CN108891601B - Material pod release control system and release control method - Google Patents
Material pod release control system and release control method Download PDFInfo
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- CN108891601B CN108891601B CN201810497201.5A CN201810497201A CN108891601B CN 108891601 B CN108891601 B CN 108891601B CN 201810497201 A CN201810497201 A CN 201810497201A CN 108891601 B CN108891601 B CN 108891601B
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- 239000000463 material Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 238000001514 detection method Methods 0.000 claims abstract description 57
- 238000000926 separation method Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 15
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000008054 signal transmission Effects 0.000 claims abstract description 3
- 230000009471 action Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 5
- 239000003990 capacitor Substances 0.000 description 5
- 229910052744 lithium Inorganic materials 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
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- 230000006378 damage Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 208000034423 Delivery Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
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- 230000005489 elastic deformation Effects 0.000 description 1
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- 238000003780 insertion Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
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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
- B64D17/00—Parachutes
- B64D17/40—Packs
- B64D17/52—Opening, e.g. manual
- B64D17/54—Opening, e.g. manual automatic
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Abstract
The invention discloses a material pod throwing control system and a throwing control method, the material pod throwing control system comprises a falling electric connector (6), a falling detection ejector rod assembly (2), an application module, a controller, a time delay module and an execution mechanism, the falling electric connector (6) and an aerial carrier realize bidirectional transmission of communication signals and address information, the aerial carrier supplies power to the falling electric connector (6), the controller is respectively connected with the falling electric connector (6) and the falling detection ejector rod assembly (2), the falling detection ejector rod assembly (2) is respectively connected with the aerial carrier and the time delay module, the controller controls the execution mechanism through a control signal output end, the controller and the application module realize bidirectional transmission of signals, and the time delay module is connected with a control signal input end of the execution mechanism. The parachute actuating mechanism is controlled by judging the separation detection ejector rod assembly, the carrier on-hook state, the separation state and the delay time range, so that the normal flight of the carrier is fully ensured.
Description
Technical Field
The invention relates to a material pod release control system and a release control method.
Background
The airplane is used for conveying equipment and materials from the air to a designated place, and is a main means for conveying the equipment and the materials to airborne troops and other troops which fight against the enemy. The parachute with the umbrella is one of air-drop modes, utilizes the principle of air resistance, is a deployable pneumatic speed reducer which is inflated and unfolded relative to air movement, and can be used for safely landing people or objects from the air to the ground.
In future battlefields, although different from mechanical wars, the demands of war consumption, material supply and war injury rescue are ever-present. Along with the continuous development of combat styles, the unmanned aerial vehicle can not be limited to a traditional guarantee mode and a traditional thinking mode, has the advantages of low casualty rate, high speed, accurate positioning, flexible adjustment and the like, can support various severe environments and high-risk areas for aerial replenishment tasks, but most of common unmanned aerial vehicles are used for aerial reconnaissance and throwing of bombs to strike ground targets, can not directly hang out supplies and implement high-precision air-drop due to pneumatic influence, and can not guarantee that the supplies are not damaged after being thrown.
Present goods and materials dispensing equipment is mostly to place the goods packing in the cabin, releases the cabin body with the goods through artificial mode, is not equipped with parachute-umbrella cabin for the parachute is placed in the under-cabin together with the goods, and this kind of design has complex operation, throws in inefficiency scheduling problem, and then leads to its control system to be imperfect.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a material pod throwing control system and a throwing control method.
The purpose of the invention is realized by the following technical scheme: the material pod throwing control system comprises a falling electric connector, a falling detection ejector rod assembly, an application module, a controller, a time delay module and an execution mechanism, wherein the falling electric connector and a carrier realize bidirectional transmission of communication signals and address information, the power output end of the carrier is connected with the falling electric connector, the falling electric connector falling judgment port and the communication port of the controller are connected with the falling electric connector, the falling detection ejector rod assembly falling judgment end of the controller is connected with the falling detection ejector rod assembly, the switching value signal output end of the falling detection ejector rod assembly is connected with the carrier, the execution mechanism control signal output end of the controller is connected with the execution mechanism, the hanging state operation end of the controller realizes bidirectional signal transmission with the application module, and the time delay module is connected with the switching value signal output end of the falling detection ejector rod assembly, the delay module is connected with the control signal input end of the actuating mechanism.
The separation detection ejector rod assembly comprises an automatic reset ejector rod and a detection switch, the automatic reset ejector rod and the detection switch are both fixed on the material throwing nacelle, and a gap exists between the automatic reset ejector rod and the detection switch;
the automatic reset ejector rod comprises a reset part, a lifting part and an ejection part, the reset part is an elastic element, the moving end of the reset part is connected with the ejection part, and the lifting part is connected with the ejection part through a connecting piece;
the contact of the detection switch moves from top to bottom along with the lifting part and moves towards the direction far away from the lifting part.
The bottom of lifting portion is the wedge face, and when the nacelle normally installed on the loader, be equipped with between the contact position of pulley and the vertical face of lifting portion and the top of wedge face and reserve the interval.
The actuating mechanism comprises an umbrella opening actuating mechanism and an umbrella releasing actuating mechanism, and the umbrella opening actuating mechanism comprises a second electromagnet for controlling the opening and closing of a cabin door of the umbrella cabin.
The umbrella-removing executing mechanism comprises an umbrella-removing device and a first electromagnet, the umbrella-removing device comprises a telescopic main pin, an early warning pin and a first elastic element, the telescopic main pin is mounted on the material throwing nacelle, the first electromagnet is used for controlling the telescopic main pin to stretch, a bulge matched with the telescopic main pin is arranged on the early warning pin, the early warning pin is locked in the stretching state of the first electromagnet, and the early warning pin is not interfered to rotate in the stretching state; one end of the first elastic element is fixed on the early warning pin, the other end of the first elastic element is fixed on the material delivery pod, the early warning pin comprises a connecting portion and a supporting portion, one end of the connecting portion is hinged to the material delivery pod, the other end of the connecting portion is connected with the supporting portion, and a hook portion matched with a parachute buckle on the parachute is arranged at the bottom of the supporting portion.
The material pod throwing control system further comprises an execution mechanism self-checking feedback module, a self-checking feedback signal output end of the execution mechanism self-checking feedback module is connected with the controller, and the execution mechanism self-checking feedback module comprises parachute opening feedback and parachute releasing feedback.
The material pod throwing control system further comprises a power supply switching module, and a power supply input end of the power supply switching module is connected with the internal power supply and the falling electric connector respectively.
And the signal output end of the delay module is respectively connected with the umbrella opening actuating mechanism and the umbrella releasing actuating mechanism, and the signal input end of the delay module is connected with the release detection ejector rod assembly.
The application module comprises a power-off delay switch module, a state indicator light module and an application interface module, and the operation control ends of the power-off delay switch module, the state indicator light module and the application interface module are respectively in signal bidirectional transmission with the controller.
The throwing control method of the material pod throwing control system comprises the following steps:
s1: judging whether the application module is in an uninstalled state, if so, continuing to S2, and if not, exiting;
s2: judging whether the separation detection ejector rod assembly is in a separation state or not, judging whether the communication of the falling electric connector has a fault or not, if the separation detection ejector rod assembly is in the separation state and the communication of the falling electric connector has the fault, continuing S3, and if not, exiting;
s3: starting a delay module to delay a first delay time, wherein the first delay time is parachute-off control time;
s4: the controller controls a first electromagnet of the umbrella-off executing mechanism, the first electromagnet drives the telescopic main pin to be in an extending state, and the early warning pin is locked;
s5: starting a delay module to delay a second delay time, wherein the second delay time is the actual parachute opening time;
s6: the controller controls a second electromagnet of the umbrella opening executing mechanism, and the second electromagnet drives a cabin door of the umbrella cabin to open to execute the umbrella opening action.
The invention has the beneficial effects that:
1) the parachute cabin is additionally arranged on the existing nacelle, the motion state of the parachute is required to be controlled, and the normal flight of the aircraft is fully ensured by judging the separation detection ejector rod assembly, the aircraft on-hook state, the separation and insertion state and the delay time range and then controlling the actuating mechanism of the parachute.
2) The self-checking feedback signal output end of the execution mechanism self-checking feedback module is connected with the controller, the execution mechanism self-checking feedback module comprises parachute opening feedback and parachute releasing feedback, self-checking feedback information of the execution mechanism is transmitted back to the controller, and therefore the functions of upgrading the system and confirming the execution working progress again are achieved, and the whole system is facilitated to be optimized.
3) In the flight process, in order to prevent the control system and the parachute opening actuating mechanism from losing efficacy, the parachute-taking-off device can take off the parachute, and safety is guaranteed. In the normal putting process, a lock hook signal needs to be sent to the parachute-releasing device firstly to ensure that the parachute is locked and connected in place, and then the parachute is opened according to the delay parachute-opening time.
4) Before the pod is separated from the carrier, the telescopic main pin is in a contracted state, the rotation of the early warning pin is not limited, and when the pulling force of the parachute reaches a threshold value, the pulling force of the first elastic element can be overcome to realize unhooking, so that the navigation safety of the carrier is ensured; specifically, the early warning pin is provided with a bulge matched with the telescopic main pin, when the parachute opening executing mechanism fails and the parachute is opened on the carrier accidentally, the parachute buckle is subjected to the pulling force from the parachute, the early warning pin is tensioned by the parachute buckle, the early warning pin moves along with the parachute buckle, the first elastic element fixed on the early warning pin is stretched, when the elastic limit of the first elastic element is exceeded, the early warning pin cannot be fixed by the first elastic element, the early warning pin continues rotating, the bulge rotates along with the whole early warning pin, at the moment, the telescopic main pin in a contraction state does not block the rotary motion of the bulge, when the supporting part reaches a certain inclination, the parachute buckle falls from the tail end of the early warning pin, the pod is separated from the carrier, the normal flight of the carrier is ensured, and when the pod is separated from the carrier, the telescopic main pin becomes an extension state to lock the lug on the early warning pin to limit the rotation of the early warning, therefore, the parachute is prevented from being unhooked after the pod is thrown, and the stable and safe throwing of the pod to the ground is guaranteed.
5) The power supply input end of the power supply switching module is respectively connected with the internal power supply and the shedding electric connector, the shedding electric connector transmits electric energy from the aircraft power supply to the power supply switching module, the power supply switching module carries out random switching work of the internal power supply and the aircraft power supply, and then the whole system is constantly in a non-power-off state, and normal operation of the system is guaranteed.
6) When the pod is normally installed on the loader, a reserved space is arranged between the contact position of the pulley and the vertical surface of the lifting part and the top end of the wedge-shaped surface, when the pod is not separated from the loader, the ejection part of the automatic reset ejector rod is pressed, the lifting part moves downwards to extrude the pulley, the pulley slides upwards on the vertical surface of the lifting part, when the acceleration G value caused by the rising of the loader is larger, the pod deforms downwards to increase the space between the pod and the loader, the lifting part moves upwards under the action of the reset part, the pulley moves downwards relative to the lifting part, when the pulley slides over the junction point of the vertical surface and the wedge-shaped surface of the lifting part, the pulley moves towards the lifting part, a certain reserved space (over-travel) is arranged between the vertical surface of the lifting part and the pulley, and the pulley can slide a small distance on the vertical surface of the lifting part in the rising process of the lifting part caused by the deformation of the pulley (namely, the pulley slides a small distance on the vertical surface of the lifting part in The distance between the surface and the wedge surface), so that the pulley is always in a pressed state, and the problem of misjudgment of the detection device is avoided.
Drawings
FIG. 1 is a functional block diagram of the hardware of the present invention;
FIG. 2 is a logic diagram of the umbrella opening control of the present invention;
FIG. 3 is a circuit diagram of the hardware delay of the present invention;
FIG. 4 is a diagram of the hardware configuration of the present invention;
FIG. 5 is a schematic structural view of an umbrella removing device;
FIG. 6 is a schematic structural view of a detachment detection stem assembly;
FIG. 7 is a sectional view of the detachment detecting lift pin;
in the figure, 1-lifting lug, 2-detection ejector rod component, 3-automatic reset ejector rod, 3.1-reset part, 3.2-lifting part, 3.3-push-out part, 3.4-connecting piece, 4-umbrella-removing device, 4.1-telescopic king pin, 4.2-connecting part, 4.3-supporting part, 4.4-bulge, 4.5-first elastic element, 4.6-umbrella buckle, 4.7-back hook part, 5-detection switch, 5.1-pulley, 6-drop electric connector, 7-umbrella-opening actuator, 8-umbrella cabin, 9-tail wing, 9.1-lower tail wing and 9.2-upper tail wing.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood 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 inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: as shown in fig. 1 and 4, the material pod throwing control system includes a falling-off electric connector 6, a detachment detection push rod assembly 2, an application module, a controller, a delay module and an execution mechanism.
The falling electric connector 6 is a falling socket, so that signal connection between the nacelle and the aerial carrier is convenient to realize, the falling electric connector 6 and the aerial carrier realize bidirectional transmission of communication signals and address information, namely, address information and other parameters of the nacelle are transmitted to the aerial carrier through the falling electric connector 6, so that the aerial carrier timely makes response operation, normal delivery of materials is guaranteed, the power supply output end of the aerial carrier is connected with the falling electric connector 6, specifically, the falling socket and the aerial carrier are used for realizing electric connection, real-time parameters, states, faults and the like of the cabin are reported in real time, meanwhile, the current and the mounting address of the aerial carrier are obtained, and a falling address line can be used as a basis for confirming whether mounting is successfully separated from the aerial carrier.
The carrier provides a source of electrical energy for the drop electrical connector 6 to enable the drop electrical connector 6 to function properly, preferably, the material pod throwing control system also comprises a power supply switching module, the power supply input end of the power supply switching module is respectively connected with an internal power supply and a drop-off electric connector 6, the drop-off electric connector 6 transmits the electric energy from the power supply of the aerial carrier to the power supply switching module, the power supply switching module can carry out the random switching operation of the internal power supply and the power supply of the carrier, thereby leading the whole system to be in a non-power-off state at any time, ensuring the normal operation of the system and further, the internal power supply is a power supply of the nacelle, specifically, the internal power supply is a lithium battery power supply which is loaded on the nacelle, the carrying capacity of the carrier can be effectively reduced and more electric energy can be provided for the whole system through the characteristics of light weight and more electric power storage of the lithium battery.
Specifically, a 28V aerial carrier power supply and an internal power supply are used for supplying power, the aerial carrier provides the 28V power supply when the aerial carrier is hung, the equipment is electrified and starts to work, and when the nacelle is separated from the aerial carrier, the power supply switching module switches the power supply to the lithium battery, so that the equipment cannot be powered off and restarted during switching. The power supply switching module mainly realizes that the cabin is controlled by the vehicle to be electrified and operated, the cabin power supply is seamlessly switched to the lithium battery after the cabin is put in, the power-off restarting is avoided, and meanwhile, the pod power supply can be closed after the cabin is used after falling to the ground, so that the lithium battery is prevented from being damaged by over-discharge.
The falling electric connector 6 of the controller is separated from the judgment port, the communication port is connected with the falling electric connector 6, the controller and the falling electric connector 6 realize bidirectional transmission of a separation judgment signal, the signals are cooperatively worked, the real-time performance of the signals is guaranteed, and the signals are transmitted to the carrier through the falling electric connector 6, so that the carrier judgment operation is facilitated.
The detachment detection ejector rod assembly 2 detachment judgment end of the controller is connected with the detachment detection ejector rod assembly 2, the switching value signal output end of the detachment detection ejector rod assembly 2 is connected with the carrier, the controller acquires switching information of the detachment detection ejector rod assembly 2, and then other operations are carried out on the basis of the switching information to ensure normal flight of the carrier.
As shown in fig. 6 and 7, the detachment detection push rod assembly 2 includes an automatic return push rod 3 and a detection switch 5, both the automatic return push rod 3 and the detection switch 5 are fixed on the material dropping nacelle, and a gap exists between the automatic return push rod 3 and the detection switch 5.
The automatic reset ejector rod 3 comprises a reset part 3.1, a lifting part 3.2 and an ejection part 3.3, the movable end of the reset part 3.1 is connected with the ejection part 3.3, the reset part 3.1 is a second elastic element and is used for resetting, and the second elastic element is a spring and achieves the purpose of resetting through elastic deformation of the spring.
The lifting part 3.2 is connected with the ejection part 3.3 through a connecting piece 3.4, so that the replacement and maintenance of the second elastic element in the reset part 3.1 are facilitated, the ejection part 3.3 is connected onto the connecting piece 3.4, the connecting piece 3.4 plays a role in bearing, the reset function of the second elastic element is converted into the lifting part 3.2, and then the lifting part 3.2 is changed into lifting movement.
Preferably, the bottom end of the lifting part 3.2 is a wedge-shaped surface, and the contact of the detection switch 5 moves from top to bottom along with the lifting part 3.2 and moves in a direction away from the lifting part 3.2, so that the contact of the detection switch 5 can be a pulley 5.1.
When the contact of the detection switch 5 is provided with the pulley 5.1, when the lifting part 3.2 moves downwards, the bottom end of the lifting part 3.2 contacts with the pulley 5.1, so that the transmission structure is smooth and reliable.
When the pod is normally installed on the elevator, a reserved space is arranged between the contact position of the pulley 5.1 and the vertical surface of the lifting part 3.2 and the top end of the wedge-shaped surface, when the pod is not separated from the elevator, the ejection part 3.3 of the automatic reset ejector rod 3 is pressed, the lifting part 3.2 moves downwards to extrude the pulley 5.1, the pulley 5.1 slides upwards on the vertical surface of the lifting part 3.2, when the acceleration G value caused by the ascending of the elevator is large, the pod deforms downwards to increase the space between the pod and the elevator, the lifting part 3.2 moves upwards under the action of the reset part 3.1, the pulley 5.1 moves downwards relative to the lifting part 3.2, after the pulley 5.1 slides over the junction point of the vertical surface and the wedge-shaped surface of the lifting part 3.2, the pulley 5.1 moves towards the lifting part 3.2, a certain reserved space (over-stroke) exists between the vertical surface of the lifting part 3.2 and the pulley 5.1, and the lifting part of the lifting part 3.2 can cause the lifting part to move in the lifting part 3.2 in the lifting process when the elevator 5.1 is in the process Slide a small distance (the distance of pulley 5.1 between the vertical face of lifting portion 3.2 and the wedge face) on the face, and then make pulley 5.1 be in the pressurized state all the time, avoid leading to detection device to take place the erroneous judgement problem.
The specific working process of the separation detection ejector rod assembly 2 is as follows: when the pod is not separated from the carrier, the distance between the pod and the carrier is smaller than the length of the ejection part 3.3, the ejection part 3.3 is in a pressed state, the lifting part 3.2 applies pressure to the switch contact, and the switch is always in a closed state; when the pod is separated from the carrier, the distance between the pod and the carrier is increased, the ejection part 3.3 rises under the action of the spring of the reset part 3.1, the lifting part 3.2 is separated from the switch contact, the switch is opened, and accurate detection of the separation state of the pod is realized.
The current output end of the separation detection ejector rod component 2 is also connected with the power supply input end of the actuating mechanism to provide necessary electric energy for the actuating mechanism.
The material throwing nacelle with the parachute further comprises a tail wing 9, the tail wing 9 is arranged on the parachute bay 8 and has a protection effect on the separation detection ejector rod assembly 11 when the nacelle touches the ground, so that the ejection part 12.3 of the separation detection ejector rod assembly 11 cannot touch the ground along with the nacelle, the tail wing is divided into four pieces, namely two lower tail wings 9.1, two upper tail wings 9.2, the upper tail wings 9.2 are larger than the lower tail wings 9.1, the posture of the nacelle is more stable when the nacelle is separated from a carrier, and the cover body of the parachute bay 8 is opened upwards when the parachute is opened, so that the ejection of a guiding parachute on the parachute is facilitated.
The actuating mechanism control signal output end of the controller is connected with the actuating mechanism, specifically, the actuating mechanism comprises an umbrella opening actuating mechanism 7 and an umbrella releasing actuating mechanism, and the umbrella opening actuating mechanism 7 comprises a second electromagnet for controlling the opening and closing of a cabin door of an umbrella cabin 8.
The controller is respectively connected with the on-off control signal input ends of the umbrella-off executing mechanism and the umbrella-opening executing mechanism 7, and the controller detects the on-off state of the ejector rod assembly 2 through the obtained separation so as to control the umbrella-opening or umbrella-off action.
In the flight process, in order to prevent the control system and the parachute opening executing mechanism 7 from being out of work, the parachute taking-off device 4 can take off the parachute, and safety is guaranteed. In the normal putting process, a lock hook signal needs to be sent to the parachute-releasing device 4 firstly to ensure that the parachute buckle 4.6 is firmly connected with the early warning pin, the parachute is ensured to be locked and connected in place, and then the parachute is opened according to the delay parachute-opening time.
As shown in fig. 5, the parachute opening executing mechanism comprises a parachute opening device 4 and a first electromagnet, the parachute opening device 4 comprises a telescopic main pin 4.1, a warning pin and a first elastic element 4.5, the telescopic main pin 4.1 is installed on the material dropping nacelle, the first electromagnet is used for controlling the telescopic main pin 4.1 to stretch, a protrusion 4.4 matched with the telescopic main pin 4.1 is arranged on the warning pin, when the parachute with failure of the parachute opening executing mechanism is accidentally opened on the carrier, the parachute buckle 4.6 is pulled by the pulling force from the parachute, the warning pin is tensioned by the parachute buckle 4.6, the warning pin moves along with the parachute buckle 4.6, the first elastic element 4.5 fixed on the warning pin is stretched, when the elastic limit of the first elastic element 4.5 is exceeded, the first elastic element 4.5 cannot fix the warning pin, the warning pin continues to rotate, the protrusion 4.4 rotates along with the whole warning pin, at this time, the telescopic main pin 4.1 in the contracted state does not block the rotation movement of the protrusion 4.4, when the supporting part 4.3 reaches a certain inclination, the umbrella buckle 4.6 falls off from the early warning pin, so that the pod is separated from the carrier, the normal flight of the carrier is ensured, the early warning pin is locked in the extension state of the first electromagnet, and the rotation of the early warning pin is not interfered in the contraction state.
One end of the first elastic element 4.5 is fixed on the early warning pin, the other end of the first elastic element 4.5 is fixed on the material delivery nacelle, so that the first elastic element 4.5 does not deviate, the force borne by the first elastic element 4.5 and the time reaching the elastic limit are specifically set through relevant parameters of the first elastic element 4.5, and further the force borne by the early warning pin is controlled, when the force from the umbrella buckle 4.6 is greater than the pretightening force, the umbrella buckle 4.6 can be separated from the early warning pin, preferably, the first elastic element 4.5 is a spring, the time and the force borne by the elastic coefficient of the spring are calculated, and the method is simple and convenient.
Preferably, first elastic element 4.5 is fixed in on the supporting part 4.3 for first elastic element 4.5 can and the umbrella detain and form shorter arm of force between 4.6, do benefit to in time to report the unusual circumstances of opening the parachute of parachute.
The early warning round pin includes connecting portion 4.2 and supporting part 4.3, the one end of connecting portion 4.2 is articulated with the goods and materials delivery nacelle, and the other end links to each other with supporting part 4.3 for the early warning round pin can rotate around the hinge under the effort of buckle 4.6, and supporting part 4.3 bottom is equipped with 4.6 complex back colludes portion 4.7 with the buckle, makes buckle 4.6 can normally drop and not drop under normal condition in rotatory in-process.
When the nacelle is separated from the aircraft, the telescopic main pin 4.1 is controlled by the first electromagnet to be in an extending state to lock the protrusion 4.4 on the early warning pin, so that the early warning pin is limited from rotating, the parachute is prevented from being unhooked after the nacelle is thrown, and the nacelle is guaranteed to be stably and safely thrown and fall to the ground.
The material nacelle throwing control system further comprises an execution mechanism self-checking feedback module, a self-checking feedback signal output end of the execution mechanism self-checking feedback module is connected with the controller, the execution mechanism self-checking feedback module comprises parachute opening feedback and parachute falling feedback, self-checking feedback information of the execution mechanism is returned to the controller, and therefore the system is upgraded and the function of confirming the execution working progress again is achieved, and the whole system is optimized.
The parachute opening executing mechanism 7 and the parachute opening executing mechanism are fed back to serve as important state parameters, when the carrier flies, if the parachute opening executing mechanism fails in feedback (the parachute and the cabin are locked), the parachute opening executing mechanism 7 also fails in feedback (the parachute is opened), the controller reports the carrier to immediately carry out emergency release to prevent the carrier from being opened to influence flight safety, if the parachute opening feedback fails (the parachute is opened), and the parachute opening feedback device feeds back that the parachute is disengaged (the parachute is disengaged from the cabin), the controller reports the state to the carrier, and the release task is cancelled at the moment.
The on-hook state operation end of controller realizes signal bidirectional transmission with application module, application module include power down time delay switch module, status indicator lamp module, application interface module, power down time delay switch module, status indicator lamp module, application interface module's operation control end respectively with the controller realizes signal bidirectional transmission, and is concrete, the year machine can not power down at the flight in-process, can only carry out power down after the goods is put in and handle, avoid entire system outage and can't work, application interface module can follow outside weighing device and acquire cabin body quality, reports to the year machine on the barycenter parameter, further ensures the normal flight of year machine, status indicator lamp mainly used more audio-visually reflects the realistic battery electric quantity and the fault state of on-hook, provides the main information of normal flight for the year machine.
The delay module is connected with a switching value signal output end of the separation detection ejector rod assembly 2, the delay module is connected with a control signal input end of the actuating mechanism, specifically, a signal output end of the delay module is respectively connected with the umbrella opening actuating mechanism 7 and the umbrella releasing actuating mechanism, and a signal input end of the delay module is connected with the separation detection ejector rod assembly 2.
The delay time of the delay module comprises parachute-off control time and opportunity release delay time, the parachute-off control time comprises hardware delay time and single-chip microcomputer delay time, the single-chip microcomputer delay time is controlled by the controller, and the parachute-off control time is determined by two conditions: when the delay time of the single chip microcomputer is larger than the delay time of the hardware, the delay time of the single chip microcomputer is used as the standard, the delay time of the hardware is obtained by the hardware delay circuit, when the single chip microcomputer breaks down, the pod cannot immediately lock the parachute lock hook after being separated from the airborne machine, the parachute release actuating mechanism can still be controlled to lock the parachute lock hook through the delay hardware delay time, and the airborne machine is protected.
As shown in fig. 3, the hardware delay circuit includes SN74HC4060QDRQ1, CD74HCT4520M, resistor R1, resistor R2, capacitor C3, capacitor C4, and crystal oscillator Y1, one end of the resistor R1 is connected to the signal input terminal of SN74HC4060QDRQ1, the other end is connected to the capacitor C3, one end of the capacitor C4 is connected to the signal output terminal of the CD74HCT4520M, the other end is connected to the capacitor C3 and then grounded, the resistor R2 is connected in parallel between the signal output terminal and the signal input terminal of the SN74HC4060QDRQ1, the crystal oscillator Y1 is connected in parallel between the signal input terminal of the resistor R1 and the signal output terminal of the SN74HC4060QDRQ1, the signal output terminal of the SN74HC4060QDRQ1 is connected to the CD74HCT4520M, and the delayed signal is output through the pin of the CD74HCT45 4520M.
The time delay time for putting in the opportunity is calculated by the controller, and specifically comprises the following steps:
s1: setting the delay time t from the pod being detached from the carrier to the parachute opening1Dividing the process from the nacelle to the landing without parachute opening according to whether the parachute is opened or notA release section and an umbrella opening sliding section;
the calculation of two sections is to safely carry out the throwing task of the nacelle and simultaneously to ensure the safety of the carrier, the parachute cannot be opened immediately after throwing, delay is needed, a minimum delay time is arranged at the position and causes fatal damage to the carrier when being lower than the minimum delay time, in addition, a maximum delay time is also arranged, the maximum delay time is related to the performance of the parachute, specifically, the parachute opening speed of the parachute has a maximum value which is higher than the maximum value, the parachute can be opened, or the parachute is overloaded too much when being opened, so that the consequence of rope fracture and canopy fracture is caused, the speed of the nacelle is increased before the parachute is opened, the descending speed of the nacelle exceeds the maximum parachute opening speed allowed by the parachute after the maximum delay time, the delay parachute opening time is between the minimum delay time and the maximum delay time, when the delay parachute opening time is reached, each umbrella opening executing mechanism performs the umbrella opening action.
S2: by the formula v2=v1+g*t1Calculating the final speed of the parachute in the vertical direction at the parachute-unopened launching section, wherein v2Is said terminal velocity, v1The vertical speed of the carrier is shown, and g is the gravity acceleration;
s3: by the formula f2=ks2v2Calculating the air resistance experienced by the nacelle in the vertical direction, wherein f2Is the air resistance experienced in the vertical direction, k is the drag coefficient estimated from the shape of the nacelle nose cover, s2Representing the frontal area of the parachute;
s4: by the formula a2=f2M calculating the acceleration of the nacelle in the vertical direction, where a2Acceleration of the nacelle in the vertical direction;
s5: by the formula v3 2-v2 2=2*（g+a2）*x3Calculating the displacement of the nacelle in the vertical direction, where x3Indicating the displacement of the nacelle in the vertical direction, v3The speed of the nacelle to the ground;
s6: by the formula x3=v2*t2+{（g+a2）*t2*t 22 calculating the time t of the pod to the ground after the parachute is opened2The time for the pod to reach the ground after the parachute is opened;
therefore, the time delay time of the time throwing is t1+t2The actual parachute opening time is determined according to two conditions: and when the opportunity release delay time is shorter than the parachute release control time, the parachute release control time is used as the standard.
The material pod release control system further comprises a storage card, wherein the working parameter input end of the storage card is connected with the controller, and the storage card can record the state of important parameters in the release process, so that the subsequent system can be checked for errors, maintained and upgraded conveniently.
As shown in fig. 2, the launch control method of the material pod launch control system includes the following steps:
s1: judging whether the application module is in an uninstalled state, if so, continuing to S2, and if not, exiting;
s2: judging whether the separation detection ejector rod assembly 2 is in a separation state, judging whether the communication of the falling electric connector 6 has a fault, if the separation detection ejector rod assembly 2 is in the separation state and the communication of the falling electric connector 6 has the fault, continuing S3, and if not, exiting;
s3: starting a delay module to delay a first delay time, wherein the first delay time is parachute-off control time;
s4: the controller controls a first electromagnet of the umbrella-off actuating mechanism, the first electromagnet drives the telescopic main pin 4.1 to be in an extending state, and the early warning pin is locked;
s5: starting a delay module to delay a second delay time, wherein the second delay time is the actual parachute opening time;
s6: the controller controls a second electromagnet of the umbrella opening executing mechanism 7, and the second electromagnet drives the cabin door of the umbrella cabin 8 to open to execute the umbrella opening action.
After the umbrella opening action is finished, after a third delay time can be delayed, the umbrella opening executing mechanism 7 is controlled to close the electromagnet on the umbrella cabin 8 so as to reduce the power consumption, and the third delay time is a fixed delay time after the umbrella opening action is finished.
The airdrop nacelle is mounted on the hanger through the lifting lug 1, after the lifting lug 1 is in place, the umbrella buckle 4.6 is locked, and then the aviation socket of the nacelle is connected with the aviation plug (namely the falling electric connector 6) of the hanger. After the nacelle is hung, the automatic reset ejector rod 3 on the nacelle is compressed, the nacelle and the aircraft are communicated through the falling-off electric connector 6, the connection state of the nacelle and the aircraft can be judged through signals of the falling-off electric connector 6, after the nacelle and the aircraft are thrown, the connection state is changed, the communication state of the nacelle and the aircraft is communication interruption, the state of the automatic reset ejector rod 3 on the nacelle is bounce, and whether the nacelle is thrown or not can be judged through the three states; when the separation of the released parachute is detected, the parachute cannot be opened immediately for the safety of the carrier, time delay is needed, and when the time reaches the delayed parachute opening time, the parachute opening executing mechanism 7 completes the parachute opening action.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The material nacelle puts in control system, its characterized in that: the intelligent control system comprises a falling electric connector (6), a falling detection ejector rod assembly (2), an application module, a controller, a time delay module and an execution mechanism, wherein the falling electric connector (6) and a carrier realize bidirectional transmission of communication signals and address information, the carrier power output end of the carrier is connected with the falling electric connector (6), the falling electric connector (6) of the controller is separated from a judgment port, a communication port is connected with the falling electric connector (6), the falling detection ejector rod assembly (2) of the controller is separated from the judgment end and connected with the falling detection ejector rod assembly (2), the switching value signal output end of the falling detection ejector rod assembly (2) is connected with the carrier, the execution mechanism control signal output end of the controller is connected with the execution mechanism, and the hanging state operation end of the controller realizes bidirectional transmission of signals with the application module, the delay module is connected with a switching value signal output end of the separation detection ejector rod assembly (2), the delay module is connected with a control signal input end of the actuating mechanism, and the actuating mechanism comprises an umbrella opening actuating mechanism (7) and an umbrella releasing actuating mechanism.
2. The material pod launch control system of claim 1, wherein: the separation detection ejector rod assembly (2) comprises an automatic reset ejector rod (3) and a detection switch (5), the automatic reset ejector rod (3) and the detection switch (5) are both fixed on the material throwing nacelle, and a gap exists between the automatic reset ejector rod (3) and the detection switch (5);
the automatic reset ejector rod (3) comprises a reset part (3.1), a lifting part (3.2) and an ejection part (3.3), the reset part (3.1) is an elastic element, the moving end of the reset part (3.1) is connected with the ejection part (3.3), and the lifting part (3.2) is connected with the ejection part (3.3) through a connecting piece (3.4);
the contact of the detection switch (5) moves from top to bottom along with the lifting part (3.2) and moves towards the direction far away from the lifting part (3.2).
3. The material pod launch control system of claim 2, wherein: the bottom of lift portion (3.2) is the wedge, and the contact that detects switch (5) is the structure of pulley (5.1), and when the nacelle normally installed on the conveyer, be equipped with between the contact position of pulley (5.1) and the vertical face of lift portion (3.2) and the top of wedge and reserve the interval.
4. The material pod launch control system of claim 1, wherein: the umbrella opening executing mechanism (7) comprises a second electromagnet for controlling the opening and closing of the cabin door of the umbrella cabin (8).
5. The material pod launch control system of claim 1, wherein: the umbrella removing executing mechanism comprises an umbrella removing device (4) and a first electromagnet, the umbrella removing device (4) comprises a telescopic main pin (4.1), an early warning pin and a first elastic element (4.5), the telescopic main pin (4.1) is installed on the material throwing nacelle, the first electromagnet is used for controlling the telescopic main pin (4.1) to stretch, a protrusion (4.4) matched with the telescopic main pin (4.1) is arranged on the early warning pin, the early warning pin is locked in the stretching state of the first electromagnet, and the early warning pin is not interfered to rotate in the shrinking state; the one end of first elastic element (4.5) is fixed in on the early warning round pin, the other end is fixed in on the goods and materials delivery nacelle, the early warning round pin includes connecting portion (4.2) and supporting part (4.3), the one end and the goods and materials delivery nacelle of connecting portion (4.2) are articulated, and the other end links to each other with supporting part (4.3), and supporting part (4.3) bottom is equipped with and detains (4.6) complex back hook portion (4.7) with the umbrella on the parachute.
6. The material pod launch control system of claim 1, wherein: the controller is characterized by further comprising an actuating mechanism self-checking feedback module, wherein a self-checking feedback signal output end of the actuating mechanism self-checking feedback module is connected with the controller, and the actuating mechanism self-checking feedback module comprises parachute opening feedback and parachute releasing feedback.
7. The material pod launch control system of claim 1, wherein: the power supply switching device further comprises a power supply switching module, and the power supply input end of the power supply switching module is connected with the internal power supply and the falling electric connector (6) respectively.
8. The material pod launch control system of claim 1, wherein: the signal output end of the delay module is respectively connected with the umbrella opening executing mechanism (7) and the umbrella releasing executing mechanism, and the signal input end of the delay module is connected with the release detection ejector rod assembly (2).
9. The material pod launch control system of claim 1, wherein: the application module comprises a power-off delay switch module, a state indicator light module and an application interface module, and the operation control ends of the power-off delay switch module, the state indicator light module and the application interface module are respectively in signal bidirectional transmission with the controller.
10. A launch control method for a material pod launch control system according to any of the preceding claims 1-9, characterized in that: the method comprises the following steps:
s1: judging whether the application module is in an uninstalled state, if so, continuing to S2, and if not, exiting;
s2: judging whether the separation detection ejector rod assembly (2) is in a separation state or not, judging whether the communication of the falling electric connector (6) has a fault or not, if the separation detection ejector rod assembly (2) is in the separation state and the communication of the falling electric connector (6) has the fault, continuing S3, and if not, exiting;
s3: starting a delay module to delay a first delay time, wherein the first delay time is parachute-off control time;
s4: the controller controls a first electromagnet of the umbrella-off actuating mechanism, the first electromagnet drives a telescopic main pin (4.1) to be in an extending state, and the early warning pin is locked;
s5: starting a delay module to delay a second delay time, wherein the second delay time is the actual parachute opening time;
s6: the controller controls a second electromagnet of the umbrella opening executing mechanism (7), and the second electromagnet drives the cabin door of the umbrella cabin (8) to open to execute the umbrella opening action.
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| CN110844072A (en) * | 2019-11-18 | 2020-02-28 | 中国船舶重工集团公司第七0七研究所 | Airborne drop-in type detector pod system |
| CN110920899B (en) * | 2019-12-05 | 2023-06-09 | 江西洪都航空工业集团有限责任公司 | General cocoon type storage and transportation transmitting box for airborne equipment |
| CN110992765B (en) * | 2019-12-25 | 2022-08-05 | 深圳金信诺高新技术股份有限公司 | Air-drop self-propelled target simulator |
| CN111367215A (en) * | 2020-03-20 | 2020-07-03 | 四川久安芯电子科技有限公司 | Electronic delay controller for opening umbrella |
| CN111722569B (en) * | 2020-07-03 | 2021-10-15 | 北京航天发射技术研究所 | A plug-and-play high-reliability universal handheld operating device and universal operating method |
| CN112278290A (en) * | 2020-12-01 | 2021-01-29 | 襄阳宏伟航空器有限责任公司 | A test device that can delay the start of the parachute work after the launch |
| CN113568437B (en) * | 2021-09-27 | 2022-02-22 | 西安羚控电子科技有限公司 | Air-drop system and air-drop control method for large and medium-sized fixed wing unmanned aerial vehicle |
| CN114291265B (en) * | 2021-12-10 | 2023-07-21 | 武汉航空仪表有限责任公司 | Mechanical multistage separation method and system |
| CN114180073B (en) * | 2022-02-16 | 2022-05-03 | 四川腾盾科技有限公司 | Parachute opening mechanism and delay parachute opening method for pod of unmanned aerial vehicle |
| CN114987771B (en) * | 2022-08-05 | 2022-11-01 | 西安羚控电子科技有限公司 | Unmanned aerial vehicle and carrier buffering separator |
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| CN101799294B (en) * | 2010-03-02 | 2012-01-04 | 中国科学院南海海洋研究所 | Wireless remote control tripping device based on microcontroller |
| DE102010050896A1 (en) * | 2010-11-10 | 2012-05-10 | Airbus Operations Gmbh | System and method for depositing loads from an aircraft |
| US9014967B2 (en) * | 2011-05-26 | 2015-04-21 | The Boeing Company | Airdrop controller system |
| US9061764B2 (en) * | 2011-08-31 | 2015-06-23 | The Boeing Company | Steerable container delivery system |
| CN104590566B (en) * | 2015-01-27 | 2016-08-17 | 北京空间机电研究所 | A kind of parachute working condition automatic checkout system and detection method thereof |
| CN104986337A (en) * | 2015-07-17 | 2015-10-21 | 成都飞机工业（集团）有限责任公司 | Air-drop stable descending delivery hanging cabin |
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Denomination of invention: Material pod release control system and release control method Effective date of registration: 20220526 Granted publication date: 20200407 Pledgee: Bank of Chengdu science and technology branch of Limited by Share Ltd. Pledgor: SICHUAN ZHONGLIAN HANGTAI TECHNOLOGY CO.,LTD. Registration number: Y2022510000145 |
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Date of cancellation: 20230620 Granted publication date: 20200407 Pledgee: Bank of Chengdu science and technology branch of Limited by Share Ltd. Pledgor: SICHUAN ZHONGLIAN HANGTAI TECHNOLOGY CO.,LTD. Registration number: Y2022510000145 |