Front and rear cabin unlocking structure, unmanned aerial vehicle throwing cylinder and use method

Abstract

The invention discloses a front and rear cabin unlocking structure, an unmanned aerial vehicle throwing cylinder and a use method. The front and rear cabin unlocking structure comprises an outer sliding barrel, an inner sliding barrel, a memory alloy unlocking device and a locking rocker arm, the outer sliding barrel and the inner sliding barrel are in sliding fit to achieve butt joint of the front cabin and the rear cabin, the memory alloy unlocking device releases a throwing cap through memory alloy wire phase change contraction, the locking rocker arm is linked to unlock, and low-impact and high-reliability cabin separation is achieved; the unmanned aerial vehicle launching barrel is integrated with the unlocking structure, the unmanned aerial vehicle launching barrel further comprises a front cabin, a rear cabin, a tail cabin, a navigation flight control system, a launching control system, a parachute system and folding wing external hanging pieces, the front cabin is matched with various unmanned aerial vehicle loads, the folding wings and the navigation flight control system provide unpowered gliding capacity, and the parachute system achieves aerial speed reduction. And the release control system overall plans unlocking and separation actions. The problems that an existing releasing device is large in unlocking impact, poor in adaptability and low in reliability are solved, and the releasing device has the advantages of being high in universality, safe in releasing and outstanding in penetration capacity.

Description

Technical Field

[0001] This invention belongs to the field of drone delivery technology, and more specifically, relates to a front and rear cabin unlocking structure, a drone delivery tube, and a method of use. Background Technology

[0002] Remote delivery technology for unmanned aerial vehicles (UAVs) has significant application value in scenarios such as reconnaissance, communication relay, material delivery, and battlefield support. As the core carrier for transporting and delivering UAV payloads, the delivery tube's structural rationality, unlocking reliability, and payload adaptability directly determine the mission success rate.

[0003] Existing drone delivery systems suffer from the following technical challenges: The unlocking methods for the front and rear cabins are unreasonable: many use explosive bolts and other pyrotechnics for unlocking, which cause great impact and generate fragments during the unlocking process, easily damaging the UAV payload inside the cabin and posing a risk of environmental pollution; some mechanical unlocking structures use a single steel ball positioning or a split nut design, which has insufficient load-bearing capacity, is prone to jamming, has low reliability of locking and unlocking, and cannot be recycled and reused.

[0004] The contradiction between cabin connection and structural strength: the sliding shaft and sliding tube of the traditional launch tube have low matching accuracy, and installation deviation can easily lead to separation jamming; the connecting components are subjected to uneven forces, making it difficult to resist aerodynamic loads and impact loads during flight, affecting structural stability.

[0005] Insufficient aerodynamic performance and versatility: The front end of the front compartment is mostly non-streamlined, resulting in high air resistance, short unpowered gliding distance, and poor attitude stability; the delivery tubes are mostly customized for specific drone models and cannot be adapted to drone payloads of different sizes and types, resulting in a narrow range of vehicle compatibility.

[0006] Poor system coordination: The navigation, deployment, and measurement and control systems are independent of each other, and the timing of actions is not precise. Coordination failures are prone to occur in deceleration, unlocking, and deployment processes, leading to deployment failures. Folding wings are mostly fixed structures, and cannot be flexibly selected for installation according to mission requirements, limiting their adaptability to various scenarios.

[0007] Therefore, there is an urgent need for a low-impact, highly reliable, versatile, and aerodynamically superior drone delivery tube and front and rear compartment unlocking structure to overcome the shortcomings of existing technologies. Summary of the Invention

[0008] The purpose of this invention is to provide a front and rear cabin unlocking structure, a drone delivery tube, and a method of use, which solves the problems of large unlocking impact, poor adaptability, low reliability, and poor aerodynamic performance of existing delivery devices, and enables safe, flexible, and efficient remote delivery of various drone payloads, thereby improving mission success rate and penetration capability.

[0009] To achieve the above objectives, in a first aspect, the present invention provides a front and rear cabin unlocking structure for a drone delivery tube, comprising: outer sliding cylinder; The inner sliding cylinder is slidably engaged with the outer sliding cylinder to achieve docking between the front and rear compartments; A shape memory alloy unlocker includes an unlocker body and a throwing cap. One end of the unlocker body is hinged to the outer periphery of the outer slide cylinder, and the other end of the unlocker body is detachably connected to the throwing cap. The unlocker body unlocks the throwing cap through internal shape memory alloy phase change contraction. A locking rocker arm is provided, one end of which is hinged to the outer periphery of the outer slide cylinder, and the other end of which passes sequentially through a first long hole in the outer slide cylinder, a second long hole in the inner slide cylinder, a second short hole in the inner slide cylinder, and a first short hole in the inner slide cylinder before connecting to the throwing cap. In the locked state, the locking rocker arm abuts against the inner periphery of the second long hole and the inner periphery of the second short hole, restricting the relative sliding between the inner and outer slide cylinders.

[0010] Optionally, the inner circumference of the throwing cap is provided with a plurality of circumferentially distributed spherical grooves; The unlocker body includes: The housing has multiple circular holes at its other end, each of which corresponds to a spherical groove. Multiple steel balls are movably disposed within multiple circular holes, and a portion of the spherical surface of each steel ball can extend out of the circular hole and be embedded in the spherical groove. A sleeve is fixedly disposed inside the housing; The pin-pulling assembly is cylindrical and slides through the sleeve. It has an annular protrusion and an annular recess on its outer periphery, which are sequentially distributed along the axial direction of the pin-pulling assembly. In the locked state, the annular protrusion corresponds to the position of the steel ball, restricting the steel ball from moving towards the axial direction of the housing, causing the steel ball to embed into the spherical groove, thus locking the unlocking device body and the release cap. In the unlocked state, the annular recess corresponds to the position of the steel ball, releasing the restriction on the steel ball, allowing the steel ball to move towards the axial direction and disengage from the spherical groove, thus unlocking the unlocking device body and the release cap. Multiple shape memory alloy wires are arranged axially inside the sleeve. One end is fixedly connected to the inner wall of the housing, and the other end is drivenly connected to the pin-pulling assembly. When energized, they undergo phase change and shrinkage upon heating, pulling the pin-pulling assembly to move axially along the sleeve, so that the annular recess corresponds to the steel ball.

[0011] Secondly, the present invention provides a drone delivery tube, comprising: The front and rear cabin unlocking structures described in the first aspect; The front compartment and the rear compartment are fixedly connected to the inner slide tube and the rear compartment is fixedly connected to the outer slide tube. The front compartment and the rear compartment can be separated and docked through the front and rear compartment unlocking structure. The front compartment is used to load the UAV payload.

[0012] Optionally, the outer sliding cylinder is fixedly connected to the rear compartment via a first connecting assembly, the first connecting assembly comprising: The rear compartment clamp is fixedly connected to the rear compartment. The outer sliding cylinder flange is fixedly connected to the outer sliding cylinder and is concentrically arranged with the rear compartment cylinder hoop; Multiple rear compartment profiles are evenly distributed radially, with one end of each rear compartment profile fixedly connected to the rear compartment cylinder hoop and the other end fixedly connected to the outer sliding cylinder flange. The inner sliding cylinder is fixedly connected to the forward compartment via a second connecting assembly, the second connecting assembly comprising: The forward compartment clamp is fixedly connected to the forward compartment. The inner sliding cylinder flange is fixedly connected to the inner sliding cylinder and is concentrically arranged with the front compartment cylinder hoop; Multiple front compartment profiles are evenly distributed radially. One end of each front compartment profile is fixedly connected to the front compartment cylinder hoop, and the other end is fixedly connected to the inner sliding cylinder flange.

[0013] Optionally, it also includes a hood, which has a streamlined structure and is fixedly connected to the front end of the front cabin.

[0014] Optionally, the drone delivery tube also includes: The tail section is connected to the rear end of the rear compartment via multiple separation actuators, and its outer surface is provided with multiple tail section actuation surfaces. The separation actuators are used to achieve the detachable and fixed connection between the tail section and the rear compartment. A parachute system is installed inside the tail compartment and interconnected with the tail compartment. When the tail compartment separates from the rear compartment, the parachute of the parachute system deploys. The deployment control system is electrically connected to the shape memory alloy unlocker and the separation actuator, and is used to control the separation action of the rear compartment and the tail compartment; Folding wing external attachments are connected to the periphery of the cylindrical body composed of the front cabin, rear cabin, and tail cabin; The navigation and flight control system is electrically connected to the folding wing external attachments and the tail section actuation surfaces, and is used to control the gliding trajectory and positioning of the delivery tube.

[0015] Optionally, the folding wing attachment is detachably connected to the cylinder.

[0016] Optionally, the navigation and flight control system includes: The inertial navigation module is used to collect real-time attitude angle, angular velocity and acceleration data of the delivery tube; Altimeter, used to measure the real-time altitude of the delivery tube; The GPS positioning module is used to obtain the geographical coordinates of the delivery tube; The flight controller is used to receive and process the sensor data from the inertial navigation module, the altimeter, and the GPS positioning module, and generate gliding trajectory control commands for the delivery tube. The telemetry and control equipment is used to receive sensor data such as the attitude, altitude, and position of the delivery tube output by the flight controller and forward them to the ground station; receive remote control commands issued by the ground station and transmit them to the flight controller or delivery control system; after the UAV payload is deployed, switch the telemetry and control communication link to the UAV payload, and at the same time realize the interaction of commands and status data between the UAV payload and the ground station.

[0017] Optionally, the delivery control system includes: Energy storage batteries are used to power the entire system. An unlocking device driver is used to control the power supply of the shape memory alloy unlocker; The release controller is used to receive signals from the navigation and flight control system and send unlocking commands to the unlocking device driver.

[0018] Thirdly, the present invention provides a method for using a drone delivery tube, applied to the drone delivery tube described in the second aspect, comprising the following steps: S1. Fix the UAV payload to the front cabin through the structural adapter, and complete the modular assembly of the front cabin, rear cabin (5), and tail cabin, as well as the debugging of the navigation flight control system and the delivery control system; S2. The assembled delivery tube is mounted on a large vehicle and transported to the designated airspace by the large vehicle; S3. After the large vehicle reaches the designated airspace, it releases the delivery tube. The navigation and flight control system controls the unfolding of the folding wing external attachments, allowing the delivery tube to enter a powerless gliding state. S4. After the navigation and flight control system locates the target drop position, the drop controller sends a command to the separation actuator to eject the tail capsule and deploy the parachute, causing the drop tube to decelerate to a safe descent speed. S5. The launch controller separates the front and rear compartments, exposing the UAV payload. The launch control system issues a command to release the UAV payload, and at the same time, the telemetry and control equipment switches the telemetry and control link to the UAV payload.

[0019] Compared with the prior art, the drone delivery tube and front and rear compartment unlocking structure of the present invention have the following advantages: Low-impact, high-reliability unlocking: The shape memory alloy unlocker replaces traditional pyrotechnic devices, can be recycled and reused, and the unlocking process is free of fragments and violent impacts, avoiding damage to the drone's payload; multiple circumferentially distributed steel balls, together with the multi-point abutment locking of the locking rocker arm, provide strong load-bearing capacity and are not easy to jam, with rapid unlocking response and smooth operation, improving the reliability of locking and unlocking.

[0020] High versatility and wide adaptability: The front cabin is adapted to various types and sizes of drone payloads through structural adapters without the need for customized modification; the delivery tube can be mounted on various large vehicles such as transport aircraft, high-altitude balloons, and airships, and the folding wing external attachments are detachable, adapting to various mission scenarios such as long-distance gliding and short-distance rapid delivery.

[0021] The system is highly coordinated and has strong mission continuity: the navigation and flight control system collects data through multiple sensors to ensure precise control of the gliding trajectory; the delivery control system coordinates the separation of the tail section and the unlocking of the front and rear sections, and the timing of the actions is controllable; the telemetry and control equipment realizes data uploading, command downloading and link switching, the ground station monitors the delivery process in real time, and quickly connects to payload control after delivery to ensure mission continuity.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0024] Figure 1 One of the schematic structural diagrams of the front and rear cabin unlocking structure of the present invention is shown.

[0025] Figure 2 The second schematic structural diagram of the front and rear cabin unlocking structure of the present invention is shown.

[0026] Figure 3 A schematic structural diagram of the shape memory alloy unlocker of the present invention is shown.

[0027] Figure 4 A schematic structural diagram of the drone delivery tube of the present invention is shown.

[0028] Figure 5 One of the partial schematic structural diagrams of the drone delivery tube of the present invention is shown.

[0029] Figure 6 The second partial schematic structural diagram of the drone delivery tube of the present invention is shown.

[0030] Figure 7The third partial schematic structural diagram of the drone delivery tube of the present invention is shown.

[0031] Figure 8 A flowchart illustrating the method of using the drone delivery tube of the present invention is shown.

[0032] Explanation of reference numerals in the attached figures: 1. Outer sliding cylinder; 1-1. First long hole; 1-2. First short hole; 2. Inner sliding cylinder; 2-1. Second long hole; 2-2. Second short hole; 3. Memory alloy unlocker; 3-1. Unlocker body; 3-1-1. Housing; 3-1-1-1. Round hole; 3-1-2. Steel ball; 3-1-3. Sleeve; 3-1-4. Pull pin assembly; 3-1-4-1. Annular protrusion; 3-1-4-2. Annular recess; 3-1-5. Memory alloy wire; 3-2. Discharge cap; 3-2-1. Spherical groove; 3-3. Locking rocker arm; 4. Fore-cabin; 5. Rear cabin; 6. Headgear; 7. Tail compartment; 7-1. Tail compartment actuating surfaces; 8. Folding wing external attachments; 9. Separation actuator; 10. Parachute system; 11. Delivery control system; 12. Navigation and flight control system; 13. First connecting assembly; 13-1. Aft compartment cylinder clamp; 13-2. Outer sliding cylinder flange; 13-3. Aft compartment profile; 13-4. First mounting plate; 14. Second connecting assembly; 14-1. Forward compartment clamp; 14-2. Inner sliding flange; 14-3. Forward compartment profile; 14-4. Second mounting plate. Detailed Implementation

[0033] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0034] Example 1

[0035] like Figure 1-3 As shown, this embodiment provides a front and rear cabin unlocking structure for a drone delivery tube, including: Outer sliding cylinder 1; Inner sliding cylinder 2, which slides in conjunction with outer sliding cylinder 1 to achieve docking of front compartment 4 and rear compartment 5; The memory alloy unlocker 3 includes an unlocker body 3-1 and a throwing cap 3-2. One end of the unlocker body 3-1 is hinged to the outer periphery of the outer slide cylinder 1, and the other end of the unlocker body 3-1 is detachably connected to the throwing cap 3-2. The unlocker body 3-1 unlocks the throwing cap 3-2 through the internal memory alloy phase change contraction. Locking rocker arm 3-3, one end of which is hinged to the outer periphery of outer slide cylinder 1, and the other end of which passes through the first long hole 1-1 of outer slide cylinder 1, the second long hole 2-1 of inner slide cylinder 2, the second short hole 2-2 of inner slide cylinder 2 and the first short hole 1-2 of inner slide cylinder 2 in sequence and connects to the throwing cap 3-2. Locking rocker arm 3-3 cooperates with the inner periphery of the second long hole 2-1 and the inner periphery of the second short hole 2-2 to lock the relative position of inner slide cylinder 2 and outer slide cylinder 1.

[0036] Specifically, the sliding fit design of the inner slide cylinder 2 and the outer slide cylinder 1 provides precise guidance for the docking and separation of the front cabin 4 and the rear cabin 5, avoiding jamming during separation and improving the smoothness of cabin separation; the shape memory alloy phase change contraction drive unlocking, compared with the traditional explosive bolts of pyrotechnics, the unlocking process has no fragments and no violent impact, which can avoid damage to the UAV payload in the front cabin 4, improve the safety of deployment, and can be recovered and reused; the locking rocker arm 3-3 is locked by the abutment of multiple sets of holes, forming multi-point force constraint, with strong locking load-bearing capacity, which can effectively prevent the inner slide cylinder 2 and the outer slide cylinder 1 from loosening during flight or transportation, and improve the structural reliability.

[0037] Optionally, the inner circumference of the throwing cap 3-2 is provided with a plurality of circumferentially distributed spherical grooves 3-2-1; The unlocker body 3-1 includes: The shell 3-1-1 has multiple round holes 3-1-1-1 at the other end, and the round holes 3-1-1-1 correspond one-to-one with the spherical grooves 3-2-1. Multiple steel balls 3-1-2 are movably disposed in multiple circular holes 3-1-1-1, and part of the spherical surface of the steel balls 3-1-2 can extend out of the circular holes 3-1-1-1 and be embedded in the spherical grooves 3-2-1; Sleeve 3-1-3 is fixedly installed inside housing 3-1-1; The pin-pulling assembly 3-1-4 is cylindrical and slides through the sleeve 3-1-3. It has an annular protrusion 3-1-4-1 and an annular recess 3-1-4-2 on its outer periphery, which are sequentially distributed along the axial direction of the pin-pulling assembly 3-1-4. In the locked state, the annular protrusion 3-1-4-1 corresponds to the position of the steel ball 3-1-2, restricting the movement of the steel ball 3-1-2 towards the axis of the housing 3-1-1, allowing the steel ball 3-1-2 to embed into the spherical groove 3-2-1, thus locking the unlocker body 3-1 and the release cap 3-2. In the unlocked state, the annular recess 3-1-4-2 corresponds to the position of the steel ball 3-1-2, releasing the restriction on the steel ball 3-1-2, allowing the steel ball 3-1-2 to move towards the axis and disengage from the spherical groove 3-2-1, thus unlocking the unlocker body 3-1 and the release cap 3-2. Multiple shape memory alloy wires 3-1-5 are arranged axially inside the sleeve 3-1-3. One end is fixedly connected to the inner wall of the housing 3-1-1, and the other end is connected to the pin-pulling assembly 3-1-4. When energized, they undergo phase change and shrinkage upon heating, pulling the pin-pulling assembly 3-1-4 to move axially along the sleeve 3-1-3, so that the annular recess 3-1-4-2 corresponds to the steel ball 3-1-2.

[0038] In this embodiment, there are 6 spherical grooves 3-2-1, 6 circular holes 3-1-1-1, and 6 steel balls 3-1-2, which are evenly distributed along the circumference; there are 4 shape memory alloy wires 3-1-5, and the phase transition temperature is 70°C.

[0039] Specifically, the spherical groove 3-2-1 of the throwing cap 3-2 corresponds one-to-one with the circular hole 3-1-1-1 of the housing 3-1-1, and works with the steel ball 3-1-2 to achieve locking. The multiple circumferentially distributed steel balls 3-1-2 are evenly stressed, avoiding locking failure caused by single-point stress and improving locking stability. The annular protrusion 3-1-4-1 and annular recess 3-1-4-2 of the pin-pulling assembly 3-1-4 correspond to the locked / unlocked states, respectively. The structure is simple, the action logic is clear, and it can be precisely controlled. The limiting and releasing of the steel ball 3-1-2 ensures the consistency of the unlocking action; the shape memory alloy wire 3-1-5 is set along the axis and is connected to the pull pin assembly 3-1-4 for transmission. The driving force of the phase change contraction when energized acts directly on the pull pin assembly 3-1-4, and the rapid action at the phase change temperature reduces the risk of unlocking jamming; the steel ball 3-1-2 is movably set in the round hole 3-1-1-1, and can flexibly disengage from the spherical groove 3-2-1 when unlocking, with low unlocking resistance, further improving the smoothness of the unlocking action.

[0040] Example 2

[0041] like Figure 4-7 As shown, this embodiment provides a drone delivery tube, including: The front and rear cabin unlocking structure in Example 1; The front compartment 4 and the rear compartment 5 are fixedly connected to the inner slide tube 2 and the rear compartment 5 is fixedly connected to the outer slide tube 1. The front compartment 4 and the rear compartment 5 can be separated and docked through the front and rear compartment unlocking structure. The front compartment 4 is used to load the UAV payload.

[0042] Specifically, the front and rear cabin unlocking structure has the advantages of low impact and high reliability, structurally ensuring that the UAV payload is not damaged during separation. The design of fixing the front cabin 4 to the inner slide tube 2 and the rear cabin 5 to the outer slide tube 1 allows the docking and separation of the cabins to rely directly on the cooperation of the inner slide tube 2 and the outer slide tube 1. The structure is compact, the space utilization rate is high, and it can accommodate UAV payloads of more sizes. The front cabin 4 is used to load UAV payloads, covering a variety of payload types such as small clusters, medium-sized multiple units, and large wingspan curved wings. It has strong versatility and does not require customized delivery tubes for specific payloads.

[0043] Optionally, the outer slide 1 is fixedly connected to the rear compartment 5 via a first connecting assembly 13, the first connecting assembly 13 comprising: Aft compartment clamp 13-1 is fixedly connected to aft compartment 5; The outer sliding cylinder flange 13-2 is fixedly connected to the outer sliding cylinder 1 and is concentrically set with the rear compartment cylinder hoop 13-1; Multiple rear compartment profiles 13-3 are evenly distributed radially. One end of the rear compartment profile 13-3 is fixedly connected to the rear compartment cylinder hoop 13-1, and the other end is fixedly connected to the outer sliding cylinder flange 13-2. The inner slide 2 is fixedly connected to the front compartment 4 via a second connecting assembly 14, the second connecting assembly 14 including: The forward compartment clamp 14-1 is fixedly connected to the forward compartment 4. The inner sliding cylinder flange 14-2 is fixedly connected to the inner sliding cylinder 2 and is concentrically set with the front compartment cylinder hoop 14-1; Multiple front compartment profiles 14-3 are evenly distributed radially. One end of the front compartment profile 14-3 is fixedly connected to the front compartment cylinder hoop 14-1, and the other end is fixedly connected to the inner sliding cylinder flange 14-2.

[0044] In this embodiment, a pair of first connecting components 13 are respectively disposed at both ends of the rear compartment 5; a pair of second connecting components 14 are respectively disposed at both ends of the front compartment 4.

[0045] Specifically, the radially distributed profile connecting the cylinder and flange ensures that the force is transmitted evenly along the circumference, which can effectively resist aerodynamic loads and impact loads during flight and improve the structural strength and stability of the cabin. The flange and cylinder are set concentrically to ensure the coaxiality of the inner slide cylinder 2 and the outer slide cylinder 1, avoid sliding jamming caused by installation deviation, and ensure smooth separation of the front and rear cabins 5.

[0046] Optionally, the drone delivery tube also includes a head cover 6, which has a streamlined structure and is fixedly connected to the front end of the front compartment 4.

[0047] In this embodiment, the head cover 6 is fixedly connected to the front cabin cylinder hoop 14-1 at the front end of the front cabin 4.

[0048] Specifically, the streamlined structure optimizes the aerodynamic shape of the delivery tube, significantly reducing air resistance during flight and improving the endurance and gliding efficiency during the unpowered gliding phase; it reduces the interference of air turbulence on the attitude of the delivery tube, improves stability during gliding, and ensures the trajectory control accuracy of the navigation and flight control system 12; the helmet shroud 6 covers the front end of the front cabin 4, which can effectively protect the UAV payload and navigation and flight control system 12 inside the front cabin 4 from damage caused by airflow impact and foreign object collision; the reduced aerodynamic drag can reduce energy consumption and indirectly improve the endurance of the delivery control system 11.

[0049] Optionally, the drone delivery tube also includes: The tail section 7 is connected to the rear end of the rear section 5 through multiple separation actuators 9. Multiple tail section actuation surfaces 7-1 are provided on the outer surface. The separation actuators 9 are used to realize the separable fixation of the tail section 7 and the rear section 5. Parachute system 10 is installed inside and interconnected with tail compartment 7. When tail compartment 7 separates from rear compartment 5, it causes the parachute of parachute system 10 to deploy. The deployment control system 11 is electrically connected to the shape memory alloy unlocker 3 and the separation actuator 9, and is used to control the separation action of the rear compartment 5 and the tail compartment 7. The folding wing external attachment 8 is connected to the outer periphery of the cylindrical body composed of the front cabin 4, the rear cabin 5 and the tail cabin 7; The navigation and flight control system 12 is electrically connected to the folding wing external hardpoints 8 and the tail section actuation surfaces 7-1, and is used to control the gliding trajectory and positioning of the delivery tube.

[0050] In this embodiment, the second connecting component 14 at the front end of the front compartment 4 is fixedly provided with a second mounting plate 14-4, and the navigation and flight control system 12 is installed on the second mounting plate 14-4; the first connecting component 13 at the front end of the rear compartment 5 is fixedly provided with a first mounting plate 13-4, and the release control system 11 is installed on the first mounting plate 13-4, supporting three control modes: autonomous, semi-autonomous, and manual. The ground station monitors the release status in real time and sends remote control commands; the tail compartment 7 is connected to the rear compartment clamp 13-1 at the rear end of the rear compartment 5, and multiple circumferentially evenly distributed separation actuators 9 are provided between the two, and the separation actuators 9 are explosive bolts for pyrotechnics.

[0051] Specifically, the separation actuator 9 controls the separation of the tail section 7 from the rear section 5, simultaneously deploying the parachute. The deceleration process is smooth and controllable, creating a low-speed, stable environment for UAV payload delivery and reducing the impact of high-speed airflow on the payload. The folding wing external attachment 8, in conjunction with the navigation and flight control system 12 and the tail section actuator control surface 7-1, enables unpowered gliding. Compared to traditional freefall delivery, this increases the delivery distance and battlefield penetration capability, and improves the survivability of the payload after delivery. The delivery control system 11 centrally controls the unlocking action and the separation of the tail section 7, with precise timing to avoid delivery failures caused by miscoordination of various components, thus improving system reliability. The multi-system integrated design covers the entire process of gliding, deceleration, unlocking, and delivery, requiring no additional supporting equipment and adapting to UAV delivery missions in long-range and complex environments.

[0052] Optionally, the folding wing attachment 8 is detachably connected to the cylinder.

[0053] In this embodiment, the folding wing external attachment 8 is detachably connected to the cylinder body via a mechanical interface.

[0054] Specifically, the detachable design allows the delivery tube to be flexibly equipped with or without folding wings depending on mission requirements. It can be equipped when long-distance gliding is required and removed when rapid delivery is needed. After the folding wings are removed separately, the overall size of the delivery tube is smaller, making it easier to transport and store, and reducing carrying and deployment costs. If the folding wings are damaged, they can be replaced separately without replacing the entire delivery tube, improving the economy of equipment maintenance and reusability. The detachable connection does not change the main structure of the delivery tube, making it highly adaptable and requiring no additional modifications to the delivery tube.

[0055] Optionally, the navigation and flight control system 12 includes: The inertial navigation module is used to collect real-time attitude angle, angular velocity and acceleration data of the delivery tube; Altimeter, used to measure the real-time altitude of the delivery tube; The GPS positioning module is used to obtain the geographical coordinates of the delivery tube; The flight controller is used to receive and process sensor data from the inertial navigation module, altimeter, and GPS positioning module, and generate gliding trajectory control commands for the delivery tube. The telemetry and control equipment is used to receive sensor data such as attitude, altitude, and position of the delivery tube output by the flight controller and forward them to the ground station; receive remote control commands issued by the ground station and transmit them to the flight controller or delivery control system 11; after the UAV payload is delivered, switch the telemetry and control communication link to the UAV payload, and at the same time realize the interaction of commands and status data between the UAV payload and the ground station.

[0056] Specifically, the inertial navigation module, altimeter, and GPS positioning module work together to comprehensively collect attitude, altitude, and position data of the delivery tube, providing precise input for gliding trajectory control and reducing trajectory deviation. The flight controller centrally processes the multi-sensor data, generating precise gliding trajectory control commands that can be dynamically adjusted according to the real-time environment, improving gliding stability under complex airflow conditions. The telemetry and control equipment realizes three major functions: data uploading, command downloading, and link switching. The ground station monitors the delivery process in real time and quickly connects to payload control after delivery, ensuring mission continuity.

[0057] Optionally, the delivery control system 11 includes: Energy storage batteries are used to power the entire system. Unlocking device driver, used to control the power supply of shape memory alloy unlocker 3; The release controller is used to receive signals from the navigation flight control system 12 and send unlocking commands to the unlocking device driver.

[0058] Specifically, the energy storage battery provides independent power to the entire system, without relying on the vehicle's power supply, thus avoiding deployment failures caused by vehicle power supply malfunctions and improving the system's endurance and environmental adaptability. The unlocking device driver specifically controls the shape memory alloy unlocker 3, which can precisely adjust the power parameters, such as voltage and duration, to ensure the consistency of the shape memory alloy wire 3-1-5 phase change contraction and improve the stability of the unlocking action. The deployment controller, as the core command unit, receives the positioning signal from the navigation flight control system 12 and issues commands to achieve the timing coordination of actions such as unlocking and tail compartment 7 separation, avoiding malfunctions such as premature unlocking or insufficient deceleration during deployment, thereby improving deployment safety. The modular control system design facilitates fault diagnosis and component replacement, reducing maintenance difficulty.

[0059] Example 3

[0060] like Figure 8 As shown, this embodiment provides a method for using a drone delivery canister, applied to the drone delivery canister in Embodiment 2, including the following steps: S1 Assembly and Adaptation: The UAV payload is fixed in the front cabin 4 through the structural adapter, and the modular assembly of the front cabin 4, rear cabin 5, and tail cabin 7 is completed, as well as the debugging of the navigation and flight control system 12 and the delivery control system 11 are completed. S2 vehicle loading: The assembled delivery tube is mounted on a large vehicle such as a transport aircraft, high-altitude balloon or airship, and then transported to the designated airspace by the large vehicle; S3 Initial Deployment: After the large vehicle arrives at the designated airspace, it releases the deployment tube. The navigation and flight control system 12 controls the unfolding of the folding wing external attachments 8, allowing the deployment tube to enter a powerless gliding state. S4 Deceleration Preparation: After the navigation and flight control system 12 locates the target release position, the release controller sends a command to the separation actuator 9 to eject the tail compartment 7 and drive the parachute to deploy, so that the release tube decelerates to a safe descent speed. S5 Unlock Separation: The launch controller controls the separation of the front compartment 4 and the rear compartment 5, exposing the UAV payload. The launch control system 11 issues a command to release the UAV payload, and at the same time, the telemetry and control equipment switches the telemetry and control link to the UAV payload.

[0061] Specifically, the gliding phase extends the delivery distance and enhances penetration capability, the deceleration phase creates a safe environment for payload delivery, and the unlocking and separation phase provides low-impact protection for the payload, forming a closed-loop guarantee throughout the process, significantly improving the safety of UAV payload delivery and mission success rate; it is compatible with a variety of large vehicles, such as transport aircraft, high-altitude balloons, and airships, and is compatible with a variety of UAV payloads, with strong versatility, requiring no adjustment of operating procedures for different scenarios; the telemetry and control link switches in a timely manner, enabling the ground station to quickly control the UAV payload after delivery, reducing mission downtime and improving operational efficiency.

[0062] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A front and rear compartment unlocking structure for a drone delivery tube, characterized in that, include: Outer slide (1); Inner slide cylinder (2), which slides in conjunction with the outer slide cylinder (1) to achieve docking of the front compartment (4) and the rear compartment (5); The memory alloy unlocker (3) includes an unlocker body (3-1) and a throwing cap (3-2). One end of the unlocker body (3-1) is hinged to the outer periphery of the outer slide cylinder (1), and the other end of the unlocker body (3-1) is detachably connected to the throwing cap (3-2). The unlocker body (3-1) unlocks the throwing cap (3-2) through the internal memory alloy phase change contraction. A locking rocker arm (3-3) is provided. One end of the locking rocker arm (3-3) is hinged to the outer periphery of the outer slide cylinder (1). The other end of the locking rocker arm (3-3) passes through the first long hole (1-1) of the outer slide cylinder (1), the second long hole (2-1) of the inner slide cylinder (2), the second short hole (2-2) of the inner slide cylinder (2), and the first short hole (1-2) of the inner slide cylinder (2) in sequence, and then connects to the throwing cap (3-2). In the locked state, the locking rocker arm (3-3) abuts against the inner periphery of the second long hole (2-1) and the inner periphery of the second short hole (2-2), restricting the relative sliding between the inner slide cylinder (2) and the outer slide cylinder (1).

2. The front and rear cabin unlocking structure according to claim 1, characterized in that, The inner circumference of the throwing cap (3-2) is provided with a plurality of circumferentially distributed spherical grooves (3-2-1). The unlocker body (3-1) includes: The housing (3-1-1) has multiple circular holes (3-1-1-1) at its other end, and the circular holes (3-1-1-1) correspond one-to-one with the spherical grooves (3-2-1); Multiple steel balls (3-1-2) are movably disposed within multiple circular holes (3-1-1-1), and a portion of the spherical surface of each steel ball (3-1-2) can extend out of the circular hole (3-1-1-1) and be embedded in the spherical groove (3-2-1); The sleeve (3-1-3) is fixedly installed inside the housing (3-1-1); The pin-pulling assembly (3-1-4) is cylindrical and slides through the sleeve (3-1-3). Its outer periphery has an annular protrusion (3-1-4-1) and an annular recess (3-1-4-2), which are sequentially distributed along the axial direction of the pin-pulling assembly (3-1-4). In the locked state, the annular protrusion (3-1-4-1) corresponds to the position of the steel ball (3-1-2), restricting the steel ball (3-1-2) from moving towards the housing (3). The steel ball (3-1-2) moves along the axis of the release cap (3-2-1) so that it is embedded in the spherical groove (3-2-1), thereby locking the release cap (3-1) and the release cap (3-2). In the unlocked state, the annular recess (3-1-4-2) corresponds to the position of the steel ball (3-1-2), releasing the restriction on the steel ball (3-1-2). The steel ball (3-1-2) can move along the axis and disengage from the spherical groove (3-2-1), thereby unlocking the release cap (3-2). Multiple shape memory alloy wires (3-1-5) are arranged axially inside the sleeve (3-1-3). One end is fixedly connected to the inner wall of the housing (3-1-1), and the other end is connected to the pin puller assembly (3-1-4) for transmission. When energized, they undergo phase change and shrinkage upon heating, pulling the pin puller assembly (3-1-4) to move axially along the sleeve (3-1-3), so that the annular recess (3-1-4-2) corresponds to the steel ball (3-1-2).

3. A drone delivery tube, characterized in that, include: The front and rear cabin unlocking structure as described in claim 1 or 2; The front compartment (4) and the rear compartment (5) are fixedly connected to the inner slide tube (2) and the rear compartment (5) is fixedly connected to the outer slide tube (1). The front compartment (4) and the rear compartment (5) can be separated and docked through the front and rear compartment unlocking structure. The front compartment (4) is used to load the UAV payload.

4. The drone delivery tube according to claim 3, characterized in that, The outer slide tube (1) is fixedly connected to the rear compartment (5) via a first connecting assembly (13), the first connecting assembly (13) comprising: The rear compartment hoop (13-1) is fixedly connected to the rear compartment (5); The outer sliding cylinder flange (13-2) is fixedly connected to the outer sliding cylinder (1) and is concentrically arranged with the rear compartment cylinder hoop (13-1); Multiple rear compartment profiles (13-3) are evenly distributed radially. One end of the rear compartment profile (13-3) is fixedly connected to the rear compartment cylinder hoop (13-1), and the other end is fixedly connected to the outer sliding cylinder flange (13-2). The inner slide (2) is fixedly connected to the front compartment (4) via a second connecting assembly (14), the second connecting assembly (14) comprising: The front compartment clamp (14-1) is fixedly connected to the front compartment (4); The inner sliding cylinder flange (14-2) is fixedly connected to the inner sliding cylinder (2) and is concentrically arranged with the front compartment cylinder hoop (14-1); Multiple front compartment profiles (14-3) are evenly distributed radially. One end of each front compartment profile (14-3) is fixedly connected to the front compartment cylinder hoop (14-1), and the other end is fixedly connected to the inner sliding cylinder flange (14-2).

5. The drone delivery tube according to claim 3, characterized in that, It also includes a head cover (6), which has a streamlined structure and is fixedly connected to the front end of the front cabin (4).

6. The drone delivery tube according to claim 3, characterized in that, Also includes: The tail section (7) is connected to the rear end of the rear section (5) by multiple separation actuators (9), and multiple tail section actuation surfaces (7-1) are provided on its outer surface. The separation actuators (9) are used to realize the separable fixation of the tail section (7) and the rear section (5). Parachute system (10) is installed in the tail compartment (7) and interconnected with the tail compartment (7). When the tail compartment (7) separates from the rear compartment (5), the parachute of the parachute system (10) is deployed. The deployment control system (11) is electrically connected to the shape memory alloy unlocker (3) and the separation actuator (9) to control the separation action of the rear compartment (5) and the tail compartment (7); The folding wing external attachment (8) is connected to the outer periphery of the cylindrical body composed of the front cabin (4), the rear cabin (5) and the tail cabin (7); The navigation and flight control system (12) is electrically connected to the folding wing external attachment (8) and the tail compartment actuation control surface (7-1) to control the gliding trajectory and positioning of the delivery tube.

7. The drone delivery tube according to claim 6, characterized in that, The folding wing attachment (8) is detachably connected to the cylinder.

8. The drone delivery tube according to claim 6, characterized in that, The navigation and flight control system (12) includes: The inertial navigation module is used to collect real-time attitude angle, angular velocity and acceleration data of the delivery tube; Altimeter, used to measure the real-time altitude of the delivery tube; The GPS positioning module is used to obtain the geographical coordinates of the delivery tube; The flight controller is used to receive and process the sensor data from the inertial navigation module, the altimeter, and the GPS positioning module, and generate gliding trajectory control commands for the delivery tube. The measurement and control equipment is used to receive sensor data such as attitude, altitude, and position of the delivery tube output by the flight controller and forward it to the ground station; receive remote control commands issued by the ground station and transmit them to the flight controller or delivery control system (11); after the UAV payload is delivered, switch the measurement and control communication link to the UAV payload, and at the same time realize the interaction of commands and status data between the UAV payload and the ground station.

9. The drone delivery tube according to claim 6, characterized in that, The delivery control system (11) includes: Energy storage batteries are used to power the entire system. Unlocking device driver, used to control the power supply of the memory alloy unlocker (3); The release controller is used to receive signals from the navigation flight control system (12) and send unlocking commands to the unlocking device driver.

10. A method of using a drone delivery tube, applied to the drone delivery tube according to any one of claims 6-9, characterized in that, Includes the following steps: S1. Fix the UAV payload to the front cabin (4) through the structural adapter, and complete the modular assembly of the front cabin (4), rear cabin (5), and tail cabin (7) and the debugging of the navigation flight control system (12) and the delivery control system (11); S2. The assembled delivery tube is mounted on a large vehicle and transported to the designated airspace by the large vehicle; S3. After the large vehicle reaches the designated airspace, it releases the delivery tube and the navigation flight control system (12) controls the unfolding of the folding wing external attachments (8) so that the delivery tube enters a powerless gliding state. S4. After the navigation and flight control system (12) locates the target drop position, the drop controller sends a command to the separation actuator (9) to eject the tail capsule (7) and drive the parachute to deploy, so that the drop tube decelerates to a safe descent speed. S5. The release controller controls the separation of the front cabin (4) and the rear cabin (5) to expose the UAV payload. The release control system (11) issues an instruction to release the UAV payload, and at the same time the telemetry and control equipment switches the telemetry and control link to the UAV payload.

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