Automatic oil injection system for composite wing unmanned aerial vehicle

Abstract

The utility model relates to an automatic oil injection system for a composite wing unmanned aerial vehicle, which comprises a frame, an oil injection mechanism, a transmission mechanism and an unmanned aerial vehicle tray, the transmission mechanism comprises two side frame bodies fixedly arranged in the frame, each side frame body is provided with a transmission chain rotating in a closed loop mode, and the unmanned aerial vehicle tray comprises a tray frame body. Tray rollers and chain connecting shafts are arranged on the two sides of the tray frame body, one end of each chain connecting shaft is rotationally connected with the tray frame body, the other end of each chain connecting shaft is fixedly connected with the conveying chain on the corresponding side, and roller transverse moving channels allowing the tray rollers to horizontally move are formed in the upper side and the lower side of the side frame body. The left side and the right side of the side frame body are each provided with a roller vertical channel for tray rollers to vertically move, and the oil injection mechanism is arranged at one end of the frame and provided with an oil injection nozzle capable of being movably adjusted. The unmanned aerial vehicle oil injection device can achieve centralized storage and oil injection of unmanned aerial vehicles, can achieve synchronous operation of unmanned aerial vehicle transfer and oil injection, and improves oil injection efficiency.

Description

Technical Field

[0001] The utility model relates to the field of unmanned aerial vehicles, and more specifically to an automatic fuel injection system for compound-wing unmanned aerial vehicles. Background Art

[0002] Since compound-wing unmanned aerial vehicles have both the high-efficiency cruise ability of fixed-wing unmanned aerial vehicles and the vertical takeoff and landing ability of multi-rotor unmanned aerial vehicles, their applications are becoming more and more extensive. However, in the prior art, the means for automatic storage and refueling of compound-wing unmanned aerial vehicles are still insufficient. Especially, compound-wing unmanned aerial vehicles often adopt a cluster operation mode, which requires multiple unmanned aerial vehicles to be stored centrally.

[0003] The prior art fuel injection devices for unmanned aerial vehicles are mainly designed for manual methods. For example, a patent with the authorization announcement number CN217945556U discloses a fuel injection device for the landing gear of an unmanned aerial vehicle, which uses manual pressurization to achieve rapid fuel injection maintenance of the landing gear support and braking system of the unmanned aerial vehicle. However, this method can only complete the fuel injection operation of one unmanned aerial vehicle at a time, and the operation is time-consuming and laborious. In order to improve efficiency, some automatic fuel injection devices have also appeared in the prior art. For example, a patent with the authorization announcement number CN218022237U discloses an unmanned aerial vehicle automatic fuel injection device and an unmanned ship using this device, which includes a traveling mechanism and a docking fuel injection mechanism. The docking fuel injection mechanism includes a mechanism body and a multi-degree-of-freedom parallel mechanism. The multi-degree-of-freedom parallel mechanism includes a fixed platform and a moving platform. When this device injects fuel, it mainly relies on two moving degrees of freedom in the horizontal and vertical directions of the traveling mechanism, plus two swinging degrees of freedom and one telescopic degree of freedom of the moving platform to complete the docking of the fuel gun with the unmanned aerial vehicle. The unmanned aerial vehicle does not need to cooperate with actions. However, when this device does not inject fuel, the fuel gun, telescopic power mechanism, etc. need to be retracted to avoid interference with the unmanned aerial vehicle entering the hangar. Therefore, this device can actually only complete the fuel injection operation of one unmanned aerial vehicle at a time. Since compound-wing unmanned aerial vehicles mostly adopt a cluster operation mode, they need more unmanned aerial vehicles to be stored centrally and refueled efficiently. The above devices cannot meet the usage requirements of compound-wing unmanned aerial vehicles. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an automatic fuel injection system for compound-wing unmanned aerial vehicles, which can realize the centralized storage and refueling of unmanned aerial vehicles, and can realize the synchronous progress of the transfer and refueling of unmanned aerial vehicles, improving the fuel injection efficiency.

[0005] The purpose of the utility model is achieved by the following technical solutions:

[0006] An automatic fuel injection system for a compound-wing unmanned aerial vehicle, comprising a frame, a fuel injection mechanism, a transmission mechanism, and a drone tray. The transmission mechanism includes two side frames fixed inside the frame, and a closed-loop rotating transmission chain is provided on each side frame. The drone tray includes a tray frame body, and tray rollers and chain connecting shafts are provided on both sides of the tray frame body. One end of the chain connecting shaft is rotatably connected to the tray frame body, and the other end is fixedly connected to the transmission chain on the corresponding side. Horizontal roller translation channels for the horizontal movement of the tray rollers are provided on the upper and lower sides of the side frame, and vertical roller channels for the vertical movement of the tray rollers are provided on the left and right sides of the side frame. The fuel injection mechanism is provided at one end of the frame, and the fuel injection mechanism is provided with a movable and adjustable fuel injection nozzle.

[0007] The side frame includes an inner frame and an outer frame, and a roller horizontal translation channel is formed between the upper and lower cross beams of the inner frame and the corresponding cross beams of the outer frame. Outer end frames and inner end frames are provided between the left and right vertical beams of the inner frame and the corresponding vertical beams of the outer frame. An outer roller vertical channel is formed between the outer end frame and the corresponding vertical beam of the outer frame, and an inner roller vertical channel is formed between the inner end frame and the corresponding vertical beam of the inner frame. A gap for the chain connecting shaft to pass through is provided between the outer end frame and the inner end frame.

[0008] A first fixed seat, a second fixed seat, a first connecting seat, a second connecting seat, and a sprocket mounting seat are provided on the side frame. The upper and lower cross beams of the inner frame are respectively fixedly connected to the corresponding cross beams of the outer frame through the first fixed seats on the corresponding sides. First cross beams are provided at both the upper and lower ends of the outer end frame, and the first cross beams are fixedly connected to the corresponding cross beams of the outer frame through the second fixed seats on the corresponding sides. The vertical part of the outer end frame is fixedly connected to the corresponding vertical beam of the outer frame through the first connecting seat. Second cross beams are provided at both the upper and lower ends of the inner end frame, and a sprocket mounting seat is provided on the second cross beam. Transmission sprockets cooperating with the transmission chain are respectively mounted on the corresponding sprocket mounting seats. The vertical part of the inner end frame is fixedly connected to the corresponding vertical beam of the inner frame through the second connecting seat. The first fixed seat and the second fixed seat are respectively fixed on the corresponding beams of the frame.

[0009] A plurality of sprocket mounting seats are provided on the side frame, and transmission sprockets cooperating with the transmission chain are respectively mounted on the corresponding sprocket mounting seats. The transmission mechanism further includes a transmission drive assembly, a drive shaft, an intermediate chain, and drive sprockets. The drive shaft is driven to rotate by the transmission drive assembly, and output sprockets are provided at both ends of the drive shaft. The drive sprockets are provided on the corresponding sprocket mounting seats and are coaxially connected to the transmission sprockets on the sprocket mounting seats. The output sprockets are connected to the drive sprockets on the corresponding sides through the intermediate chains on the corresponding sides.

[0010] The interior of the sprocket mounting seat is provided with an adjustment groove. The transmission sprocket is mounted on a sprocket shaft, and the sprocket shaft passes through the adjustment groove and is threadedly connected to a locking nut. A top block is provided on one side of the sprocket mounting seat, and a set screw is threadedly inserted into the top block and abuts against the sprocket shaft.

[0011] The transmission drive assembly includes a motor and a speed reducer connected in sequence. A first drive sprocket is provided on the power shaft of the speed reducer, a second drive sprocket is provided on the drive shaft, and the first drive sprocket is connected to the second drive sprocket through a drive chain.

[0012] Pallet bearings are provided in the middle of both sides of the pallet frame body. One end of the chain connecting shaft is inserted into the pallet bearing, and the other end is fixedly connected to the transmission chain on the corresponding side. Chain connecting plates are provided on the transmission chain, and shaft connecting plates are provided on the chain connecting shaft. The shaft connecting plates are fixedly connected to the corresponding chain connecting plates on the transmission chain on the corresponding side.

[0013] The oil injection mechanism includes an X-direction module, a Y-direction module, and a Z-direction module. The X-direction module is provided with an X-direction moving seat, and both ends of the Y-direction module are respectively mounted on the X-direction moving seats of the corresponding side X-direction module. A Y-direction moving seat is provided on the Y-direction module, and the Z-direction module is vertically fixed on the Y-direction moving seat. A Z-direction moving seat is provided on the Z-direction module, and the oil injection nozzle is provided on the Z-direction moving seat.

[0014] The X-direction module includes an X-direction lead screw and an X-direction motor, and the X-direction lead screw is driven to rotate by the X-direction motor. An X-direction nut sleeve is provided on the X-direction moving seat and sleeved on the X-direction lead screw. The Y-direction module includes a Y-direction lead screw and a Y-direction motor, and the Y-direction lead screw is driven to rotate by the Y-direction motor. A Y-direction nut sleeve is provided on the Y-direction moving seat and sleeved on the Y-direction lead screw. The Z-direction module includes a Z-direction lead screw and a Z-direction motor, and the Z-direction lead screw is driven to rotate by the Z-direction motor. A Z-direction nut sleeve is provided on the Z-direction moving seat and sleeved on the Z-direction lead screw. The oil injection nozzle is provided on a guide pipe, a six-degree-of-freedom force sensor is provided on the Z-direction moving seat, and the guide pipe is mounted on the six-degree-of-freedom force sensor.

[0015] The advantages and positive effects of the present utility model are:

[0016] 1. When the utility model works, each UAV can be centrally stored on each UAV tray on the frame, and each UAV tray can be driven to move through the transmission mechanism to achieve sequential continuous refueling operations. The two ends of the UAV tray are respectively driven to move by the transmission chains on the corresponding side frames of the transmission mechanism and achieve closed-loop transfer. Its overall structure is simple and compact, and the UAV tray is designed as a quick-release structure. It is connected to the transmission chain by a chain connecting shaft and moves by rolling the tray rollers along the side frame, so that the utility model can store an appropriate number of UAVs according to actual needs and is more flexible and convenient to use.

[0017] 2. The side frame of the transmission mechanism of the utility model consists of an inner frame and an outer frame. A roller horizontal movement channel for the UAV tray rollers to move horizontally can be formed between the upper and lower side cross beams of the inner frame and the corresponding side cross beams of the outer frame. Inner end frames and outer end frames are provided between the left and right sides of the inner frame and the outer frame, and an inner roller vertical channel is formed between the inner end frame and the corresponding side vertical beam of the inner frame, and an outer roller vertical channel is formed between the outer end frame and the corresponding side vertical beam of the outer frame. When the UAV tray moves to the end of the transmission mechanism, the tray rollers on the UAV tray can respectively move up and down along the corresponding roller vertical channels, and at the same time, the chain connecting shaft passes through the gap between the inner end frame and the outer end frame, thus not affecting the closed-loop transfer of the UAV. And the side frame is a frame structure, so the weight of the entire transmission mechanism is also greatly reduced, meeting the requirements of lightweight design.

[0018] 3. The four joint motors (Y-direction motor, Z-direction motor, and two X-direction motors) in the refueling mechanism of the utility model all adopt admittance control. In this way, while the utility model controls the torque of the four servo motors to accurately move the fuel injection nozzle to the target position, as the UAV is transported, when the fuel injection nozzle is subjected to an external force, each module joint of the refueling mechanism can move compliantly and move along with the movement of the UAV, so that the synchronous progress of transportation and refueling can be achieved, improving the refueling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the utility model,

[0020] Figure 2 is Figure 1 the schematic structural diagram of the transmission mechanism in

[0021] Figure 3 is Figure 2 the enlarged schematic diagram of the driving end of the transmission mechanism in

[0022] Figure 4 is Figure 3 the enlarged view at A in

[0023] Figure 5 is Figure 3 the enlarged view at B in

[0024] Figure 6 is Figure 2 the enlarged view at position C in

[0025] Figure 7 is Figure 2 the enlarged view at position D in

[0026] Figure 8 is Figure 1 the schematic diagram of the cooperation between the drone tray and the transmission mechanism in

[0027] Figure 9 is Figure 8 the overall structure schematic diagram of the drone tray in

[0028] Figure 10 is Figure 9 the enlarged view at position E in

[0029] Figure 11 is Figure 1 the enlarged schematic diagram of the oil injection mechanism in

[0030] Figure 12 is Figure 11 the structure schematic diagram of the oil injection mechanism in

[0031] Figure 13 is the schematic diagram of the oil injection state of the drone of the present utility model,

[0032] Figure 14 is the schematic diagram of the control flow of the oil injection mechanism of the present utility model.

[0033] Among them, 1 is a transmission mechanism, 101 is a transmission drive assembly, 1011 is a motor, 1012 is a speed reducer, 1013 is a drive mounting seat, 1014 is a first drive sprocket, 1015 is a drive chain, 1016 is a second drive sprocket, 102 is a drive shaft, 103 is a side frame body, 104 is an output sprocket, 105 is a transmission chain, 1051 is a transmission sprocket, 1052 is a chain connection plate, 106 is a roller transverse movement channel, 107 is a drive bearing seat, 108 is an intermediate chain, 109 is a sprocket mounting seat, 1091 is a sprocket shaft, 1092 is a top block, 1093 is a setscrew, 1094 is a locking nut, 110 is a first fixing seat, 111 is a drive sprocket, 112 is an inner frame, 113 is an outer frame, 114 is an inner end frame, 1141 is a second cross frame, 115 is an outer end frame, 1151 is a first cross frame, 116 is an outer roller vertical channel, 117 is an inner roller vertical channel, 118 is a second fixing seat, 119 is a first connection seat, 120 is a second connection seat, 2 is a drone tray, 201 is a tray frame body, 202 is a tray roller, 2021 is a roller mounting plate, 203 is a chain connection shaft, 2031 is a shaft connection plate, 204 is a tray bearing, 3 is an oil injection mechanism, 301 is an X-direction module, 3011 is an X-direction moving seat, 3012 is an X-direction lead screw, 3013 is an X-direction slide rail, 3014 is an X-direction mounting beam, 3015 is an X-direction slider, 3016 is an X-direction motor seat, 3017 is an X-direction motor, 3018 is an X-direction lead screw support seat, 302 is a Y-direction module, 3021 is a Y-direction moving seat, 3022 is a Y-direction lead screw, 3023 is a Y-direction slide rail, 3024 is a Y-direction mounting beam, 3025 is a Y-direction slider, 3026 is a Y-direction motor seat, 3027 is a Y-direction motor, 303 is a Z-direction module, 3031 is a Z-direction moving seat, 3032 is a Z-direction lead screw, 3033 is a Z-direction slide rail, 3034 is a Z-direction column, 3035 is a Z-direction slider, 3036 is a Z-direction motor seat, 3037 is a Z-direction motor, 304 is an oil injection nozzle, 3041 is a guide oil pipe, 3042 is an oil injection hose, 4 is a frame, and 5 is a drone oil injection port. Detailed implementation manner

[0034] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0035] As Figures 1 to 14 shown, the present utility model includes a frame 4, an oil injection mechanism 3, a transmission mechanism 1, and a drone tray 2. Among them, as Figure 1 shown, the transmission mechanism 1 is arranged inside the frame 4, and each drone tray 2 is closed-loop transmitted on the frame 4 through the transmission mechanism 1, and the oil injection mechanism 1 is arranged at one end of the frame 4.

[0036] As Figure 2As described above, in this embodiment, the transmission mechanism 1 includes two side frames 103 fixedly arranged in the frame 4, and a transmission chain 105 that rotates in a rectangular closed loop is arranged on each side frame 103. As Figures 9 to 10 , the drone tray 2 includes a tray frame body 201, and tray rollers 202 and chain connecting shafts 203 are arranged on both sides of the tray frame body 201. Tray bearings 204 are arranged in the middle of both sides of the tray frame body 201. One end of the chain connecting shaft 203 is inserted into the tray bearing 204, and the other end is fixedly connected to the transmission chain 105 on the corresponding side. As Figure 2 and Figure 5 shown, the side frame 103 includes an inner frame 112 and an outer frame 113, and the inner frame 112 is arranged in the outer frame 113. A roller transverse movement channel 106 for the movement of the tray rollers 202 is formed between the upper and lower side cross beams of the inner frame 112 and the corresponding side cross beams of the outer frame 113. Outer end frames 115 and inner end frames 114 are arranged between the left and right side vertical beams of the inner frame 112 and the corresponding side vertical beams of the outer frame 113. An outer roller vertical channel 116 is formed between the outer end frame 115 and the corresponding side vertical beam of the outer frame 113, and an inner roller vertical channel 117 is formed between the inner end frame 114 and the corresponding side vertical beam of the inner frame 112. When the drone tray 2 moves to the end of the transmission mechanism 1, the transmission chain 105 continues to drive the drone tray 2 to rise or fall. At this time, the tray rollers 202 on the outside of the tray frame body 201 move along the corresponding outer roller vertical channel 116, and the tray rollers 202 on the inside move along the corresponding inner roller vertical channel 117, and the chain connecting shaft 203 passes through the gap between the outer end frame 115 and the inner end frame 114. As Figures 11 to 12 shown, the oil injection mechanism 3 is arranged at one end of the frame 4, and the oil injection mechanism 3 is provided with an oil injection nozzle 304 that can be moved and adjusted. When the drone tray 2 carries the drone and ascends and descends to the position at the oil injection end of the frame 4, the oil injection mechanism 3 starts to adjust the position of the oil injection nozzle 304 to Figure 13 accurately dock with the drone oil injection port 5 as shown to complete the oil injection operation. In addition, as Figure 1 and Figure 13 shown, the utility model can realize the centralized storage and sequential oil injection operation of multiple drones. When the oil injection of the previous drone is completed, the oil injection nozzle 304 of the oil injection mechanism 3 disengages from the drone, and then the transmission chain 105 of the transmission mechanism 1 continues to drive the next drone to move to the oil injection station, and the oil injection mechanism 3 inserts the oil injection nozzle 304 into the drone oil injection port 5 of the next drone to continue the oil injection operation.

[0037] As Figures 2 to 3 and Figure 5As shown, in this embodiment, a first fixed seat 110, a second fixed seat 118, a first connecting seat 119, a second connecting seat 120 and a sprocket mounting seat 109 are provided on the side frame body 103. Among them, the upper and lower cross beams of the inner frame 112 are fixedly connected to the corresponding cross beams of the outer frame 113 through the first fixed seats 110 on the corresponding sides respectively. First cross frames 1151 are provided at both the upper and lower ends of the outer end frame 115, and the first cross frames 1151 are fixedly connected to the corresponding cross beams of the outer frame 113 through the second fixed seats 118 on the corresponding sides. The vertical part of the outer end frame 115 is fixedly connected to the corresponding vertical beam of the outer frame 113 through the first connecting seat 119. Second cross frames 1141 are provided at both the upper and lower ends of the inner end frame 114, and sprocket mounting seats 109 are provided on the second cross frames 1141. Transmission sprockets 1051 cooperating with the transmission chain 105 are respectively mounted on the corresponding sprocket mounting seats 109. The vertical part of the inner end frame 114 is fixedly connected to the corresponding vertical beam of the inner frame 112 through the second connecting seat 120. The first fixed seat 110 and the second fixed seat 118 are respectively fixed on the corresponding beams of the frame 4, so as to realize the fixation of the side frame body 103 within the frame 4.

[0038] As Figures 3 to 6 shown, in this embodiment, the transmission mechanism 1 further includes a transmission drive assembly 101, a drive shaft 102, an intermediate chain 108 and a drive sprocket 111. Among them, the drive shaft 102 is driven to rotate by the transmission drive assembly 101, and output sprockets 104 are provided at both ends of the drive shaft 102. The drive sprocket 111 is arranged on the corresponding sprocket mounting seat 109 and is coaxially connected to the transmission sprocket 1051 on the sprocket mounting seat 109. The output sprocket 104 is connected to the corresponding drive sprocket 111 through the corresponding intermediate chain 108. When the drive shaft 102 rotates, torque is transmitted through the output sprocket 104, the intermediate chain 108 and the drive sprocket 111 to drive the corresponding transmission sprocket 1051 to rotate, and further drive the entire transmission chain 105 to rotate.

[0039] As Figure 4 and Figure 6As shown in the figure, in this embodiment, an adjustment groove is provided inside the sprocket mounting seat 109. The transmission sprocket 1051 is mounted on a sprocket shaft 1091, and the sprocket shaft 1091 passes through the adjustment groove and is threadedly connected to a locking nut 1094. A top block 1092 is provided on one side of the sprocket mounting seat 109, and a set screw 1093 is threadedly inserted into the top block 1092 and abuts against the sprocket shaft 1091. When the operator loosens the locking nut 1094, the position of the sprocket shaft 1091 in the adjustment groove can be adjusted by screwing the set screw 1093, so as to ensure that the transmission sprocket 1051 can tension the transmission chain 105. After the position of the sprocket shaft 1091 is determined, the operator tightens the locking nut 1094 again to cooperate with the limit block on the other side of the adjustment groove on the sprocket shaft 1091 to clamp and lock the transmission sprocket 1051.

[0040] As Figure 4 shown in the figure, in this embodiment, the transmission drive assembly 101 includes a motor 1011 and a speed reducer 1012 connected in sequence, and a first drive sprocket 1014 is provided on the power shaft of the speed reducer 1012. A second drive sprocket 1016 is provided on the drive shaft 102, and the first drive sprocket 1014 is connected to the second drive sprocket 1016 through a drive chain 1015. In addition, a drive mounting seat 1013 is provided inside the frame 4, and the motor 1011 and the speed reducer 1012 are fixed on the drive mounting seat 1013.

[0041] As Figures 4 to 5 shown in the figure, in this embodiment, a drive bearing seat 107 is provided inside the frame 4, and both ends of the drive shaft 102 are respectively mounted in the drive bearing seats 107 on the corresponding sides to achieve rotation. The output sprocket 104 is provided outside the drive bearing seat 107 on the corresponding side, and the second drive sprocket 1016 is provided inside the drive bearing seat 107 on the corresponding side.

[0042] As Figures 6 to 7 shown in the figure, in this embodiment, a chain connecting plate 1052 is provided on the transmission chain 105. As Figures 8 to 10As shown, shaft connection plates 2031 are provided on the chain connection shafts 203 on both sides of the UAV tray 2, and the shaft connection plates 2031 are fixedly connected to corresponding chain connection plates 1052 on the corresponding side of the transmission chain 105, thereby realizing the fixed connection between the chain connection shaft 203 and the transmission chain 105. The UAV tray 2 is of a quick-release structure. Separating the shaft connection plate 2031 from the chain connection plate 1052 can realize the disassembly of the UAV tray 2. Therefore, the present utility model can set an appropriate number of UAV trays 2 according to actual needs, and then store an appropriate number of UAVs, and the use is more flexible and convenient. In addition, since the chain connection shaft 203 is rotatably arranged on the tray frame 201 through the tray bearing 204, as Figure 13 shown, when the UAV tray 2 moves to rise or fall at the end of the frame 4, the chain connection shaft 203 can automatically rotate with the transmission chain 105, so as not to affect the transmission of the UAV tray 2. In addition, as Figure 5 shown, there is a gap between the second cross frame 1141 and the first cross frame 1151, and the chain connection shaft 203 can pass through the gap while turning with the transmission chain 105.

[0043] As Figures 9 to 10 shown, in this embodiment, the end of the roller shaft of the tray roller 202 is fixed to the tray frame 201 through the roller mounting plate 2021.

[0044] As Figures 11 to 13 shown, in this embodiment, the oil injection mechanism 3 includes an X-direction module 301, a Y-direction module 302, and a Z-direction module 303. The X-direction module 301 is provided with an X-direction moving seat 3011, and both ends of the Y-direction module 302 are respectively installed on the X-direction moving seat 3011 of the corresponding side of the X-direction module 301. The Y-direction module 302 is provided with a Y-direction moving seat 3021, and the Z-direction module 303 is vertically fixed on the Y-direction moving seat 3021. The Z-direction module 303 is provided with a Z-direction moving seat 3031, and the oil injection nozzle 304 is arranged on the Z-direction moving seat 3031. The present utility model realizes the adjustment of the movement degrees of freedom of the oil injection nozzle 304 in the X, Y, and Z directions through the above-mentioned X-direction module 301, Y-direction module 302, and Z-direction module 303.

[0045] As Figures 11 to 12As shown in the figure, in this embodiment, the X-direction module 301 includes an X-direction lead screw 3012, an X-direction mounting beam 3014, and an X-direction motor 3017. The X-direction mounting beam 3014 is arranged on the corresponding beam within the frame 4. Both the X-direction lead screw 3012 and the X-direction motor 3017 are arranged on the X-direction mounting beam 3014, and the X-direction lead screw 3012 is driven to rotate by the X-direction motor 3017. An X-direction nut set is arranged on the X-direction moving seat 3011 and sleeved on the X-direction lead screw 3012. When the X-direction lead screw 3012 rotates, it drives the X-direction moving seat 3011 to move. Additionally, an X-direction motor seat 3016 is arranged at one end of the X-direction mounting beam 3014, and an X-direction lead screw support seat 3018 is arranged at the other end. The X-direction motor 3017 is arranged on the X-direction motor seat 3016. One end of the X-direction lead screw 3012 is fixedly connected to the power shaft of the X-direction motor 3017, and the other end is rotatably supported by a bearing on the X-direction lead screw support seat 3018. An X-direction slide rail 3013 is arranged on the X-direction mounting beam 3014, and an X-direction slider 3015 is arranged on the lower side of the X-direction moving seat 3011 and is matched with the X-direction slide rail 3013.

[0046] As Figures 11 to 12 As shown in the figure, in this embodiment, the Y-direction module 302 includes a Y-direction lead screw 3022, a Y-direction mounting beam 3024, and a Y-direction motor 3027. The two ends of the Y-direction mounting beam 3024 are respectively mounted on the X-direction moving seats 3011 on the corresponding sides. Both the Y-direction lead screw 3022 and the Y-direction motor 3027 are arranged on the Y-direction mounting beam 3024, and the Y-direction lead screw 3022 is driven to rotate by the Y-direction motor 3027. A Y-direction nut set is arranged on the Y-direction moving seat 3021 and sleeved on the Y-direction lead screw 3022. When the Y-direction lead screw 3022 rotates, it drives the Y-direction moving seat 3021 to move. Additionally, a Y-direction motor seat 3026 is arranged at one end of the Y-direction mounting beam 3024, and a Y-direction lead screw support seat is arranged at the other end. The Y-direction motor 3027 is arranged on the Y-direction motor seat 3026. One end of the Y-direction lead screw 3022 is fixedly connected to the power shaft of the Y-direction motor 3027, and the other end is rotatably supported by a bearing on the Y-direction lead screw support seat. A Y-direction slide rail 3023 is arranged on the Y-direction mounting beam 3024, and a Y-direction slider 3025 is arranged on the lower side of the Y-direction moving seat 3021 and is matched with the Y-direction slide rail 3023.

[0047] As Figures 11 to 12As shown, in this embodiment, the Z-direction module 303 includes a Z-direction lead screw 3032, a Z-direction column 3034, and a Z-direction motor 3037. The lower end of the Z-direction column 3034 is installed on the Y-direction moving seat 3021. The Z-direction lead screw 3032 and the Z-direction motor 3037 are both arranged on the Z-direction column 3034. The Z-direction lead screw 3032 is driven to rotate by the Z-direction motor 3037. A Z-direction nut set is arranged on the Z-direction moving seat 3031 and sleeved on the Z-direction lead screw 3032. When the Z-direction lead screw 3032 rotates, it drives the Z-direction moving seat 3031 to move. In addition, a Z-direction motor seat 3036 is arranged at the lower end of the Z-direction column 3034, and a Z-direction lead screw support seat is arranged at the upper end. The Z-direction motor 3037 is arranged on the Z-direction motor seat 3036. One end of the Z-direction lead screw 3032 is fixedly connected to the power shaft of the Z-direction motor 3037, and the other end is rotatably supported by a bearing on the Z-direction lead screw support seat. A Z-direction slide rail 3033 is arranged on the Z-direction column 3034, and a Z-direction slider 3035 is arranged on the lower side of the Z-direction moving seat 3031 and is matched with the Z-direction slide rail 3033.

[0048] As Figures 11 to 12 shown, in this embodiment, the oil injection nozzle 304 is arranged on a fuel pipe 3041. A six-degree-of-freedom force sensor is arranged on the Z-direction moving seat 3031, and the fuel pipe 3041 is installed on the six-degree-of-freedom force sensor. In this way, when the oil injection nozzle 304 is docked with the oil injection port 5 of the drone, the six-degree-of-freedom force sensor can monitor the docking pressure in real time and feedback it to the device control system to achieve compliant control. The six-degree-of-freedom force sensor is a well-known technology in the art and is a commercially available product. One side of the fuel pipe 3041 is provided with a fuel injection hose 3042 connected to an oil pump to achieve fuel injection.

[0049] The working principle of the present utility model is as follows:

[0050] As Figures 1 to 14 shown, when the present utility model works, each drone is centrally stored on each drone tray 2 in the frame 4, and each drone tray 2 can be driven to move by the transmission mechanism 1 to achieve sequential continuous refueling operations. As Figures 1 to 3 shown, both ends of the drone tray 2 are respectively driven to move by the transmission chains 105 on the corresponding side frames 103 of the transmission mechanism 1. As Figure 3 and Figure 5As shown, the side frame body 103 includes an inner frame 112 and an outer frame 113. A roller transverse movement channel 106 is formed between the upper and lower side cross beams of the inner frame 112 and the corresponding side cross beams of the outer frame 113 for the horizontal movement of the pallet rollers 202 on the UAV pallet 2. Inner end frames 114 and outer end frames 115 are provided between the left and right sides of the inner frame 112 and the outer frame 113 respectively. A vertical inner roller channel 117 is formed between the vertical part of the inner end frame 114 and the corresponding side vertical beam of the inner frame 112, and a vertical outer roller channel 116 is formed between the vertical part of the outer end frame 115 and the corresponding side vertical beam of the outer frame 113. At the same time, a gap is formed between the inner end frame 114 and the outer end frame 115. In this way, when the UAV pallet 2 drives the UAV to move to the end of the frame 4, as Figure 13 shown, the chain connecting shaft 203 connected to the transmission chain 105 on the UAV pallet 2 can automatically rotate and pass through the gap between the inner end frame 114 and the outer end frame 115. The pallet rollers 202 on the outer side of the end of the UAV pallet 2 move up and down along the vertical outer roller channel 116, and the pallet rollers 202 on the inner side move up and down along the vertical inner roller channel 117, thus not affecting the closed-loop transmission of the UAV. Additionally, as Figure 1 and Figures 11 to 13 shown, an oil injection mechanism 3 is provided at one end of the frame 4, and the oil injection mechanism 3 is provided with an oil injection nozzle 304 having three degrees of freedom of movement in the X, Y, and Z directions. After the UAV is in place for lifting and lowering at the oil injection end of the frame 4, the oil injection mechanism 3 drives the oil injection nozzle 304 to dock with the UAV oil injection port 5 to complete oil injection. When one UAV has completed oil injection, the oil injection nozzle 304 separates from this UAV, and the transmission chain 105 in the transmission mechanism 1 then continues to drive the next UAV to move to the oil injection station, and then the oil injection nozzle 304 moves again to be inserted into the UAV oil injection port 5 on this UAV for oil injection.

[0051] In addition, in the prior art, the ordinary autonomous oil injection of UAVs can only be carried out when the UAV transfer stops, and the transfer is restarted after the UAV has completed oil injection. This alternating method requires waiting time, so the efficiency is relatively low. However, the present utility model can realize the oil injection of UAVs during non-stop transfer through the compliant control of the oil injection mechanism 3, thereby improving the operation efficiency.

[0052] The control method of the present utility model for the oil injection mechanism 3 includes the following steps:

[0053] Step 1: Construct a dynamic model of the three-degree-of-freedom robotic arm of the oil injection mechanism 3:

[0054]

[0055] In the above formula (1), M x 、M y 、M zrespectively represent the joint structure mass attributes of the X-direction module 301, Y-direction module 302, and Z-direction module 303, that is, the load weights corresponding to the X, Y, and Z-direction modules respectively, B x 、B y 、B z respectively represent the joint structure damping attributes of the X-direction module 301, Y-direction module 302, and Z-direction module 303, K x 、K y 、K z respectively represent the joint structure stiffness attributes of the X-direction module 301, Y-direction module 302, and Z-direction module 303;

[0056] x represents the real-time position of the X-direction motor 3017, y represents the real-time position of the Y-direction motor 3027, and Z represents the real-time position of the Z-direction motor 3037;

[0057] represents the speed of the X-direction motor 3017, represents the speed of the Y-direction motor 3027, represents the speed of the Z-direction motor 3037;

[0058] represents the acceleration of the X-direction motor 3017, represents the acceleration of the Y-direction motor 3027, represents the acceleration of the Z-direction motor 3037;

[0059] F ex 、F ey 、F ez respectively represent the joint external forces received by the X-direction module 301, Y-direction module 302, and Z-direction module 303;

[0060] Step 2: Resolve the six forces measured by the six-degree-of-freedom force sensor on the Z-direction moving seat 3031 into the joint forces of the X-direction module 301, Y-direction module 302, and Z-direction module 303:

[0061]

[0062] In the above formula (2), F X 、F Y 、F Z 、T X 、T Y 、T Z are the measured values of the six-degree-of-freedom force sensor.

[0063] Step 3: Obtain the expected speeds of the X-direction motor 3017, Y-direction motor 3027, and Z-direction motor 3037 according to Step 1 and Step 2

[0064]

[0065] Step 4: Construct a joint force control model based on fuzzy PI control and define fuzzy rules, specifically as follows:

[0066] Step 4.1: Define the error function:

[0067]

[0068] In the above formula (4), E x , E y , E z respectively represent the error values between the desired speeds and the actual speeds of the X-axis motor 3017, Y-axis motor 3027, and Z-axis motor 3037, respectively represent the first-order derivatives of the speed errors of the above three motors, P x , P y , P z respectively represent the proportional control parameters of the above three motors, I x , I y , I z respectively represent the proportional derivative parameters of the above three motors, F′ x , F′ y , F′ z are the desired torques of the X-axis motor 3017, Y-axis motor 3027, and Z-axis motor 3037 respectively;

[0069] Step 4.2: Define the fuzzy rules, specifically as follows: If E x , E y , E z ∈[-∞, -A1), it is defined as negative large NB, E x , E y , E z ∈[-A1, -A2) is defined as negative medium NM, E x , E y , E z ∈[-A2, -A3) is defined as negative small NS, E x , E y , E z ∈[-A3, A3] is defined as zero ZO, E x , E y , E z ∈(A3, A2] is defined as positive small PS, E x , E y , E z ∈[-A2, -A1) is defined as positive medium PM, E x , E y , E z ∈(A1, +∞] is defined as positive large PB, where A1, A2, and A3 are all positive numbers, and A1 > A2 > A3.

[0070] Step 4.3: Obtain the control rules:

[0071] In an embodiment of the present utility model, A1 = 40, A2 = 30, A3 = 15, and the control rules shown in Table 1 below can be obtained through calculation:

[0072]

[0073] Table 1

[0074] Step Five: According to F′ obtained in Step Four x , F′ y , F′ z , the device control system will send the obtained desired motor torques to the corresponding motor drivers respectively, and the motors will control the coil current for rotation control, so as to realize the rotation control of the X-axis motor 3017, Y-axis motor 3027, and Z-axis motor 3037. The above is well-known technology in the art.

[0075] Through the above control of the X-axis module 301, Y-axis module 302, and Z-axis module 303 of the present utility model, the fuel injection nozzle 304 can be accurately inserted into the fuel injection port 5 of the unmanned aerial vehicle, and at the same time, the transmission chain 105 can still maintain the running state. Specifically: Since the four joint motors (Y-axis motor 3027, Z-axis motor 3037, and two X-axis motors 3017) of the fuel injection mechanism 3 of the present utility model adopt the above admittance control, while the present utility model controls the torques of the 4 servo motors to make the fuel injection nozzle 304 accurately move to the target position, with the transfer of the unmanned aerial vehicle, after the fuel injection nozzle 304 is subjected to an external force, each module joint of the fuel injection mechanism 3 performs compliant movement and moves along with the movement of the unmanned aerial vehicle, so as to realize the synchronous progress of transfer and fuel injection, and improve the fuel injection efficiency.

[0076] The control process of the fuel injection mechanism 3 of the present utility model is as Figure 14 shown, and in addition, as Figure 13 shown, since the unmanned aerial vehicle of the present utility model can always maintain a horizontal state for transfer, this further ensures the effect of the above control of the present utility model.

Claims

1. An automated fuel injection system for a compound-wing unmanned aerial vehicle, characterized in that: It includes a frame (4), an oil injection mechanism (3), a transmission mechanism (1) and a drone tray (2). The transmission mechanism (1) includes two side frame bodies (103) fixedly arranged inside the frame (4), and a transmission chain (105) that rotates in a closed loop is arranged on each side frame body (103). The drone tray (2) includes a tray frame body (201), and tray rollers (202) and chain connecting shafts (203) are arranged on both sides of the tray frame body (201). One end of the chain connecting shaft (203) is rotatably connected to the tray frame body (201), and the other end is fixedly connected to the transmission chain (105) on the corresponding side. Horizontal roller translation channels (106) for the horizontal movement of the tray rollers (202) are arranged on the upper and lower sides of the side frame body (103), and vertical roller channels for the vertical movement of the tray rollers (202) are arranged on the left and right sides of the side frame body (103). The oil injection mechanism (3) is arranged at one end of the frame (4), and the oil injection mechanism (3) is provided with a movable and adjustable oil injection nozzle (304).

2. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 1, wherein: The side frame body (103) includes an inner frame (112) and an outer frame (113), and a roller horizontal translation channel (106) is formed between the upper and lower cross beams of the inner frame (112) and the corresponding cross beams of the outer frame (113). Outer end frames (115) and inner end frames (114) are arranged between the left and right vertical beams of the inner frame (112) and the corresponding vertical beams of the outer frame (113). An outer roller vertical channel (116) is formed between the outer end frame (115) and the corresponding vertical beam of the outer frame (113), and an inner roller vertical channel (117) is formed between the inner end frame (114) and the corresponding vertical beam of the inner frame (112). A gap for the chain connecting shaft (203) to pass through is arranged between the outer end frame (115) and the inner end frame (114).

3. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 2, characterized in that: The side frame body (103) is provided with a first fixing seat (110), a second fixing seat (118), a first connecting seat (119), a second connecting seat (120) and a sprocket mounting seat (109). Among them, the upper and lower cross beams of the inner frame (112) are fixedly connected to the corresponding cross beams of the outer frame (113) through the first fixing seats (110) on the corresponding sides. The upper and lower ends of the outer end frame (115) are both provided with first cross frames (1151), and the first cross frames (1151) are fixedly connected to the corresponding cross beams of the outer frame (113) through the second fixing seats (118) on the corresponding sides. The vertical part of the outer end frame (115) is fixedly connected to the corresponding vertical beam of the outer frame (113) through the first connecting seat (119). The upper and lower ends of the inner end frame (114) are both provided with second cross frames (1141), and sprocket mounting seats (109) are provided on the second cross frames (1141). The transmission sprockets (1051) cooperating with the transmission chain (105) are respectively mounted on the corresponding sprocket mounting seats (109). The vertical part of the inner end frame (114) is fixedly connected to the corresponding vertical beam of the inner frame (112) through the second connecting seat (120). The first fixing seat (110) and the second fixing seat (118) are respectively fixed on the corresponding beams of the frame (4).

4. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 1, characterized in that: The side frame body (103) is provided with a plurality of sprocket mounting seats (109), and the transmission sprockets (1051) cooperating with the transmission chain (105) are respectively mounted on the corresponding sprocket mounting seats (109). The transmission mechanism (1) further includes a transmission drive assembly (101), a drive shaft (102), an intermediate chain (108) and a drive sprocket (111). Among them, the drive shaft (102) is driven to rotate by the transmission drive assembly (101), and output sprockets (104) are provided at both ends of the drive shaft (102). The drive sprocket (111) is arranged on the corresponding sprocket mounting seat (109) and is coaxially connected to the transmission sprocket (1051) on the sprocket mounting seat (109). The output sprocket (104) is connected to the drive sprocket (111) on the corresponding side through the intermediate chain (108) on the corresponding side.

5. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 4, characterized in that: An adjustment groove is provided inside the sprocket mounting seat (109). The transmission sprocket (1051) is mounted on a sprocket shaft (1091), and the sprocket shaft (1091) passes through the adjustment groove and is threadedly connected to a lock nut (1094). A top block (1092) is provided on one side of the sprocket mounting seat (109), and a set screw (1093) is threadedly inserted into the top block (1092) and abuts against the sprocket shaft (1091).

6. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 4, characterized in that: The transmission driving component (101) includes a motor (1011) and a speed reducer (1012) connected in sequence, and a first driving sprocket (1014) is provided on the power shaft of the speed reducer (1012). A second driving sprocket (1016) is provided on the driving shaft (102), and the first driving sprocket (1014) is connected to the second driving sprocket (1016) through a driving chain (1015).

7. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 1, characterized in that: On both sides of the middle of the tray frame body (201), tray bearings (204) are provided. One end of the chain connecting shaft (203) is inserted into the tray bearing (204), and the other end is fixedly connected to the transmission chain (105) on the corresponding side. A chain connecting plate (1052) is provided on the transmission chain (105), and a shaft connecting plate (2031) is provided on the chain connecting shaft (203), and the shaft connecting plate (2031) is fixedly connected to the corresponding chain connecting plate (1052) on the transmission chain (105) on the corresponding side.

8. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 1, characterized in that: The oil injection mechanism (3) includes an X-direction module (301), a Y-direction module (302), and a Z-direction module (303). The X-direction module (301) is provided with an X-direction moving seat (3011). The two ends of the Y-direction module (302) are respectively installed on the X-direction moving seats (3011) of the corresponding side X-direction module (301). The Y-direction module (302) is provided with a Y-direction moving seat (3021), and the Z-direction module (303) is vertically fixed on the Y-direction moving seat (3021). The Z-direction module (303) is provided with a Z-direction moving seat (3031), and the oil injection nozzle (304) is provided on the Z-direction moving seat (3031).

9. The automated fuel injection system for a compound-wing unmanned aerial vehicle according to claim 8, characterized in that: The X-direction module (301) includes an X-direction lead screw (3012) and an X-direction motor (3017), and the X-direction lead screw (3012) is driven to rotate by the X-direction motor (3017). An X-direction nut sleeve is provided on the X-direction moving seat (3011) and sleeved on the X-direction lead screw (3012). The Y-direction module (302) includes a Y-direction lead screw (3022) and a Y-direction motor (3027), and the Y-direction lead screw (3022) is driven to rotate by the Y-direction motor (3027). A Y-direction nut sleeve is provided on the Y-direction moving seat (3021) and sleeved on the Y-direction lead screw (3022). The Z-direction module (303) includes a Z-direction lead screw (3032) and a Z-direction motor (3037), and the Z-direction lead screw (3032) is driven to rotate by the Z-direction motor (3037). A Z-direction nut sleeve is provided on the Z-direction moving seat (3031) and sleeved on the Z-direction lead screw (3032). The oil injection nozzle (304) is provided on a guide oil pipe (3041). A six-degree-of-freedom force sensor is provided on the Z-direction moving seat (3031), and the guide oil pipe (3041) is installed on the six-degree-of-freedom force sensor.

Images