Anti-shaking device and method for hoisting unmanned aerial vehicle

Abstract

The invention discloses an anti-shaking device and method for hoisting an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle hoisting operation. The device comprises a mounting plate and a fixing shell fixed to the bottom of the mounting plate, and a mounting shell is arranged on the mounting plate. The innovative point is that a passive stabilizing system composed of a wind guide mechanism, a wind power conversion mechanism and a gyro mechanism and an active adjusting system composed of an adjusting mechanism and a reverse thrust stabilizing system are integrated. The air guide mechanism guides airflow to drive a rotating column of the wind power conversion mechanism to rotate, a gyro disc is driven to rotate at a high speed through multi-stage gear transmission acceleration, and the posture of goods is passively stabilized through the generated gyroscopic effect. Meanwhile, the adjusting mechanism adapts to posture changes of the unmanned aerial vehicle by adjusting the length of a hoisting steel cable, and the reverse thrust stabilizing system actively counteracts wind disturbance through vector air injection. The invention further provides a corresponding anti-shaking method. According to the scheme, swinging of hoisted goods in the high altitude can be restrained, the posture stability and the wind resistance are improved, and the automatic unloading function is achieved.

Description

Technical Field

[0001] This invention belongs to the field of drone hoisting and operation technology, and particularly relates to an anti-sway device and method for hoisting drones. Background Technology

[0002] Drone lifting equipment technology has developed rapidly in recent years and is widely used in logistics, construction, and rescue operations. Quadcopter drones have become mainstream due to their simple structure and flexible operation. They rely on the gyroscopic effect to maintain flight stability. The gyroscopic effect generates stable rotational inertia when the rotor rotates at high speed, helping the drone resist external interference during flight. Dynamic balance is crucial in drone design; by adjusting the rotor speed and angle, the drone maintains balance under different load conditions. The combination of these technologies makes drones reliable in lifting operations.

[0003] Existing drone lifting equipment still faces the problem of unstable cargo attitude during high-altitude lifting operations. Due to changes in the center of gravity and the influence of external airflow, cargo often sways during high-altitude lifting, leading to cargo damage or even drone crashes. Traditional control systems often cannot adjust the lifting status in time and lack the necessary attitude control algorithms and sensor feedback, making it difficult to guarantee cargo stability under the interference of wind or other environmental factors. The load-bearing capacity and control precision of the lifting equipment also limit its ability to perform tasks in complex environments. Existing drone lifting equipment cannot meet actual needs. Summary of the Invention

[0004] The purpose of this invention is to provide an anti-sway device and method for hoisting drones, so as to at least solve or improve one of the problems in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, an anti-sway device for hoisting a drone is provided, comprising a mounting plate, a fixing shell fixedly connected to the bottom of the mounting plate, and a mounting shell disposed on the upper surface of the mounting plate, wherein a gyroscope sensor is installed inside the mounting shell, characterized in that it further comprises: The air guide mechanism, installed inside the ventilated shell at the edge of the mounting shell, is used to stabilize the position of the mounting plate and the mounting shell in the air using wind power; The wind power conversion mechanism is installed inside the mounting housing, and a rotating column is set inside it. The wind power conversion mechanism works with the wind guide mechanism to convert wind power into the mechanical energy of the rotating column. The gyroscope mechanism is installed inside the protective shell. It contains a gyroscope disk and works in conjunction with the wind power conversion mechanism to stabilize the attitude by using the gyroscopic effect generated by the rotation of the gyroscope disk. The adjustment mechanism, installed inside the connecting shell, is used to adjust the effective length of the hoisting steel cable to adapt to the flight attitude of the hoisting drone; The hoisting mechanism, located at the bottom of the fixed shell, is used to automatically drop goods.

[0006] Furthermore, the gyroscope mechanism includes a mounting frame, a driving gear, an upper gear, a lower gear, an intermediate shaft, an intermediate pinion, an intermediate large gear, and a driven gear; the driving gear is fixed to the drive shaft of the rotating column and meshes with the upper gear; the lower gear is coaxially arranged with the upper gear; the intermediate shaft is rotatably connected to the mounting frame, with the intermediate pinion fixed at its top and meshing with the lower gear, and the intermediate large gear fixed at its bottom; the driven gear meshes with the intermediate large gear and drives the connected gyroscope disk.

[0007] Furthermore, the air guiding mechanism includes sealing blocks rotatably connected to the inner walls on both sides of the vent housing, an adjusting plate located between the sealing blocks, and a bottom plate and a top plate rotatably connected to one edge of the vent housing; the adjusting plate is driven by a conversion motor fixed on the mounting plate; the top plate and the bottom plate are driven by an opening motor through a linkage assembly to realize the opening and closing of the vent housing.

[0008] Furthermore, the outer wall of the rotating column of the wind power conversion mechanism is provided with multiple fan blades, the windward side of the fan blades is provided with air guide grooves, and the leeward side is provided with multiple adjustment holes for installing counterweights.

[0009] Furthermore, it also includes a thrust reverse stabilization system, which includes a mounting cylinder fixed to the bottom of the mounting plate, an attitude motor installed inside the mounting cylinder, and an adjustment pipe fixedly connected to the output shaft of the attitude motor; the inlet of the adjustment pipe is connected to the inside of the vent housing in a closed state, and the thrust reverse force is generated by controlling the jet direction of the adjustment pipe to counteract wind disturbance.

[0010] Furthermore, the hoisting mechanism includes a fixed frame, a guide rod, a return spring sleeved on the guide rod, a connecting plate slidably connected to the top of the return spring, and a hook rotatably connected to the connecting plate via a torsion spring; the top of the hook is provided with an insertion rod, and the bottom of the fixed shell is provided with a limiting block, and the limiting block is provided with a slot for the insertion rod to be inserted.

[0011] Furthermore, the adjustment mechanism includes an adjustment motor fixed inside the connecting shell, a threaded rod driven by the adjustment motor, and a moving block threadedly connected to the threaded rod; the top end of the hoisting steel cable extends into the connecting shell and is fixedly connected to the moving block, and the hoisting steel cable is supported by a guide wheel rotatably connected inside the connecting shell.

[0012] Furthermore, the number of teeth on the driving gear is greater than that on the upper gear, the number of teeth on the lower gear is greater than that on the middle pinion, and the number of teeth on the middle large gear is greater than that on the driven gear. This causes the rotational speed of the gyroscope disk to be higher than that of the rotating column through the multi-stage gear transmission, and the two rotate in opposite directions.

[0013] Furthermore, an upper sealing gasket is provided at the bottom edge of the top plate, and a lower sealing gasket is provided at the top edge of the bottom plate. Interlocking sealing grooves are provided on the contact surfaces of the upper and lower sealing gaskets.

[0014] Secondly, a method for preventing swaying of a hoisted drone using an anti-sway device is provided, including the following steps: The effective length of each hoisting cable is dynamically adjusted by the adjustment mechanism to keep the cargo platform level when the drone's attitude changes; The airflow is guided into the mounting housing by the air guide mechanism, which drives the rotating column of the wind power conversion mechanism to rotate. The rotation of the rotating column is accelerated by gear transmission and transmitted to the gyroscope disk of the gyroscope mechanism. The gyroscopic effect generated by the high-speed rotating gyroscope disk stabilizes the attitude of the cargo platform. By using a reverse thrust stabilization system, a portion of the guided airflow is ejected from the regulating pipe to generate a controllable reverse thrust to actively counteract wind disturbance. When the goods are placed on the ground and the load decreases, the return spring in the hoisting mechanism automatically rotates the hook and detaches from the goods, thus achieving automatic unloading.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention organically combines mechanical transmission, aerodynamics, and the principles of gyroscopic effect to construct a multi-layered stabilization system. A powerful gyroscopic effect is generated by wind-driven gyro mechanisms, providing passive and continuous attitude stability; simultaneously, active attitude compensation is achieved through a wind-guiding and thrust-reverse system. This enhances the ability to maintain the attitude of hoisted cargo in complex airflow environments and solves the problem of insufficient response caused by traditional systems relying solely on the UAV's own flight control.

[0016] The rotation of the gyroscope mechanism is directly derived from the unavoidable wind force during high-altitude operations. Through wind-guiding and wind-power conversion mechanisms, adverse environmental factors are transformed into a favorable and stable power source, eliminating the need for an additional high-power drive motor for the stabilization system or the drain on the drone's precious battery power. This extends the overall operating time of the drone while reducing system operating costs and overall weight.

[0017] By integrating a gyroscope sensor and linking it with the adjustment mechanism and the reverse stabilization system, the device possesses intelligent sensing and response capabilities.

[0018] The adjustment mechanism can fine-tune the length of each hoisting cable in real time and independently according to the flight attitude of the drone, ensuring that the cargo platform below always remains level and overcoming the swaying of cargo caused by the drone's movement.

[0019] The thrust reverse stabilization system generates thrust in the opposite direction of the wind through vector jet propulsion, directly offsetting the direct impact of the wind on the cargo platform and reducing displacement and oscillation caused by wind load.

[0020] The system employs a multi-stage gear speed-increasing transmission to convert wind energy into the rotation of the gyroscope disk. By designing opposite rotation directions, the system cancels out the gyro precession torque of the rotating column and gyroscope disk in the horizontal direction, thus avoiding the introduction of new instabilities into the system itself.

[0021] Adjustable counterweights are installed on the fan blades to ensure dynamic balance of the rotating parts during high-speed operation, eliminating instability caused by their own vibration at the source and improving the smoothness and reliability of the entire device.

[0022] The vent housing uses a sealing gasket with a sealing groove, ensuring a good seal when closed and guaranteeing the independence and efficiency of the thrust reverser system's airflow channel. The guide wheel design reduces friction during cable adjustment, making adjustments more precise and smoother.

[0023] The lifting mechanism utilizes the cargo's own weight and spring return to achieve automatic unhooking without manual intervention. Once the cargo hits the ground and the load is removed, the mechanism automatically unlocks and unhooks. This improves safety and efficiency in high-altitude and hazardous area operations, and avoids the risk of personnel approaching the site. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the anti-sway device; Figure 2 A partial view of the anti-sway device; Figure 3 This is a schematic diagram showing the connection between the hoisting mechanism and the fixed shell; Figure 4 This is a diagram of the bottom structure of the mounting plate; Figure 5 This is a magnified view of a portion of the hoisting mechanism; Figure 6 A schematic diagram showing the air guide mechanism in the open state; Figure 7 This is a schematic diagram of the closed state of the air guide mechanism; Figure 8 This is a schematic diagram of the wind power conversion mechanism and the rotating column. Figure 9 This is a schematic diagram of the transmission mechanism of a gyroscope. Figure 10 This is a schematic diagram of the internal structure of the mounting shell; Figure 11This is a schematic diagram of the adjustment mechanism; Figure 12 This is a schematic diagram of the transmission components in the air guide mechanism.

[0025] The components include: 1. Mounting plate; 2. Fixed shell; 3. Adjusting pipe; 4. Vent shell; 5. Mounting shell; 6. Lifting cable; 7. Attitude light; 8. Connecting shell; 9. Connecting seat; 10. Hook; 11. Mounting frame; 12. Gyroscope; 13. Protective shell; 14. Rotating column; 15. Connecting end; 16. Hook; 17. Limiting block; 18. Insert rod; 19. Torsion spring; 20. Connecting plate; 21. Return spring; 22. Guide rod; 23. Fixed frame; 24. Mounting cylinder; 25. Base plate; 26. Top plate; 27. Adjusting plate; 28. Vent; 29. ​​Sealing... 30. Sealing block; 31. Lower sealing gasket; 32. Upper sealing gasket; 33. Sealing groove; 34. Lower connecting strip; 35. Start motor; 36. Control panel; 37. Upper connecting strip; 38. Upper moving plate; 39. Lower moving plate; 40. Posture motor; 41. Adjusting motor; 42. Guide wheel; 43. Moving block; 44. Threaded rod; 45. Air guide groove; 46. Intermediate shaft; 47. Intermediate pinion; 48. Intermediate gear; 49. Driven gear; 50. Lower gear; 51. Upper gear; 52. Driven gear; 53. Counterweight; 54. Adjusting hole; 55. Fan blade. Detailed Implementation

[0026] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0027] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0028] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. It should be noted in the description of this invention that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The anti-sway device for hoisting drones disclosed in this invention is mainly applied to the problem that existing drone hoisting equipment still faces the problem of unstable cargo attitude during high-altitude hoisting operations. Due to changes in the center of gravity and the influence of external airflow, cargo often sways during high-altitude hoisting, leading to cargo damage or even drone crashes. Traditional control systems often cannot adjust the hoisting state in time and lack the necessary attitude control algorithms and sensor feedback, making it difficult to guarantee the stability of cargo under the interference of wind or other environmental factors. The load-bearing capacity and control precision of the hoisting equipment also limit its ability to perform tasks in complex environments.

[0031] Reference Figures 1-12 An anti-sway device for hoisting a drone includes a mounting plate 1. A fixed shell 2 and a protective shell 13 are fixedly connected to the bottom of the mounting plate 1. The protective shell 13 is located inside the fixed shell 2. Two hooks 16 are respectively provided at the four corners of the upper surface of the mounting plate 1. A connecting end 15 is provided at the top of the hook 16. A hoisting steel cable 6 is provided at the top of the connecting end 15. Two branches are provided at the bottom of the hoisting steel cable 6. The connecting end 15 is located at the bottom of the branch. A connecting shell 8 is fixedly connected to the top of the hoisting steel cable 6. Multiple connecting seats 9 are provided on the upper surface of the connecting shell 8. The connecting seats 9 are fixed to the bottom of the hoisting drone by screws. Attitude lights 7 are respectively provided at the four corners of the connecting shell 8. A mounting shell 5 is provided on the upper surface of the mounting plate 1. Multiple ventilation shells 4 are provided on the edge of the mounting shell 5. A gyroscope sensor is installed inside the mounting shell 5. The ventilation shell 4 is equipped with an air guiding mechanism, which uses wind power to stabilize the position of the mounting plate 1 and the mounting shell 5 in the air. The wind power conversion mechanism is installed inside the mounting shell 5. The wind power conversion mechanism has a rotating column 14 inside. The wind power conversion mechanism works with the wind guide mechanism to convert wind power into the mechanical energy of the rotating column 14. The protective shell 13 is equipped with a gyroscope mechanism, and the gyroscope mechanism is equipped with a gyroscope disk 12. The gyroscope mechanism works in conjunction with the wind power conversion mechanism to utilize the gyroscope effect generated by the rotation of the gyroscope disk 12 to stabilize the attitude of the mounting plate 1 and the mounting shell 5 in the air. An adjustment mechanism is installed inside the connecting shell 8. The adjustment mechanism works with the hoisting drone to adjust the tilt angle of the connecting shell 8 so as to adapt to the flight attitude of the hoisting drone. The bottom of the fixed shell 2 is equipped with multiple lifting mechanisms, which work in conjunction with the lifting drone to automatically place the goods at the designated location.

[0032] The air guiding mechanism includes two sealing blocks 29 rotatably connected to the inner walls of both sides of the vent housing 4. A conversion motor is fixedly connected to the four corners of the upper surface of the mounting plate 1 near the hook 16. An adjustment plate 27 is fixedly connected to one end of the output shaft of the conversion motor. The adjustment plate 27 is located between the two sealing blocks 29. A vent 28 is provided on the edge of the mounting housing 5 near the adjustment plate 27. A bottom plate 25 and a top plate 26 are rotatably connected to one edge of the vent housing 4. The top plate 26 is located at the top edge of the vent housing 4, and the bottom plate 25 is located at the bottom edge of the vent housing 4. An upper moving plate 37 and a lower moving plate 38 are rotatably connected to one side of the vent housing 4. The upper moving plate 37 rotates coaxially with the top plate 26, and the lower moving plate 38 rotates coaxially with the bottom plate 25. An upper connecting strip 36 is rotatably connected to one side of the upper moving plate 37, and a lower connecting strip 33 is rotatably connected to one side of the lower moving plate 38. An opening motor 34 is fixedly connected to one side of the vent housing 4 near the lower connecting strip 33.

[0033] A control panel 35 is fixedly connected to one end of the output shaft of the motor 34. The control panel 35 is rotatably connected to the lower connecting strip 33 and the upper connecting strip 36 respectively. An upper sealing gasket 31 is provided at the bottom edge of the top plate 26, and a lower sealing gasket 30 is provided at the top edge of the bottom plate 25. Multiple sealing grooves 32 are provided on the surfaces of the lower sealing gasket 30 and the upper sealing gasket 31 respectively. Mounting cylinders 24 are provided at the four corners of the bottom of the mounting plate 1. An attitude motor 39 is fixedly connected inside the mounting cylinder 24. An adjusting pipe 3 is rotatably connected to the bottom of the mounting cylinder 24. The adjusting pipe 3 is fixedly connected to one end of the output shaft of the attitude motor 39. An arc plate is provided on one side of the fan blade 54. The arc plate separates the guide wheel 41 from the air guide groove 44, so that when the air enters the mounting shell 5, the air contacts the position of the air guide groove 44, and the air does not contact the guide wheel 41 and the moving block 42.

[0034] The wind power conversion mechanism includes a main shaft rotatably connected to the upper surface of the mounting plate 1, a rotating column 14 fixedly connected to the top of the main shaft, a plurality of fan blades 54 provided on the outer wall of the rotating column 14, a plurality of air guide grooves 44 provided on one end surface of the fan blades 54, a plurality of adjustment holes 53 provided on the other end surface of the fan blades 54, a counterweight 52 provided on one side of the adjustment hole 53, and two fixing bolts provided on one side of the counterweight 52. The fixing bolts are inserted into the adjustment hole 53 to fix the counterweight 52 to one side of the fan blades 54.

[0035] The gyroscope mechanism includes a mounting bracket 11 fixedly connected to the lower surface of the mounting plate 1. A drive gear 51 is fixedly connected to the bottom end of the main shaft. An upper gear 50 is rotatably connected inside the mounting bracket 11 near the drive gear 51. A lower gear 49 is provided at the bottom of the upper gear 50. The lower gear 49 rotates coaxially with the drive gear 51. An intermediate shaft 45 is rotatably connected inside the mounting bracket 11 near the lower gear 49.

[0036] A small intermediate gear 46 is fixedly connected to one end of the intermediate shaft 45, and a large intermediate gear 47 is fixedly connected to the bottom end of the intermediate shaft 45. A gyroscope shaft is rotatably connected to the bottom of the mounting bracket 11, and a driven gear 48 is fixedly connected to the top end of the gyroscope shaft. The gyroscope disk 12 is fixedly connected to the bottom end of the gyroscope shaft. The driving gear 51 meshes with the upper gear 50, the small intermediate gear 46 meshes with the lower gear 49, and the large intermediate gear 47 meshes with the driven gear 48.

[0037] It is also necessary to explain that during the process of the drone tilting from horizontal to tilt, one end of the drone will tilt downward. Since the four corners of the connecting shell 8 correspond one-to-one with the four rotors of the drone, the connecting seat 9 is fixed to the bottom of the hoisting drone with screws. The cargo to be hoisted is connected to the bottom of the fixed shell 2 through the hoisting mechanism, and the hoisting drone is remotely controlled to take off and hoist the cargo to the designated position.

[0038] In this embodiment, since multiple lifting mechanisms at the bottom of the fixed shell 2 share the weight of the cargo, the tilting of the cargo will cause the load on one lifting mechanism to increase and the load on other lifting mechanisms to decrease. Uneven load distribution may cause damage to one of the lifting mechanisms during the lifting process. Maintaining the cargo's posture at the same time protects the lifting mechanisms.

[0039] During high-altitude operations, when a drone lifts cargo into the air, the wind force at high altitudes is generally between level 5 and 7, with a maximum speed of eight meters per second. While the drone can fly, the wind resistance of the cargo at high altitudes affects its flight. This is addressed by controlling the rotation of the adjusting plate 27 inside the ventilated shell 4 on the windward side of the mounting shell 5. Figure 6At the position shown, the motor 34 is simultaneously controlled to drive the control disk 35 to rotate, thereby using the lower connecting bar 33 and the upper connecting bar 36 to drive the upper moving disk 37 and the lower moving disk 38 to rotate.

[0040] Furthermore, since the upper moving plate 37 and the top plate 26 rotate coaxially, and the lower moving plate 38 and the control plate 35 rotate coaxially, the bottom plate 25 and the top plate 26 are driven to rotate, such as... Figure 6 As shown, the wind enters the interior of the mounting housing 5 through the ventilation shell 4 on the windward side of the mounting housing 5. The wind blows the rotating column 14 inside the mounting housing 5 to rotate. Since multiple air guide grooves 44 are provided on one side of the multiple fan blades 54 on the rotating column 14, the contact area with the air is increased. During the process of the wind blowing the fan blades 54, the friction with the air is increased, which increases the thrust of the air on the fan blades 54.

[0041] In this embodiment, the rotating column 14 rotates slowly during the initial rotation process. By increasing the friction between the fan blade 54 and the air, the time required to increase the rotational speed of the rotating column 14 is shortened. During the rotation of the rotating column 14, the rotating column 14 drives the driving gear 51 to rotate. The driving gear 51 drives the upper gear 50 and the lower gear 49 to rotate. The lower gear 49 drives the intermediate small gear 46 and the intermediate large gear 47 to rotate. The intermediate large gear 47 drives the driven gear 48 and the gyroscope disk 12 to rotate. Since the number of teeth of the driving gear 51 is greater than the number of teeth of the upper gear 50, the rotational speed of the lower gear 49 and the upper gear 50 is higher than the rotational speed of the driving gear 51 and the rotating column 14.

[0042] In this process, the number of teeth on the lower gear 49 is greater than that on the middle pinion 46, and the number of teeth on the middle gear 47 is greater than that on the driven gear 48. This gear ratio is used three times to increase the rotational speed of the gyroscope disk 12, causing it to rotate rapidly under wind power. The rapidly rotating gyroscope disk 12 creates a gyroscopic effect. At high altitudes, the wind continuously impacts the surfaces of the fixed shell 2 and the cargo. The gyroscopic effect keeps the mounting plate 1, the mounting shell 5, and the cargo in a stable posture. At the same time, through the transmission of multiple gears, the rotation direction of the gyroscope disk 12 is opposite to that of the rotating column 14, thereby canceling out the torque of the gyroscope disk 12 and the rotating column 14 in the horizontal direction. This achieves the effect of using the gyroscopic effect to stabilize the cargo lifted by the UAV.

[0043] In this embodiment, as air flows inside the mounting housing 5, the wind entering the interior of the mounting housing 5 generates a force in the direction of the wind on the mounting housing 5 and the mounting plate 1, controlling the rotation of the adjusting plates 27 inside the other ventilation shells 4 at the edge of the mounting housing 5. Figure 7As shown, with the bottom plate 25 and top plate 26 in a closed state, the air inside the mounting shell 5 enters the interior of the ventilation shell 4 through the guide of the regulating plate 27. Due to the blocking effect of the bottom plate 25 and top plate 26, the air enters the interior of the mounting cylinder 24 and is then discharged through the regulating pipe 3.

[0044] Furthermore, since the mounting shell 5 and the mounting plate 1 are subjected to a force in the direction of the wind, the gyroscope sensor detects the direction of the force and controls the attitude motors 39 inside the other mounting cylinders 24 on the edge of the mounting shell 5 to rotate. This drives the adjustment tubes 3 at the bottom of the attitude motors 39 to rotate, thereby adjusting the direction of the adjustment tubes 3. Air is ejected through the adjustment tubes 3 to generate a counter-thrust force, making the direction of these counter-thrust forces opposite to the direction of the wind. This counteracts the thrust of the wind on the mounting plate 1, the mounting shell 5, and the cargo, controls the direction of the wind flow, and reduces the impact of high-altitude winds on the cargo hoisting by the UAV.

[0045] It is also necessary to explain that when the bottom plate 25 and the top plate 26 are closed, the upper sealing gasket 31 contacts the lower sealing gasket 30. Through the action of multiple sealing grooves 32, the lower sealing gasket 30 and the upper sealing gasket 31 interlock with each other, which achieves the effect of sealing the internal space of the vent shell 4.

[0046] Reference Figure 1 , Figure 2 , Figure 3 and Figure 11 In a preferred embodiment, the adjustment mechanism includes an adjustment motor 40 fixedly connected to the top of the inner wall of the connecting shell 8. One end of the output shaft of the adjustment motor 40 is fixedly connected to a threaded rod 43, and one end of the threaded rod 43 is threadedly connected to a moving block 42. One side of the moving block 42 is fixedly connected to the top end of the hoisting steel cable 6. The top end of the hoisting steel cable 6 extends into the interior of the connecting shell 8. One end of the hoisting steel cable 6 is rotatably connected to a guide wheel 41 located inside the connecting shell 8. The guide wheel 41 contacts the hoisting steel cable 6.

[0047] It is also necessary to explain that the hoisting drone is a quadcopter drone. During the flight of the drone, it needs to tilt at a certain angle to change its flight direction.

[0048] In this embodiment, the adjustment motor 40 inside the connecting shell 8 at the downward tilting end of the drone rotates, driving the threaded rod 43 to rotate, thereby causing the moving block 42 to move in the direction of the adjustment motor 40. This causes the top of the hoisting cable 6 to enter the interior of the connecting shell 8. The guide wheel 41 supports the hoisting cable 6, thereby changing the length of the hoisting cable 6 exposed at the bottom of the connecting shell 8 at the downward tilting end of the drone. This makes the connecting shell 8 and the drone tilt at the same angle, keeping the mounting shell 5, mounting plate 1, and bottom cargo at the bottom of the hoisting cable 6 in a horizontal position. This achieves the effect of keeping the cargo's attitude unchanged during the drone's flight.

[0049] Reference Figure 1 , Figure 3 , Figure 4 and Figure 5 In a preferred embodiment, the hoisting mechanism includes a plurality of fixed frames 23 fixedly connected to the top edge of the fixed shell 2. A guide rod 22 is provided on one side of the fixed frame 23, and a return spring 21 is sleeved on one end of the guide rod 22. A connecting plate 20 is slidably connected to the top of the return spring 21.

[0050] A hook 10 is rotatably connected to one side of the connecting plate 20. A torsion spring 19 is provided at the connection between the hook 10 and the connecting plate 20. A rod 18 is provided at the top of the hook 10. A limiting block 17 is provided at the bottom of the fixed shell 2 between the rod 18 and the connecting plate 20.

[0051] A slot is provided on one side of the limiting block 17, and one end of the insertion rod 18 extends into the slot.

[0052] It is also necessary to explain that when the drone takes off, the cargo is secured with ropes, and the ropes are hooked by multiple hooks 10.

[0053] In this embodiment, the weight of the cargo pulls the hook 10, the insert rod 18 and the connecting plate 20 downwards to compress the return spring 21. The insert rod 18 is stuck in the slot on one side of the limiting block 17, preventing the hook 10 from rotating. The drone lifts the cargo to the designated location. Since it is not safe for personnel to assist in high-altitude operations, the drone directly places the cargo at the designated location after arrival.

[0054] Furthermore, after the cargo contacts the ground at the designated location, the tension of the cargo on the hook 10 disappears. Under the elastic force of the return spring 21, the hook 10, the insert rod 18, and the connecting plate 20 slide upward. The insert rod 18 slides from the bottom of the slot on one side of the limiting block 17 to the top of the slot. Under the elastic force of the torsion spring 19, the hook 10 deflects, causing the hook 10 to separate from the rope binding the cargo, thus achieving the effect of automatic unloading of cargo from high altitude by drone.

[0055] Furthermore, during the process of adjusting the attitude of the connecting shell 8 to be consistent with that of the UAV, there is an adjustment gap in the adjustment mechanism, which causes a reduction in the tension of a certain hoisting steel cable 6 on the mounting plate 1. The gyro effect generated by the gyro mechanism maintains the stability of the mounting plate 1, the mounting shell 5 and the cargo through the connection between the hoisting steel cable 6 and the mounting plate 1 of other mechanisms, thus eliminating the adjustment gap generated by the adjustment mechanism.

[0056] Furthermore, since the center of gravity of the rotating column 14 and the fan blade 54 is not located on the central axis during rotation, vibration will occur during the rotation of the fan blade 54, affecting the drone's cargo lifting. To perform dynamic balancing tests on the rotating column 14 and the fan blade 54, the counterweight 52 is fixed inside different adjustment holes 53, thereby changing the position of the counterweight 52 so that the center of gravity of the rotating column 14 and the fan blade 54 is located on the central axis, thus eliminating the vibration during the rotation of the rotating column 14 and the fan blade 54.

[0057] In use, the connecting seat 9 is fixed to the bottom of the hoisting drone with screws. The cargo to be hoisted is connected to the bottom of the fixed shell 2 through the hoisting mechanism. The hoisting drone is remotely controlled to take off and hoist the cargo to the designated position. The hoisting drone is a quadcopter drone. During the flight of the drone, the drone needs to tilt at a certain angle to change its flight direction. During the process of the drone tilting from horizontal to vertical, one end of the drone will tilt downward. Since the four corners of the connecting shell 8 correspond one-to-one with the four rotors of the drone, the adjusting motor 40 inside the connecting shell 8 at the downward tilting end of the drone rotates, which drives the threaded rod 43 to rotate, thereby driving the moving block 42 to move in the direction of the adjusting motor 40. This causes the top of the hoisting cable 6 to enter the interior of the connecting shell 8. The guide wheel 41 plays the role of supporting the hoisting cable 6, thereby changing the length of the hoisting cable 6 exposed outside the bottom of the connecting shell 8 at the downward tilting end of the drone, so that the connecting shell 8 and the drone... The multiple lifting mechanisms at the bottom of the fixed shell 2 share the same tilt angle, keeping the mounting shell 5, mounting plate 1, and the cargo at the bottom of the lifting cable 6 in a horizontal position. This ensures that the cargo's attitude remains constant during the drone's flight. Since multiple lifting mechanisms at the bottom of the fixed shell 2 share the weight of the cargo, tilting the cargo can increase the load on one lifting mechanism and decrease the load on others. Uneven load distribution can lead to damage to one lifting mechanism during lifting. Maintaining the cargo's attitude also protects the lifting mechanisms. During high-altitude operations, when the drone lifts the cargo, the wind force is generally between level 5 and 7, with a maximum speed of 8 meters per second. The drone can fly, but wind resistance at high altitudes can affect its flight. By controlling the rotation of the adjusting plate 27 inside the vent shell 4 on the windward side of the mounting shell 5, the drone can maintain a stable attitude. Figure 6 At the position shown, the motor 34 is simultaneously controlled to rotate the control panel 35, thereby using the lower connecting bar 33 and the upper connecting bar 36 to rotate the upper moving plate 37 and the lower moving plate 38. Since the upper moving plate 37 and the top plate 26 rotate coaxially, and the lower moving plate 38 and the control panel 35 rotate coaxially, this causes the bottom plate 25 and the top plate 26 to rotate. Figure 6As shown, air enters the interior of the mounting housing 5 through the ventilation shell 4 on the windward side. The air blows the rotating column 14 inside the mounting housing 5 to rotate. Because multiple air guide slots 44 are provided on one side of the multiple fan blades 54 on the rotating column 14, the contact area with the air is increased. During the process of the air blowing the fan blades 54, the friction with the air is increased, which increases the thrust of the air on the fan blades 54. At the beginning of the rotation, the rotating column 14 rotates slowly. By increasing the friction between the fan blades 54 and the air, the time required to increase the rotational speed of the rotating column 14 is shortened. During the rotation of the rotating column 14, the rotating column 14 drives the drive gear 51 to rotate. The drive gear 51 drives the upper gear 50 and the lower gear 49 to rotate. 49 drives the intermediate small gear 46 and intermediate large gear 47 to rotate. The intermediate large gear 47 drives the driven gear 48 and gyroscope disk 12 to rotate. Since the number of teeth of the driving gear 51 is greater than the number of teeth of the upper gear 50, the speed of the lower gear 49 and the upper gear 50 is higher than the speed of the driving gear 51 and the rotating column 14. Since the number of teeth of the lower gear 49 is greater than the number of teeth of the intermediate small gear 46, and the number of teeth of the intermediate large gear 47 is greater than the number of teeth of the driven gear 48, the speed of the gyroscope disk 12 is increased three times through the gear transmission ratio, so that the gyroscope disk 12 rotates rapidly under wind power. The rapidly rotating gyroscope disk 12 creates a gyroscopic effect. At high altitudes, the wind continuously impacts the surface of the fixed shell 2 and the cargo. The gyroscopic effect keeps the mounting plate 1 in place. The mounting shell 5 and the cargo maintain a stable posture. Simultaneously, through the transmission of multiple gears, the rotation direction of the gyroscope disk 12 is opposite to that of the rotating column 14, thus canceling out the horizontal torque of the gyroscope disk 12 and the rotating column 14. This achieves the effect of using the gyroscopic effect to stabilize the drone while lifting the cargo. During the process of adjusting the attitude of the connecting shell 8 to maintain consistency with the drone, there is an adjustment gap in the adjustment mechanism, causing a decrease in the tension of a certain lifting cable 6 on the mounting plate 1. The gyroscopic effect generated by the gyroscope mechanism maintains the stability of the mounting plate 1, mounting shell 5, and cargo through the connection between the lifting cable 6 and the mounting plate 1 in other mechanisms, eliminating the adjustment gap generated by the adjustment mechanism. Because the rotating column 14 and the fan blade 54 rotate during this process... The center of gravity of the rotating column 14 and the fan blade 54 is not located on the central axis. During the rotation of the fan blade 54, vibration will occur, affecting the drone's cargo lifting capabilities. A dynamic balance test is performed on the rotating column 14 and the fan blade 54. The counterweight 52 is fixed inside different adjustment holes 53, thereby changing the position of the counterweight 52 and locating the center of gravity of the rotating column 14 and the fan blade 54 on the central axis. This effectively eliminates vibration during the rotation of the rotating column 14 and the fan blade 54. During airflow inside the mounting shell 5, the wind entering the mounting shell 5 generates a force in the direction of the wind on the mounting shell 5 and the mounting plate 1, controlling the rotation of the adjustment plates 27 inside the other ventilation shells 4 on the edge of the mounting shell 5. Figure 7As shown, with the bottom plate 25 and top plate 26 in a closed state, the air inside the mounting shell 5 enters the interior of the ventilation shell 4 through the guide of the adjusting plate 27. The bottom plate 25 and top plate 26 act as barriers, allowing the air to enter the interior of the mounting cylinder 24. The air is then directed out through the adjusting pipe 3. Since the mounting shell 5 and mounting plate 1 are subjected to a force in the direction of the wind, the gyroscope sensor detects the direction of the force and controls the rotation of the attitude motors 39 inside several other mounting cylinders 24 at the edge of the mounting shell 5. This rotation drives the adjusting pipe 3 at the bottom of the attitude motor 39 to rotate, thereby adjusting the direction of the adjusting pipe 3. Air is ejected through the adjusting pipe 3, generating a counter-thrust force. This counter-thrust force is opposite to the direction of the wind, thus counteracting the wind's thrust on the mounting plate 1, mounting shell 5, and cargo, controlling the airflow direction, and reducing the impact of high-altitude winds on the drone's cargo loading. When the bottom plate 25 and top plate 26 are closed, the upper sealing gasket 31 contacts the lower sealing gasket 30, and through the action of multiple sealing grooves 32... The lower sealing gasket 30 and the upper sealing gasket 31 interlock, effectively sealing the internal space of the vent shell 4. When the drone takes off, the cargo is secured by ropes, and multiple hooks 10 hook the ropes. The weight of the cargo pulls the hooks 10, the insert rod 18, and the connecting plate 20 downwards, compressing the return spring 21. The insert rod 18 is locked in the slot on one side of the limiting block 17, preventing the hooks 10 from rotating. The drone lifts the cargo to the designated location. Due to the unsafety of personnel assisting in high-altitude operations, the drone directly places the cargo in the designated location upon arrival. After the cargo touches the ground at the designated location, the tension of the cargo on the hooks 10 disappears. Under the elastic force of the return spring 21, the hooks 10, the insert rod 18, and the connecting plate 20 slide upwards. The insert rod 18 slides from the bottom of the slot on one side of the limiting block 17 to the top of the slot. Under the elastic force of the torsion spring 19, the hooks 10 deflect, separating the hooks 10 from the ropes binding the cargo, achieving the effect of automatic unloading of cargo from high altitude by the drone.

[0058] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0059] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. An anti-sway device for hoisting a drone, comprising a mounting plate (1), a fixing shell (2) fixedly connected to the bottom of the mounting plate (1), a mounting shell (5) disposed on the upper surface of the mounting plate (1), and a gyroscope sensor installed inside the mounting shell (5), characterized in that, Also includes: The air guide mechanism is installed inside the ventilation shell (4) at the edge of the mounting shell (5) to stabilize the position of the mounting plate (1) and the mounting shell (5) in the air by using wind power; The wind power conversion mechanism is installed inside the mounting shell (5), and a rotating column (14) is provided inside it. The wind power conversion mechanism works in conjunction with the wind guide mechanism to convert wind power into the mechanical energy of the rotating column (14). The gyroscope mechanism is installed inside the protective shell (13), and a gyroscope disk (12) is provided inside it. The gyroscope mechanism works in conjunction with the wind power conversion mechanism to stabilize the attitude by utilizing the gyroscope effect generated by the rotation of the gyroscope disk (12). An adjustment mechanism, installed inside the connecting shell (8), is used to adjust the effective length of the hoisting cable (6) to adapt to the flight attitude of the hoisting drone; The hoisting mechanism is located at the bottom of the fixed shell (2) and is used to realize the automatic delivery of goods.

2. The anti-sway device for hoisting a drone according to claim 1, characterized in that, The gyroscope mechanism includes a mounting frame (11), a drive gear (51), an upper gear (50), a lower gear (49), an intermediate shaft (45), an intermediate pinion (46), an intermediate large gear (47), and a driven gear (48). The drive gear (51) is fixed on the drive shaft of the rotating column (14) and meshes with the upper gear (50). The lower gear (49) is coaxially arranged with the upper gear (50). The intermediate shaft (45) is rotatably connected to the mounting frame (11), with the intermediate pinion (46) fixed at its top and meshing with the lower gear (49), and the intermediate large gear (47) fixed at its bottom. The driven gear (48) meshes with the intermediate large gear (47) and drives the connected gyroscope disk (12).

3. The anti-sway device for hoisting a drone according to claim 2, characterized in that, The air guiding mechanism includes sealing blocks (29) rotatably connected to the inner walls of both sides of the vent housing (4), adjusting plates (27) located between the sealing blocks (29), and bottom plates (25) and top plates (26) rotatably connected to one edge of the vent housing (4); the adjusting plate (27) is driven by a conversion motor fixed on the mounting plate (1); the top plate (26) and bottom plate (25) are driven by an opening motor (34) through a linkage assembly to realize the opening and closing of the vent housing (4).

4. The anti-sway device for hoisting a drone according to claim 3, characterized in that, Multiple fan blades (54) are provided on the outer wall of the rotating column (14) of the wind power conversion mechanism. The windward side of the fan blades (54) is provided with a wind guide groove (44), and the leeward side is provided with multiple adjustment holes (53) for installing counterweights (52).

5. The anti-sway device for hoisting a drone according to claim 4, characterized in that, It also includes a thrust reverse stabilization system, which includes a mounting cylinder (24) fixed to the bottom of the mounting plate (1), an attitude motor (39) installed in the mounting cylinder (24), and an adjustment pipe (3) fixedly connected to the output shaft of the attitude motor (39). The inlet of the adjustment pipe (3) is connected to the inside of the vent housing (4) in a closed state, and the thrust reverse force is generated by controlling the jet direction of the adjustment pipe (3) to counteract wind disturbance.

6. The anti-sway device for hoisting a drone according to claim 1, characterized in that, The hoisting mechanism includes a fixed frame (23), a guide rod (22), a return spring (21) sleeved on the guide rod (22), a connecting plate (20) slidably connected to the top of the return spring (21), and a hook (10) rotatably connected to the connecting plate (20) via a torsion spring (19); the top of the hook (10) is provided with an insertion rod (18), and the bottom of the fixed shell (2) is provided with a limiting block (17), and the limiting block (17) is provided with a slot for the insertion rod (18) to be inserted.

7. The anti-sway device for hoisting a drone according to claim 1, characterized in that, The adjustment mechanism includes an adjustment motor (40) fixed inside the connecting shell (8), a threaded rod (43) driven by the adjustment motor (40), and a moving block (42) threadedly connected to the threaded rod (43); the top end of the hoisting cable (6) extends into the connecting shell (8) and is fixedly connected to the moving block (42), and the hoisting cable (6) is supported by a guide wheel (41) rotatably connected inside the connecting shell (8).

8. An anti-sway device for hoisting a drone according to claim 2, characterized in that, The number of teeth of the driving gear (51) is greater than that of the upper gear (50), the number of teeth of the lower gear (49) is greater than that of the middle pinion (46), and the number of teeth of the middle large gear (47) is greater than that of the driven gear (48), so that the rotational speed of the gyroscope disk (12) is higher than that of the rotating column (14) through the multi-stage gear transmission, and the two rotate in opposite directions.

9. An anti-sway device for hoisting a drone according to claim 3, characterized in that, The bottom edge of the top plate (26) is provided with an upper sealing gasket (31), and the top edge of the bottom plate (25) is provided with a lower sealing gasket (30). The contact surfaces of the upper sealing gasket (31) and the lower sealing gasket (30) are provided with interlocking sealing grooves (32).

10. A method for preventing swaying of a hoisted drone using the anti-sway device according to any one of claims 1-9, characterized in that, Includes the following steps: The effective length of each hoisting cable (6) is dynamically adjusted by the adjustment mechanism to keep the cargo platform horizontal when the attitude of the UAV changes; The airflow is guided into the mounting shell (5) by the air guide mechanism, which drives the rotating column (14) of the wind power conversion mechanism to rotate. The rotation of the rotating column (14) is accelerated by gear transmission and transmitted to the gyroscope disk (12) of the gyroscope mechanism. The gyroscope effect generated by the high-speed rotating gyroscope disk (12) is used to stabilize the attitude of the cargo platform. By using the reverse thrust stabilization system, part of the guided airflow is ejected from the regulating pipe (3) to generate a controllable reverse thrust to actively counteract wind disturbance; When the goods are placed on the ground and the load decreases, the return spring (21) in the hoisting mechanism resets the hook (10) to rotate automatically and detach from the goods, thus achieving automatic unloading.

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