CN105644786B - A kind of Small and micro-satellite throwing device - Google Patents

Abstract

The invention provides a throwing device for a miniature unmanned aerial vehicle, which includes an AT89C51 single-chip microcomputer, a single-chip development board, a stepping motor driver, a stepping motor (6), a coupling (8), and a main shaft (7) , 2 bearing blocks (11), motor handwheel (12), rubber spacer (9), metal spacer (10), lead wires, motor bracket (5), transmission shaft (13) and carbon fiber plate (4). The single-chip microcomputer sends a signal to control the stepping motor to rotate a certain angle, and then drives the motor hand wheel to rotate a certain angle through the coupling, and finally realizes the throwing of heavy objects. The invention provides a novel, easy-to-operate and adjust throwing control device for the miniature unmanned aerial vehicle.

Description

A throwing device for a micro drone

technical field

The invention relates to an unmanned aerial vehicle delivery device, which can be applied to the bomb delivery device of the aircraft, and the high-altitude lifting of heavy objects to any designated position, and is also suitable for high-altitude operations

Background technique

At present, although the technology of high-altitude delivery devices has gradually matured, most of them are kept secret, and it is still very rare to be applied to actual high-altitude delivery operations. It makes up for the difficulty of buying relatively cheap high-altitude launch products in the market. And it can accurately estimate the specific time it takes from issuing the delivery command to the actual delivery, which is also applicable to high-precision occasions.

Contents of the invention

The technical problem to be solved by the present invention is: the purpose is to solve various problems faced by the accurate delivery of drones at the present stage, such as whether the object can be successfully delivered, and whether the delivery time can be accurately estimated. The invention provides an unmanned aerial vehicle delivery device, which ensures that the delivery task can be completed smoothly and accurately. Moreover, the device is light in weight and small in volume, and can be applied to various harsh environments.

The technical scheme adopted in the present invention is: a micro-miniature unmanned aerial vehicle throwing device, including AT89C51 single-chip microcomputer, single-chip microcomputer development board, stepping motor driver, stepping motor, coupling, main shaft, 2 bearing blocks, motor handwheel , rubber pads, metal gaskets, leads, motor brackets, transmission shafts and carbon fiber boards; the MCU development board is connected to the stepper motor driver through leads, the stepper motor driver is connected to the stepper motor through leads, and the stepper motor is passed through The motor bracket is fixed on the carbon fiber plate, the main shaft of the stepper motor and the transmission shaft are connected together through a coupling and the coaxiality is guaranteed; a motor handwheel is installed in the middle of the transmission shaft, and the fire extinguishing bomb is hung through the motor handwheel; Place a bearing seat at the left and right symmetrical positions of the motor handwheel, install a rubber spacer between the bearing seat and the carbon fiber plate, and add a metal gasket on the rubber spacer, the rubber spacer and the metal spacer are used to adjust the bearing The distance between the seat and the carbon fiber plate is to make the stepper motor spindle and the drive shaft equal height, and the bearing seat, metal gasket, rubber pad, and carbon fiber plate are connected with bolts; use the signal in the AT89C51 single-chip microcomputer and the single-chip microcomputer development board Convert the chip communication, and send a pulse signal to control the stepper motor driver, and then control the stepper motor to rotate a certain angle, and drive the motor handwheel to rotate a corresponding angle through the coupling, so as to realize the throwing of heavy objects.

Among them, the thickness of the rubber pad is relatively fixed, and the metal gasket realizes a fine adjustment of the distance between the transmission shaft and the carbon fiber plate.

Wherein, the bearing seat is used to bear the external force of the device, and the external force is mainly the gravity of the fire extinguishing bomb.

Among them, the stepper motor is 42 stepper motors, and the 42 stepper motors are paired with the corresponding motor handwheel and motor bracket. The carbon fiber board with length 300mm*width 200mm*height 3mm is selected, and the rubber pad with length 100mm*width 100mm*height is 15mm. Piece. Choose a metal gasket with a length of 20mm*width 60mm*height 2mm, a 5/8 plum blossom coupling for the coupling, a bearing seat with a fixed hole distance of 37mm, and an inner diameter of the shaft hole of 8mm, and a motor handwheel of 42 mm. Motor handwheel.

Among them, a ULN2003A signal conversion chip is added to the single-chip microcomputer development board during the design process to realize the normal communication between the stepper motor driver and the single-chip microcomputer.

Among them, the outer edge of the rubber pad is processed, and a small pad with a length of 5 mm * a width of 5 mm is dug out, so that the bolt is just installed in the groove of the rubber pad.

Among them, the metal gasket is processed into two symmetrical holes, and the distance between the two holes is consistent with the distance between the bearing seats. The thickness of the metal gasket is 2mm, which increases the stability of the bearing seat, carbon fiber board and rubber pad during installation. , and realized the fine-tuning of the spacing.

Among them, the motor handwheel is selected and processed into a 90-degree groove, and the heavy object is suspended on it. When the handwheel rotates at a certain angle, the heavy object can smoothly fall off from the groove.

Among them, the AT89C51 single-chip microcomputer can be replaced by other forms of control chips, which enhances the versatility of the entire device.

After adopting the above technical scheme, the present invention has the following beneficial effects: using single-chip microcomputer control, the delivery time can be accurately controlled; the self-made development version is adopted, which greatly reduces the space occupied during installation; The rotation angle is accurately grasped; the use of processed motor handwheels reduces the problems that may occur during the installation and fixing of heavy objects.

Description of drawings

Fig. 1 is a diagram of the throwing device of a micro-miniature unmanned aerial vehicle;

Figure 2 is the schematic diagram of the development version of the small single-chip microcomputer;

Fig. 3 is the left view of motor handwheel of the present invention;

Fig. 4 is the front view of motor handwheel of the present invention;

Fig. 5 is the rubber block among the present invention;

Fig. 6 is a metal gasket in the present invention.

The meanings of reference signs in the figure are: 1 is M3 bolt, 2 is M3 nut, 3 is M3 washer, 4 is carbon fiber board, 5 is motor bracket, 6 is stepper motor, 7 is main shaft, 8 is coupling, 9 10 is a metal gasket, 11 is a bearing seat, 12 is a motor handwheel, 13 is a transmission shaft, 14 is an M5 bolt, 15 is an M5 washer, and 16 is an M5 nut.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, a kind of miniature unmanned aerial vehicle throwing device, comprises AT89C51 single-chip microcomputer (or other form control chip), single-chip microcomputer development board, stepper motor driver, stepper motor 6, shaft coupling 8, main shaft 7, Bearing block 11 (2 pieces), motor hand wheel 12, rubber pad 9, metal gasket 10, lead wire, motor bracket 5, transmission shaft 13 and carbon fiber plate 4. The single-chip microcomputer development board is connected to the stepper motor driver through a lead wire, and the stepper motor driver is connected to the stepper motor 6 through a special lead wire, and the stepper motor 6 is fixed on the carbon fiber board 4 through the motor bracket 5, and the spindle of the stepper motor 6 is connected to the transmission The shafts 13 are connected together by the shaft coupling 8 and the coaxiality is guaranteed. A motor handwheel 12 is placed in the middle of the transmission shaft 13, that is, just below the carbon fiber plate 4, and a fire extinguishing bomb is hung by the motor handwheel 12. A bearing seat 11 is respectively placed in the left and right symmetrical positions of the motor hand wheel 12, which is used to bear the external force of the device (mainly fire extinguishing bombs). In order to ensure the equal height of the stepper motor 6 main shaft and the transmission shaft 13, a rubber pad 9 is installed below the bearing seat 11 to adjust the distance between the bearing seat 11 and the carbon fiber plate 4. But because the thickness of rubber spacer 9 is relatively fixed, a metal shim 10 is added on rubber spacer 9 to realize a fine adjustment of the distance between the two. The signal conversion chip ULN2003A is used to realize the communication between the single-chip microcomputer and the stepping motor driver; the single-chip microcomputer sends a pulse signal to control the stepping motor driver, and then controls the stepping motor 6 to rotate at a certain angle, and drives the motor hand wheel 12 to rotate through the coupling 8 The corresponding angle, so as to realize the throwing of heavy objects. Use 42 stepper motors to match the corresponding motor handwheel and motor bracket. Choose a carbon fiber board with a length of 300mm*width of 200mm*height of 3mm. Choose a rubber pad with a length of 150mm*width of 150mm*height of 15mm. Choose a metal gasket with a length of 20mm*width of 60mm*height of 2mm. Choose 5/8 plum blossom coupling. Choose a bearing seat with a fixed hole distance of 37mm and an inner diameter of the shaft hole of 8mm, and use a 42 motor handwheel.

As shown in Figure 2, the upper left of the AT89C51 microcontroller is the clock circuit, which provides a unique clock frequency for external interrupt sources. Below it is a reset circuit, which restores the circuit to its initial state. The lower left of the device is the signal conversion chip ULN2003A, which realizes the signal conversion between the single-chip microcomputer and the stepper motor driver. The right side of the microcontroller is the MAX232 chip, which is used to connect the serial port and realize signal transmission, and the right side is the serial port for external connection. There is a button on the bottom right of the single chip microcomputer, which controls the throwing command of the whole device. In the delivery device, the program is burned into the single-chip microcomputer through the development board through software programming, and then the stepper motor driver is controlled. The stepper motor is controlled to rotate by a certain angle through the stepper motor driver. The stepper motor drives the hand wheel to rotate the corresponding angle through the coupling. When the handwheel of the motor rotates to a certain angle, the heavy object will fall off along the groove opening to realize the delivery.

As shown in Figure 3, the installation and fixation of the actual drop is relatively cumbersome, and multiple processing procedures are required for the shaft and the objects on the shaft. In the present invention, the motor handwheel is used to realize the installation and fixing of heavy objects, which greatly simplifies the installation and fixing of objects on the actual shaft and avoids waste of space.

As shown in Figure 4, when actually putting heavy objects, it often occurs that the objects cannot be dragged by the hook. In the present invention, the motor handwheel is processed with grooves, so that the motor handwheel can be smoothly separated from the handwheel after rotating 90 degrees to realize the throwing.

As shown in Figure 5, in order to ensure the coaxiality, considering the load-bearing problem of the micro UAV, it is necessary to add rubber pads to adjust the distance between the connecting parts. However, rubber materials are difficult to process and punch, and metal materials are too bulky. In the present invention, the function of adjusting the spacing is realized by processing the edge of the outer contour of the rubber pad.

As shown in Figure 6, the reliability between the connecting parts is greatly reduced due to the addition of rubber pads in practice. In the present invention, perforated metal gaskets are used to increase the reliability of installation between connecting parts.

What has been described above is only the principles and preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, on the basis of the principle of the present invention, several modifications can be made, which should also be regarded as the protection scope of the present invention.

Claims (8)

1. A kind of 1. Small and micro-satellite throwing device, it is characterised in that：The device includes AT89C51 single-chip microcomputers, microcomputer development Plate, stepper motor driver, stepper motor (6), shaft coupling (8), main shaft (7), 2 bearing blocks (11), motor handwheel (12), rubber Rubber cushion block (9), metallic gasket (10), lead, electric machine support (5), power transmission shaft (13) and carbon fiber plate (4)；Microcomputer development plate leads to Cross lead to be connected on stepper motor driver, stepper motor driver is connected on stepper motor (6) by lead, stepping electricity Machine (6) is fixed in carbon fiber plate (4) by electric machine support (5), and main shaft (7) and the power transmission shaft (13) of stepper motor (6) pass through connection Axle device (8) links together and ensure that axiality；The middle position of power transmission shaft (13) installs a motor handwheel (12), leads to Cross motor handwheel (12) hanging fire extinguishing bomb；A bearing block (11) is placed in motor handwheel (12) symmetrical position respectively, One rubber cushion blocks (9) is installed between bearing block (11) and carbon fiber plate (4), adds a metallic gasket again on rubber cushion blocks (9) (10), rubber cushion blocks (9) and metallic gasket (10) are used to adjust the distance between bearing block (11) and carbon fiber plate (4), make stepping The main shaft (7) and power transmission shaft (13) of motor (6) are contour, with bolt by bearing block (11), metallic gasket (10), rubber cushion blocks (9), Carbon fiber plate (4) connects；Communicated using the signal conversion chip in AT89C51 single-chip microcomputers and microcomputer development plate, single-chip microcomputer Pulse signal control stepper motor driver is sent, and then controls stepper motor (6) to rotate certain angle, passes through shaft coupling (8) drive motor handwheel (12) rotates corresponding angle, so as to realize jettisoninging for weight.
2. 2. unmanned plane throwing device according to claim 1, it is characterised in that：The thickness ratio of rubber cushion blocks (9) is relatively fixed, Metallic gasket (10) realizes a fine setting of distance between power transmission shaft (13) and carbon fiber plate (4).
3. 3. unmanned plane throwing device according to claim 1, it is characterised in that：Bearing block (11) is used to bear the device External force, the external force are mainly the gravity of fire extinguisher bomb.
4. 4. unmanned plane throwing device according to claim 1, it is characterised in that：Stepper motor (6) selects 42 stepper motors, 42 stepper motors match corresponding motor handwheel and electric machine support, from the high 3mm of the wide 200mm* of long 300mm* carbon fiber plate, select The high 15mm of the long wide 100mm* of 100mm* rubber cushion blocks, from the high 2mm of the wide 60mm* of long 20mm* metallic gasket, bearing block (11) From fixing hole away from being 8mm bearing block for 37mm, shaft hole diameter, motor handwheel (12) selects the hand that 42 stepper motors match Wheel.
5. 5. unmanned plane throwing device according to claim 1, it is characterised in that：Microcomputer development plate adds in the design process ULN2003A signal conversion chip is filled, realizes the normal communication of stepper motor driver and single-chip microcomputer.
6. 6. unmanned plane throwing device according to claim 1, it is characterised in that：The outward flange of rubber cushion blocks (9) is carried out Processing, the wide 5mm of 5mm* one long small cushion block is dug out, bolt is just arranged on the groove of rubber cushion blocks.
7. 7. unmanned plane throwing device according to claim 1, it is characterised in that：Metallic gasket (10) is processed into symmetrically Two holes, the spacing of holes and the pitch of holes of bearing block are consistent, and the thickness of metallic gasket (10) is 2mm, increase bearing block, Stability in carbon fiber plate and rubber cushion blocks installation process, and realize the fine setting to spacing.
8. 8. unmanned plane throwing device according to claim 1, it is characterised in that：From motor handwheel (12), and it is processed into 90 degree of groove, weight is suspended on above, weight successfully can come off from groove after handwheel rotates a certain angle.