CN110525653B - Airborne delivery type task equipment mounting mechanism - Google Patents
Airborne delivery type task equipment mounting mechanism Download PDFInfo
- Publication number
- CN110525653B CN110525653B CN201910854213.3A CN201910854213A CN110525653B CN 110525653 B CN110525653 B CN 110525653B CN 201910854213 A CN201910854213 A CN 201910854213A CN 110525653 B CN110525653 B CN 110525653B
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- rocker
- arc
- hinged
- guide pulley
- shaped limiting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle application, and discloses a loading and releasing type task equipment mounting mechanism which comprises a rack, an actuator, a rocker, two oscillating bars and two arc-shaped limiting parts for clamping task equipment; one end of the actuator is hinged on the rack, the other end of the actuator is hinged with one end of the rocker, the other end of the rocker is hinged with both the two rocker rods, and the end of the rocker can move up and down along a linear guide groove formed in the rack; one ends of the two swing rods, which are far away from the rocker, are correspondingly hinged with the two arc-shaped limiting parts respectively. The actuator rotates and drives the rocker motion, and the rocker drives the pendulum rod up-and-down motion, turns into rotary motion linear motion, and the pendulum rod drives the arc locating part again and slides along the arc guide slot, turns into rotary motion with linear motion again, has realized the arc locating part to the centre gripping of task equipment with loosen, this carry mechanism simple structure adopts two arc locating parts to carry out "formula of embracing" spacing to task equipment, need not task equipment and takes carry on certainly.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle application, and relates to an airborne drop-in type task equipment mounting mechanism.
Background
The throwing type mission equipment (various bullets or auxiliary fuel tanks) is very widely applied equipment in practical application of the unmanned aerial vehicle, particularly in the military field. At present, common throwing type task equipment is generally provided with projecting lug type mounting points and the like, the problems of mounting and throwing are solved, the pneumatic appearance of the task equipment is damaged, the pneumatic resistance of the task equipment is increased due to the projecting mounting points, even unpredictable postures of the equipment can be rolled, the overall performance of the task equipment is reduced, meanwhile, the waste weight of the task equipment is increased, the available weight of a payload is reduced, and certain special equipment which cannot be provided with the mounting points cannot be used for conventional hanger mounting.
Disclosure of Invention
The invention aims to overcome the defects that the pneumatic appearance of the task equipment is damaged due to the fact that the throwing type task equipment in the prior art adopts hanging points with convex lug pieces and the like, the pneumatic resistance of the task equipment is increased, even the equipment is rolled in an unpredictable posture, and the overall performance of the task equipment is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an airborne drop-in type task equipment mounting mechanism comprises a rack, an actuator, a rocker, two swing rods and two arc-shaped limiting parts for clamping task equipment;
one end of the actuator is hinged on the rack, the other end of the actuator is hinged with one end of the rocker, the other end of the rocker is hinged with both the two rocker rods, and the end of the rocker can move up and down along a linear guide groove formed in the rack;
one ends of the two swing rods, which are far away from the rocker, are correspondingly hinged with the two arc-shaped limiting parts respectively.
The invention further improves the following steps:
the actuator comprises a controller and a rocker arm;
the controller is fixed on the frame, and rocking arm one end is passed through rocking arm shaft hole and is articulated the controller, and the other end is articulated with the one end of rocker.
The rocker is hinged with the two swing rods through guide pulley shafts arranged on the rocker, rocker guide pulleys are arranged on the guide pulley shafts, the rocker guide pulleys are located in a linear guide groove formed in the rack, and the rocker guide pulleys can move up and down in the linear guide groove.
And the upper end and the lower end of the linear guide groove are both provided with limit switches connected with the actuator, and when the rocker guide pulley is in contact with the limit switches, the actuator stops moving.
The two swing rods comprise a first swing rod and a second swing rod which are symmetrically arranged, the two arc-shaped limiting parts comprise a first arc-shaped limiting part and a second arc-shaped limiting part which are symmetrically arranged, a first arc-shaped groove and a second arc-shaped groove are formed in the machine frame, a first guide pulley and a second guide pulley are arranged on the first arc-shaped limiting part, and the first guide pulley and the second guide pulley are positioned in the first arc-shaped guide groove; a third guide pulley and a fourth guide pulley are arranged on the second arc-shaped limiting part and are located in a second arc-shaped guide groove, the first swing rod is hinged to the first arc-shaped limiting part through the first guide pulley, and the second swing rod is hinged to the second arc-shaped limiting part through the third guide pulley.
The inner arc surface of the arc-shaped limiting part is matched with the clamped surface of the task equipment.
And a rubber layer is arranged on the inner arc surface of the arc-shaped limiting part.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to an airborne drop-in type task equipment mounting mechanism which comprises a rack, a controller, an actuator, a rocker, two swing rods and two arc-shaped limiting parts, wherein all the parts are connected in a hinged mode, the actuator is controlled to rotate through the controller by utilizing the principle of a connecting rod slider mechanism, the rocker is driven to move, the rocker drives the swing rods to move up and down, the swing rods further drive the arc-shaped limiting parts to rotate, the rotating motion is converted into linear motion, the linear motion is converted into rotating motion, and the task equipment is clamped and loosened by the arc-shaped limiting parts. The mounting mechanism is simple in structure, capable of feeding by utilizing gravity of equipment, self-locking and locking by utilizing the mechanism, capable of clamping and limiting the task equipment in an encircling mode by adopting the two arc-shaped limiting parts, free of mounting in modes such as mounting hole safety pins and the like, free of mounting points of the task equipment and capable of keeping clean pneumatic appearance of the task equipment.
Furthermore, the rocker is hinged with the swing rod through a pulley shaft, the pulley is matched with the linear guide groove, and the pulley moves up and down along the linear guide groove, so that smooth operation of the swing rod is guaranteed.
Furthermore, arc-shaped guide grooves are formed in the machine frame corresponding to the two arc-shaped limiting parts, so that the arc-shaped limiting parts can move along an arc.
Furthermore, set up limit switch at spout both ends, prevent that mechanical motion from continuing to export and leading to the actuator to damage after target in place.
Furthermore, a rubber layer is arranged on the inner arc surface of the arc-shaped limiting part, so that the clamped task equipment is prevented from being abraded.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic diagram of the principles of the present invention;
FIG. 3 is a schematic view of the locking state of the present invention;
FIG. 4 is a schematic view of the open state of the present invention;
FIG. 5 is a schematic view of the gantry mechanism of the present invention;
fig. 6 is a schematic connection diagram of the swing link, the arc-shaped limiting member and the actuator according to the present invention.
Wherein: 1-a frame; 1-1-rocker shaft hole; 1-2-linear guide groove; 1-3-a first arcuate guide slot; 1-4-a second arc-shaped guide groove; 2-an actuator; 2-1-a controller; 2-2-rocker arm; 3, a rocker; 3-1-rocker guide pulley; 41-a first swing link; 42-a second swing link; 51-a first arc stop; 51-1-a first guide pulley; 51-2-a second guide pulley; 52-a second arc stop; 52-1-a third guide pulley; 52-2-fourth guide pulley; 6-task devices.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1 to 6, the airborne throwing type task equipment mounting mechanism comprises a frame 1, an actuator 2, a rocker 3, two rockers and two arc-shaped limiting pieces; a controller 2-1 of an actuator 2 is fixed on a rack 1, one end of a rocker arm 2-2 of the actuator 2 is hinged on the controller 2-1, the other end of the rocker arm is hinged with one end of a rocker 3, the other end of the rocker 3 is hinged with two swing rods, a rocker guide pulley 3-1 is installed at the hinged position, the rocker 3 is connected with the two swing rods through a pulley shaft of the rocker guide pulley 3-1, a linear guide groove 1-2 is formed in the rack 1, and the rocker guide pulley 3-1 can move up and down along the linear guide groove 1-2; the two swing rods comprise a first swing rod 41 and a second swing rod 42 which are symmetrically arranged, the two arc-shaped limiting parts comprise a first arc-shaped limiting part 51 and a second arc-shaped limiting part 52 which are symmetrically arranged, a first arc-shaped guide slot 1-3 and a second arc-shaped guide slot 1-4 are arranged on the frame 1, a first guide pulley 51-1 and a second guide pulley 51-2 are arranged on the first arc-shaped limiting part 51, and the first guide pulley 51-1 and the second guide pulley 51-2 are positioned in the first arc-shaped guide slot 1-3; the second arc-shaped limiting piece 52 is provided with a third guide pulley 52-1 and a fourth guide pulley 52-2, the third guide pulley 52-1 and the fourth guide pulley 52-2 are positioned in the second arc-shaped guide groove 1-4, the first swing link 41 is hinged with the first arc-shaped limiting piece 51 through the first guide pulley 51-1, and the second swing link 42 is hinged with the second arc-shaped limiting piece 52 through the third guide pulley 52-1.
And the two ends of the linear guide groove 1-2 are respectively provided with a limit switch, the limit switches are connected with the controller 2-1, and when the rocker guide pulley 3-1 is contacted with the limit switches, the controller 2-1 controls the rocker arm 2-2 of the actuator 2 to stop rotating, so that the actuator 2 is prevented from being damaged due to continuous output of the actuator 2 after mechanical motion is in place. The inner arc surfaces of the first arc-shaped limiting part 51 and the second arc-shaped limiting part 52 are matched with the clamped surface of the task equipment, and rubber layers are arranged on the inner arc surfaces of the first arc-shaped limiting part 51 and the second arc-shaped limiting part 52, so that the clamped task equipment 6 is prevented from being abraded.
The actuator 2 and the rocker 3 form a connecting rod sliding block mechanism, and the rocker 3, the two rockers and the two arc-shaped limiting parts form a double-sliding block mechanism. The rocker arm 2-2 of the actuator 2 rotates around a rocker arm shaft hole 1-1 under the control of the controller 2-1, the rocker arm 2-2 drives one end of a rocker arm 3 to rotate, the other end of the rocker arm 3 drives a rocker arm to move up and down along a linear guide groove 1-2, when the two rocker arms move upwards, the included angle of the two rocker arms is reduced, the rocker arms drive an arc-shaped limiting part to move upwards along the arc-shaped guide groove, the opening at the lower end of the arc-shaped limiting part is larger and larger, when the rocker arms reach a certain position upwards, the opening of the arc-shaped limiting part reaches 180 degrees, no supporting force is provided for the task equipment 6, and the task equipment 6 is separated from the arc-shaped limiting part under the action of self gravity; on the contrary, when the two swing rods move downwards, the included angle between the two swing rods is increased, the swing rods drive the arc-shaped limiting part to move downwards along the arc-shaped groove, the opening at the lower end of the arc-shaped limiting part is smaller and smaller, the arc-shaped limiting part provides supporting force for the task equipment 6, the task equipment 6 is clamped with the arc-shaped limiting part under the self-gravity action, and when the rocker arm 2-2 is parallel to the rocker arm 3, the mechanism realizes self-locking. The task equipment 6 can only apply radial force to the arc-shaped limiting part and can not apply circumferential force, so that the actuator 2 can realize the opening and closing operation of the mechanism only by overcoming the friction force of the whole mechanism.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (3)
1. An airborne drop-in type task equipment mounting mechanism is characterized by comprising a rack (1), an actuator (2), rocking bars (3), two rocking bars and two arc-shaped limiting parts for clamping task equipment (6);
one end of the actuator (2) is hinged to the rack (1), the other end of the actuator is hinged to one end of the rocker (3), the other end of the rocker (3) is hinged to both the two swing rods, and the ends, hinged to the rocker (3) and the two swing rods, of the rocker (3) can move up and down along a linear guide groove (1-2) formed in the rack (1);
one ends of the two swing rods, which are far away from the rocker (3), are correspondingly hinged with the two arc-shaped limiting pieces respectively;
the actuator (2) comprises a controller (2-1) and a rocker arm (2-2);
the controller (2-1) is fixed on the rack (1), one end of the rocker arm (2-2) is hinged with the controller (2-1) through a rocker arm shaft hole (1-1), and the other end of the rocker arm is hinged with one end of the rocker arm (3);
the rocker (3) is hinged with the two rockers through a guide pulley shaft arranged on the rocker (3), a rocker guide pulley (3-1) is arranged on the guide pulley shaft, the rocker guide pulley (3-1) is positioned in a linear guide groove (1-2) formed in the frame (1), and the rocker guide pulley (3-1) can move up and down in the linear guide groove (1-2);
the upper end and the lower end of the linear guide groove (1-2) are respectively provided with a limit switch connected with the actuator (2), and when the rocker guide pulley (3-1) is contacted with the limit switches, the actuator (2) stops moving;
the two swing rods comprise a first swing rod (41) and a second swing rod (42) which are symmetrically arranged, the two arc-shaped limiting parts comprise a first arc-shaped limiting part (51) and a second arc-shaped limiting part (52) which are symmetrically arranged, a first arc-shaped guide groove (1-3) and a second arc-shaped guide groove (1-4) are formed in the machine frame (1), a first guide pulley (51-1) and a second guide pulley (51-2) are arranged on the first arc-shaped limiting part (51), and the first guide pulley (51-1) and the second guide pulley (51-2) are positioned in the first arc-shaped guide groove (1-3); a third guide pulley (52-1) and a fourth guide pulley (52-2) are arranged on the second arc-shaped limiting piece (52), the third guide pulley (52-1) and the fourth guide pulley (52-2) are positioned in a second arc-shaped guide groove (1-4), the first swing rod (41) is hinged with the first arc-shaped limiting piece (51) through the first guide pulley (51-1), and the second swing rod (42) is hinged with the second arc-shaped limiting piece (52) through the third guide pulley (52-1).
2. The airborne drop-on task equipment mounting mechanism of claim 1 wherein the intrados of the arcuate stop conforms to the clamped surface of the task equipment (6).
3. The airborne drop-on task equipment mounting mechanism of claim 1 wherein a rubber layer is disposed on the intrados of the arcuate locating member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910854213.3A CN110525653B (en) | 2019-09-10 | 2019-09-10 | Airborne delivery type task equipment mounting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910854213.3A CN110525653B (en) | 2019-09-10 | 2019-09-10 | Airborne delivery type task equipment mounting mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN110525653A CN110525653A (en) | 2019-12-03 |
| CN110525653B true CN110525653B (en) | 2023-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910854213.3A Active CN110525653B (en) | 2019-09-10 | 2019-09-10 | Airborne delivery type task equipment mounting mechanism |
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| US6361095B1 (en) * | 2000-06-29 | 2002-03-26 | Delaware Capital Formation, Inc. | Adjustable stroke gripper assembly |
| CN202507282U (en) * | 2012-01-16 | 2012-10-31 | 杜昕 | Manipulator for material handling robots |
| EP3834752B1 (en) * | 2013-12-11 | 2024-03-13 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
| CN204527648U (en) * | 2015-04-21 | 2015-08-05 | 刘亚敏 | For the grabbing device of multi-rotor aerocraft |
| CN105108766A (en) * | 2015-08-31 | 2015-12-02 | 广西大学 | Clamping type manipulator |
| CN105690414B (en) * | 2016-03-08 | 2018-04-24 | 四川大学 | A kind of end clamping apparatus for overhauling climbing robot automatically for steel tower |
| CN206141791U (en) * | 2016-06-25 | 2017-05-03 | 林帆 | Autoflight life vest based on unmanned aerial vehicle control |
| CN107127776A (en) * | 2017-04-28 | 2017-09-05 | 防城港市海洋局 | Manipulator |
| CN107297040B (en) * | 2017-08-09 | 2023-03-28 | 江苏溧航航空科技有限公司 | Vertical throwing device of unmanned aerial vehicle-mounted fire extinguishing bomb |
| CN109382813A (en) * | 2017-08-10 | 2019-02-26 | 河南寰球航空装备科技有限公司 | A kind of high-precision industrial robot |
| CN107736133B (en) * | 2017-11-16 | 2020-06-09 | 广东工业大学 | Tongs type picking device |
| CN208462412U (en) * | 2018-05-21 | 2019-02-05 | 湖北大学知行学院 | A kind of rechargeable portable fruit picking |
| CN108788291B (en) * | 2018-06-25 | 2020-01-03 | 上海杨岐视觉机器人有限公司 | Slotted robot gripper of plate shearing |
| CN109659866A (en) * | 2019-01-31 | 2019-04-19 | 国家电网有限公司 | A kind of Guide vehicle for high pressure GIS conductor installation |
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2019
- 2019-09-10 CN CN201910854213.3A patent/CN110525653B/en active Active
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