Electromagnetic throwing device with feedback for unmanned aerial vehicle

Abstract

A feedback electromagnetic throwing device of an unmanned aerial vehicle comprises a shell, a lever piece, a pressure-sensitive circuit board, an elastic touch pressing piece and a driving mechanism, the middle section of the lever piece is provided with a first hinge hole, the two ends of the lever piece are a hook end and a limiting end respectively, the hook end is provided with a groove connected with a hanging object, the lever piece is connected with the shell in a hinged mode, and the driving mechanism is in linkage fit with the limiting end. The lever piece is driven to do overturning motion of an opening posture and a locking posture, the pressure-sensitive circuit board is fixed to the inner side face of the shell and located at the adjacent position of the limiting end, the pressure-sensitive circuit board is electrically connected with an unmanned aerial vehicle circuit board, a pressure-sensitive resistor is arranged on the pressure-sensitive circuit board, and the elastic touch pressing piece is arranged between the limiting end and the pressure-sensitive resistor. When the limiting end is in the locking posture, the position of the limiting end keeps extruding the elastic touch pressing piece and the piezoresistor, the position of the limiting end in the opening posture loosens and extrudes the elastic touch pressing piece and the piezoresistor, and a resistance signal of the piezoresistor changes along with the overturning posture of the limiting end and is transmitted to ground equipment through the unmanned aerial vehicle.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an electromagnetic projectile launcher with feedback for UAVs. Background Technology

[0002] With the development of drone technology, the use of drones for goods transportation is becoming increasingly common. Drones offer fast and efficient delivery, demonstrating great convenience and advantages over other transportation methods, especially in special environments. These advantages are even more pronounced during disaster relief efforts such as earthquakes and fires.

[0003] Most existing drones use pods to drop items, suspending the package to be dropped on the dropping mechanism of the pod before flying to the designated location to drop the package.

[0004] As disclosed in the prior art of a multi-segment throwing device for a drone in patent CN202120814353.0, after the ground operator hangs different loads into the corresponding slots of the two inverted U-shaped notches 231 and 232, the operator controls the servo motor 22 to rotate and close the locking pin 224 to complete the loading. When flying to the target point, the servo motor drives the locking pin to pull away from the U-shaped notch of the throwing frame, causing the notch to open, the load to detach from the locking pin, and fall automatically.

[0005] Furthermore, as exemplified by our company's (name changed) previously filed patent CN202221377634.5, a drone throwing device, a mechanical structure reduces the output power required by the drive mechanism. This results in a compact throwing device, allowing the drone to carry multiple throwing devices and control the order in which each device is deployed according to the environment. Moreover, the hinged design of the lever component prevents it from jamming due to the weight of the load.

[0006] The existing technology has the following problems: In practical applications, it has been found that after the ground operator issues the command for the drone to drop an item, the operator can only observe the falling image of the item through the camera to identify whether the item has been successfully dropped. First, the operator may miss or misjudge the dropping situation due to the shooting conditions. Second, if the dropping device malfunctions or jams after the dropping command is issued, resulting in failure to drop or partial dropping with some parts remaining, the operator often finds it difficult to detect.

[0007] Therefore, a feedback mechanism needs to be set up for the throwing device to identify the device's operating status and whether the throwing action has been successfully completed, so as to provide accurate feedback information to ground operators. Utility Model Content

[0008] To address the shortcomings of the aforementioned technologies, this invention provides a feedback electromagnetic launcher for unmanned aerial vehicles (UAVs).

[0009] 1. The technical solution of this utility model: A feedback electromagnetic launcher for a drone, comprising a shell, a lever, a pressure-sensitive circuit board, an elastic contact element, and a drive mechanism. The lever has a first hinge hole in the middle section, and a hook end and a limiting end at its two ends. The hook end has a groove for connecting with the load. The lever is hinged to the shell. The drive mechanism is linked to the limiting end to drive the lever to perform flipping movements in an open and locked position. The pressure-sensitive circuit board is fixed to the inner side of the shell and located adjacent to the limiting end. The pressure-sensitive circuit board is electrically connected to the drone's circuit board. A pressure-sensitive resistor is provided on the pressure-sensitive circuit board. The elastic contact element is disposed between the limiting end and the pressure-sensitive resistor. The locking position of the limiting end keeps the elastic contact element and the pressure-sensitive resistor pressed. The opening position of the limiting end releases the pressure on the elastic contact element and the pressure-sensitive resistor. The resistance signal of the pressure-sensitive resistor changes with the flipping position of the limiting end and is transmitted to ground equipment via the drone.

[0010] 2. Further features of this utility model: The elastic pressing member is provided with a sliding groove along the direction from the limiting end to the varistor, and the housing is provided with a guide post extending into the sliding groove. The guide post is located on the side facing away from the varistor. A spring is compressed and provided in the sliding groove. The spring drives the elastic pressing member to move away from the varistor. A soft pad is provided on the end face of the elastic pressing member that contacts the varistor.

[0011] 3. Further features of this utility model: the sliding groove passes through the elastic pressing member, the guide post has a threaded hole on one side end face of the sliding groove, and a limiting boss is provided on the other side end face of the guide post. The thrower also includes a limiting screw, which is threadedly engaged with the threaded hole. The nut and the limiting boss of the limiting screw respectively make a limiting sliding engagement with the two end faces of the elastic pressing member.

[0012] 4. Further features of this utility model: the elastic pressure member is provided with a socket along the direction from the limiting end to the varistor, the soft pad is made of rubber material, and the soft pad is provided with a shaft part that can be detachably plugged into the socket.

[0013] 5. Further features of this utility model: The lever is provided with a torsion spring mounting groove and a torsion spring at the first hinge hole, and the torsion spring drives the limiting end to flip away from the elastic pressing member.

[0014] Further features of this invention: The thrower also includes an interceptor, a resetter, a force-increasing mechanism, and a force-reducing mechanism. The force-increasing mechanism includes a force-transmitting rod and a reset spring. The force-reducing mechanism includes a locking link, a relay link, and a trigger link. The driving mechanism includes an electromagnet.

[0015] Using the above technical solution, the lever is hinged to the shell, and the groove at the hook end is used to hang the load. Through the linkage of the drive mechanism and the interceptor, the movement of the lever's limiting end is locked, preventing the hook end from flipping and maintaining a locked posture. At this time, the load is blocked in the groove and remains suspended. The limiting end also compresses the elastic contact element and varistor, causing the varistor to generate a resistance signal. When the drone needs to drop the load, the drive mechanism drives the interceptor to disengage from the limiting end. The lever loses its restraint and flips with the weight of the load, causing the groove opening to naturally move to a downward position. The load detaches from the drone and falls. At this time, the limiting end leaves the elastic contact element and varistor, and the varistor, no longer under pressure, generates a resistance change signal. The drone's main control system receives this resistance change signal, identifies whether the dropper has completed the drop, and transmits the data back to the ground equipment for operator reference.

[0016] The specific transmission structure of the thrower is as follows: The middle section of the interceptor is provided with a second hinge hole, and the two ends are the first end and the second end, respectively. The interceptor is hinged to the housing and is set vertically above the limiting end. The second end is linked with the drive mechanism to drive the first end to flip and enter the movement path of the limiting end, and abut against the limiting end.

[0017] The interlocking lever mechanism, composed of levers and interceptors, forms a force-saving lever, reducing the force required by the drive mechanism. This allows for the use of a smaller drive mechanism, reducing equipment cost and size, and making the throwing device more compact and practical.

[0018] The throwing device also includes a force-enhancing mechanism, which includes a force transmission rod and a return spring. The force transmission rod includes an impact end and a locking end. The impact end faces the second end and is provided with a shoulder. The housing is provided with a hole seat. The force transmission rod is inserted into the hole seat for axial sliding engagement. The return spring is compressed and disposed between the shoulder and the hole seat. The locking end is provided with a slot. The locking end passes through the hole seat and engages with the drive mechanism.

[0019] By incorporating a pre-compression force-amplifying mechanism, the drive unit only needs to engage with the slot of the force transmission rod. During throwing, it disengages from the slot, allowing the return spring on the force transmission rod to release naturally. The force generated by the return spring drives the impact end to strike the second end of the interceptor, thereby unlocking the lever and completing the throwing. This force-amplifying mechanism allows for the generation of additional force when using a drive mechanism with the same power, avoiding the need to increase the power of the drive mechanism.

[0020] The throwing device also includes a force-reducing mechanism, which includes a locking link, a relay link, and a trigger link. The locking link includes a buckle end, a hole end, a third hinge hole, a fourth hinge hole, and a groove. The third hinge hole is close to the buckle end and passes through the groove. The fourth hinge hole is located at the hole end and passes through the groove. The buckle end is provided with a stop groove, which includes a first protrusion extending to the end face of the locking end of the force transmission rod and a second protrusion extending into the groove. The second protrusion rotates around the third hinge hole and moves in and out of the groove.

[0021] The relay link is inserted into the groove of the locking link, including a third end, a fourth end, and a fifth hinge hole located in the middle section. The third end extends out of the groove and is hinged to the housing. The fifth hinge hole is hinged to the fourth hinge hole.

[0022] The triggering link includes a sixth end and a seventh end. The sixth end is inserted into a groove and hinged to a third hinge hole. The end face of the triggering link facing the relay link is provided with a support groove. The fourth end of the relay link is placed in the support groove. The driving mechanism is linked with the seventh end to drive the linkage of each link of the force reduction mechanism to swing in an interlocking manner.

[0023] By employing a force-reducing mechanism and utilizing the principle of levers that save effort, the force required to drive the mechanism is further reduced through multi-stage linkages. The interlocking design of the connecting rods ensures that the linkages of the force-reducing mechanism overlap when combined, resulting in a smaller overall size and a reduced throwing device volume.

[0024] The throwing device also includes a reset component. The housing has an opening, a first limiting block, a second limiting block, a third limiting block, and a fourth limiting block on the side opposite to the impact end of the force transmission rod. The hook end of the lever and the reset component are located at the opening. The reset component includes a push arm end and an operating end. The push arm end extends to the impact end of the force transmission rod and slides with the first limiting block along the axial direction of the force transmission rod. The operating end and the second limiting block are located at the opening. The second limiting block blocks the push arm end from leaving the path at the opening. The first limiting block and the third limiting block are located on both sides of the second end of the interceptor, limiting the flip angle of the interceptor. The fourth limiting block and the first end of the interceptor are located on both sides of the limiting end of the lever, limiting the flip angle of the lever.

[0025] The lever is provided with a frustum around the first hinge hole. The outer circumferential surface of the frustum is in tangential frictional engagement with the operating end. The operating end slides along the axial direction of the force transmission rod, driving the rod to rotate.

[0026] When the throwing device needs to be locked to maintain the posture of the lever groove holding the load, the operating end of the reset component is pushed. Because the operating end and the truncated cone of the lever are in tangential frictional contact, the horizontal movement of the operating end is converted into the rotation of the truncated cone, driving the lever to rotate to the posture of the load, that is, the angle at which the load cannot naturally leave the groove. At this time, the limiting end of the lever hits the interceptor and comes to the vertical position below the interceptor. The interceptor passes through the center of gravity of the first end, so that the first end of the interceptor naturally hangs down when there is no external force and is located in the movement path directly above the limiting end, thus completing the locking of the lever.

[0027] The operator pushes the reset piece and holds it in place while the push arm slides along the first limit block to approach the force transmission rod, causing the force transmission rod to slide along the hole of the hole seat. The engaging end of the force transmission rod strikes the first protrusion, driving the engaging connecting rod to rise vertically around the third hinge hole. This causes the second protrusion to enter the slot and the relay connecting rod to rise to the fifth hinge hole position, causing the relay connecting rod to flip vertically upward around the hinge at the third end.

[0028] Simultaneously, when the fourth end of the relay link rotates vertically upwards, it collides with the trigger link hinged to the third hinge hole. Because one end of the trigger link is hinged while the other end swings naturally, when the relay link impacts, the trigger link swings away from the impact. When the fourth end of the relay link moves to the support groove of the trigger link, because the support groove is concave, the trigger link instantly loses contact with the fourth end and swings back naturally under gravity until the inner wall of the support groove contacts the fourth end. At this point, the fourth end is stuck in the support groove, maintaining the posture of the second protrusion extending into the slot and preventing it from falling. The entire force reduction mechanism and the force transmission rod are locked, the force transmission rod moves away from the interceptor and is in a power-accumulating posture, and the entire throwing device is locked. At this time, the operator can release the reset piece, and the second protrusion restricts the force transmission rod from resetting.

[0029] When the payload needs to be dropped, the drone triggers the electromagnet, and the iron core 41 strikes the seventh end of the triggering link, causing the triggering link to swing away from the relay link. At this time, the fourth end leaves the support groove, loses its overlap, and falls naturally. This chain causes the second protrusion to fall and leave the slot. The force transmission rod loses the restriction of the second protrusion, the reset spring is released, and it strikes the second end of the interceptor, causing the interceptor to flip and the first end to leave the flipping path of the lever.

[0030] After the lever component loses the restraint of the interceptor, one end of the groove flips with the weight of the load, the groove opening moves to face vertically downward, and the load in the groove naturally slides out, detaches and falls, completing the throwing action.

[0031] The driving mechanism includes an electromagnet, whose core strikes a trigger linkage to interlock and control the lever to flip.

[0032] The drone is equipped with several sets of throwing devices, and the electromagnets of each throwing device are electrically connected to the drone.

[0033] The beneficial effects of this invention are as follows: The thrower is equipped with an elastic contact element and a pressure-sensitive circuit board that are linked to the lever. The flip position change of the lever's opening and locking actions triggers a change in the resistance value of the pressure-sensitive resistor, thereby providing feedback signals to indicate whether the thrower has completed its action. This feedback signal is then used by the UAV system to identify the thrower and communicate with the ground equipment for the operator to recognize. Attached Figure Description

[0034] Figure 1 The structure of this utility model embodiment Figure 1 ;

[0035] Figure 2 The structure of this utility model embodiment Figure 2 ;

[0036] Figure 3 The structure of this utility model embodiment Figure 3 ;

[0037] Figure 4 The structure of this utility model embodiment Figure 4 ;

[0038] Figure 5 The structure of this utility model embodiment Figure 5 .

[0039] Among them, 1-shell, 11-pressure-sensitive circuit board, 111-pressure-sensitive resistor, 12-elastic pressure contact element, 121-sliding groove, 13-guide post, 131-limiting boss, 132-limiting screw, 14-spring, 15-soft pad, 2-lever element, 21-first hinge hole, 22-hook end, 221-groove, 23-limiting end, 24-torsion spring, 25-torsion spring mounting groove, 3-interceptor element, 4-drive mechanism, 41-iron core, 5-force transmission rod, 51-reset spring, 6-locking link, 7-relay link, 8-trigger link, 9-reset element.

[0040] To better illustrate this embodiment, some parts in the accompanying drawings may be omitted, enlarged, or reduced, and do not represent the actual size of the product. Furthermore, the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. Detailed Implementation

[0041] To make the technical solution and advantages of this application clearer, the technical solution of this application will be described in a clearer and more complete manner below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some embodiments of this application, and are only used to explain this application, not to limit this application. It should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings. Other related parts can be referred to the general design. In the absence of conflict, the embodiments and technical features in the embodiments of this application can be combined with each other to obtain new embodiments.

[0042] like Figure 1-5 As shown, a feedback electromagnetic launcher for a drone includes a housing 1, a lever 2, a pressure-sensitive circuit board 11, an elastic contact element 12, and a drive mechanism. The lever 2 has a first hinge hole 21 in the middle, and a hook end 22 and a limiting end 23 at its two ends. The hook end 22 has a groove 221 for connecting with the load. The lever 2 is hinged to the housing 1. The drive mechanism is linked to the limiting end 23 to drive the lever 2 to perform flipping movements in an open and locked posture. The pressure-sensitive circuit board 11 is fixed to the inner side of the housing 1 and is located at the limiting end 23. At the junction of end 23, the pressure-sensitive circuit board 11 is electrically connected to the UAV circuit board. A pressure-sensitive resistor 111 is provided on the pressure-sensitive circuit board 11. The elastic pressing member 12 is provided between the limiting end 23 and the pressure-sensitive resistor 111. When the limiting end 23 is in the locked position, it keeps pressing the elastic pressing member 12 and the pressure-sensitive resistor 111. When the limiting end 23 is in the open position, it releases the pressing of the elastic pressing member 12 and the pressure-sensitive resistor 111. The resistance signal of the pressure-sensitive resistor 111 changes with the flipping position of the limiting end 23 and is transmitted to the ground equipment via the UAV.

[0043] The elastic pressing member 12 is provided with a sliding groove 121 along the direction from the limiting end 23 to the varistor 111. The housing 1 is provided with a guide post 13 extending into the sliding groove 121. The guide post 13 is on the side facing away from the varistor 111. A spring 14 is compressed in the sliding groove 121. The spring 14 drives the elastic pressing member 12 to move away from the varistor 111. A soft pad 15 is provided on the end face of the elastic pressing member 12 that contacts the varistor 111.

[0044] The sliding groove 121 passes through the elastic pressing member 12. The guide post 13 has a threaded hole on one end face of the sliding groove 121 and a limiting boss 131 on the other end face. The thrower also includes a limiting screw 132, which is threaded into the threaded hole. The nut of the limiting screw 132 and the limiting boss 131 are respectively in a limiting sliding engagement with the two end faces of the elastic pressing member 12.

[0045] The elastic pressure member 12 is provided with a socket 122 along the direction from the limiting end 23 to the varistor 111. The soft pad 15 is made of rubber and is provided with a shaft portion that can be detachably plugged into the socket 122.

[0046] The lever 2 is provided with a torsion spring mounting groove 25 and a torsion spring 24 at the first hinge hole 21. The torsion spring 24 drives the limiting end 23 to flip away from the elastic pressing member 12.

[0047] The thrower also includes an interceptor 3, a resetter 9, a force amplification mechanism, and a force reduction mechanism. The force amplification mechanism includes a force transmission rod 5 and a reset spring 51. The force reduction mechanism includes a locking link 6, a relay link 7, and a trigger link 8. The drive mechanism 4 includes an electromagnet. The electromagnet core 41 strikes the trigger link, interlocking and controlling the lever to flip.

[0048] The lever 2 is hinged to the housing 1, and the groove 221 of the hook end 22 is used to hang the object. Through the linkage of the drive mechanism and the interceptor, the movement of the limiting end 23 of the lever 2 is blocked, preventing the hook end 22 from flipping and maintaining a locked posture. At this time, the object is blocked in the groove 221 and remains suspended. The limiting end 23 keeps pressing the elastic contact 12 and the pressure-sensitive resistor 111. The pressure-sensitive resistor 111 generates a resistance signal. When the drone needs to drop the object, the drive mechanism drives the interceptor to disengage from the limiting end 23. The lever 2 loses its restraint and flips with the weight of the object. The opening of the groove 221 naturally moves to a downward position, and the object falls off the drone. At this time, the limiting end 23 leaves the elastic contact 12 and the pressure-sensitive resistor 111. The pressure-sensitive resistor 111 generates a resistance change signal. The drone's main control system receives this resistance change signal, identifies whether the dropper has completed the drop, and transmits it back to the ground equipment for the operator's reference.

[0049] The technical solution of this application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A feedback electromagnetic launcher for unmanned aerial vehicles (UAVs), characterized in that: The device includes a housing, a lever, a pressure-sensitive circuit board, an elastic pressure-sensitive component, and a drive mechanism. The lever has a first hinge hole in the middle section, with a hook end and a limiting end at its two ends. The hook end has a groove for connecting to a load. The lever is hinged to the housing. The drive mechanism works in conjunction with the limiting end to drive the lever to rotate in an open and locked position. The pressure-sensitive circuit board is fixed to the inner side of the housing and located adjacent to the limiting end. The pressure-sensitive circuit board is electrically connected to the UAV circuit board. A varistor is provided on the pressure-sensitive circuit board. The elastic pressure-sensitive component is located between the limiting end and the varistor. When the limiting end is in a locked position, it presses against the elastic pressure-sensitive component and the varistor. When the limiting end is in an open position, it releases the pressure on the elastic pressure-sensitive component and the varistor. The resistance signal of the varistor changes with the rotation of the limiting end and is transmitted to ground equipment via the UAV.

2. The electromagnetic launcher with feedback for a drone according to claim 1, characterized in that: The elastic pressure member has a sliding groove along the direction from the limiting end to the varistor. The housing is provided with a guide post extending into the sliding groove. The guide post is on the side facing away from the varistor. A spring is compressed in the sliding groove. The spring drives the elastic pressure member to move away from the varistor. The end face of the elastic pressure member that contacts the varistor is provided with a soft pad.

3. The electromagnetic launcher with feedback for a drone according to claim 2, characterized in that: The sliding groove passes through the elastic contact member. The guide post has a threaded hole on one end face of the sliding groove and a limiting boss on the other end face. The thrower also includes a limiting screw, which is threadedly engaged with the threaded hole. The nut and the limiting boss of the limiting screw respectively make a limiting sliding engagement with the two end faces of the elastic contact member.

4. The electromagnetic launcher with feedback for a drone according to claim 3, characterized in that: The elastic pressure member has a socket along the direction from the limiting end to the varistor, and the soft pad is made of rubber. The soft pad has a shaft portion that can be detachably plugged into the socket.

5. A feedback electromagnetic launcher for a UAV according to any one of claims 1-4, characterized in that: The lever is provided with a torsion spring mounting groove and a torsion spring at the first hinge hole. The torsion spring drives the limiting end to flip away from the elastic pressing member.

6. The electromagnetic launcher with feedback for a drone according to claim 5, characterized in that: The throwing device also includes an interceptor, a resetter, a force amplification mechanism, and a force reduction mechanism. The force amplification mechanism includes a force transmission rod and a reset spring. The force reduction mechanism includes a locking link, a relay link, and a trigger link. The driving mechanism includes an electromagnet. The electromagnet core strikes the trigger link, interlocking and controlling the lever to flip.

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