at the center of the UAV. The parking platform 60 has a certain width. In order to enable the tray 85 to quickly contact and align with the fuselage, the parking platform 60 is provided with a through hole 61. The transfer device 80 also includes a swing arm 87. One end of the swing arm 87 is connected to the output end of the first rotation drive mechanism 84, and the other end is connected to the tray 85. Thus, when the transfer is carried out by the transfer device 80, since the swing arm 87 has a certain extension length, it can extend to the center of the parking platform 60. When it is driven to rise by the lifting drive mechanism 82, the tray 85 can pass through the through hole 61 and directly align with the fuselage at a certain height supported by the landing gear. At this time, the tray 85 can be as close as possible to the mounting device 50 so that the mounting device 50 can mount the canister 400.

[0048] Furthermore, the transfer device 80 also includes a second rotation drive mechanism 88, which is connected to the tray 85 and mounted on the other end of the swing arm 87. Thus, not only can the position of the tray 85 be adjusted by the first rotation drive mechanism 84 to facilitate loading of the cartridge, but the second rotation mechanism can also be adjusted to correspond to the mounting position 51 on the drone 300 after approaching it. Through the combination of the first rotation drive mechanism 84 and the second rotation drive mechanism 88, the support position 86 can be precisely aligned with the mounting position 51, or the support position 86 can be adjusted to align with the push port 711, so that the loading device 50 can accurately load the cartridge 400.

[0049] In this embodiment, the lifting drive mechanism 82 is a motor lead screw slider drive mechanism, and the first rotation drive mechanism 84 and the second rotation drive mechanism 88 are both motor driven.

[0050] Please see Figure 11 The diagram below illustrates the structure of the tray 85 according to an embodiment of the present invention. It includes a base plate 851 and a contour plate 852 disposed on the base plate 851. The contour plate 852 has multiple grooves, each corresponding to a support position 86. The contour plate 852 is designed to fit the shape of the bottle 400. Understandably, when the bottle 400 is pushed onto the tray 85, it is supported by the support plate 76.

[0051] Please see Figures 12 to 14The diagram below shows the structure of the mounting device 50 according to an embodiment of the present invention. The mounting device 50 includes a mounting frame 52, a locking pin 53 slidably disposed on the mounting frame 52, and a telescopic drive member 54 mounted on the mounting frame 52. The telescopic drive member 54 is used to drive the locking pin 53 to slide relative to the mounting frame 52 to realize the mounting or release of the bottle 400. Thus, under the drive of the telescopic drive member 54, the locking pin 53 is driven to slide relative to the mounting frame 52 so that the bottle 400 is mounted when the locking pin 53 passes through the hook 420; when the locking pin 53 retracts and disengages from the hook 420 again, the bottle 400 is released.

[0052] Specifically, the mounting bracket 52 is provided with a clearance groove 521 for the hook 420. In this embodiment, when driving the locking pin 53, the telescopic drive member 54 is set as an electromagnet. The attraction or disengagement between the electromagnet and the locking pin 53 realizes the release or mounting of the locking pin 53 onto the spring bottle 400. The mounting device 50 also includes an elastic member 55, which is sleeved on the locking pin 53 and is used to apply an elastic force to the separation of the locking pin 53 and the electromagnet. When the electromagnet is energized, it attracts the locking pin 53 to move towards the electromagnet. At this time, the locking pin 53 disengages from the clearance groove 521, allowing the hook 420 of the cartridge 400 to enter the clearance groove 521, and compressing the elastic element 55. When the electromagnet is de-energized, the locking pin 53, under the elastic force of the elastic element 55, extends into the clearance groove 521 and is hooked onto the hook 420, thus hooking the cartridge 400. When it is necessary to release the cartridge 400, the electromagnet is energized again, causing the locking pin 53 to disengage from the clearance groove 521, and the cartridge 400 is dropped downwards under its own gravity.

[0053] Understandably, since the locking pin 53 needs to slide in a straight line, in order to ensure the stability of the linear movement of the locking pin 53, the mounting bracket 52 is provided with a sliding groove 522. The sliding groove 522 extends along the extension and retraction direction of the locking pin 53. The mounting device 50 also includes a limiting pin 56, which is connected to the locking pin 53 and slidably disposed in the sliding groove 522 to limit the sliding of the locking pin 53. Specifically, the mounting bracket 52 is provided with a mounting groove 523 for installing the elastic member 55. One end of the elastic member 55 abuts against the groove wall of the mounting groove 523, and the other end abuts against the limiting pin 56. Thus, the setting of the limiting pin 56 not only realizes the installation of the elastic member 55, but also limits the sliding of the locking pin 53.

[0054] In this embodiment, the mounting device 50 also includes a detection sensor, which is used to detect whether the cartridge 400 is mounted or not, and can transmit the detection information to the control system so as to control the loading of the tray 85 through the control system.

[0055] The detection sensor can be set as a tension sensor (when the tension is greater than the threshold, it indicates that the bottle 400 is in place), or as a proximity switch (if the target is detected within the range, it indicates that the bottle 400 is in place), or as a photoelectric reflective sensor (if the echo signal is detected, it indicates that the bottle 400 is in place).

[0056] Understandably, when the control system receives specific empty space information, the lifting drive mechanism 82 drives the tray 85 to descend, and the first rotation drive mechanism 84 and / or the second rotation drive mechanism 88 drive the tray 85 to rotate, and then the bottle is installed on the corresponding support position 86. The swing arm 87 is then driven by the lifting drive mechanism 82 to pass through the through hole 61 to approach the mounting device 50, and then the bottle is automatically mounted on the mounting position 51 of the corresponding mounting device 50.

[0057] When setting up the mounting device 50, one mounting device 50 can be equipped with one mounting position 51, or two mounting positions 51, or three mounting positions 51 or more mounting positions 51.

[0058] Specifically, please refer to Figure 5 and Figure 12 In this embodiment, the drone 300 is provided with two longitudinal beams 310. Each mounting device 50 includes two mounting positions 51. The mounting frame 52 includes an outer frame 525 and two inner frame bodies 524 located inside the outer frame 525. The outer frame body 525 is set perpendicular to each longitudinal beam 310 and is used to install onto the longitudinal beam 310. A locking pin 53 is slidably set relative to one inner frame body 524. The mounting positions of the two locking pins 53 are set opposite to each other. In this way, by setting an outer frame body 525, providing two locking pins 53 on each connecting frame, and setting two mounting frames 52 to provide four mounting positions 51, four cartridges 400 can be installed, thus achieving high loading efficiency.

[0059] The outer frame 525 has a receiving cavity, the inner frame 524 is received in the receiving cavity, and the outer frame 525 has a notch for the locking pin 53 to protrude.

[0060] Understandably, since the UAV ammunition reloading system 200 of this embodiment can be applied to unattended areas, the UAV ammunition reloading system 200 may also include a housing and an openable door. The housing has a storage space, and the landing platform 60 is installed on the top of the housing. After the ammunition storage device 70 and the transfer device 80 are installed in the storage space, the ammunition storage device 70 and the transfer device 80 can be located below the landing platform 60. Thus, the landing pad and the housing can shield and protect the ammunition storage device 70 and the transfer device 80. When the UAV 300 needs to be parked, the door is opened, and the UAV 300 can be parked on the landing platform 60. The door can protect the UAV.

[0061] The mounting process of the cartridge 400 in this embodiment is as follows: (1) The drone 300 is parked on the parking platform 60; (2) The control system queries the mounting status of the cartridge 400 on the UAV 300; (3) If there is no empty position for the cartridge 400, then each device is in a waiting state; (4) If there is an empty position in the bottle 400, the lifting drive mechanism 82 drives the tray 85 to descend, and the first rotation drive mechanism 84 and the second rotation drive mechanism 88 adjust the corresponding empty position on the tray 85 to align with the push port 711. (5) The pushing mechanism 72 pushes the bottle 400 out of the pushing port 711 and the bottle 400 is installed on the corresponding support position 86; (6) The first rotation drive mechanism 84 and the second rotation drive mechanism 88 adjust the position of the tray 85 to align with the empty mounting position 51 on the UAV 300. At this time, the lifting drive mechanism 82 drives the tray 85 to rise and pass through the through hole 61. (7) The mounting device 50 is used to mount the bomb 400.

[0062] (8) The lifting drive mechanism 82 drives the tray 85 to move down, and the drone 300 performs the fire extinguishing task.

[0063] Example 2 Please see Figure 15 and Figure 16 This is a schematic diagram of the centering device 100 of the second embodiment of the present invention. The centering device 100 of this embodiment is installed on the parking platform 60 in the first embodiment and is used to center the UAV 300.

[0064] The centering device 100 includes a front centering mechanism 20, a rear centering mechanism 30, and left and right centering mechanisms 40 installed on the parking platform 60.

[0065] Please refer to Figure 15 and Figure 16The parking platform 60 has a front end 11, a rear end 12, a left side 13, and a right side 14; specifically, in this embodiment, the left side is located near the ammunition storage device 70.

[0066] Furthermore, the front centering mechanism 20, installed on the parking platform 60, includes a front drive component 21, a front transmission assembly 22, and a front centering rod 23. The front transmission assembly 22 is driveably connected between the front drive component 21 and the front centering rod 23, so that under the drive of the front drive component 21, the front centering rod 23 can move towards the rear end 12 to drive the UAV 300 to center. The rear centering mechanism 30, installed on the parking platform 60, includes a rear drive component 31, a rear transmission assembly 32, and a rear centering rod 33. The rear transmission assembly 32 is driveably connected between the rear drive component 31 and the rear centering rod 33. Driven by the rear drive unit 31, the rear centering rod 33 can move towards the front end 11 to drive the drone 300 to center. The left and right centering mechanism 40 is installed on the parking platform 60 and includes left and right drive units 41, left and right transmission components 42 and two side centering rods 43. The left and right transmission components 42 are connected between the left and right drive units 41 and the two side centering rods 43 so that, driven by the left and right drive units 41, the two side centering rods 43 move synchronously in opposite directions to the left 13 and the right 14 respectively to drive the drone 300 to center.

[0067] The aforementioned drone centering device 100, when centering the drone 300 on the parking platform 60, uses the front centering rod 23 driven by the front drive member 21 to move the drone 300 towards the rear end 12, and the rear centering rod 33 driven by the rear drive member 31 to move the drone 300 towards the front end 11. This allows the front and rear centering rods 23 and 33 to independently drive the drone 300 towards the center of the parking platform 60, resulting in more accurate centering. Simultaneously, the two side centering rods 43 in the left and right centering mechanisms 40 move in opposite directions under the drive of the left and right drive members 41, coordinating with the front and rear centering mechanisms 20 and 30. The system achieves centering of the UAV 300. Therefore, the front centering lever 23 and the rear centering lever 33 in the forward and backward directions can operate independently, while the two side centering levers 43 in the left and right directions are driven by a single drive mechanism, resulting in higher centering accuracy. This system is applicable not only to the centering of UAVs 300 with four-point landing gear but also to the centering of UAVs 300 with three-point landing gear. Since the landing gear center and the fuselage center of the UAV 300 with three-point landing gear do not coincide, but they are on the same straight line, the front centering mechanism 20 and the rear centering mechanism 30 are set to be driven independently. When the UAV centering device 100 is applied to the centering of UAVs 300 with three-point landing gear, it is easy to drive the front centering lever 23 backward or the rear centering lever 33 forward independently to achieve the alignment of the fuselage center of the UAV 300 with the center of the landing platform 60, thus enabling the UAV 300 to achieve precise centering.

[0068] Please refer to Figure 15 and Figure 16 In this embodiment, the front centering mechanism 20, rear centering mechanism 30, and left and right centering mechanisms 40 are designed to save parking space on the parking platform 60 when parking the drone 300. The parking platform 60 includes a first side 15 and a second side 16. The first side 15 is used to park the drone 300. The front drive member 21, rear drive member 31, and left and right drive members 41 are located on the first side 15. The front centering rod 23, rear centering rod 33, and two side centering rods 43 are located on the second side 16. Thus, the front drive member 21, rear drive member 31, and left and right drive members 41 are located on the first side 15 and do not occupy the second side 16 where the drone 300 is parked. The front centering rod 23, rear centering rod 33, and two side centering rods 43 are located on the second side 16 and can directly drive the drone 300 to move to achieve centering.

[0069] Specifically, please refer to Figure 16The front drive unit 21 is a drive motor. The front transmission assembly 22 includes a front drive shaft 221 and a first front conveyor belt 222. The front drive shaft 221 extends in the left-right direction and is connected to the front drive unit 21. The first front conveyor belt 222 extends in the front-back direction and is arranged perpendicular to the front drive shaft 221. The front centering mechanism 20 also includes two first connecting structures 24. Each first connecting structure 24 is connected to the front transmission assembly 22 and to one end of the front centering rod 23. The first connecting structure 24 includes a first connecting plate 241 and a second connecting plate 241 connected to each other. 42. The first connecting plate 241 is connected to the first front conveyor belt 222 in the front transmission assembly 22. The second connecting plate 242 is located on the left side 13 or right side 14 of the parking platform 60 and is inclined towards the front end 11. In this way, the transmission connection between the front transmission assembly 22 and the front centering rod 23 on different sides is realized through the first connecting structure 24. The way in which the second connecting plate 242 in the first connecting structure 24 is inclined towards the front side increases the centering movement range of the front centering rod 23 and can reduce the extension length of the first front conveyor belt 222.

[0070] In addition, in order to reduce the footprint of the parking platform 60, the front drive assembly 22 also includes a second front conveyor belt 223. The second front conveyor belt 223 is connected to the front drive member 21 and is connected to the front drive shaft 221. The conveying direction is perpendicular to both the front drive member 21 and the front drive shaft 221. In this way, compared with the method of directly connecting the output shaft of the front drive member 21 to the front drive shaft 221, the front drive member 21 can be placed within the coverage area of ​​the parking platform 60, thereby reducing the area occupied by the parking platform 60 and reducing the footprint.

[0071] Understandably, since the front drive unit 21 and the front centering rod 23 in this embodiment are located on opposite first sides 15 and second sides 16 of the parking platform 60, when the first connecting plate 241 and the second connecting plate 242 are set, the first connecting plate 241 is set perpendicular to the first front conveyor belt 222 and is located on the first side 15, and the second connecting plate 242 is set on the left side 13 or right side 14 of the parking platform 60 and is inclined towards the front end 11, thereby realizing the connection between the front drive assembly 22 and the front centering rod 23 located on opposite sides of the parking platform 60.

[0072] Similarly, please refer to Figure 16 The rear drive unit 31 is a drive motor, and the rear transmission assembly 32 includes a rear drive shaft 321 and a first rear conveyor belt 322. The rear drive shaft 321 extends in the left and right direction and is connected to the rear drive unit 31. The first rear conveyor belt 322 extends in the front and back direction and is arranged perpendicular to the rear drive shaft 321. It can be understood that the rear drive shaft 321 is parallel to the front drive shaft 221, and the first rear conveyor belt 322 is parallel to the first front conveyor belt 222.

[0073] The rear centering mechanism 30 also includes two second connecting structures 34. Each second connecting structure 34 is connected to the rear transmission assembly 32 and to one end of the rear centering rod 33. The second connecting structure 34 includes a third connecting plate 341 and a fourth connecting plate 342. The third connecting plate 341 is connected to the first rear conveyor belt 322 in the rear transmission assembly 32. The fourth connecting plate 342 is located on the left side 13 or right side 14 of the parking platform 60 and is inclined towards the rear end 12. In this way, the transmission connection between the rear transmission assembly 32 and the rear centering rod 33 on different sides is realized through the second connecting structure 34. The way the fourth connecting plate 342 in the second connecting structure 34 is inclined towards the rear end increases the centering movement range of the rear centering rod 33 and can reduce the extension length of the rear transmission belt.

[0074] Understandably, since the rear drive component 31 and the rear centering rod 33 in this embodiment are located on opposite first sides 15 and second sides 16 of the parking platform 60, when the third connecting plate 341 and the fourth connecting plate 342 are set, the third connecting plate 341 is set perpendicular to the first rear conveyor belt 322 and is located on the first side 15, and the fourth connecting plate 342 is set on the left side 13 or right side 14 of the parking platform 60 and is inclined towards the rear end 12, so that the second connecting structure 34 connects the rear drive component 32 and the rear centering rod 33 located on opposite sides of the parking platform 60.

[0075] In addition, in order to reduce the footprint of the parking platform 60, the rear transmission assembly 32 also includes a second rear conveyor belt 323. The second rear conveyor belt 323 is connected to the rear drive member 31 and is connected to the rear drive shaft 321. The transmission direction is perpendicular to the rear drive member 31 and the rear drive shaft 321. In this way, compared with the method of directly connecting the output shaft of the rear drive member 31 to the rear drive shaft 321, the rear drive member 31 can be set within the coverage area of ​​the parking platform 60, thereby reducing the area occupied by the parking platform 60 and reducing the footprint.

[0076] Further, please refer to Figure 16 In order to facilitate charging of the drone 300 after it returns to center, a groove 331 is formed in the middle of the centering rod 33 towards the rear. In this way, by setting the groove 331 in the middle of the centering rod, the charging device set on the parking platform 60 can be avoided, so as to realize the electrical connection between the charging device and the drone 300 and meet the charging needs of the drone 300.

[0077] Please see Figure 16In one embodiment of the present invention, the left and right transmission assembly 42 includes a side transmission shaft 421 and two first side conveyor belts 422. The side transmission shaft 421 is connected to the left and right drive members 41. The two first side conveyor belts 422 are respectively connected to one end of the side transmission shaft 421 in the front-back direction. One end of each side centering rod 43 is connected to one of the first side conveyor belts 422. Thus, under the drive of the left and right drive members 41, the side transmission shaft 421 is driven to rotate. The rotation of the side transmission shaft 421 drives the two first side conveyor belts 422 to drive, thereby realizing the synchronous reverse movement of the two side centering rods 43, that is, the synchronous approach or distance of the two side centering rods 43.

[0078] Furthermore, in order to reduce the footprint of the parking platform 60, the left and right transmission assembly 42 also includes a second side conveyor belt 423. The second side conveyor belt 423 is connected to the middle of the left and right drive members 41 and the side drive shaft 421, and the transmission direction of the second side conveyor belt 423 is perpendicular to the extension direction of the side drive shaft 421. In this way, compared with the method of directly connecting the output shaft of the left and right drive members 41 to the side drive shaft 421, the left and right drive members 41 can be set within the coverage area of ​​the parking platform 60, thereby reducing the footprint of the parking platform 60 and reducing the space occupied.

[0079] Specifically, in this embodiment, the front drive assembly 22, rear drive assembly 32, and left and right drive assemblies 42 are configured such that the front drive shaft 221 and rear drive shaft 321 are located inside the two first side conveyor belts 422. Thus, the inclined second connecting plate 242 and fourth connecting plate 342 expand the range of motion of the front centering rod 23 and rear centering rod 33. Furthermore, the front centering rod 23 and rear centering rod 33 are located below the two side centering rods 43, thereby preventing their mutual movement from interfering with each other.

[0080] Furthermore, in this embodiment, when the left and right transmission assembly 42 is connected to the side centering rod 43, the left and right transmission assembly 42 also includes four third connection structures 44. Each side centering rod 43 has a third connection structure 44 connected to both ends, and the third connection structure 44 is connected to the first side conveyor belt 422. The third connecting structure 44 includes a fifth connecting plate 441 and a sixth connecting plate 442 that are connected to each other. The fifth connecting plate 441 is connected to the first side conveyor belt 422, and the sixth connecting plate 442 is connected to the side centering rod 43 and is located at the front end 11 and the rear end 12 of the parking platform 60. The sixth connecting plate 442 located at the front end 11 is inclined toward the center of the parking platform 60, and the sixth connecting plate 442 located at the rear end 12 is inclined toward the outside of the parking platform 60. Thus, because the two sixth connecting plates 442 at the front end 11 and the rear end 12 are inclined in different directions, the side centering rod 43 is not a straight line, but has a transition structure to adapt to the centering of the UAV 300 with a three-point landing gear.

[0081] Specifically, please refer to Figure 16 Corresponding to the different inclination direction of the sixth connecting plate 442 in the third connecting structure 44, the lateral centering rod 43 includes a first straight segment 431, an inclined segment 432, and a second straight segment 433. The first straight segment 431 is connected to the sixth connecting plate 442 located at the front end 11, and the second straight segment 433 is connected to the sixth connecting plate 442 located at the rear end 12. The inclined segment 432 is inclined from the front end 11 to the rear end 12. Thus, by setting the inclined segment 432, the transition of the lateral centering rod 43 is realized, and at the same time, through... The tilting section 432 is designed so that when the drone 300 lands within the tilting section 432, it can first be centered by the tilting section 432 in the side centering rod 43 to reduce the parking angle of the drone 300. Then, by pushing the rear centering rod 33, the drone 300 enters the range of the first straight section 431. Then, driven by the rear centering rod 33, the front centering rod 23 and the two side centering rods 43, the drone 300 is driven to park in the preset standard parking position.

[0082] Specifically, the range of the included angle between the first straight segment 431 and the inclined segment 432 or the range of the included angle α between the second straight segment 433 and the inclined segment 432 is 145°≦a≦165°. By setting this angle, when the drone 300 is parked within the range of the inclined segment 432 and is first centered by the side centering rod 43, the centering motion stroke of the side centering rod 43 can be minimized, while at the same time, the side centering rod 43 can push the drone 300 to center with appropriate thrust.

[0083] In some embodiments, the included angle α can be set to values ​​such as 145°, 150°, 155°, 160° or 165° as needed, and is not limited thereto.

[0084] The aforementioned UAV centering device 100, by setting the transmission method of the front transmission assembly 22, the rear transmission assembly 32, and the left and right transmission assemblies 42 to a conveyor belt transmission method, can reduce the weight of the transmission components used in the entire centering action, and at the same time reduce the noise in the power transmission process of each drive component. Compared with the transmission method using ball screws, the conveyor belt transmission method has lower matching precision and is easier to maintain later. At the same time, it can realize the synchronous reverse movement of the two side centering rods 43. When applied to the UAV 300 with a three-point landing gear, the landing accuracy requirement of the UAV 300 is reduced, the landing range is larger, and even if it lands in different positions, it can achieve correct centering through the side centering rods 43, the front centering rod 23, and the rear centering rod 33.

[0085] The technical means disclosed in this invention are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

Claims

1. A drone ammunition reloading system, characterized in that, include: Mounting device, used for mounting to a drone and for mounting or releasing cartridges; A parking platform for parking the aforementioned drone; A magazine storage device is located below the stopping platform and is used to store magazines; A transfer device is located below the parking platform and on one side of the ammunition storage device. It is used to transfer the ammunition bottles in the ammunition storage device to a location near the parking platform or the mounting device so that they can be mounted by the mounting device.

2. The UAV ammunition reloading system according to claim 1, characterized in that, The UAV ammunition reloading system also includes a centering device, which is installed on the parking platform to center the UAV parked on the parking platform.

3. The UAV ammunition reloading system according to claim 1 or 2, characterized in that, The ammunition storage device includes an ammunition box and a pushing mechanism disposed inside the ammunition box. The ammunition box is provided with a pushing port, and the pushing mechanism and the pushing port are arranged opposite to each other for pushing the ammunition bottles out of the pushing port.

4. The UAV ammunition reloading system according to claim 3, characterized in that, The ammunition storage device also includes a conveying mechanism for conveying the ammunition cartridges between the pushing mechanism and the pushing port.

5. The UAV ammunition reloading system according to claim 4, characterized in that, The ammunition storage device also includes a support plate for supporting the ammunition cartridges.

6. The UAV ammunition reloading system according to claim 1 or 2, characterized in that, The transfer device includes a support frame, a lifting drive mechanism disposed on the support frame, a transfer frame disposed on the lifting drive mechanism, a first rotation drive mechanism connected to the transfer frame, and a tray connected to the first rotation drive mechanism, the tray having a support position for supporting the bottle.

7. The UAV ammunition reloading system according to claim 6, characterized in that, The tray is provided with multiple support positions; The UAV ammunition reloading system includes multiple mounting devices, each mounting device corresponding to one ammunition bottle, or... The mounting device has multiple mounting positions, and each mounting position corresponds to clamping one of the cartridges.

8. The UAV ammunition reloading system according to claim 6, characterized in that, The parking platform is provided with a through hole, and the transfer device also includes a swing arm, one end of which is connected to the output end of the first rotation drive mechanism, and the other end is connected to the tray.

9. The UAV ammunition reloading system according to claim 8, characterized in that, The transfer device further includes a second rotation drive mechanism, the output end of which is connected to the tray, and the other end of the swing arm is mounted on the second rotation drive mechanism.

10. The UAV ammunition reloading system according to claim 1 or 2, characterized in that, The mounting device includes a mounting frame, a locking pin slidably mounted on the mounting frame, and a telescopic drive component mounted on the mounting frame. The telescopic drive component is used to drive the locking pin to slide relative to the mounting frame in order to mount or release the bottle.

11. The UAV ammunition reloading system according to claim 10, characterized in that, The mounting bracket is provided with a clearance groove for the locking pin; The telescopic drive component is an electromagnet, and the engagement or disengagement between the electromagnet and the locking pin enables the locking pin to release or attach to the spring bottle. The mounting device also includes an elastic element, which is sleeved on the locking pin and is used to apply an elastic force to the locking pin to disengage from the electromagnet.

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