阅读说明：本技术 一种机载筒装无人机布撒器的抛射方法及装置 (Method and device for casting airborne cartridge-mounted unmanned aerial vehicle spreader ) 是由 马保吉 祁立军 边建潇 王宇东 王丽君 韩兴本 于 2020-11-12 设计创作，主要内容包括：本发明涉及一种机载筒装无人机布撒器的抛射方法及装置。为解决现有技术对火药储存环境要求高、液压系统复杂,能耗大和抛射方法对环境温度要求高的问题。本发明机载筒装无人机布撒筒抛射系统原理是使用扭力弹簧作为储能器,通过收紧装置使扭力弹簧变形,并将扭力弹簧固定于储能机构上,存储弹性势能。在抛射时,通过释放机构,解除扭力弹簧约束,在扭力弹簧复位过程中,扭力弹簧推动筒装无人机,由于力的作用,筒装无人机获得加速度,进而产生速度,扭力弹簧的弹性势能转换为筒装无人机的动能,使筒装无人机以一定的速度抛射出去。(The invention relates to a method and a device for casting a distributing and scattering device of an airborne barrel-mounted unmanned aerial vehicle. The problems that in the prior art, the requirement on gunpowder storage environment is high, a hydraulic system is complex, energy consumption is high, and the requirement on environment temperature of a projecting method is high are solved. The principle of the unmanned aerial vehicle distribution and scattering barrel projection system based on the airborne barrel loading is that a torsion spring is used as an energy accumulator, the torsion spring is deformed through a tightening device, and the torsion spring is fixed on an energy storage mechanism to store elastic potential energy. When throwing, through release mechanism, remove the torsion spring restraint, at the torsion spring in-process that resets, torsion spring promotes cartridge unmanned aerial vehicle, and cartridge unmanned aerial vehicle obtains the acceleration owing to the effect of power, and then produces speed, and torsion spring's elastic potential energy converts cartridge unmanned aerial vehicle's kinetic energy into, makes cartridge unmanned aerial vehicle throw away with certain speed.)

1. The utility model provides an airborne cartridge unmanned aerial vehicle ware that scatters which characterized in that: the unmanned aerial vehicle packaging frame comprises frame side plates (2) which are symmetrically arranged on the left and right, the two side plates (2) are connected through a transverse plate, semicircular grooves for placing the barrel-packed unmanned aerial vehicle (1) are symmetrically formed in two side edges of the two side plates (2), an upper gear shaft (12), a cam shaft (9) and a lower gear shaft (11) are sequentially arranged between the two side plates (2) from top to bottom, and cams (22) are respectively arranged at two ends of the cam shaft (9) close to the inner side surfaces of the side plates;

an upper seesaw (18) and a lower seesaw (19) are respectively horizontally arranged above and below the cams (22) on the left side and the right side, the upper seesaw (18) and the lower seesaw (19) are provided with a small extension spring (36) close to the cams (22), the seesaws are always in contact with the cams (22) under the spring tension, the upper seesaw (18) and the lower seesaw (19) are kept in a horizontal position, bosses are respectively arranged on one side of the upper end surface of the upper seesaw (18) and one side of the lower end surface of the lower seesaw (19), the two bosses are oppositely arranged up and down, a first lock hook (16) and a second lock hook (17) are arranged at the boss of the upper seesaw (18), the first lock hook (16) and the second lock hook (17) are respectively arranged left and right and are respectively in contact with and locked with the bosses of the upper seesaw (18), a third lock hook (20) and a fourth lock hook (21) are arranged at the boss of the lower seesaw (19, are respectively locked with the bosses of the lower seesaw (19);

2 groups of U-shaped torsion spring frames (13) are symmetrically arranged on the inner side surfaces of the two side plates (2), the 2 groups of torsion spring frames (13) are respectively arranged above and below the upper seesaw and the lower seesaw, 2 torsion spring shafts (14) are arranged in each torsion spring frame (13) in parallel, a torsion spring (15) is arranged on each torsion spring shaft (14), the fixed end of each torsion spring (15) abuts against the inner plate of the torsion spring frame (13), the other end of each torsion spring is a free end, and the two free ends are fixed on the lock hook;

the middle of the upper edge and the lower edge of the outer side plate (2) are movably and symmetrically provided with a first arc-shaped rigid baffle (23) and a second arc-shaped rigid baffle (26), and the radians of the first rigid baffle (23) and the second rigid baffle (26) correspond to the cylindrical surface of the cylinder-packed unmanned aerial vehicle (1).

2. The airborne cartridge-loaded unmanned aerial vehicle spreader of claim 1, wherein: the outer side walls of the first rigid baffle (23) and the second rigid baffle (26) are provided with sector teeth, two ends of the upper gear shaft and the lower gear shaft are respectively provided with a gear (24), the gear (24) is respectively meshed with the sector teeth of the first rigid baffle (23) and the third gear (25), and the third gear (25) is meshed with the sector teeth of the second rigid baffle (26).

3. The airborne cartridge-loaded unmanned aerial vehicle spreader of claim 2, wherein: the idler wheel (25) is arranged on an idler wheel shaft (28) on the outer side of the side plate (2).

4. An airborne cartridge-loaded unmanned aerial vehicle spreader according to claim 2 or 3, wherein: the upper gear shaft (12), the cam shaft (9) and the lower gear shaft (11) are respectively controlled to rotate by an upper gear shaft motor (7), a cam shaft motor (8) and a lower gear shaft motor (10).

5. The airborne cartridge-loaded unmanned aerial vehicle spreader of claim 4, wherein: the transverse plates comprise an upper transverse plate (3), a middle transverse plate (5) and a lower transverse plate (6), and an upper gear shaft motor (7), a cam shaft motor (8) and a lower gear shaft motor (10) are fixedly arranged on the upper transverse plate (3), the middle transverse plate (5) and the lower transverse plate (6) respectively.

6. The airborne cartridge-loaded unmanned aerial vehicle spreader of claim 5, wherein: the upper seesaw (18) and the lower seesaw (19) are arranged on the shaft sleeve (4) of the transverse plate (5) in the rack through the upper seesaw shaft (30) and the lower seesaw shaft (31).

7. The tightening device of an airborne cartridge-mounted unmanned aerial vehicle spreader of claim 1, characterized in that: the novel multifunctional electric wrench comprises an L-shaped buckle plate (35), wherein a shaft (33) penetrates through the upper end of the buckle plate (35), a crank (34) is fixedly arranged at one end of the shaft (33), a soft tightening lock (32) penetrates through the other end of the shaft, and two ends of the tightening lock (32) are hook-shaped; one side of the lower end of the pinch plate (35) is provided with a groove, the size of the groove is matched with that of the torsion spring frame (13), and the torsion spring frame (13) is sleeved in the groove.

8. The method of claim 1, wherein the method comprises: the method comprises the following steps:

1) energy storage by tightening torsional spring

Buckling a buckle plate (35) of a tightening device on a torsion spring frame (13) of an energy storage mechanism, hooking two ends of a tightening rope (32) at the free ends of two torsion springs (15), sleeving a crank (34) at the square head of the shaft end of a tightening shaft (33), rotating the crank (34), tightening the torsion springs (15) when the tightening rope (32) is wound on the shaft (33), pushing inclined planes of a first lock hook (16) and a second lock hook (17) at the free end of the torsion springs (15) to push a horizontal upper seesaw (18) to rotate around an upper seesaw shaft (30), when the bosses of the upper seesaw (18) are positioned between the first lock hook (16) and the second lock hook (17), the upper seesaw (18) is restored to the horizontal position under the action of the tensile force of the extension spring, the crank (34) is rotated reversely at the moment, the first lock hook (16) and the second lock hook (17) are locked at the bosses of the upper seesaw (18), and the torsion spring (15) is in an energy storage state;

2) fixed cylinder unmanned aerial vehicle

The upper layer of the cartridge-mounted unmanned aerial vehicle on the airborne cartridge-mounted unmanned aerial vehicle spreader is 2, the lower layer of the cartridge-mounted unmanned aerial vehicle is 2, two cartridge-mounted unmanned aerial vehicles on the same layer need to be fixed simultaneously, a gear shaft motor is controlled, the angle of an upper gear shaft (12) is rotated by 7.5 degrees, through gear transmission, a first rigid baffle plate (23) and a second rigid baffle plate (26) synchronously rotate by 7.5 degrees, the radian part is lifted, then 2 cartridge-mounted unmanned aerial vehicles (1) which are horizontally opposite are placed in a semicircular groove, the gear shaft motor (7) is controlled to reversely rotate by 7.5 degrees, at the moment, the cambered surfaces of the first rigid baffle plate (23) and the second rigid baffle plate (26) are in complete contact with the cylindrical surface of the cartridge-mounted unmanned aerial vehicle 1;

similarly, fixing 2 cylinder-packed unmanned aerial vehicles on the lower layer;

3) throwing

When the unmanned aerial vehicle (1) is loaded in the projectile cylinder, the control system sends out a switching signal, the gear shaft motor (7) is electrified, the gear shaft motor (7) drives the gear shaft to rotate by 7.5 degrees, the gear (24) drives the first rigid baffle (23) to rotate, the second rigid baffle (26) and the first rigid baffle (23) are driven by the third wheel (25) to be lifted upwards synchronously,

control system sends switching signal simultaneously and gives camshaft motor (8), camshaft motor (8) drive cam (22) on camshaft (9) and rotate, when counter-clockwise turning 0-90 when, cam (22) make the flat end upward movement of upper seesaw (18), boss end downward movement, make latch hook one (16) that 2 cartridge dress unmanned aerial vehicle (1) correspond, latch hook two (17) unhook, the locking mechanical system unblock this moment, torsional spring (15) release, the free end promotes cartridge dress unmanned aerial vehicle (1) motion, make it obtain speed, its elastic potential energy converts cartridge dress unmanned aerial vehicle's kinetic energy, realize two cartridge dress unmanned aerial vehicles of same floor and throw in step.

Technical Field

The invention relates to a method and a device for casting a distributing and scattering device of an airborne barrel-mounted unmanned aerial vehicle.

Background

A drone is an unmanned aircraft that operates using radio remote control devices and self-contained program control devices or is operated completely or intermittently, autonomously by an onboard computer. An airborne cartridge unmanned aerial vehicle is an unmanned aerial vehicle which is arranged on a spreading device of an aircraft and is launched in the air.

At present, the airborne cartridge unmanned aerial vehicle mainly has two types of throwing methods:

1. make fixed cartridge unmanned aerial vehicle's stress cable fracture through hydraulic means to throw away cartridge unmanned aerial vehicle.

2. Utilize the high-pressure gas that gunpowder explosion produced, turn into mechanical energy with chemical energy, make fixed cartridge unmanned aerial vehicle's stress cable fracture, throw cartridge unmanned aerial vehicle away.

These two casting methods have the following disadvantages:

1. the gunpowder has high requirement on storage environment, and the gunpowder is easy to lose efficacy or performance is degraded after being stored for too long time, so that the throwing performance is unstable.

2. The hydraulic system is complex and has high energy consumption.

3. The adaptability of the casting method to the environment temperature is poor, the performance of the casting method is unstable in a high-temperature and low-temperature environment, the initial casting speed of the cartridge-packaged unmanned aerial vehicle is unstable, if the initial casting speed is smaller than a given value, the cartridge-packaged unmanned aerial vehicle can collide with other parts on the aircraft, and the aircraft or the cartridge-packaged unmanned aerial vehicle is out of control in flight attitude.

Disclosure of Invention

In view of the above, the invention provides a method and a device for projecting an unmanned aerial vehicle spreader mounted on a vehicle carrier, which have high reliability, and aims to solve the problems that the prior art has high requirements on gunpowder storage environment, a complex hydraulic system, high energy consumption and high requirements on environment temperature of a projecting method.

In order to solve the problems in the prior art, the technical scheme of the invention is as follows: the utility model provides an airborne cartridge unmanned aerial vehicle ware that scatters which characterized in that: the unmanned aerial vehicle storage rack comprises rack side plates which are symmetrically arranged on the left and right, the two side plates are connected through a transverse plate, semicircular grooves for placing a barrel-packed unmanned aerial vehicle are symmetrically arranged on two side edges of the two side plates respectively, an upper gear shaft, a cam shaft and a lower gear shaft are sequentially arranged between the two side plates from top to bottom, and cams are arranged at two ends of the cam shaft close to the inner side surfaces of the side plates respectively;

an upper seesaw and a lower seesaw are respectively horizontally arranged above and below the cams on the left side and the right side, a small extension spring is arranged on the upper seesaw and the lower seesaw close to the cams, the seesaw is always in contact with the cams due to the tension of the springs, the upper seesaw and the lower seesaw are kept in a horizontal position, bosses are respectively arranged on one side of the upper end face of the upper seesaw and one side of the lower end face of the lower seesaw, the two bosses are oppositely arranged up and down, a first lock hook and a second lock hook are arranged at the bosses of the upper seesaw, the first lock hook and the second lock hook are respectively arranged left and right and are respectively in contact with and locked by the bosses of the upper seesaw, a third lock hook and a fourth lock hook are arranged at the bosses of the lower seesaw;

the inner side surfaces of the two side plates are symmetrically provided with 2 groups of U-shaped torsion spring frames, the 2 groups of torsion spring frames are respectively arranged above and below the upper seesaw and the lower seesaw, 2 torsion spring shafts are arranged in each torsion spring frame in parallel, each torsion spring shaft is provided with a torsion spring, the fixed end of each torsion spring abuts against the inner plate of the torsion spring frame, the other end of each torsion spring is a free end, and the two free ends are fixed on the lock hooks;

the middle parts of the upper side and the lower side of the outer side plate are movably and symmetrically provided with a first rigid baffle and a second rigid baffle, and the radians of the first rigid baffle and the second rigid baffle correspond to the cylindrical surface of the cylinder-packed unmanned aerial vehicle.

Furthermore, fan-shaped teeth are arranged on the outer side walls of the first rigid baffle and the second rigid baffle, gears are arranged at two ends of the upper gear shaft and the lower gear shaft respectively, the gears are meshed with the fan-shaped teeth of the first rigid baffle and the third gear respectively, and the third gear is meshed with the fan-shaped teeth of the second rigid baffle.

Furthermore, the idler wheel is arranged on an idler wheel shaft on the outer side of the side plate.

Furthermore, the upper gear shaft, the cam shaft and the lower gear shaft are respectively controlled to rotate by an upper gear shaft motor, a cam shaft motor and a lower gear shaft motor.

Further, the transverse plates comprise an upper transverse plate, a middle transverse plate and a lower transverse plate, and the upper gear shaft motor, the cam shaft motor and the lower gear shaft motor are fixedly arranged on the upper transverse plate, the middle transverse plate and the lower transverse plate respectively.

Furthermore, the upper seesaw and the lower seesaw are arranged on the shaft sleeve of the transverse plate in the rack through the upper seesaw shaft and the lower seesaw shaft.

The utility model provides a machine carries cartridge loading unmanned aerial vehicle to distribute tightening means who spills ware which characterized in that: the novel adjustable clamp comprises an L-shaped buckle plate, wherein a shaft penetrates through the upper end of the buckle plate, a crank is fixedly arranged at one end of the shaft, a soft tightening lock penetrates through the other end of the shaft, and two ends of the tightening lock are in a hook shape; one side of the lower end of the pinch plate is provided with a groove, the size of the groove is matched with that of the torsion spring frame, and the torsion spring frame is sleeved in the groove.

A method for casting a distributing and scattering device of an airborne cartridge-mounted unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the following steps:

1) energy storage by tightening torsional spring

Buckling a buckle plate of a tightening device on a torsion spring frame of an energy storage mechanism, hooking two ends of a tightening rope at free ends of two torsion springs, sleeving a crank at the square head of the shaft end of a tightening shaft, rotating the crank, tightening the torsion springs when the tightening rope is wound on the shaft, pushing inclined planes of a first lock hook and a second lock hook at the free ends of the torsion springs to push a horizontal upper seesaw to rotate around an upper seesaw shaft, when a boss of the upper seesaw is positioned between the first lock hook and the second lock hook, the upper seesaw returns to the horizontal position due to the tensile force of a tension spring, reversely rotating the crank at the moment, locking the first lock hook and the second lock hook at the boss part of the upper seesaw, and the torsion springs are in an energy storage state;

2) fixed cylinder unmanned aerial vehicle

The upper layer of the cartridge unmanned aerial vehicle on the airborne cartridge unmanned aerial vehicle spreader is provided with 2, the lower layer is provided with 2, two cartridge unmanned aerial vehicles on the same layer need to be fixed simultaneously, a gear shaft motor is controlled, the angle of an upper gear shaft is rotated by 7.5 degrees, a first rigid baffle and a second rigid baffle synchronously rotate by 7.5 degrees through gear transmission, the radian part is raised, then 2 cartridge unmanned aerial vehicles opposite in horizontal direction are placed in a semicircular groove, the gear shaft motor is controlled to reversely rotate by 7.5 degrees, the cambered surfaces of the first rigid baffle and the second rigid baffle are completely contacted with the cylindrical surface of the cartridge unmanned aerial vehicle 1, and the cartridge unmanned aerial vehicle 1 is reliably fixed;

similarly, fixing 2 cylinder-packed unmanned aerial vehicles on the lower layer;

3) throwing

When the unmanned aerial vehicle is thrown and loaded in the cylinder, the control system sends out a switching signal, the gear shaft motor is electrified, the gear shaft motor drives the gear shaft to rotate by 7.5 degrees, the gear drives the rigid baffle I to rotate, the rigid baffle II and the rigid baffle are driven by the idler wheel to be lifted upwards synchronously,

the control system sends a switching signal to the cam shaft motor simultaneously, the cam shaft motor drives the cam on the cam shaft to rotate, when the cam rotates anticlockwise by 0-90 degrees, the cam enables the flat end of the upper seesaw to move upwards, the boss end moves downwards, a first lock hook and a second lock hook corresponding to 2 cartridge unmanned aerial vehicles are enabled to be unhooked, the fixing mechanism is unlocked at the moment, the torsion spring is released, the free end pushes the cartridge unmanned aerial vehicles to move, the cartridge unmanned aerial vehicles are enabled to obtain speed, the elastic potential energy of the cartridge unmanned aerial vehicles is converted into the kinetic energy of the cartridge unmanned aerial vehicles, and synchronous ejection of the two.

Compared with the prior art, the invention has the following advantages:

1. the reliability is high:

the invention adopts a mechanical structure to store and release energy of the torsion spring and convert elastic potential energy into kinetic energy of the barrel-packed unmanned aerial vehicle, and has clear principle and reliable ejection.

2. The environmental suitability is strong:

the airborne barrel-packed unmanned aerial vehicle distributor adopted by the invention is of a mechanical structure, and adopts a torsion spring to store energy, a torsion spring releases energy, and elastic potential energy is converted into kinetic energy of the barrel-packed unmanned aerial vehicle. The mechanical structure of the airborne barrel-mounted unmanned aerial vehicle spreader and the performance of a torsion spring used as an energy storage device are slightly influenced by temperature difference, and the original performance of the airborne barrel-mounted unmanned aerial vehicle spreader can be kept in severe high and low temperature environments; thereby guarantee cartridge unmanned aerial vehicle's projectile velocity uniformity.

3. The flexibility is good:

under the condition that the principle is not changed, the airborne cartridge unmanned aerial vehicle spreader device can realize the projecting action meeting the requirement only by correspondingly changing the size and designing the spring according to the size, the quality and the initial speed requirement of the cartridge unmanned aerial vehicle.

Description of the drawings:

FIG. 1 is a side view of an airborne cartridge-mounted unmanned aerial vehicle spreader of the present invention;

FIG. 2 is an enlarged view of the invention shown in FIG. 1 in phantom;

FIG. 3 is a front view of the airborne cartridge-mounted unmanned aerial vehicle spreader of the present invention;

FIG. 4 is a schematic view of an energy storage mechanism of a spreader of the airborne cartridge-mounted unmanned aerial vehicle according to the present invention;

FIG. 5 is a schematic view of the tightening mechanism of the present invention;

FIG. 6 is a schematic view of the construction of the gusset of the present invention;

FIG. 7 is a schematic structural view of the takeup shaft of the present invention;

FIG. 8 is a left side view of FIG. 7;

description of the labeling: the unmanned aerial vehicle comprises a barrel-mounted unmanned aerial vehicle body 1, a frame side plate 2, a frame upper transverse plate 3, a shaft sleeve 4, a frame middle transverse plate 5, a frame lower transverse plate 6, an upper gear shaft motor 7, a cam shaft motor 8, a cam shaft 9, a lower gear shaft motor 10, a lower gear shaft 11, an upper gear shaft 12, a torsion spring frame 13, a torsion spring shaft 14, a torsion spring 15, a first locking hook 16, a second locking hook 17, a first upper rocker 18, a lower rocker 19, a third locking hook 20, a fourth locking hook 21, a cam 22, a first rigid baffle 23, a gear 24, a second rigid baffle 26, a second baffle shaft 27, a second through gear shaft 28, a first baffle shaft 29, a first upper rocker shaft 30, a lower rocker shaft 31, a tightening cable 32, a tightening shaft 33, a crank 34, a buckle 35 and a tension spring 36.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention discloses a principle of a spreading and casting system of an airborne cartridge-mounted unmanned aerial vehicle, which comprises the following steps: the torsion spring is used as an energy accumulator, is deformed through a tightening device and is fixed on an energy storage mechanism to store elastic potential energy; when throwing, through release mechanism, remove the torsion spring restraint, at the torsion spring in-process that resets, torsion spring promotes cartridge unmanned aerial vehicle, and cartridge unmanned aerial vehicle obtains the acceleration owing to the effect of power, and then produces speed, and torsion spring's elastic potential energy converts cartridge unmanned aerial vehicle's kinetic energy into, makes cartridge unmanned aerial vehicle throw away with certain speed.

Example (b):

the embodiment provides a distributing and scattering device for an airborne cartridge-mounted unmanned aerial vehicle, which comprises four parts, namely a fixing mechanism, an energy storage mechanism, a tightening mechanism and a releasing mechanism;

above-mentioned fixed establishment is used for fixed cartridge unmanned aerial vehicle 1, ensures reliably not droing in non-projectile state cartridge unmanned aerial vehicle clamping 1.

The energy storage mechanism is used for storing energy so as to enable the cylinder-packed unmanned aerial vehicle to be thrown out at a certain speed.

The tightening mechanism tightens the torsion spring 15 and fixes it to the energy storage mechanism to maintain the energy storage state.

The release mechanism is a torsion spring 15 for releasing the energy storage state, and converts elastic potential energy into kinetic energy of the cartridge-packed unmanned aerial vehicle 1.

The structure of the invention is shown in figures 1-4, and comprises frame side plates 2 which are symmetrically arranged on the left and right, wherein the two side plates 2 are connected through a frame upper transverse plate 2, a frame middle transverse plate 5 and a frame lower transverse plate 6, two side edges of the two side plates 2 are respectively symmetrically provided with a semicircular groove for placing a cartridge-mounted unmanned aerial vehicle 1, an upper gear shaft 12, a cam shaft 9 and a lower gear shaft 11 are sequentially arranged between the two side plates 2 from top to bottom, the upper gear shaft 12, the cam shaft 9 and the lower gear shaft 11 are respectively controlled to rotate through an upper gear shaft motor 7, a cam shaft motor 8 and a lower gear shaft motor 10, two ends of the cam shaft 9 close to the inner side surfaces of the side plates are respectively provided with a cam 22, and the cam shaft 9 is arranged.

An upper seesaw 18 and a lower seesaw 19 are horizontally arranged above and below the cam 22 on the left side and the right side, the upper seesaw 18 and the lower seesaw 19 are provided with a small extension spring 36 close to the cam 22, the seesaw is always contacted with the cam 22 by the spring tension, the upper seesaw 18 and the lower seesaw 19 are kept in the horizontal position, the upper seesaw 18 and the lower seesaw 19 are arranged on the shaft sleeve 4 of the transverse plate 5 in the frame through an upper seesaw shaft 30 and a lower seesaw shaft 31, bosses are respectively arranged on one side of the upper end surface of the upper seesaw 18 and one side of the lower end surface of the lower seesaw 19, the two bosses are oppositely arranged up and down, a latch hook I16 and a latch hook II 17 are arranged at the boss of the upper seesaw 18, the latch hook I16 and the latch hook II 17 are respectively arranged on the left side and the right side, the latch hooks of the latch hook I16 and the latch hook II 17 are respectively locked with the bosses of the upper seesaw 18, a, the latch hooks of the latch hook III 20 and the latch hook IV 21 are respectively locked with the bosses of the lower seesaw 19;

the inner side surfaces of the two side plates 2 are respectively symmetrically provided with 2 groups of torsion spring frames 13, the 2 groups of torsion spring frames 13 are respectively arranged above and below the upper seesaw and the lower seesaw, two torsion springs 15 are fixed in each torsion spring frame 13 through torsion spring shafts 14, the fixed end of each torsion spring 15 is close to the inner plate of the torsion spring frame 13, the other end of each torsion spring is a free end, and the free end is fixed on the lock hook.

The two ends of the upper gear shaft 12 and the lower gear shaft 11 are respectively provided with a gear 24, the gear 24 is meshed with a third wheel 25, the third wheel 25 is arranged on a third wheel shaft 28 on the outer side of the side plate 2, and the third wheel 25 and the gear 24 have the same size and are matched with the third wheel shaft 28 fixed on the side plate 2 of the rack. The outer side plate 2 is movably provided with a first arc-shaped rigid baffle 23 and a second arc-shaped rigid baffle 26 through a first baffle shaft 29 and a second baffle shaft 27, the radians of the first rigid baffle 23 and the second rigid baffle 26 correspond to the cylindrical surface of the cylindrical unmanned aerial vehicle 1, the outer side walls of the first rigid baffle 23 and the second rigid baffle 26 are provided with sector-shaped teeth, and the two gears 24 are respectively meshed with the sector-shaped teeth of the first rigid baffle 23 and the second rigid baffle 26.

The camshaft motor 8 is arranged at the center of the transverse plate 5 in the frame, one end of the camshaft 9 is connected with the camshaft motor 8, the other end of the camshaft passes through the shaft sleeve 4, and the end part of the camshaft is provided with a cam 22.

A tightening device of an airborne cartridge-mounted unmanned aerial vehicle spreader comprises an L-shaped buckle plate 35, wherein a shaft 33 is arranged at the upper end of the buckle plate 35 in a penetrating manner, a crank 34 is arranged at one end of the shaft 33, the crank 34 is an independent part and is matched with the four sides of the tightening shaft 33, small holes are formed in the periphery of the other end of the buckle plate, a soft tightening lock 32 is arranged in the small holes of the tightening shaft 33 in a penetrating manner, and two ends of the tightening lock 32 are hook-shaped; the lower extreme one side of buckle 35 is provided with the recess, and the size of recess matches with the size of torsional spring frame 13, and torsional spring frame 13 cover is located in the recess.

A method for casting a distributing and scattering device of an airborne cartridge-mounted unmanned aerial vehicle comprises the following steps:

1) energy storage by tightening torsional spring

Buckling a buckle plate 35 of the tightening device on a torsion spring frame 13 of the energy storage mechanism, hooking two ends of a tightening rope 32 at the free ends of two torsion springs 15, sleeving a crank 34 on the square head of the shaft end of a tightening shaft 33, rotating the crank 34, tightening the torsion springs 15 when the tightening rope 32 is wound on the shaft 33, pushing inclined planes of a first locking hook 16 and a second locking hook 17 at the free ends of the torsion springs 15 to push the upper seesaw 18 which is in the horizontal state to rotate around the upper seesaw shaft 30, when bosses of the first locking hook 16 and the second locking hook 17 are positioned between the upper seesaw 18 and the first locking hook 16 and the second locking hook 17, the upper seesaw 18 returns to the horizontal position under the action of the tensile force of the springs, reversely rotating the crank 34 at the moment, locking the first locking hook 16 and the second locking hook 17 to be locked at the boss parts;

2) fixed cylinder unmanned aerial vehicle

The upper layer of the cartridge unmanned aerial vehicle on the airborne cartridge unmanned aerial vehicle spreader is 2, the lower layer of the cartridge unmanned aerial vehicle is 2, two cartridge unmanned aerial vehicles on the same layer need to be fixed simultaneously, a gear shaft motor is controlled, the angle of an upper gear shaft 12 is rotated by 7.5 degrees, through gear transmission, a first rigid baffle plate 23 and a second rigid baffle plate 26 synchronously rotate by 7.5 degrees, the radian part is raised, then 2 cartridge unmanned aerial vehicles 1 which are horizontally opposite are placed in a semicircular groove, the gear shaft motor 7 is controlled to reversely rotate by 7.5 degrees, at the moment, the cambered surfaces of the first rigid baffle plate 23 and the second rigid baffle plate 26 are completely contacted with the cylindrical surface of the cartridge unmanned aerial vehicle 1, and the cartridge unmanned aerial vehicle 1 is reliably fixed;

similarly, fixing 2 cylinder-packed unmanned aerial vehicles on the lower layer;

3) throwing

When the unmanned aerial vehicle 1 is loaded in the projectile cylinder, the control system sends out a switching signal, the gear shaft motor 7 is electrified, the gear shaft motor 7 drives the gear shaft to rotate by 7.5 degrees, the gear 24 drives the first rigid baffle plate 23 to rotate, the second rigid baffle plate 26 and the first rigid baffle plate 23 are driven by the third wheel 25 to be lifted upwards synchronously,

the control system sends a switching signal to the cam shaft motor 8 at the same time, the cam shaft motor 8 drives the cam 22 on the cam shaft 9 to rotate, when the cam shaft rotates by 0-90 degrees anticlockwise, the cam 22 enables the flat end of the upper seesaw 18 to move upwards, the boss end moves downwards, the first lock hook 16 and the second lock hook 17 corresponding to the 2 cartridge unmanned aerial vehicles 1 are disengaged, the fixing mechanism is unlocked at the moment, the torsion spring 15 is released, the free end pushes the cartridge unmanned aerial vehicles 1 to move, the free end enables the cartridge unmanned aerial vehicles to obtain speed, the elastic potential energy of the elastic potential energy is converted into the kinetic energy of the cartridge unmanned aerial vehicles, and synchronous ejection of the two.

The requirements of the parameters of the invention are as follows:

and (3) casting conditions:

barreled unmanned aerial vehicle restraint size: 1110mmx phi 160mm (long X diameter), barreled unmanned aerial vehicle quality: m is less than or equal to 17 kg. The traction speed, namely the course speed of the spreader during casting is 170-200m/s, and the casting speed, namely the speed of the barreled unmanned aerial vehicle leaving the spreader is more than or equal to 2 m/s.

1. Design of torsional spring performance

According to the law of conservation of energy: e_P＝E_KObtaining:

one section of thick bamboo adopts 2 torsional springs to push away and penetrates, so the elastic potential energy of torsional spring should satisfy the condition:

alpha is the deformation angle of the torsion arm of the torsion spring; k is torsional stiffness of the torsion spring.

And selecting oil quenching tempered spring steel wires 65Mn according to the design requirement of III load.

The diameter of the steel wire: the diameter d of the preliminarily selected steel wire is 5mm

Allowable bending stress: and (6) looking up a table to obtain: [ sigma ]_b]1500Mpa, [ sigma ] m_Bp]＝0.8[σ_b]＝1200Mpa

The winding ratio is as follows: for compact structure, the provisional C is 4

Curvature coefficient:

the pitch diameter of the torsion spring: d₂＝C×d＝20mm

Outer diameter of the torsion spring: d ═ D₂+d＝20+5＝25mm

Number of turns of torsion spring: taking n as 4

Modulus of elasticity: according to the oil quenching tempering of 65Mn material of steel wire, taking E as 206000Mpa

Torsional rigidity:

deformation angle: take the deformation angle alpha to 40 °

Elastic potential energy:

initial contact point between the torque arm and the barrel: 10mm from the axle center of the torsion spring.

Force at the point of action:

during the change of the deformation angle alpha from 0 to 40 DEG after the torsion arm is released

Horizontal component force of the cylinder:

acceleration of the drum being

The time taken to complete the projectile was:

the spring parameters are as follows:

2. torsion spring self-locking verification

Self-locking verification: let θ be the critical angle at which self-locking occurs and F be the force applied to the barrel by the torque arm that is directed toward the barrel center.

The friction force F ═ μ N ═ μ F sin θ.

The friction force needs to meet the conditions: f ═ μ N ═ μ F sin θ > F cos θ

According to the friction coefficient range of common materials, taking mu as 0.2:

0.2sinθ＞cosθ

obtaining by solution: theta is about 79 deg.. And the deformation angle alpha of the torsion spring is 40 deg.. So that no self-locking occurs.

Initial contact point between the torque arm and the barrel: 10mm from the axle center of the torsion spring.

3. Motor selection

The motor is a 57HS11230B4D8 stepping double-shaft motor (Wuxi Santu electrical equipment Co., Ltd.), the rated power, the rated voltage, the rated current, the rated rotating speed and the rated torque are respectively 120(W), 24(V), 4.2(A), 0-800(rpm) and 3(NM), and the shaft diameter is 8 mm.

Motor selection verification calculation

At the seesaw position: force applied to the shackle by the torque arm

The friction force required for unlocking the right side is f-4 mu N-140.512N, and mu is 0.2

The force applied to the seesaw by the rated torque of the left motor is as follows:the shaft diameter R is 8 mm.

The seesaw is in a symmetrical structure, and the motor can meet the requirement.

4. Throwing space

The upper layer of the cylinder and the lower layer of the cylinder have certain time requirements for throwing, the throwing time difference of the upper layer and the lower layer is the time for rotating the cam (namely a motor shaft) for 90 degrees according to the system design, and the cam can be adjusted and controlled according to the rotating speed (reducing time) and the cam profile (reducing angle) of the motor shaft.

5. Projectile process time control

When the projectile is thrown, a motor connected with the rigid baffle plate at the lower layer needs to send a signal, and the rigid baffle plate moves upwards after the motor rotates anticlockwise for 30 degrees to enable the barrel to be in a movable state. And then sending a signal to a motor connected with the cam to unlock and cast the torsion spring. The time t used when the rated speed of the motor is 800RPM₁0.00625 s. When the motor rotates 90 degrees anticlockwise, the lower two cylinders finish throwing, and the used time t₂0.01875 s. The ejection of the upper layer cylinder is the same.

The airborne unmanned aerial vehicle is an unmanned aerial vehicle which is installed on a spreader of an aircraft and is launched in the air. The actual speed of the drone is linked to the speed of the aircraft, since it is thrown in the air. When throwing, the speed of throwing when the traction speed is throwing is that the course speed of scattering ware is 170 and sand 200m/s, under the prerequisite that the speed that barreled unmanned aerial vehicle leaves the scattering ware promptly is greater than or equal to 2m/s of throwing speed, throw away the barreled unmanned aerial vehicle on scattering a section of thick bamboo to guarantee unmanned aerial vehicle and scattering ware after the separation with scatter ware, aircraft and other unmanned aerial vehicle launch the collision, in engineering reality, the aircraft is full-load unmanned aerial vehicle 4, upper and lower two-layer each 2. Require when throwing that 2 unmanned aerial vehicle on the same layer on the ware of scattering throw away in step.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and it should be noted that those skilled in the art should make modifications and variations without departing from the principle of the present invention.