A scissor-fork suspension mechanism for a tree obstacle clearing flying robot

Abstract

The present invention discloses a scissor-fork type suspension mechanism for a tree obstacle clearing flying robot, comprising a horizontal I-shaped frame, a telescopic device hung under the I-shaped frame, and a lower base connected to the lower end of the telescopic device and docked with a tool system; the I-shaped frame comprises a main beam, a guide rod arranged symmetrically on both sides, and a flange seat at the outer end of the guide rod, and a motor whose output shaft is vertically downwardly connected to a lifting screw is installed in the middle of the main beam; the telescopic device comprises a pair of scissor-fork assemblies arranged symmetrically and parallel to each other, and a sliding rod, a lifting adjustment rod, a reinforcing rod, and a central reinforcing rod are arranged between the two; the sliding rod is sleeved on the guide rod and slides forward and backward along the guide rod, and the lifting adjustment rod is built-in with a thread matched with the lifting screw. The present invention drives the lifting adjustment rod to rise and fall through the rotation of the lifting screw, thereby driving the lifting of the suspension mechanism and the tool system below it, which can meet the needs of different tree obstacle clearing heights and is easy to store and carry, effectively improving the tree obstacle clearing efficiency and reducing safety risks.

Description

Technical Field

[0001] The invention relates to a scissor-fork type suspension mechanism applied to a flying robot for clearing tree barriers of power lines, belonging to the technical field of tree barrier clearing devices for power transmission lines. Background Art

[0002] Tree barriers are a potential safety hazard in power transmission line corridors, which is manifested in the continuous growth of trees in the corridors, gradually threatening the safe operation of power transmission lines. For this reason, power departments at all levels have to invest a lot of manpower, material and financial resources every year to clean up and rectify tree barriers in the corridors within their jurisdiction. At present, tree barrier cleaning mainly relies on manual operations, which has the disadvantages of low efficiency and high safety risks. Therefore, there is an urgent need for a flying robot that can efficiently and quickly clean tree barriers in power line corridors and is not easily constrained by terrain and environment. Among them, the tree barrier cleaning flying robot solution based on a rotor-type UAV platform and a tool array mounted on a suspension mechanism has good stability and controllability.

[0003] For tree obstacle clearing flying robots that suspend cutters, their suspension mechanisms are mainly divided into two categories: fixed and telescopic. Compared with the fixed suspension mechanism, the telescopic suspension mechanism has a more sophisticated structure, which can not only meet the needs of different tree obstacle clearing heights, but also has good equipment storage and portability. Therefore, there is an urgent need for a suspension mechanism that connects the flying platform and the cutter system and can be dynamically retracted during flight and operation, so as to achieve large-scale, fast, efficient and safe tree obstacle clearing based on the flying robot. However, telescopic suspension mechanisms that suspend cutters on flying robots are still rare, so it is necessary to provide a new suspension mechanism to meet actual suspension needs. Summary of the invention

[0004] The technical problem solved by the present invention is to provide a retractable suspension mechanism for a tree obstacle clearing flying robot, which can automatically extend after the robot takes off and automatically retract and close before landing, which not only facilitates the take-off, landing and storage of the flying robot, but also can implement large-scale and efficient clearing of tree obstacles in power channels.

[0005] The technical solution adopted by the present invention is: a retractable suspension mechanism of a tree obstacle clearing flying robot, comprising a horizontally arranged I-shaped frame, a retractable device hung below the I-shaped frame, and a lower base connected to the lower end of the retractable device and docked with a tool system;

[0006] The I-shaped frame includes a main beam located at a central position and arranged transversely, a pair of guide rods symmetrically fixed to both sides of the main beam and extending forward and backward, and a flange seat located at the outer ends of the guide rods and connected to the flight platform. A motor is installed at the center of the main beam, and the output shaft of the motor is vertically downward and connected to the lifting screw.

[0007] The telescopic device comprises a pair of scissor fork assemblies arranged in parallel and symmetrically on both sides. The scissor fork assemblies comprise N (N≥1) X-shaped scissor forks and one V-shaped scissor fork which are hinged in series end to end from top to bottom. The X-shaped scissor fork is composed of a pair of long connecting rods which cross each other in the middle and can rotate with each other. The middle and both ends of each long connecting rod are provided with round holes. The V-shaped scissor fork is composed of a pair of short connecting rods which cross each other in the bottom and can rotate with each other. Both ends of each short connecting rod are provided with round holes. The rotating shaft of the lower base passes through the round holes at the lower ends of the pair of short connecting rods. The pair of scissor fork assemblies are provided with connecting and reinforcing A transverse connecting rod, the transverse connecting rod comprising: a pair of sliding rods passing through the circular holes at the upper ends of the first pair of X-shaped scissors forks and symmetrically distributed front to back, a lifting adjustment rod passing through the central circular hole of the first pair of X-shaped scissors forks, a reinforcing rod passing through the serially hinged circular holes at the outer ends of adjacent X-shaped scissors forks, and a central reinforcing rod passing through the central circular holes of other pairs of X-shaped scissors forks; the sliding rod is provided with a pair of sliding rings which are symmetrical left and right, sleeved on the guide rod and can move forward and backward along the guide rod, the column in the middle of the lifting adjustment rod is provided with a thread matching the lifting screw, and the column in the middle of the central reinforcing rod is provided with a circular hole for accommodating the lifting screw to pass freely up and down.

[0008] Preferably, a damping device is provided between the V-shaped scissors fork and the lower base to limit the free swinging of the tool system forward and backward.

[0009] Preferably, the damping device comprises a pair of torsion springs mounted on the rotating shaft of the lower base and located outside the V-shaped scissors fork and inside the lower base, one end of the torsion spring is fixed to the lower base, and the other end is fixed to the adjacent short connecting rod.

[0010] Preferably, the outer end of the guide rod is provided with an upper travel switch for sensing that the suspension mechanism has retracted upward to the limit position, and the inner end of the guide rod is provided with a lower travel switch for sensing that the suspension mechanism has extended downward to the limit position, and the output signal lines of the upper travel switch and the lower travel switch and the control signal line of the motor are all connected to the main controller of the flight platform.

[0011] Preferably, the flying robot comprises a flying platform, a suspension mechanism and a tool system distributed from top to bottom, the suspension mechanism is fixedly connected to the flying platform, and the tool system is connected to the suspension mechanism through a unhooking device; the flying platform is a multi-rotor aircraft with a left-right symmetrical layout, and is not limited to any known four-, six-, eight-, etc. multi-rotor configurations.

[0012] Preferably, the above-mentioned uncoupling device includes an electromagnet and an armature, the electromagnet is fixedly connected to the lower end of the suspension mechanism, and the armature is fixedly connected to the upper part of the tool system. When the electromagnet is energized, it is attracted to the armature, and the tool system is connected to the lower part of the suspension mechanism; when the electromagnet is powered off, the armature is released, and the tool system is detached from the suspension mechanism. The electromagnet is connected to the power supply on the flying robot through a switch. During the obstacle removal operation, when the tool system is stuck relative to the tree obstacle and cannot be separated, the uncoupling device can be used to detach the tool system from the flying robot, thereby implementing safety protection for the flying robot.

[0013] Preferably, a working method of a retractable suspension mechanism of a tree obstacle clearing flying robot is as follows: the suspension mechanism has three working modes, namely, suspension mechanism ascending, suspension mechanism locking and suspension mechanism descending:

[0014] 1) Suspension mechanism rises: The main controller of the flight platform outputs a forward rotation command to the motor. The rotation of the motor will drive the lifting screw to rotate forward, causing the lifting adjustment rod to rise, driving the telescopic device to retract upward, and the sliding rod to move outward, thereby causing the suspension mechanism to rise; when the suspension mechanism rises to the limit position, the sliding rod triggers the upper travel switch, and the main controller of the flight platform outputs a stop command to the motor to stop the motor, thereby implementing rising protection for the suspension mechanism.

[0015] 2) Suspension mechanism locking: During the lifting and lowering process of the suspension mechanism, once the main controller of the flight platform outputs a stop command to the motor, the lifting screw driven by the motor will stop rotating. Due to the self-locking relationship between the lifting screw and the lifting adjustment rod, the suspension mechanism will be locked in the current position.

[0016] 3) Suspension mechanism descends: The main controller of the flight platform outputs a reverse command to the motor. The rotation of the motor will drive the lifting screw to reverse, causing the lifting adjustment rod to descend, driving the telescopic device to extend downward, and the sliding rod to move inward, thereby causing the suspension mechanism to descend; when the suspension mechanism descends to the extreme position, the sliding rod triggers the lower travel switch, and the main controller of the flight platform outputs a stop command to the motor to stop the motor, thereby implementing descent protection for the suspension mechanism.

[0017] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0018] 1) The scissor-fork type suspension mechanism of the present invention is connected to the flight platform at its upper end and to the tool system at its lower end. The tree obstacle clearing flying robot thus constructed not only has a low center of gravity, but also the center of gravity substantially coincides with the vertical projection of the geometric center of the entire machine, and has good stability and safety. Combined with the tool array included in the tool system, the tree obstacles in the transmission line channel can be cleared over a large area and with high efficiency, effectively preventing operators from approaching high-voltage transmission lines and tree obstacles to be cleared, reducing the obstacle clearing risk, improving the safety of the operation, and solving the problem of high safety risks in the prior art;

[0019] 2) The scissor-fork suspension mechanism can be dynamically extended and retracted during the flight and operation of the flying robot. On the one hand, it can adjust the distance between the tool system and the flying platform to meet the needs of clearing different tree obstacles at different heights. It is flexible and efficient to use. On the other hand, after the suspension mechanism is extended, the tool system can be moved away from the flying platform to avoid the interference of the tree obstacles below on the rotor of the flying platform, thereby improving the safety of the obstacle clearance process. On the other hand, it can effectively reduce the vertical size of the flying robot, making it easier to take off, land, store and carry.

[0020] 3) Due to the I-shaped frame + telescopic device configuration, especially the transverse connecting rod that connects and strengthens the scissor fork components, the suspension mechanism has good structural rigidity and strength, the system has better stability and reliability, and the structure is simple and easy to implement; when the tool system is subjected to external force, it is not easy for the suspension mechanism to be excessively twisted or deformed, resulting in structural damage, thus ensuring the safety of the robot;

[0021] 4) The present invention adopts a structure in which the lifting screw and the lifting adjustment rod thread cooperate with each other. The lifting screw is driven to rotate by a motor, which drives the lifting adjustment rod to rise or fall, thereby driving the suspension mechanism to retract upward or extend downward. After the motor stops rotating, the telescopic length of the suspension mechanism can be maintained, thereby enhancing the overall rigidity of the flying robot.

[0022] 5) A mechanical damper is provided between the lower base and the connected V-shaped scissor fork, which can keep the tool system stable at any lifting height, making it less likely to swing freely forward and backward, and provide a certain degree of flexibility during the cutting process, thereby improving the effectiveness and safety of the operation;

[0023] 6) The guide rod is equipped with a limiter to constrain the forward and backward movement of the sliding rod, which can prevent the suspension mechanism from exceeding the mechanical limit when contracting and extending, thereby ensuring the safety of the suspension mechanism movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the scissor-fork type suspension mechanism;

[0025] Figure 2 This is a schematic diagram of the I-shaped frame structure;

[0026] Figure 3 It is a schematic diagram of the telescopic device structure;

[0027] Figure 4 It is a schematic diagram of the structure of the scissor fork assembly;

[0028] Figure 5 It is a top view of the scissor-fork suspension mechanism;

[0029] Figure 6 This is a schematic diagram of the flying robot in the extended state;

[0030] Figure 7 This is a schematic diagram of the retracted state of the flying robot;

[0031] Figure 8 is a schematic diagram of a mechanical damper;

[0032] Fig. 9 This is a schematic diagram of the structure of the unhooking device.

[0033] In the figure, 1—flying platform, 2—suspension mechanism, 3—tool system, 4—unhooking device;

[0034] 211—I-shaped frame, 212—telescopic device, 213—lower base;

[0035] 2101—main beam, 2102—guide rod, 2103—flange seat, 2104—lifting screw, 2105—motor, 2106—sliding rod, 2107—lifting adjustment rod, 2108—reinforcement rod, 2109—center reinforcement rod, 2110—long connecting rod, 2111—short connecting rod, 2112—scissor fork assembly, 2113—X-shaped scissor fork, 2114—V-shaped scissor fork, 2115—torsion spring.

[0036] 401 - electromagnet, 402 - armature. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0038] Example 1: Figure 1 to Figure 7As shown, a scissor-fork type suspension mechanism for a tree obstacle clearing flying robot is characterized in that it includes a horizontally arranged I-shaped frame 211, a telescopic device 212 hung below the I-shaped frame 211, and a lower base 213 connected to the lower end of the telescopic device 212 and docked with a tool system 3; the I-shaped frame 211 includes a main beam 2101 located at a central position and arranged laterally, a pair of guide rods 2102 symmetrically fixedly connected to both sides of the main beam 2101 and extending forward and backward, and a flange seat 2103 located at the outer end of the guide rod 2102 and connected to the flying platform 1, and the main beam 2101 is provided with a plurality of guide rods 2102 disposed on the main beam 2101. A motor 2105 is installed at the center of the beam 2101, and the output shaft of the motor 2105 is vertically downward and connected to the lifting screw 2104; the telescopic device includes a pair of scissor fork assemblies 2112 arranged in parallel and symmetrically on the left and right, and the scissor fork assembly 2112 includes N (N≥1) X-shaped scissor forks 2113 and a V-shaped scissor fork 2114 which are end-to-end and series-hinged from top to bottom; the X-shaped scissor fork 2113 is composed of a pair of long connecting rods 2110 that cross in the middle and can rotate with each other, and each long connecting rod 2110 is provided with round holes in the middle and at both ends; the V-shaped scissor fork 2113 is composed of a pair of long connecting rods 2110 that cross in the middle and can rotate with each other, and each long connecting rod 2110 is provided with round holes in the middle and at both ends; The knife and fork 2114 is composed of a pair of short connecting rods 2111 that cross each other at the bottom and can rotate with each other. There are round holes at both ends of each short connecting rod 2111, and the rotating shaft of the lower base 213 passes through the round holes at the lower ends of the pair of short connecting rods 2111; the pair of scissor fork assemblies 2112 are sequentially provided with transverse connecting rods from top to bottom for connecting and strengthening, and the transverse connecting rods include: a pair of sliding rods 2106 that pass through the round holes at the upper ends of the first pair of X-shaped scissor forks 2113 and are symmetrically distributed front and back, and a lifting rod 2106 that passes through the central round holes of the first pair of X-shaped scissor forks 2113. An adjusting rod 2107, a reinforcing rod 2108 passing through circular holes in series at the outer ends of adjacent X-shaped scissor forks 2113, and a central reinforcing rod 2109 passing through the central circular holes of other pairs of X-shaped scissor forks 2113; the sliding rod 2106 is provided with a pair of sliding rings which are symmetrical on the left and right, sleeved on the guide rod 2102 and can move back and forth along the guide rod 2102; the column in the middle of the lifting adjusting rod 2107 is provided with a thread matching the lifting screw 2104; the column in the middle of the central reinforcing rod 2109 is provided with a circular hole which allows the lifting screw 2104 to pass freely up and down.

[0039] Preferably, a damping device is provided between the V-shaped scissor fork 2114 and the lower base 213 to limit the free swinging of the tool system 3 forward and backward.

[0040] Preferably, Figure 8 As shown, the damping device includes a pair of torsion springs 2115 installed on the rotating shaft of the lower base 213 and located on the outside of the V-shaped scissors fork 2114 and the inside of the lower base 213. One end of the torsion spring 2115 is fixed to the lower base 213, and the other end is fixed to the adjacent short connecting rod 2111.

[0041] The use of the damping device will enable the tool system 3 to maintain a stable posture at any lifting height, and will not easily swing freely forward and backward, thereby improving the effectiveness and safety of the obstacle removal operation.

[0042] Preferably, the outer end of the guide rod 2102 is provided with an upper travel switch for sensing that the suspension mechanism 2 has retracted upward to the extreme position, and the inner end of the guide rod 2102 is provided with a lower travel switch for sensing that the suspension mechanism 2 has extended downward to the extreme position, and the output signal lines of the upper travel switch and the lower travel switch and the control signal line of the motor 2105 are all connected to the main controller of the flight platform 1.

[0043] Preferably, Figure 6-7 As shown, the aerial robot includes a flight platform 1, a suspension mechanism 2 and a tool system 3 arranged from top to bottom, the suspension mechanism 2 is fixedly connected to the lower end of the flight platform 1, and the tool system 3 is connected to the suspension mechanism 2 through a decoupling device 4; the flight platform 1 is a multi-rotor aircraft with a left-right symmetrical layout, and is not limited to any known four-, six-, eight-, etc. multi-rotor configuration.

[0044] Preferably, Fig. 9 As shown, the decoupling device 4 includes an electromagnet 401 and an armature 402. The electromagnet 401 is installed below the lower base 213, and the armature 402 is fixedly connected to the upper part of the tool system 3. When the electromagnet 401 is powered on, it is attracted to the armature 402, and the tool system 3 is connected to the suspension mechanism 2; when the electromagnet 401 is powered off, the armature 402 is released, and the tool system 3 is separated from the suspension mechanism 2. During the obstacle removal operation, when the tool system 3 is blocked relative to the tree obstacle and cannot be separated, the decoupling device 4 can be used to separate the tool system 3 from the flying robot, thereby implementing safety protection for the flying robot.

[0045] Preferably, a working method of a retractable suspension mechanism of a tree obstacle clearing flying robot is as follows: the suspension mechanism has three working modes, namely, suspension mechanism ascending, suspension mechanism locking and suspension mechanism descending:

[0046] 1) The suspension mechanism rises: the main controller of the flight platform 1 outputs a forward rotation command to the motor 2105. The rotation of the motor 2105 drives the lifting screw 2104 to rotate forward, so that the lifting adjustment rod 2107 rises, drives the telescopic device 212 to retract upward, and the sliding rod 2106 moves outward, thereby causing the suspension mechanism 2 to rise; when the suspension mechanism 2 rises to the limit position, the sliding rod 2106 triggers the upper travel switch, and the main controller of the flight platform 1 outputs a stop command to the motor 2105, causing the motor 2105 to stop, thereby implementing a rising protection for the suspension mechanism 2.

[0047] 2) Suspension mechanism locking: During the lifting process of the suspension mechanism 2, once the main controller of the flight platform 1 outputs a stop command to the motor 2105, the lifting screw 2104 driven by the motor 2105 will stop rotating. Due to the self-locking relationship between the lifting screw 2104 and the lifting adjustment rod 2107, the suspension mechanism 2 will be locked in the current position.

[0048] 3) The suspension mechanism descends: the main controller of the flight platform 1 outputs a reverse command to the motor 2105. The rotation of the motor 2105 will drive the lifting screw 2104 to reverse, causing the lifting adjustment rod 2107 to descend, driving the telescopic device 212 to extend downward, and the sliding rod 2106 to move inward, thereby causing the suspension mechanism 2 to descend; when the suspension mechanism 2 descends to the extreme position, the sliding rod 2106 triggers the lower travel switch, and the main controller of the flight platform 1 outputs a stop command to the motor 2105, causing the motor 2105 to stop, thereby implementing descent protection for the suspension mechanism 2.

[0049] The above is only an example of a specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. A person skilled in the art can easily find variations or replacements within the technical scope disclosed in the present invention, and these should all be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A scissor-fork suspension mechanism for a tree obstacle clearing flying robot, characterized in that: It comprises an I-shaped frame (211) placed horizontally, a telescopic device (212) hung below the I-shaped frame (211), and a lower base (213) connected to the lower end of the telescopic device (212) and docked with the tool system (3); The I-shaped frame (211) comprises a main beam (2101) located at a central position and arranged transversely, a pair of guide rods (2102) symmetrically fixed to both sides of the main beam (2101) and extending forward and backward, and a flange seat (2103) located at the outer end of the guide rod (2102) and connected to the flight platform (1), and a motor (2105) is installed at the center of the main beam (2101), and the output shaft of the motor (2105) is vertically downward and connected to the lifting screw (2104); The telescopic device (212) comprises a pair of scissor fork assemblies (2112) arranged in parallel and symmetrically on the left and right. The scissor fork assemblies (2112) comprise N X-shaped scissor forks (2113) and one V-shaped scissor fork (2114) which are hinged in series end to end from top to bottom, where N is greater than or equal to 1. The X-shaped scissor fork (2113) is composed of a pair of long connecting rods (2110) which cross each other at the middle and can rotate with each other, and each long connecting rod (2110) is provided with round holes at the middle and both ends. The V-shaped scissor fork (2114) is composed of a pair of short connecting rods (2111) which cross each other at the bottom and can rotate with each other, and each short connecting rod (2111) is provided with round holes at both ends, and the rotating shaft of the lower base (213) passes through the round holes at the lower ends of the pair of short connecting rods (2111). The pair of scissor fork assemblies (2112) are provided with transverse connecting rods (2113) from top to bottom for connecting and reinforcing. A connecting rod, wherein the transverse connecting rod comprises: a pair of sliding rods (2106) passing through the circular holes at the upper ends of the first pair of X-shaped scissor forks (2113) and symmetrically distributed front to back, a lifting and adjusting rod (2107) passing through the central circular hole of the first pair of X-shaped scissor forks (2113), a reinforcing rod (2108) passing through the serially connected circular holes at the outer ends of adjacent X-shaped scissor forks (2113), and a central reinforcing rod (2109) passing through the central circular holes of other pairs of X-shaped scissor forks (2113); the sliding rod (2106) is provided with a pair of sliding rings which are symmetrical left to right, sleeved on the guide rod (2102) and can move forward and backward along the guide rod (2102); a column in the middle of the lifting and adjusting rod (2107) is provided with a thread matched with the lifting screw (2104); and a column in the middle of the central reinforcing rod (2109) is provided with a circular hole for accommodating the lifting screw (2104) to freely pass through up and down; A damping device is provided between the V-shaped scissor fork (2114) and the lower base (213) to limit the free swinging of the tool system (3) forward and backward; The damping device comprises a pair of torsion springs (2115) mounted on the rotating shaft of the lower base (213) and located outside the V-shaped scissor fork (2114) and inside the lower base (213); one end of the torsion spring (2115) is fixed to the lower base (213), and the other end is fixed to an adjacent short connecting rod (2111).

2. The scissor-fork type suspension mechanism for a tree obstacle clearing flying robot according to claim 1, characterized in that: The outer end of the guide rod (2102) is provided with an upper travel switch for sensing that the suspension mechanism (2) has retracted upward to an extreme position, and the inner end of the guide rod (2102) is provided with a lower travel switch for sensing that the suspension mechanism (2) has extended downward to an extreme position, and the output signal lines of the upper travel switch and the lower travel switch and the control signal line of the motor (2105) are all connected to the main controller of the flight platform (1).

3. A method for operating the scissor-fork suspension mechanism of a tree obstacle clearing flying robot according to claim 2, characterized in that: There are three working modes of the suspension mechanism, namely, suspension mechanism rising, suspension mechanism locking and suspension mechanism falling: 1) The suspension mechanism rises: the main controller of the flight platform (1) outputs a forward rotation instruction to the motor (2105), and the motor (2105) rotates to drive the lifting screw (2104) to rotate forward, so that the lifting adjustment rod (2107) rises, drives the telescopic device (212) to retract upward, and the sliding rod (2106) moves outward, thereby causing the suspension mechanism (2) to rise; when the suspension mechanism (2) rises to the limit position, the sliding rod (2106) triggers the upper travel switch, and the main controller of the flight platform (1) outputs a stop instruction to the motor (2105), causing the motor (2105) to stop, thereby implementing a rising protection for the suspension mechanism (2); 2) Suspension mechanism locking: During the lifting process of the suspension mechanism (2), once the main controller of the flight platform (1) outputs a stop command to the motor (2105), the lifting screw (2104) driven by the motor (2105) will stop rotating. Since there is a self-locking relationship between the lifting screw (2104) and the lifting adjustment rod (2107), the suspension mechanism (2) will be locked in the current position; 3) The suspension mechanism descends: the main controller of the flight platform (1) outputs a reverse command to the motor (2105), and the motor (2105) rotates to drive the lifting screw (2104) to reverse, so that the lifting adjustment rod (2107) descends, driving the telescopic device (212) to extend downward, and the sliding rod (2106) to move inward, thereby causing the suspension mechanism (2) to descend; when the suspension mechanism (2) descends to the extreme position, the sliding rod (2106) triggers the lower travel switch, and the main controller of the flight platform (1) outputs a stop command to the motor (2105), causing the motor (2105) to stop, thereby implementing a descending protection for the suspension mechanism (2).

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