An unmanned aerial vehicle transmission type trim throwing device and a trim method thereof

Abstract

This invention provides a drone-based transmission-type balancing and throwing device and its balancing method. The device includes a counterweight section, a throwing section, and a driving device. The counterweight section consists of two identical stepped synchronous pulleys A and B, a synchronous belt A, and a counterweight block that drive with them. The throwing section includes an execution mechanism and a mounting mechanism. The execution mechanism consists of two identical stepped synchronous pulleys C and D, a synchronous belt B, and multiple paddles driven by the synchronous belt B. The mounting mechanism includes multiple hooks corresponding to the paddles. The stepped synchronous pulleys of the counterweight section mesh and drive with the stepped synchronous pulleys of the throwing section. This invention effectively combines a throwing device and a balancing device. By driving the counterweight block, it enables the autonomous movement of the counterweight block when gradually throwing multiple heavy items, thereby stabilizing the drone's center of gravity and greatly improving the drone's payload utilization rate.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a UAV transmission-type trimming and throwing device and its trimming method. Background Technology

[0002] In existing drone trimming processes, after the mission equipment is installed on the drone, other equipment is needed to trim it. Typically, assuming the total weight is within acceptable limits, the weight at the front of the drone is slightly greater than the weight at the rear, and the difference is within a reasonable range. Otherwise, counterweights must be placed inside the drone to achieve trimming. This trimming method is usually suitable for situations where the drone's weight does not change during flight, and a single trim is effective for the entire flight. However, it is not suitable for drones used for delivering objects. Currently, small drones have relatively low weight, and they are prone to losing balance when gradually dropping multiple heavy objects. Therefore, for balance considerations, most drones currently use a single payload configuration, resulting in low payload utilization. Furthermore, the dropping device is often incompatible with the trimming function, leading to separate trimming and dropping setups, which increases the drone's weight and size. Summary of the Invention

[0003] The purpose of this invention is to provide a UAV transmission-type trimming and throwing device and its trimming method to solve the problem of low load utilization caused by a single payload mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] Technical Solution 1: A UAV transmission-type balancing and throwing device includes a counterweight section, a throwing section, and a driving device. The counterweight section consists of stepped synchronous pulleys A and B with identical structures, a synchronous belt A and a counterweight block that drive and cooperate with the stepped synchronous pulleys A and B. The throwing section includes an execution mechanism and a mounting mechanism. The execution mechanism consists of stepped synchronous pulleys C and D with identical structures, a synchronous belt B that drives and cooperates with the stepped synchronous pulleys C and D, multiple paddles mounted on a paddle support via a paddle shaft, and paddle synchronous pulleys mounted on the paddle shaft and driven by the synchronous belt B. The mounting mechanism includes multiple hooks corresponding to the paddles. The stepped synchronous pulleys of the counterweight section mesh and drive with the stepped synchronous pulleys of the throwing section.

[0006] Furthermore, the stepped synchronous pulleys A, B, C, and D are all composed of coaxially mounted synchronous pulleys and gears, with the gears used for meshing transmission between the counterweight and the throwing part.

[0007] Furthermore, the radial dimension of the synchronous pulley is larger than the radial dimension of the gear, and the gear can be replaced according to balancing requirements.

[0008] Furthermore, it also includes a counterweight guide rail for supporting and guiding the counterweight, the counterweight being detachably connected to the timing belt A via a connector.

[0009] Furthermore, the actuator is provided with four levers, the initial positions of which are 90 degrees apart, either clockwise or counterclockwise.

[0010] Furthermore, the mounting mechanism consists of a hook, a hook shaft, and a hook support. The hook is rotatably connected to the hook shaft and connected to the hook support via the hook shaft.

[0011] Furthermore, the hook shaft is installed in the middle of the hook.

[0012] Technical Solution 2: A drone-driven trimming and throwing device, comprising a counterweight section, a throwing section, and a driving device. The counterweight section consists of a synchronous pulley G, a synchronous pulley H, a synchronous belt C that drives and cooperates with the synchronous pulleys G and H, and a counterweight block mounted on the synchronous belt C. The throwing section includes an execution mechanism and a mounting mechanism. The execution mechanism consists of a synchronous pulley X, a synchronous pulley Y, a synchronous belt D that drives and cooperates with the synchronous pulleys X and Y, multiple paddles mounted on a paddle support via a paddle shaft, and paddle synchronous wheels mounted on the paddle shaft and driven by the synchronous belt B. The synchronous pulley G is coaxially mounted with the synchronous pulley X, and the synchronous pulley H is coaxially mounted with the synchronous pulley Y. The mounting mechanism includes multiple hooks corresponding to the paddles.

[0013] A balancing method for a drone-driven balancing and throwing device based on technical solution one involves first adjusting the position of the counterweight block according to the load condition to ensure the drone is in a balancing state upon takeoff. Upon initiating the throwing operation, a drive device rotates a stepped synchronous wheel, which meshes with the stepped synchronous wheel of the throwing unit, thereby rotating synchronous belts A and B. Synchronous belt A moves the counterweight block, and synchronous belt B drives a lever to rotate around its axis. The lever pushes the hook to rotate, and the hook's rotation enables the throwing of the load. After the throwing is completed, the hook resets due to gravity, and the drone returns to a balancing state, ready for the next throw.

[0014] A balancing method for a drone-driven balancing and throwing device based on technical solution two involves first adjusting the position of the counterweight block according to the load situation to ensure the drone is in a balancing state upon takeoff; upon initiating the throwing, a drive device rotates a coaxial synchronous pulley, which in turn drives synchronous belts C and D to rotate. Synchronous belt C moves the counterweight block, and synchronous belt D drives the paddle synchronous wheel to rotate the paddle around the paddle shaft. The paddle pushes the hook to rotate, and the throwing of the load is completed during the rotation of the hook; after the throwing is completed, the hook returns to its original position due to gravity, and the drone is back in a balancing state, ready for the next throwing.

[0015] The present invention has the following beneficial effects:

[0016] This invention effectively combines a delivery device with a balancing device. By transmitting a counterweight, the counterweight moves autonomously when multiple heavy items are gradually thrown, thereby stabilizing the drone's center of gravity and greatly improving the drone's payload utilization. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0019] Figure 2 This is a schematic diagram showing the positional relationship between the paddle and the hook in Embodiment 1 and Embodiment 2 of the present invention;

[0020] Figure 3 These are schematic diagrams illustrating the throwing process of a single paddle in Embodiments 1 and 2 of the present invention.

[0021] Figure 4 These are schematic diagrams showing the position states of the multiple paddles in Embodiments 1 and 2 of the present invention;

[0022] Figure 5 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention.

[0023] In the attached diagram, the components represented by each label are as follows:

[0024] Counterweight -1, Throwing part -2, Weight -3;

[0025] Stepped synchronous pulley A-11, stepped synchronous pulley B-12, synchronous belt A-13, counterweight block-14, counterweight block guide rail-15;

[0026] Actuator-21, Mounting mechanism-22, Synchronous belt B-23, Paddle-24, Paddle support-25, Paddle synchronous pulley-26, Paddle shaft-27;

[0027] Synchronous belt pulley C-111, gear D-112;

[0028] Stepped synchronous pulley C-211, stepped synchronous pulley D-212, hook-221, hook shaft-222, hook support-223;

[0029] Synchronous belt pulley E-2111, gear F-2112;

[0030] Synchronous pulley G41, synchronous pulley H42, synchronous belt C43, synchronous pulley X44, synchronous pulley Y45, synchronous belt D46. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1:

[0033] See Figure 1-4 As shown, a drone-driven balancing and throwing device includes a counterweight unit 1, a throwing unit 2, and a drive unit (not shown). The counterweight unit 1 includes a stepped synchronous pulley A11, a stepped synchronous pulley B12, and a synchronous belt A13 that drives the stepped synchronous pulleys A11 and B12. It also includes a counterweight block 14 and a counterweight block guide rail 15 for supporting and guiding the counterweight block 14. The counterweight block guide rail 15 ensures smooth and stable movement of the counterweight block 14. The counterweight block 14 is detachably connected to the synchronous belt A13 via a connector, maintaining synchronous movement with the synchronous belt A13. The stepped synchronous pulley A11 includes a coaxially mounted synchronous belt pulley C111 and a gear D112. The radial dimension of the synchronous belt pulley C111 is larger than the radial dimension of the gear D112. The synchronous belt A13 drives the synchronous belt in conjunction with the synchronous belt pulley C111. The stepped synchronous pulley B12 has the same structure as the stepped synchronous pulley A11.

[0034] The throwing unit 2 includes an execution mechanism 21 and a mounting mechanism 22. The execution mechanism 21 consists of a stepped synchronous pulley C211, a stepped synchronous pulley D212, a synchronous belt B23 that drives and cooperates with the stepped synchronous pulleys C211 and D212, a paddle 24, a paddle support 25, and a paddle synchronous pulley 26. The stepped synchronous pulley C211 includes a synchronous belt pulley E2111 and a gear F2112 mounted coaxially. The radial dimension of the synchronous belt pulley E2111 is larger than the radial dimension of the gear F2112. The synchronous belt B23 drives and cooperates with the synchronous belt pulley E2111. The stepped synchronous pulley D212 has the same structure as the stepped synchronous pulley C211. The paddle 24 is fixedly connected to the paddle shaft 27, and the paddle shaft 27 is rotatably connected to the paddle support 25. The paddle synchronous pulley 26 is disposed on the paddle shaft 27, and the paddle synchronous pulley 26 cooperates with the synchronous belt B23 for transmission. One or more paddles 24 can be provided. Preferably, the actuator 21 has four paddles 24, and the initial positions of the four paddles 24 are sequentially clockwise or counterclockwise, differing by 90 degrees.

[0035] The mounting mechanism 22 consists of a hook 221, a hook shaft 222, and a hook support 223. The hook 221 is rotatably connected to the hook shaft 222, and the hook shaft 222 is connected to the hook support 223. The hook shaft 222 is installed in the middle of the hook 221. One or more hooks 221 can be provided; preferably, the mounting mechanism 22 has four hooks 221. The installation position of the hook 221 corresponds to the installation position of the lever 24, ensuring that the lever 24 rotates during rotation, pushing the hook 221 to rotate around the hook shaft 222 and unloading the weight 3 hanging on the hook 221.

[0036] The stepped synchronous wheel of the counterweight unit 1 and the stepped synchronous wheel of the throwing unit 2 are driven by their respective gear assemblies. Different gears are selected to achieve different transmission ratios, thereby adjusting the moving speed of the counterweight.

[0037] The drive device is a servo motor, which can be selectively mounted on the stepped synchronous pulley axle of the counterweight unit 1 or the throwing unit 2. The counterweight unit 1 and the throwing unit 2 are meshed and driven together, and a single drive device can achieve both balancing and weight delivery. The combination of synchronous belts, gears, and counterweights allows for simultaneous throwing and balancing, greatly simplifying the overall structure, effectively reducing the fuselage size and weight. The mechanical structure connecting the throwing unit and the balancing unit ensures synchronized weight delivery and counterweight movement, resulting in rapid response and facilitating quick balancing after the drone's throw.

[0038] By replacing the stepped synchronous pulleys and counterweights with different specifications, this device is suitable for various drones. The flexible synchronous belt drive allows it to be used in complex environments.

[0039] The installation position of the counterweight 14 must ensure that, during the throwing process, the direction of movement of the counterweight 14 is opposite to the direction of the order in which the weights 3 are thrown.

[0040] The drone's drive-type trim and throw device is installed in the mounting slot on the bottom of the drone, with the hook externally positioned within the mounting slot. Its operation is as follows:

[0041] First, adjust the position of counterweight 14 according to the load of weight 3 to ensure that the drone is in a balanced state when it takes off.

[0042] When the throwing is initiated, the step synchronous pulley is driven to rotate by the drive device. The gears of the step synchronous pulley of the counterweight 1 and the throwing part 2 mesh and drive the synchronous belts A13 and B23 to rotate. The synchronous belt A13 drives the counterweight 14 to move along the counterweight guide rail 15. The synchronous belt B23 cooperates with the paddle synchronous pulley 26 to drive the paddle 24 to rotate around the paddle shaft 27. The paddle 24 pushes the hook 221 to rotate around the hook shaft 222. During the rotation of the hook 221, the weight 3 is thrown.

[0043] After the throw is completed, hook 221 is no longer pushed by lever 24 and automatically resets by gravity. At this time, the drone is back in a balancing state, waiting for the next throw.

[0044] Example 2:

[0045] See Figure 5 As shown, a drone-driven balancing and throwing device includes a counterweight unit 1, a throwing unit 2, and a drive unit (not shown). The counterweight unit 1 includes a synchronous pulley G41, a synchronous pulley H42, and a synchronous belt C43 that drives the synchronous pulleys G41 and H42. It also includes a counterweight block 14 and a counterweight block guide rail 15 for supporting and guiding the counterweight block 14. The counterweight block guide rail 15 ensures that the counterweight block 14 maintains smooth and stable movement during motion. The counterweight block 14 is detachably connected to the synchronous belt C43 via a connector, and moves synchronously with the synchronous belt C43.

[0046] The throwing unit 2 includes an actuator and a mounting mechanism. The actuator consists of a synchronous pulley X44, a synchronous pulley Y45, a synchronous belt D46 that drives and cooperates with the synchronous pulleys X44 and Y45, a paddle 24, a paddle support 25, and a paddle synchronous pulley 26.

[0047] The radial dimensions of the synchronous pulleys G41 and H42 may be the same as or different from the radial dimensions of the synchronous pulleys X44 and Y45; in this embodiment, they are preferably different. Synchronous pulley G41 is coaxially mounted with synchronous pulley X44, and synchronous pulley H42 is coaxially mounted with synchronous pulley Y45.

[0048] The mounting mechanism is the same as that in Embodiment 1.

[0049] The installation position of the counterweight 14 must ensure that, during the throwing process, the direction of movement of the counterweight 14 is opposite to the direction of the order in which the weights 3 are thrown.

[0050] The drive unit is a servo motor mounted on a synchronous belt pulley shaft. Balancing and weight delivery can be achieved with a single drive unit. The combination of the synchronous belt and counterweight allows for both throwing and balancing, greatly simplifying the overall structure, effectively reducing the size and weight of the drone. A mechanical structure connects the throwing and balancing sections, ensuring synchronized weight delivery and counterweight movement, resulting in rapid response and facilitating quick balancing after the drone's throw.

[0051] The difference between Embodiment 1 and Embodiment 2 is that Embodiment 2 further simplifies the structure, relying solely on a coaxially mounted synchronous pulley to achieve transmission balance without gear transmission.

[0052] The device operates as follows:

[0053] First, adjust the position of counterweight 14 according to the load of weight 3 to ensure that the drone is in a balanced state when it takes off.

[0054] When the throwing is initiated, the drive device rotates the coaxial synchronous pulley, which in turn drives the synchronous belts C43 and D46 to rotate. The synchronous belt C43 drives the counterweight 14 to move along the counterweight guide rail 15. The synchronous belt D46 cooperates with the paddle synchronous pulley 26 to drive the paddle 24 to rotate around the paddle shaft 27. The paddle 24 pushes the hook 221 to rotate around the hook shaft 222. During the rotation of the hook 221, the weight 3 is thrown.

[0055] After the throw is completed, hook 221 is no longer pushed by lever 24 and automatically resets by gravity. At this time, the drone is back in a balancing state, waiting for the next throw.

[0056] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

[0057] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

Claims

1. An unmanned aerial vehicle transmission type trim throwing device comprising a counterweight part (1), a throwing part (2) and a driving device, characterized in that, The counterweight part (1) is composed of the same structure of step synchronous wheel A (11) and step synchronous wheel B (12), and the synchronous belt A (13) and counterweight block (14) which are in transmission cooperation with the step synchronous wheel A (11) and step synchronous wheel B (12), the throwing part (2) includes the actuator (21) and the hanging mechanism (22), the actuator (21) is composed of the same structure of step synchronous wheel C (211) and step synchronous wheel D (212), and the synchronous belt B (23) which is in transmission cooperation with the step synchronous wheel C (211) and step synchronous wheel D (212), a plurality of flippers (24) installed on the flipper support (25) through the flipper shaft (27), and the flipper synchronous wheel (26) installed on the flipper shaft (27) driven by the synchronous belt B (23), the hanging mechanism (22) includes a plurality of hooks (221) corresponding to the flipper (24), the step synchronous wheel of the counterweight part (1) is in meshing transmission with the step synchronous wheel of the throwing part (2).

2. The unmanned aerial vehicle transmission-based trim projectile device of claim 1, wherein, The step synchronous wheel A (11), step synchronous wheel B (12), step synchronous wheel C (211) and step synchronous wheel D (212) are all composed of synchronous pulley and gear coaxially installed, the gear is used for the meshing transmission of the counterweight part (1) and the throwing part (2).

3. The unmanned aerial vehicle transmission-based trim projectile device of claim 2, wherein, The radial dimension of the synchronous pulley is greater than the radial dimension of the gear, the gear can be replaced according to the balance requirement.

4. The unmanned aerial vehicle transmission-based trim projectile device of claim 1, wherein, It also includes the counterweight block guide rail (15) for supporting and guiding the counterweight block (14), the counterweight block (14) is detachably connected with the synchronous belt A (13) through the connecting piece.

5. The unmanned aerial vehicle transmission-based trim projectile device of claim 1, wherein, The actuator (21) is provided with four flippers (24), the initial positions of the four flippers (24) are sequentially different by 90 degrees clockwise or counterclockwise.

6. The unmanned aerial vehicle transmission-based trim projectile device of claim 5, wherein, The hanging mechanism (22) is composed of the hook (221), the hook shaft (222) and the hook support (223), the hook (221) is rotatably connected with the hook shaft (222), and the hook shaft (222) is connected with the hook support (223).

7. The unmanned aerial vehicle transmission-based trim projectile device of claim 6, wherein, The hook shaft (222) is installed in the middle of the hook (221).

8. An unmanned aerial vehicle transmission type trim throwing device comprising a counterweight part (1), a throwing part (2) and a driving device, characterized in that, The counterweight part (1) is composed of synchronous pulley G (41), synchronous pulley H (42), and synchronous belt C (43) matched with synchronous pulley G (41) and synchronous pulley H (42), counterweight block (14) mounted on synchronous belt C (43), the throwing part (2) includes actuator and mounting mechanism, the actuator is composed of synchronous pulley X (44), synchronous pulley Y (45), and synchronous belt D (46) matched with synchronous pulley X (44) and synchronous pulley Y (45), a plurality of flippers (24) mounted on flipper support (25) through flipper shaft (27), and flipper synchronous wheel (26) mounted on the flipper shaft (27) driven by the synchronous belt D (46), the synchronous pulley G (41) and synchronous pulley X (44) are coaxially installed, the synchronous pulley H (42) and synchronous pulley Y (45) are coaxially installed, the mounting mechanism includes a plurality of hooks (221) corresponding to the flipper (24).

9. A method of trimming a drone-driven trim projectile device based on any one of claims 1 to 7, characterized in that, First, according to the weight (3) mounting condition, adjust the position of the counterweight block (14), ensure that the unmanned aerial vehicle is in the trim state when taking off; when starting to throw, drive the step synchronous wheel to rotate through the driving device, the counterweight part (1) and the step synchronous wheel of the throwing part (2) are engaged and driven, and then the synchronous belt A (13) and the synchronous belt B (23) are rotated, the synchronous belt A (13) drives the counterweight block (14) to move, the synchronous belt B (23) drives the flipper (24) to rotate around the flipper shaft (27), the flipper (24) pushes the hook (221) to rotate, and the hook (221) rotates to complete the throwing of the weight (3); after throwing, the hook (221) resets relying on gravity, and the unmanned aerial vehicle is in the trim state again, waiting for the next throwing.

10. A method of trimming based on the drone-driven trim launch device of claim 8, characterized in that, First, according to the weight (3) mounting condition, adjust the position of the counterweight block (14), ensure that the unmanned aerial vehicle is in the trim state when taking off; when starting to throw, drive the step synchronous wheel to rotate through the driving device, the counterweight part (1) and the step synchronous wheel of the throwing part (2) are engaged and driven, and then the synchronous belt A (13) and the synchronous belt B (23) are rotated, the synchronous belt A (13) drives the counterweight block (14) to move, the synchronous belt B (23) drives the flipper (24) to rotate around the flipper shaft (27), the flipper (24) pushes the hook (221) to rotate, and the hook (221) rotates to complete the throwing of the weight (3); after throwing, the hook (221) resets relying on gravity, and the unmanned aerial vehicle is in the trim state again, waiting for the next throwing.

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