A telescopic suspension mechanism for a tree obstacle clearing flying robot

Abstract

The present invention discloses a telescopic suspension mechanism for a tree obstacle clearing flying robot, which includes L (L≥2) parallel vertical rods symmetrically distributed on the left and right. The vertical rods comprise N (N≥2) continuously nested hollow tubes, which are numbered 1, 2, …, N from top to bottom. The upper end of the i-th (1≤i<N) hollow tube is provided with an upper base for restricting the overshoot of the upward contraction of the (i + 1)-th hollow tube, and the lower end is provided with a lower base for restricting the movement dropout of the downward extension of the (i + 1)-th hollow tube. The upper base of the second hollow tube is connected to a wire winder installed on the flying platform through a pull rope. The lower ends of the same-segment hollow tubes of adjacent vertical rods are provided with interconnected transverse strengthening beams. The present invention can make the tool system located below the flying platform and freely liftable, which can not only meet the requirements of different tree obstacle clearing heights, but also has good equipment storage and portability, effectively improving the tree obstacle clearing efficiency and reducing the safety risk of obstacle clearing.

Description

Technical Field

[0001] The present invention relates to a tree barrier clearing flying robot based on a suspended cutter structure for use in power lines, and in particular to a robot suitable for quickly clearing the top upper part and sides of large-area tree barriers, 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 telescopic suspension mechanism for a tree obstacle clearing flying robot, which can automatically extend and unfold after the robot takes off, and automatically shrink and close before landing, so as to facilitate the take-off, landing and storage of the flying robot, thereby realizing large-scale and efficient clearing of tree obstacles.

[0005] The technical solution adopted by the present invention is as follows: A telescopic suspension mechanism for a tree obstacle clearing flying robot, including L (L≥2) parallel vertical rods symmetrically distributed on the left and right; the vertical rods include N (N≥2) continuously nested hollow tubes, numbered 1, 2, …, N from top to bottom in sequence. Among them, the upper end of the i-th (1≤i<N) hollow tube is provided with an upper base for restricting the overshoot of the upward contraction of the (i + 1)-th hollow tube, and the lower end is provided with a lower base for restricting the movement and detachment of the (i + 1)-th hollow tube during downward extension. The upper base of the first hollow tube is provided with a flange connected to the flying platform. The upper end of the N-th hollow tube is provided with an upper base, and the lower end is connected to the tool system through a decoupling device. The upper base of the second hollow tube is connected to a wire reel installed on the flying platform through a pull rope.

[0006] Preferably, the lower ends of the same-section hollow tubes of adjacent vertical rods are provided with laterally connected strengthening beams.

[0007] Preferably, when the number of sections of the hollow tube N≥3, the vertical rod further includes a movable pulley with a horizontal axis fixed to the upper base of the j-th (2≤j<N) hollow tube and a rotation plane passing through the vertical axis of the hollow tube, and a pulley pull rope that is wound around the upper side of the movable pulley and has one end fixedly connected to the lower base of the (j - 1)-th hollow tube and the other end fixedly connected to the upper base of the (j + 1)-th hollow tube.

[0008] Preferably, the number of movable pulleys inside the hollow tube including the movable pulley is M (M≥2), and they are symmetrically distributed in a circle relative to the hollow tube.

[0009] Preferably, the inner wall of the i-th (1≤i<N) hollow tube is provided with K (K≥2) slide rails that are symmetrically distributed in a circle and run up and down. The outer side of the upper base of the (i + 1)-th hollow tube is provided with grooves that cooperate with the slide rails inside the i-th hollow tube and can slide up and down.

[0010] Preferably, the wire reel includes a wire-reeling motor, a wire-reeling disc for reeling the pull rope, a rotary fork driven by the wire-reeling motor through a transmission gear, an upper travel switch for sensing the suspension mechanism rising to the limit position, and a lower travel switch for sensing the suspension mechanism descending to the limit position. The output signal lines of the upper travel switch and the lower travel switch and the control signal line of the wire-reeling motor are all connected to the main controller of the flying platform; a driving and self-locking relationship similar to that of a "worm - worm gear" is formed between the wire-reeling motor and the wire-reeling disc.

[0011] Preferably, the flying robot includes 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 decoupling device; the flying platform is a multi-rotor aircraft with a left-right symmetrical layout, not limited to any known multi-rotor configurations such as four, six, eight, etc.

[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, the vertical rod is hollow in design to accommodate power and communication cables between the flight platform and the tool system.

[0014] A telescopic suspension mechanism for a tree obstacle clearing flying robot works as follows:

[0015] A telescopic suspension mechanism for a tree obstacle clearing flying robot includes a suspension mechanism ascending and a suspension mechanism descending:

[0016] 1) Ascending of the suspension mechanism: the main controller of the flight platform outputs a forward rotation command to the take-up motor, which drives the take-up drum to reel in the rope and causes the rotating fork to rotate forward. The rope rises and drives the second hollow tube of the vertical rod to move upward, and the movable pulley on the hollow tube moves upward, prompting the pulley rope bypassing the movable pulley to drive the third hollow tube to move upward synchronously, and so on, driving the Nth hollow tube to move upward synchronously. When all vertical rods move synchronously according to the above method, the suspension mechanism will rise steadily. When the suspension mechanism rises to the limit position, the rotating fork triggers the upper travel switch, and the main controller of the flight platform outputs a stop command to the take-up motor to stop the take-up motor, thereby implementing ascent protection for the suspension mechanism.

[0017] 2) The suspension mechanism descends: The main controller of the flight platform outputs a reverse rotation command to the take-up motor. The take-up motor drives the take-up drum to release the pull rope and causes the rotary fork to rotate in the opposite direction. Under the action of the movable hollow tube of the vertical rod and the gravity of the load below, the second section of the hollow tube moves downward, and the movable pulley on the hollow tube moves downward, prompting the pulley rope bypassing the movable pulley to drive the third section of the hollow tube to move downward synchronously, and so on, until the Nth section of the hollow tube moves downward synchronously; when all vertical rods move synchronously according to the above method, the suspension mechanism will descend steadily; when the suspension mechanism descends to the limit position, the rotary fork triggers the lower travel switch, and the main controller of the flight platform outputs a stop command to the take-up motor to stop the take-up motor, thereby implementing descent protection for the suspension mechanism.

[0018] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0019] 1) The 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 has the center of gravity substantially coincident 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 with high efficiency, effectively preventing operators from approaching high-voltage transmission lines and tree obstacles to be cleared, reducing the risk of obstacle clearing, improving the safety of operations, and solving the problem of high safety risks in the prior art.

[0020] 2) The telescopic 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 removal process. On the other hand, after the suspension mechanism is retracted, the vertical size of the flying robot can be effectively reduced, which is convenient for take-off, landing, storage and carrying.

[0021] 3) The suspension mechanism adopts multiple vertical rods arranged symmetrically on the left and right, and is equipped with a transverse reinforcement beam. Compared with a single vertical rod, it has better structural rigidity and strength, and the stability and reliability of the system are better; 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;

[0022] 4) The hollow tube is equipped with multiple symmetrically distributed movable pulleys, which can ensure the smoothness of the telescopic movement of the vertical rod on the one hand, and make multiple sections of the hollow tube rise and fall synchronously on the other hand, thus improving the stability of the entire suspension mechanism and the balance of movement.

[0023] 5) Since the take-up device is equipped with an upper travel switch and a lower travel switch, the suspension mechanism can stop automatically when it is raised or lowered to the limit, which improves the working safety of the suspension mechanism.

[0024] 6) Since the hollow tube is provided with slide rails and grooves that slide with each other, twisting between adjacent hollow tubes can be effectively avoided, thereby increasing the motion stability and system reliability of the telescopic suspension mechanism;

[0025] 7) The structure and control method of the suspension mechanism are relatively simple and easy to implement in engineering; at the same time, the lighter weight is conducive to reducing the burden of the flying robot and increasing the flight time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the internal structure of the vertical rod of the suspension mechanism;

[0027] Figure 2 is a schematic diagram of the fully extended state of the vertical rod of the suspension mechanism;

[0028] Figure 3 It is a schematic diagram of the fully retracted state of the vertical rod of the suspension mechanism;

[0029] Figure 4 Schematic diagram of the flying robot with the suspension mechanism fully extended;

[0030] Figure 5 Schematic diagram of the flying robot with its suspension mechanism fully retracted;

[0031] Figure 6 It is a schematic diagram of the circular symmetrical arrangement of movable pulleys;

[0032] Figure 7 It is a schematic diagram of the motion coordination between the upper base and the slide rail;

[0033] Figure 8 It is a schematic diagram of the structure of the wire take-up device;

[0034] Fig. 9 This is a schematic diagram of the structure of the unhooking device.

[0035] In the figure, 1—flying platform, 2—suspension mechanism, 3—tool system, 4—unhooking device;

[0036] 2200—vertical rod, 2201—wire take-up device, 2202—pull rope, 2203—hollow tube, 2204—upper base, 2205—lower base, 2206—movable pulley, 2207—pulley pull rope, 2208—flange, 2209—slide rail, 2210—transverse reinforcement beam;

[0037] 22011—receiving motor, 22012—receiving reel, 22013—transmission gear, 22014—rotating fork, 22015—upper travel switch, 22016—lower travel switch;

[0038] 401 - electromagnet, 402 - armature. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0040] Example 1: Figure 1 to Figure 5As shown in the figure, a telescopic suspension mechanism for a tree obstacle clearing flying robot includes L (L≥2) parallel vertical rods 2200 that are symmetrically distributed left and right. The vertical rods 2200 include N (N≥2) continuously nested hollow tubes 2203, numbered 1, 2, …, N from top to bottom. The upper end of the i-th (1≤i<N) hollow tube 2203 is provided with an upper base 2204 that restricts the overshoot of the upward contraction of the (i + 1)-th hollow tube 2203, and the lower end is provided with a lower base 2205 that restricts the detachment of the downward extension of the (i + 1)-th hollow tube 2203. The upper base 2204 of the first hollow tube 2203 is provided with a flange 2208 connected to the flying platform 1. The upper end of the N-th hollow tube 2203 is provided with an upper base 2204, and the lower end is connected to the tool system 3 through a decoupling device 4. The upper base 2204 of the second hollow tube 2203 is connected to a wire reel 2201 installed on the flying platform 1 through a pulling rope 2202.

[0041] Preferably, the lower ends of the same-section hollow tubes 2203 of adjacent vertical rods 2200 are provided with interconnected transverse strengthening beams 2210.

[0042] Preferably, when the number of sections N of the hollow tube 2203 is N≥3, the vertical rod 2200 further includes a movable pulley 2206 whose rotating shaft is horizontally fixed to the upper base 2204 of the j-th (2≤j≤N - 1) hollow tube 2203 and whose rotation plane passes through the vertical axis of the 2203 hollow tube, and a pulley pulling rope 2207 that is wound around the upper side of the movable pulley 2206 and whose one end is fixedly connected to the lower base 2205 of the (j - 1)-th hollow tube 2203 and the other end is fixedly connected to the upper base 2204 of the (j + 1)-th hollow tube 2203.

[0043] Preferably, as Figure 6 shown, the number of movable pulleys 2206 inside the hollow tube 2203 including the movable pulley 2206 is M (M≥2), and they are circumferentially symmetrically distributed relative to the hollow tube 2203.

[0044] Preferably, as Figure 7 shown, the inner wall of the i-th (1≤i<N) hollow tube 2203 is provided with K (K≥2) vertically upward and downward running slide rails 2209 that are circumferentially symmetrically distributed. The outer side of the upper base 2204 of the (i + 1)-th hollow tube 2203 is provided with a groove that cooperates with the slide rails 2209 built in the i-th hollow tube 2203 and can slide up and down. Through the cooperation of the slide rails 2209 and the grooves, the torsion between adjacent hollow tubes 2203 can be effectively avoided, and the movement stability and system reliability of the suspension mechanism 2 can be increased.

[0045] Preferably, as Figure 8As shown, the above-mentioned wire take-up device 2201 includes a wire take-up motor 22011, a wire take-up drum 22012 for winding up the pull rope 2202, a rotating fork 22014 driven to rotate by the wire take-up motor 22011 via a transmission gear 22013, an upper travel switch 22015 for sensing that the suspension mechanism 2 has risen to the limit position, and a lower travel switch 22016 for sensing that the suspension mechanism 2 has fallen to the limit position. The output signal lines of the upper travel switch 22015 and the lower travel switch 22016, and the control signal line of the wire take-up motor 22011 are all connected to the main controller of the flight platform 1.

[0046] Preferably, Figure 4 , Figure 5 As shown, the flying robot includes a flying 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 flying platform 1, and the tool system 3 is connected to the suspension mechanism 2 through a decoupling device 4; the flying 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.

[0047] Preferably, Fig. 9 As shown, the above-mentioned unhooking device 4 includes an electromagnet 401 and an armature 402. The electromagnet 401 is fixedly connected to the lower end of the vertical rod 2200, 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 disconnected from the suspension mechanism 2. The electromagnet is connected to the power supply on the flying robot through a switch. During the obstacle removal operation, when the tool system 3 is stuck relative to the tree obstacle and cannot be separated, the unhooking device 4 can be used to separate the tool system 3 from the flying robot, thereby implementing safety protection for the flying robot.

[0048] Preferably, the vertical rod 2200 is hollow in design and can accommodate power and communication cables between the flying platform 1 and the tool system 3 .

[0049] A telescopic suspension mechanism for a tree obstacle clearing flying robot works as follows:

[0050] A telescopic suspension mechanism for a tree obstacle clearing flying robot includes a suspension mechanism ascending and a suspension mechanism descending:

[0051] 1) Suspension mechanism rises: The main controller of the flight platform 1 outputs a forward rotation command to the take-up motor 22011, and the take-up motor 22011 drives the take-up drum 22012 to reel in the pull rope 2202 and causes the rotating fork 22014 to rotate forward. The pull rope 2202 rises and drives the second hollow tube 2203 of the vertical rod 2200 to move upward, and also drives the movable pulley 2206 on the hollow tube 2203 to move upward, prompting the pulley pull rope 2207 that bypasses the movable pulley 2206 to drive the third hollow tube 2203 to move upward. The core tube 2203 also moves upward synchronously, and so on, driving the Nth section of hollow tube 2203 to move upward synchronously; when all vertical rods 2200 move synchronously according to the above method, the suspension mechanism 2 will rise steadily; when the suspension mechanism 2 rises to the limit position, the rotating fork 22014 triggers the upper travel switch 22015, and the main controller of the flying platform 1 outputs a stop command to the take-up motor 22011, causing the take-up motor 22011 to stop, thereby implementing ascent protection for the suspension mechanism 2.

[0052] 2) The suspension mechanism descends: The main controller of the flight platform 1 outputs a reverse rotation command to the wire-receiving motor 22011, and the wire-receiving motor 22011 drives the wire-receiving reel 22012 to release the pull rope 2202 and make the rotating fork 22014 rotate in the reverse direction. Under the action of the movable hollow tube 2203 of the vertical rod 2200 and the gravity of the load below, the second section of the hollow tube 2203 moves downward, and the movable pulley 2206 on the hollow tube 2203 moves downward, causing the pulley rope 2206 that bypasses the movable pulley 2206 to move downward. 7 drives the third section of the hollow tube 2203 to move downward synchronously, and so on, until the Nth section of the hollow tube 2203 is driven to move downward synchronously; when all the vertical rods 2200 act synchronously according to the above method, the suspension mechanism 2 will be able to descend stably; when the suspension mechanism 2 descends to the limit position, the rotating fork 22014 triggers the lower travel switch 22016, and the main controller of the flying platform 1 outputs a stop command to the wire-retracting motor 22011, so that the wire-retracting motor 22011 stops, thereby implementing descent protection for the suspension mechanism 2.

[0053] 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 telescopic suspension mechanism for a tree obstacle clearing flying robot, characterized in that: It includes L vertical rods (2200) that are parallel to each other and symmetrically distributed on the left and right, where L≥2. The vertical rods (2200) include N continuously nested hollow tubes (2203), where N≥2. The serial numbers from top to bottom are 1, 2, …, N. The upper end of the i-th hollow tube (2203) is provided with an upper base (2204) that restricts the overshoot of the upward contraction of the (i + 1)-th hollow tube (2203), where 1≤i<N. The lower end is provided with a lower base (2205) that restricts the detachment of the downward extension of the (i + 1)-th hollow tube (2203). The upper base (2204) of the first hollow tube (2203) is provided with a flange (2208) connected to the flight platform (1). The upper end of the N-th hollow tube (2203) is provided with an upper base (2204), and the lower end is connected to the tool system (3) through a decoupling device (4). The upper base (2204) of the second hollow tube (2203) is connected to a wire reel (2201) installed on the flight platform (1) through a pulling rope (2202). When the number of segments N of the hollow tube (2203) is N≥3, the vertical rod (2200) further includes a movable pulley (2206) whose rotating shaft is horizontally fixed to the upper base (2204) of the j-th hollow tube (2203) and whose rotating plane passes through the vertical axis of the hollow tube (2203), and a pulley pulling rope (2207) that is wound around the upper side of the movable pulley (2206) and one end of which is fixedly connected to the lower base (2205) of the (j - 1)-th hollow tube (2203) and the other end of which is fixedly connected to the upper base (2204) of the (j + 1)-th hollow tube (2203), where 2≤j≤N - 1. For the hollow tube (2203) of the vertical rod (2200) that includes the movable pulley (2206), the number of internal movable pulleys (2206) is M, where M≥2, and they are symmetrically distributed in a circle relative to the hollow tube (2203). The above-mentioned wire reel (2201) includes a wire-reeling motor (22011), a wire-reeling disc (22012) for reeling the pulling rope (2202), a rotating fork (22014) driven to rotate by the wire-reeling motor (22011) through a transmission gear (22013), an upper travel switch (22015) for sensing that the suspension mechanism (2) has reached the limit position during upward movement, and a lower travel switch (22016) for sensing that the suspension mechanism (2) has reached the limit position during downward movement. The output signal lines of the upper travel switch (22015) and the lower travel switch (22016), and the control signal line of the wire-reeling motor (22011) are all connected to the main controller of the flight platform (1); a driving and self-locking relationship is formed between the wire-reeling motor (22011) and the wire-reeling disc (22012).

2. The telescopic suspension mechanism for a tree obstacle clearing flying robot according to claim 1, characterized in that: The lower ends of the same-segment hollow tubes (2203) of adjacent vertical rods (2200) are provided with interconnected transverse strengthening beams (2210).

3. The telescopic suspension mechanism for a tree obstacle clearing flying robot according to claim 1, characterized in that: The inner wall of the i-th hollow tube (2203) described above is provided with K slide rails (2209) that are symmetrically distributed in a circular pattern and run vertically. 1 ≤ i < N, K ≥ 2. The outer side of the upper base (2204) of the (i + 1)-th hollow tube (2203) is provided with a groove that cooperates with the slide rails (2209) inside the i-th hollow tube (2203) and can slide up and down.

4. A working method for a telescopic suspension mechanism of a flying robot for tree obstacle clearing using the telescopic suspension mechanism described in claim 1, characterized as follows: The working method for the telescopic suspension mechanism of a flying robot for tree obstacle clearing, that is, the working mode, includes the suspension mechanism rising and the suspension mechanism descending: 1) Suspension mechanism rising: The main controller of the flight platform (1) outputs a forward rotation command to the wire-receiving motor (22011). The wire-receiving motor (22011) drives the wire-receiving reel (22012) to wind up the pulling rope (2202) and makes the rotary fork (22014) rotate forward. The rising of the pulling rope (2202) drives the second hollow tube (2203) of the vertical rod (2200) to move upward. The movable pulley (2206) on this section of the hollow tube (2203) also moves upward, causing the pulley pulling rope (2207) that bypasses this movable pulley (2206) to drive the third hollow tube (2203) to move upward synchronously. By analogy, it一直带动第N段空心管(2203)同步上移;所有垂直杆(2200)按上述方法同步动作时,将使悬挂机构(2)稳定上升;当悬挂机构(2)上升到极限位置时,旋转拨叉(22014)触发上行程开关(22015),飞行平台(1)的主控制器向收线电机(22011)输出停转指令,使收线电机(22011)停转,从而对悬挂机构(2)实施上升保护;一直带动第N段空心管(2203)同步上移;所有垂直杆(2200)按上述方法同步动作时,将使悬挂机构(2)稳定上升;当悬挂机构(2)上升到极限位置时,旋转拨叉(22014)触发上行程开关(22015),飞行平台(1)的主控制器向收线电机(22011)输出停转指令,使收线电机(22011)停转,从而对悬挂机构(2)实施上升保护;When all the vertical rods (2200) move synchronously according to the above method, the suspension mechanism (2) will rise stably; When the suspension mechanism (2) rises to the limit position, the rotary fork (22014) triggers the upper travel switch (22015), and the main controller of the flight platform (1) outputs a stop rotation command to the wire-receiving motor (22011), causing the wire-receiving motor (22011) to stop rotating, thereby implementing upward protection for the suspension mechanism (2); 2) Suspension mechanism descending: The main controller of the flight platform (1) outputs a reverse rotation command to the wire-receiving motor (22011). The wire-receiving motor (22011) drives the wire-receiving reel (22012) to release the pulling rope (2202) and makes the rotary fork (22014) rotate in the reverse direction. Under the action of the gravity of the movable hollow tube (2203) of the vertical rod (2200) and the load below, the second hollow tube (2203) moves downward. The movable pulley (2206) on this section of the hollow tube (2203) also moves downward, causing the pulley pulling rope (2207) that bypasses this movable pulley (2206) to drive the third hollow tube (2203) to move downward synchronously. By analogy, it一直带动第N段空心管(2203)同步下移;所有垂直杆(2200)按上述方法同步动作时,将使悬挂机构(2)稳定下降;当悬挂机构(2)下降到极限位置时,旋转拨叉(22014)触发下行程开关(22016),飞行平台(1)的主控制器向收线电机(22011)输出停转指令,使收线电机(22011)停转,从而对悬挂机构(2)实施下降保护。一直带动第N段空心管(2203)同步下移;所有垂直杆(2200)按上述方法同步动作时,将使悬挂机构(2)稳定下降;当悬挂机构(2)下降到极限位置时,旋转拨叉(22014)触发下行程开关(22016),飞行平台(1)的主控制器向收线电机(22011)输出停转指令,使收线电机(22011)停转,从而对悬挂机构(2)实施下降保护。When all the vertical rods (2200) move synchronously according to the above method, the suspension mechanism (2) will descend stably; When the suspension mechanism (2) descends to the limit position, the rotary fork (22014) triggers the lower travel switch (22016), and the main controller of the flight platform (1) outputs a stop rotation command to the wire-receiving motor (22011), causing the wire-receiving motor (22011) to stop rotating, thereby implementing downward protection for the suspension mechanism (2).

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