Throwing device of fire-fighting unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicle equipment, in particular to a throwing device of a fire-fighting unmanned aerial vehicle, and adopts the technical scheme that the throwing device comprises a storage pipe body, a throwing device and a throwing device, the launching cylinder communicates with the storage pipe body and is fixedly connected with the storage pipe body, the launching cylinder is rotationally connected with the unmanned aerial vehicle through a disc, a limiting baffle is arranged in the launching cylinder, and a visual detection system is arranged at the front end of the launching cylinder; the driving part is fixed to the launching barrel, the driving part comprises a first driving assembly and a second driving assembly, the first driving assembly comprises a first arc-shaped mechanical arm and an air cylinder, the second driving assembly comprises a second arc-shaped mechanical arm and an electric cylinder, and the first arc-shaped mechanical arm and the second arc-shaped mechanical arm are hinged to form a retroflexure structure; the air cylinder is fixed to the second arc-shaped mechanical arm, and the output end of the air cylinder is fixed to the first arc-shaped mechanical arm. The first driving assembly drives the fire extinguishing ball to pop out of the launching barrel. The device has the advantages of being flexible in direction adjustment, accurate in throwing and high in operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) equipment technology, specifically to a throwing device for a fire-fighting UAV. Background Technology

[0002] Currently, with the increasing density of high-rise buildings and the rise in forest coverage in cities, traditional fire rescue methods face challenges in complex terrain. Ground-based rescue equipment struggles to quickly reach the fire source and control the blaze in a timely manner, and manual fire reconnaissance poses a significant safety threat to rescue personnel. The difficulties of "being unable to reach the fire or extinguish it" are becoming increasingly prominent. The application of firefighting drones can overcome terrain and environmental limitations, aiming to "attack early and extinguish small fires," rapidly and efficiently handling fires in blind spots that are "inaccessible to humans and out of sight," minimizing the risk of injury or death to rescue personnel and improving the efficiency of low-altitude firefighting operations.

[0003] A Chinese utility model patent with authorization announcement number CN219215370U discloses a fire-fighting drone fire extinguishing projectile delivery device. The delivery method involves a servo motor driving a lever to rotate, which then ejects a fire extinguishing ball from the guide tube outlet for fire suppression. Because the lever requires a certain radius of rotation to effectively move the fire extinguishing ball, it may increase the structural dimensions of the projectile outlet, thus affecting the overall aerodynamic shape of the device, and it also prevents adjustment of the fire extinguishing ball's delivery angle. Furthermore, the intermittent movement of the lever limits the device's maximum delivery efficiency. In addition, the force applied by the lever to the fire extinguishing projectile is an instantaneous impact force, and its force-time curve may exhibit a steep peak. This impactful load may be detrimental to the structural integrity of the projectile, and the non-smooth acceleration process may result in insufficient precision in the initial attitude and velocity vector control of the fire extinguishing projectile, affecting delivery accuracy. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a throwing device for firefighting drones. When used in conjunction with firefighting drones, it offers advantages such as flexible directional adjustment, precise throwing, and high operational efficiency.

[0005] The above-mentioned utility model objective is achieved through the following technical solution:

[0006] This utility model provides a throwing device for a firefighting drone, comprising:

[0007] The storage tube has an opening with an openable and closable limit cover.

[0008] The launch tube is connected to and fixedly connected to the storage tube. The launch tube is rotatably connected to the UAV via a disc. A limit baffle is provided inside the launch tube. A vision detection system is provided at the front end of the launch tube.

[0009] A drive unit, fixed to the launch tube, includes a first drive assembly and a second drive assembly. The first drive assembly includes a first arc-shaped robotic arm and a cylinder, and the second drive assembly includes a second arc-shaped robotic arm and an electric cylinder. The first and second arc-shaped robotic arms are hinged to form a recurved structure. The cylinder is fixed to the second arc-shaped robotic arm, and its output end is fixed to the first arc-shaped robotic arm. The first drive assembly drives the fire extinguishing ball to be ejected from the launch tube.

[0010] By adopting the above technical solution, the limiting cover is opened, and the fire extinguishing ball is placed into the storage tube through the opening. Then, the limiting cover is closed to prevent the fire extinguishing ball from slipping out. The fire extinguishing ball enters the launch tube connected to the storage tube and is fixed by the limiting baffle. When the fire extinguishing ball needs to be launched, according to the information transmitted by the vision detection system, the UAV rotates the disk to determine the position of the launch tube, so that it is accurately aimed at the target fire source. At this time, the fire extinguishing ball is restricted by the limiting baffle, and the first arc-shaped robotic arm is located behind the fire extinguishing ball. When launched, the front end of the first arc-shaped robotic arm drives the fire extinguishing ball to move along the launch tube towards the tube opening. Under the action of the first arc-shaped robotic arm and its own gravity, the fire extinguishing ball is thrown towards the fire source. Repeating the above operation, multiple fire extinguishing balls can be launched, and the efficiency of a single flight operation is high. The setting of the inverted structure can realize a large extension of the end of the first arc-shaped robotic arm, expanding the working coverage of the device.

[0011] Furthermore, the storage tube is inclined relative to the launch tube, and the storage tube is a double U-shaped pipe, with an openable and closable pipe baffle at the bottom of each U-shaped pipe.

[0012] By adopting the above technical solution, the front end of the storage tube is slightly higher than the launching tube. After the fire extinguishing ball is placed in, it rolls into the bottom of the storage tube under its own weight and is limited by the pipe baffle. The fire extinguishing ball is confined in the double U-shaped pipe. When the fire extinguishing ball needs to be thrown, the pipe baffle on one side opens, allowing the fire extinguishing ball in the U-shaped pipe on that side to enter the launching tube, and then closes. When the fire extinguishing ball is thrown again, the pipe baffle on the other side opens, allowing the fire extinguishing ball in the U-shaped pipe on the other side to enter the launching tube, and then closes. The pipe baffles on both sides open in turn, staggeredly releasing and orderly conveying the fire extinguishing ball to ensure that the center of gravity shift of the device is as small as possible, the two pipes are in a balanced state, and the stability of the device operation is improved.

[0013] Furthermore, symmetrical through slots are provided on both sides of the launch tube, a support is fixedly provided on the launch tube, the disc is fixed to the top of the support, and the disc is fixedly connected to the UAV through a connector. The disc is an indexing disc.

[0014] By adopting the above technical solution, the disc can be rotated to any target position, fire extinguishing balls can be thrown from multiple angles, the fire extinguishing direction can be flexibly adjusted, and the fire source can be accurately targeted.

[0015] Furthermore, there are two drive units, which are symmetrically arranged on both sides of the launch tube. The electric cylinder of the second drive assembly is fixed to the bracket by a wing plate, and the second arc-shaped robotic arm is hinged to the side of the bracket.

[0016] By adopting the above technical solution, the symmetrical drive unit pushes both sides of the fire extinguishing ball simultaneously, making the force uniform and the movement in the launch tube linear, thereby improving the accuracy of hitting the target; when the electric cylinder is started, it can drive the second arc-shaped mechanical arm to rotate a certain angle relative to the support and the launch tube to achieve the opening and closing of the angle.

[0017] Furthermore, a ball is provided at the top of the telescopic rod of the electric cylinder, and an arc-shaped groove is provided on the outer side of the second arc-shaped robotic arm, in which the ball is embedded.

[0018] By adopting the above technical solution, when the electric cylinder is started, the ball at the top of the telescopic rod slides along the arc-shaped groove, which not only reduces the friction, but also makes the position of the telescopic rod driving the second arc-shaped robotic arm more possible, and the movement trajectory more flexible.

[0019] Furthermore, a cylinder bracket is provided on the inner side of the second arc-shaped robotic arm. There are two cylinders, which are respectively fixed to both ends of the cylinder bracket. The push rod of the cylinder is fixed to the first arc-shaped robotic arm through a rotating connector.

[0020] By adopting the above technical solution, the first arc-shaped robotic arm can open and close at a certain angle under the drive of the cylinder and / or the second arc-shaped robotic arm. The rotating connector avoids stiffness caused by the inconsistent load between the second arc-shaped robotic arm and the cylinder, making the opening and closing of the first arc-shaped robotic arm more flexible and efficient. Within a limited driving stroke, the working range of the device can be effectively expanded.

[0021] Furthermore, the front end of the first arc-shaped robotic arm is provided with a pusher drive unit, and the pusher drive unit is fixed to the pusher via a rotator.

[0022] By adopting the above technical solution, the first arc-shaped robotic arm can drive the pusher to move along the length of the launch tube. When it is necessary to throw the fire extinguishing ball, the pusher drive unit drives the rotator to rotate and drives the pusher to a horizontal state. Under the drive of the electric cylinder and the air cylinder, the first arc-shaped robotic arm drives the pusher to move laterally away from the launch tube. Due to the anti-curvature structure formed by the first arc-shaped robotic arm and the second arc-shaped robotic arm, the pusher then approaches the launch tube and enters the fire extinguishing ball behind the launch tube through the through slot. Then, the pusher drive unit drives the rotator to rotate and drives the pusher to a vertical state, completing the preparatory action before throwing. Under the dual power of the electric cylinder and the air cylinder, the first arc-shaped drive robotic arm and the second arc-shaped robotic arm with the anti-curvature structure realize the opening and closing of the predetermined angle and drive the pusher to push the fire extinguishing ball out along the launch tube.

[0023] Furthermore, a joint arm is provided between the pusher and the rotator. The joint arm includes a first joint arm and a second joint arm that are fixedly connected. The first joint arm is fixedly connected to the rotator, and the second joint arm is fixedly connected to the pusher. A spring is provided between the first joint arm and the second joint arm.

[0024] By adopting the above technical solution, the spring is designed to transfer kinetic energy from the arc-shaped robotic arm through its own deformation, thus preventing the fire extinguishing ball from being subjected to excessive instantaneous force inside the launch tube. When the arc-shaped robotic arm reaches its maximum extension, the elastic potential energy stored in the spring is released instantaneously, providing additional thrust to the fire extinguishing ball and increasing the driving force, allowing the fire extinguishing ball to obtain sufficient power during the launch process, and achieving a high-impulse flexible launch of the fire extinguishing ball.

[0025] Furthermore, the pusher includes a frame and a rubber roller, with the rubber roller sleeved on the frame.

[0026] By adopting the above technical solutions, the elasticity and shock absorption performance of the pusher can be increased, effectively buffering the impact force during the launch process and avoiding damage to the fire extinguishing ball.

[0027] Furthermore, a roller is provided at the lower front end of the launch tube, and the roller has an arc-shaped surface.

[0028] By adopting the above technical solution, the friction between the fire extinguishing ball and the launch tube can be reduced, and the smoothness of the fire extinguishing ball when it is ejected from the launch tube can be increased.

[0029] In summary, this utility model has at least one of the following beneficial technical effects:

[0030] This utility model discloses a fire-fighting drone's throwing device, featuring a symmetrical double-U-shaped supply pipe with a certain tilt angle. Utilizing the gravitational potential energy of the fire extinguishing ball, combined with an integrated design of a recurved hinge and electric cylinder, the device is more compact and streamlined. It can achieve large-volume storage and continuous supply of fire extinguishing balls, resulting in high throwing efficiency. Simultaneously, it effectively solves the problem of the overall device's center of gravity shifting during fire extinguishing ball supply. Through the combined linkage of the first and second drive components, the recurved structure achieves a composite motion mechanism of "arm-like extension + joint bending." Its multi-degree-of-freedom robotic arm structure provides powerful propulsion, resulting in a more flexible and efficient motion trajectory. Within a limited linear drive stroke, it expands the working coverage area, avoiding instantaneous impact and non-smooth acceleration processes. Even with surrounding airflow interference, it can accurately strike fire sources. The spring installed between the first and second articulated arms transfers kinetic energy from the arc-shaped robotic arm through its own deformation, preventing the fire extinguishing ball from being subjected to excessive instantaneous force inside the launch tube. When the arc-shaped robotic arm reaches its maximum extension, the elastic potential energy stored in the spring is released instantaneously, providing additional thrust to the fire extinguishing ball and increasing its propulsive force. This allows the fire extinguishing ball to obtain sufficient power during launch, achieving a high-impulse, flexible launch of the fire extinguishing ball. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of this embodiment;

[0032] Figure 2 This is a schematic diagram showing the connection relationship between the storage tube and the launch tube in this embodiment;

[0033] Figure 3 This is a schematic diagram of the second driving component structure in this embodiment;

[0034] Figure 4 This is a schematic diagram of the connection structure between the first driving component and the second driving component in this embodiment;

[0035] Figure 5 This is a schematic diagram of the articulated arm structure in this embodiment;

[0036] Figure 6 This is an exploded view of the articulated arm and pusher in this embodiment.

[0037] In the diagram, 1. Storage tube; 11. Limiting cover; 12. Pipe baffle; 2. Launch tube; 21. Limiting baffle; 22. Vision inspection system; 23. Through slot; 24. Roller; 3. Disc; 4. Bracket; 5. Connector; 6. First drive assembly; 61. First arc-shaped robotic arm; 62. Cylinder; 63. Cylinder bracket; 64. Rotary connector; 7. Second drive assembly; 71. Second arc-shaped robotic arm; 711. Arc-shaped groove; 72. Electric cylinder; 721. Ball bearing; 73. Wing plate; 8. Pusher drive unit; 9. Rotator; 10. Pusher; 101. Frame; 102. Rubber roller; 13. Articulated arm; 131. First articulated arm; 132. Second articulated arm; 133. Spring. Detailed Implementation

[0038] The present invention will be further described in detail below with reference to the accompanying drawings.

[0039] To facilitate understanding of this utility model by those skilled in the art, the following description is provided in conjunction with the accompanying drawings. Figure 1-6 The specific embodiments of this utility model are described below.

[0040] Reference Figure 1 This utility model discloses a throwing device for a fire-fighting drone, comprising a storage tube 1, a launching tube 2, and a drive unit.

[0041] Reference Figure 1 An openable and closable limiting cover 11 is provided at the opening of the storage tube 1 to prevent the fire extinguishing ball from sliding off there; the storage tube 1 is inclined relative to the launch tube 2, and the storage tube 1 is a double U-shaped pipe, with an openable and closable pipe baffle 12 at the bottom of each U-shaped pipe.

[0042] Reference Figure 2 The front end of the storage tube 1 is slightly higher than the launch tube 2. After the fire extinguishing ball is placed in it, it rolls into the bottom of the storage tube 1 under its own weight and is limited by the pipe baffle 12. The fire extinguishing ball is confined in the double U-shaped pipe. When the fire extinguishing ball needs to be thrown, the pipe baffle 12 on one side opens, allowing the fire extinguishing ball in the U-shaped pipe on one side to enter the launch tube 2, and then closes. When the fire extinguishing ball is thrown again, the pipe baffle 12 on the other side opens, allowing the fire extinguishing ball in the U-shaped pipe on the other side to enter the launch tube 2, and then closes. The pipe baffles 12 on both sides open in turn, staggeredly releasing and orderly conveying the fire extinguishing ball to ensure that the center of gravity of the device shifts as little as possible, the two pipes are in a balanced state, and the stability of the device operation is improved.

[0043] The launch tube 2 is connected to and fixedly connected to the storage tube 1. The launch tube 2 is rotatably connected to the drone via a disc 3. A limit baffle 21 is installed inside the launch tube 2, and a vision detection system 22 is installed at the front end of the launch tube 2. The fire extinguishing ball enters the launch tube 2, which is connected to the storage tube 1, and is fixed by the limit baffle 21. When it is necessary to launch the fire extinguishing ball, the drone determines the position of the launch tube 2 by rotating the disc 3 based on the information transmitted by the vision detection system 22, so that it is accurately aimed at the target fire source.

[0044] The limiting baffle 21 and the pipe baffle 12 inside the launching tube 2 are linked. When the pipe baffle 12 is open, the limiting baffle 21 is always closed, and when the limiting baffle 21 is open, the pipe baffle 12 is always closed. A control system can be configured to link the two together; this is achievable with existing technology and will not be elaborated further.

[0045] Reference Figure 1-2 The launch tube 2 has symmetrical through slots 23 on both sides. The upper end of the launch tube 2 is fixed with a bracket 4. The disc 3 is fixed to the top of the bracket 4. The disc 3 is fixedly connected to the drone through a connector 5. Preferably, the disc 3 is a scaled disc. The scaled disc can automatically rotate to the target position according to the information sent by the vision detection system 22, throw the fire extinguishing ball at multiple angles, flexibly adjust the fire extinguishing direction, and achieve precise strike on the fire source.

[0046] A roller 24 is provided at the lower front end of the launch tube 2. The roller 24 has an arc-shaped surface, which can reduce the friction between the fire extinguishing ball and the inner wall of the launch tube 2, increase the smoothness of the fire extinguishing ball when it is ejected from the launch tube 2, and enable the fire extinguishing ball to have a high initial velocity for projectile motion. A rubber diaphragm is provided on the roller 24 to make the contact between the roller 24 and the fire extinguishing ball more stable.

[0047] Reference Figure 3-4 The device has two drive units, symmetrically arranged on both sides of the launch tube 2. The symmetrical drive units push the fire extinguishing ball simultaneously from both sides, ensuring uniform force distribution and linear movement within the launch tube 2, thereby improving the accuracy of target engagement.

[0048] The drive unit is fixed to the launch tube 2. The drive unit includes a first drive assembly 6 and a second drive assembly 7. The first drive assembly 6 includes a first arc-shaped robotic arm 61 and a cylinder 62. The second drive assembly 7 includes a second arc-shaped robotic arm 71 and an electric cylinder 72. The first arc-shaped robotic arm 61 and the second arc-shaped robotic arm 71 are hinged to form a recurved structure. The cylinder 62 is fixed to the second arc-shaped robotic arm 71, and its output end is fixed to the first arc-shaped robotic arm 61. The first drive assembly 6 drives the fire extinguishing ball to be ejected from the launch tube 2. The electric cylinder 72 is activated to drive the second arc-shaped robotic arm 71 to move. The air cylinder 62 and the first arc-shaped robotic arm 61 move accordingly. The air cylinder 62 drives the first arc-shaped robotic arm 61 to move along the launch tube 2 to the rear of the fire extinguishing ball. The front end of the first arc-shaped robotic arm 61 drives the fire extinguishing ball to move along the launch tube 2 towards the tube opening. Under the action of the first arc-shaped robotic arm 61 and its own gravity, the fire extinguishing ball is thrown towards the fire source. Repeating the above operation, multiple fire extinguishing balls can be launched, and the efficiency of a single flight operation is high. The setting of the inverted structure can realize a large extension of the end of the first arc-shaped robotic arm 61, expanding the working coverage of the device.

[0049] The electric cylinder 72 of the second drive assembly 7 is fixed to the bracket 4 via a wing plate 73, and the second arc-shaped robotic arm 71 is hinged to the side of the bracket 4. When the electric cylinder 72 is activated, it can drive the second arc-shaped robotic arm 71 to rotate a certain angle relative to the bracket 4 and the launch tube 2 to achieve the opening and closing of the angle.

[0050] The second arc-shaped robotic arm 71 has an arc-shaped groove 711 on its outer side, and a ball bearing 721 is provided at the top of the telescopic rod of the electric cylinder 72. When the electric cylinder 72 is started, the ball bearing 721 at the top of the telescopic rod slides along the arc-shaped groove 711, which not only reduces the friction, but also allows the telescopic rod to drive the second arc-shaped robotic arm 71 in multiple possible positions, making the movement trajectory more flexible.

[0051] A cylinder support 63 is provided on the inner side of the second arc-shaped robotic arm 71. Two cylinders 62 are provided, and the two cylinders 62 are respectively fixed to both ends of the cylinder support 63. The push rod of the cylinder 62 is fixed to the first arc-shaped robotic arm 61 through a rotating connector 64. Under the drive of the cylinder 62 and / or the second arc-shaped robotic arm 71, the first arc-shaped robotic arm 61 can open and close at a certain angle. The rotating connector 64 avoids stiffness caused by inconsistent loads between the second arc-shaped robotic arm 71 and the cylinder 62, making the opening and closing of the first arc-shaped robotic arm 61 more flexible and efficient. Within a limited drive stroke, the working range of the device can be effectively expanded.

[0052] The first arc-shaped robotic arm 61 has a pusher drive unit 8 at its front end, and the pusher drive unit 8 is fixed to the pusher 10 via a rotator 9. The first arc-shaped robotic arm 61 can drive the pusher 10 to move along the length of the launch tube 2. When it is necessary to throw the fire extinguishing ball, the pusher drive unit 8 drives the rotator 9 to rotate and drive the pusher 10 to a horizontal state. Under the drive of the electric cylinder 72 and the air cylinder 62, the first arc-shaped robotic arm 61 drives the pusher 10 to move laterally away from the launch tube 2. Due to the anti-curvature structure formed by the first arc-shaped robotic arm 61 and the second arc-shaped robotic arm 71, the pusher 10 then approaches the launch tube 2 and enters the fire extinguishing ball behind the launch tube 2 through the through slot 23. Then, the pusher drive unit 8 drives the rotator 9 to rotate and drive the pusher 10 to a vertical state, completing the preparatory action before throwing. Under the dual power of the electric cylinder 72 and the air cylinder 62, the first arc-shaped robotic arm 61 and the second arc-shaped robotic arm 71 with the anti-curvature structure realize the opening and closing of a predetermined angle and drive the pusher 10 to push the arc-shaped ball out along the launch tube 2.

[0053] Reference Figure 5-6 A joint arm 13 is provided between the pusher 10 and the rotator 9. The joint arm 13 includes a first joint arm 131 and a second joint arm 132 fixedly connected. The first joint arm 131 is fixedly connected to the rotator 9, and the second joint arm 132 is fixedly connected to the pusher 10. A spring 133 is provided between the first joint arm 131 and the second joint arm 132. The spring 133 transfers kinetic energy from the arc-shaped mechanical arm through its own deformation, preventing the fire extinguishing ball from being subjected to excessive instantaneous force inside the launch tube 2. When the arc-shaped mechanical arm reaches its maximum extension, the elastic potential energy stored in the spring 133 is released instantaneously, providing additional thrust to the fire extinguishing ball, increasing the driving force, and allowing the fire extinguishing ball to obtain sufficient power during the launch process, achieving a high-impulse flexible launch of the fire extinguishing ball.

[0054] The pusher 10 includes a frame 101 and a rubber roller 102. The rubber roller 102 is fitted onto the frame 101; it can increase the elasticity and shock absorption performance of the pusher 10, effectively buffer the impact force during the launch process, and avoid damage to the fire extinguishing ball.

[0055] The implementation principle of this embodiment is as follows: The limiting cover 11 is opened, and a fire extinguishing ball is placed through the opening of the storage tube 1. Then, the limiting cover 11 is closed to prevent the fire extinguishing ball from slipping out. The fire extinguishing ball enters the launch tube 2, which is connected to the storage tube 1, and is fixed by the limiting baffle 21. When the fire extinguishing ball needs to be launched, based on the information transmitted by the vision detection system 22, the drone rotates the disc 3 to determine the position of the launch tube 2, ensuring it is precisely aimed at the target fire source. The electric cylinder 72 activates to drive the second arc-shaped robotic arm 71 to move. Cylinder 62 and the first arc-shaped robotic arm 61 move in tandem. Cylinder 62 drives the first arc-shaped robotic arm 61 to move along the launch tube 2 to the rear of the fire extinguishing ball. The front end of the first arc-shaped robotic arm 61 drives the fire extinguishing ball to move along the launch tube 2 towards the tube opening. Under the action of the first arc-shaped robotic arm 61 and its own gravity, the fire extinguishing ball is thrown towards the fire source. Repeating the above operation, multiple fire extinguishing balls can be launched, and the efficiency of a single flight operation is high. The setting of the inverted structure can realize a large extension of the end of the first arc-shaped robotic arm 61, expanding the working coverage of the device.

[0056] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0057] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0058] The embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A throwing device for a firefighting drone, characterized in that: Storage tube (1), with an openable and closable limiting cover (11) at its opening. The launch tube (2) is connected to and fixedly connected to the storage tube (1). The launch tube (2) is rotatably connected to the UAV through a disc (3). A limit baffle (21) is provided inside the launch tube (2). A visual inspection system (22) is provided at the front end of the launch tube (2). The drive unit is fixed on the launch tube (2). The drive unit includes a first drive assembly (6) and a second drive assembly (7). The first drive assembly (6) includes a first arc-shaped mechanical arm (61) and a cylinder (62). The second drive assembly (7) includes a second arc-shaped mechanical arm (71) and an electric cylinder (72). The first arc-shaped mechanical arm (61) and the second arc-shaped mechanical arm (71) are hinged to form a recurved structure. The cylinder (62) is fixed on the second arc-shaped mechanical arm (71), and its output end is fixed on the first arc-shaped mechanical arm (61). The first drive assembly (6) drives the fire extinguishing ball to be ejected from the launch tube (2).

2. The throwing device for a firefighting drone according to claim 1, characterized in that: The storage tube (1) is inclined relative to the launch tube (2). The storage tube (1) is a double U-shaped pipe, and each U-shaped pipe has an openable and closable pipe baffle (12) at the bottom.

3. The throwing device for a firefighting drone according to claim 1, characterized in that: The launch tube (2) has symmetrical through slots (23) on both sides. The launch tube (2) is fixed with a bracket (4). The disc (3) is fixed to the top of the bracket (4). The disc (3) is fixedly connected to the UAV through a connector (5). The disc (3) is an indexing disc.

4. The throwing device for a firefighting drone according to claim 3, characterized in that: Two drive units are provided, and the two drive units are symmetrically arranged on both sides of the launch tube (2). The electric cylinder (72) of the second drive assembly (7) is fixed to the bracket (4) through a wing plate (73). The second arc-shaped mechanical arm (71) is hinged to the side of the bracket (4).

5. The throwing device for a firefighting drone according to claim 1, characterized in that: The top of the telescopic rod of the electric cylinder (72) is provided with a ball (721), and the outer side of the second arc-shaped mechanical arm (71) is provided with an arc-shaped groove (711), in which the ball (721) is embedded.

6. The throwing device for a firefighting drone according to claim 5, characterized in that: The inner side of the second arc-shaped robotic arm (71) is provided with a cylinder bracket (63). There are two cylinders (62). The two cylinders (62) are fixed at both ends of the cylinder bracket (63). The cylinders (62) are hinged to the cylinder bracket (63). The push rod of the cylinder (62) is fixed to the first arc-shaped robotic arm (61) through a rotating connector (64).

7. The throwing device for a firefighting drone according to claim 1, characterized in that: The first arc-shaped robotic arm (61) is provided with a pusher drive unit (8) at its front end, and the pusher drive unit (8) is fixed to the pusher (10) by a rotator (9).

8. The throwing device for a firefighting drone according to claim 7, characterized in that: A joint arm (13) is provided between the pusher (10) and the rotator (9). The joint arm (13) includes a first joint arm (131) and a second joint arm (132) that are fixedly connected. The first joint arm (131) is fixedly connected to the rotator (9), and the second joint arm (132) is fixedly connected to the pusher (10). A spring (133) is provided between the first joint arm (131) and the second joint arm (132).

9. The throwing device for a firefighting drone according to claim 7, characterized in that: The pusher (10) includes a frame (101) and a rubber roller (102), the rubber roller (102) being fitted onto the frame (101).

10. The throwing device for a firefighting drone according to claim 1, characterized in that: The lower front end of the launch tube (2) is provided with a roller (24), and the roller (24) has an arc-shaped surface.

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