Large unmanned aerial vehicle wing automatic turnover transfer device and method

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) transport technology, and provides an automatic wing-flipping and transfer device and method for large UAVs. The device includes a transport tray and a parking tray. The transport tray has several support frames, and each support frame is equipped with a flipping mechanism and a lifting mechanism. The support frames are frame-shaped and rotatably mounted on the transport tray. The flipping mechanism includes a push rod and a flipping drive component, configured to move the push rod to flip the support frame downwards at a certain angle. The lifting mechanism includes a lifting rope and a lifting drive component that drives the rope's retraction and release. The lifting rope is detachably connected to the support frame. After the support frame is flipped at a certain angle by the flipping mechanism, releasing the lifting rope allows the support frame to continue flipping downwards under the weight of the wing, bringing the wing to a horizontal position. The parking tray is used to receive the wing after it has been flipped to a horizontal position. This invention achieves wing flipping and transfer without relying on a crane, greatly reducing the limitations of its application.

Description

Technical Field

[0001] This invention relates to the field of drone transfer technology, and more specifically, to a device and method for automatic wing flipping and transfer of large drones. Background Technology

[0002] Large drones require disassembly of their wings for field testing, operational deployment, and sales. The disassembled wings are then packed into specialized containers for transport. While the drone is in flight (leading edge forward, trailing edge backward), to save space during transport, the wings are placed vertically (leading edge upward, trailing edge downward). Therefore, after disassembly, the wings need to be rotated 90 degrees for transport.

[0003] In the prior art, such as patent documents with publication numbers "CN115838111A" and "CN218745979U", a crane is required to flip the wings. However, in some situations, such as when large UAVs are deployed in the field, cranes are often not available, which greatly limits their use. Therefore, how to provide a device that can flip and transfer UAV wings without relying on a crane is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic wing flipping and transfer device and method for large unmanned aerial vehicles (UAVs) to overcome the shortcomings of the prior art.

[0005] The embodiments of the present invention are achieved through the following technical solutions:

[0006] An automatic wing flipping and transfer device for large unmanned aerial vehicles includes a transport bracket and a parking bracket. The transport bracket is provided with several support brackets, and each support bracket on the transport bracket is provided with a flipping mechanism and a lifting mechanism.

[0007] The support frame is a frame structure for supporting the wing in a vertical position, and its lower end is rotatably mounted on the transport bracket.

[0008] The flipping mechanism includes a push rod and a flipping drive component. The push rod is detachably connected to the upper end of the support frame, and the flipping drive component is configured to move the push rod to cause the support frame to flip downward at a certain angle.

[0009] The lifting mechanism includes a lifting rope and a lifting drive component for driving the lifting rope to extend and retract. One end of the lifting rope is detachably connected to the top of the support frame, and the other end of the lifting rope is wound around the lifting drive component. After the support frame is flipped downwards at a certain angle under the action of the flipping mechanism, the lifting rope is released so that the support frame can continue to flip downwards under the action of the wing's gravity, so that the wing is in a horizontal state. The parking bracket is used to support the wing that has been flipped to a horizontal state.

[0010] Optionally, the transport bracket is further provided with a constraint bracket for fixing the wing root end. The lower end of the constraint bracket is rotatably mounted on the transport bracket, and the constraint bracket is detachably connected to the connecting lug at the wing root by fasteners. The transport bracket is also provided with the flipping mechanism and the lifting mechanism near the constraint bracket. The push rod of the flipping mechanism is detachably connected to the upper end of the constraint bracket, and the lifting rope is detachably connected to the top of the constraint bracket.

[0011] Optionally, each of the two connecting ears at the wing root is detachably connected to a connecting plate, and the suspension rope is detachably connected to the connecting plate near the leading edge; a connecting rib is fixedly connected between the two connecting plates, and a first sliding hole is provided on the connecting rib; a flipping mechanism near the constraint bracket is rotatably mounted on the transport bracket, and its push rod passes through the first sliding hole.

[0012] Optionally, the support frame includes a movable support rib and a fixed support rib, the fixed support rib being rotatably mounted on the transport bracket, and the movable support rib being detachably connected to the fixed support rib.

[0013] Optionally, the lower end of the movable support rib is rotatably connected to the fixed support rib, and the upper end of the movable support rib is connected to the fixed support rib by fasteners.

[0014] Optionally, the upper side of the support frame is provided with a second sliding hole, and the flipping mechanism near the support frame is rotatably mounted on the transport bracket, with its push rod passing through the second sliding hole.

[0015] Optionally, the lifting drive component is an electric winch.

[0016] Optionally, the tilting mechanism is a worm gear screw jack.

[0017] This invention also provides a method for automatically flipping and transferring the wings of a large unmanned aerial vehicle (UAV), applied to any of the above-described automatic flipping and transferring devices for the wings of large UAVs. The assembly process after the wings are transported to their designated location includes the following steps:

[0018] S1. Connect the tilting mechanism and lifting mechanism at the support bracket to the support bracket, and at the same time connect the tilting mechanism and lifting mechanism at the restraint bracket to the restraint bracket.

[0019] S2. The flipping mechanism pushes the support frame and the constraint frame to flip the wing downward at a certain angle. At the same time as the flipping, the lifting mechanism slowly releases the lifting rope.

[0020] S3. Separate the push rod of the tilting mechanism from the support bracket and the constraint bracket;

[0021] S4. Slowly release the hoisting rope through the hoisting mechanism, and under the action of the wing's gravity, drive the support bracket and constraint bracket to continue to rotate until the wing is in a horizontal state.

[0022] S5. After the above steps, the wing, which is in a horizontal position, is supported by the parking bracket, and the sling is separated from the support bracket and the sling is separated from the restraint bracket.

[0023] S6. Open the support bracket and use the parking bracket to push the wing to the position that matches the fuselage for installation.

[0024] Furthermore, the following steps are included when the wings are removed from the fuselage and packaged:

[0025] S11. Insert the parking bracket under the wing and adjust it to a height that can support the wing.

[0026] S12. After removing the wings, park the aircraft using the parking bracket;

[0027] S13. Push the parking bracket to bring the wing close to the transport bracket and send the wing into the support bracket;

[0028] S14. Connect the restraint bracket to the connecting lug at the wing root, and connect the lifting mechanism at the support bracket to the support bracket, and connect the lifting mechanism at the restraint bracket to the restraint bracket.

[0029] S15. The lifting mechanism is used to flip the support frame and the constraint frame upwards, so that the wing is in a vertical position.

[0030] The present invention has at least the following advantages and beneficial effects: In the present invention, after the wing on the transport bracket is transported to the position, the push rod of the flipping mechanism pushes the support bracket downward to flip it down a certain angle, and then the lifting mechanism releases the lifting rope, so that the support bracket can continue to flip downward under the action of the wing's gravity, so that the wing is in a horizontal state, and then it can be transferred by the parking bracket. Compared with the prior art, the present invention can realize the flipping and transfer of the wing without relying on a crane, which greatly reduces the limitations of the application. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A schematic diagram of the structure of a large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device provided by the present invention;

[0033] Figure 2 This is a schematic diagram showing the connection relationship between the tilting mechanism, the lifting mechanism, and the support frame.

[0034] Figure 3This is a schematic diagram showing the connection relationship between the tilting mechanism, the lifting mechanism, and the constraint bracket.

[0035] Figure 4 The usage status of the large unmanned aerial vehicle wing automatic flipping and transfer device provided by the present invention Figure 1 ;

[0036] Figure 5 The usage status of the large unmanned aerial vehicle wing automatic flipping and transfer device provided by the present invention Figure 2 ;

[0037] Figure 6 The present invention provides a usage status of an automatic wing flipping and transfer device for large unmanned aerial vehicles. Figure 3 ;

[0038] Figure 7 for Figure 6 Enlarged view of point A;

[0039] Figure 8 The usage status of the large unmanned aerial vehicle wing automatic flipping and transfer device provided by the present invention Figure 4 ;

[0040] Icons: 1-Parking bracket, 2-Transport bracket, 3-Support bracket, 301-Fixed support rib, 302-Modible support rib, 303-Second sliding hole, 4-Lifting mechanism, 401-Lifting rope, 402-Lifting drive mechanism, 5-Tilting mechanism, 501-Push rod, 502-Tilting drive component, 6-Constraint bracket, 7-Connecting plate, 8-Connecting rib, 801-First sliding hole, 9-Wing, 901-Leading edge, 902-Connecting lug, 10-Protective pad. Detailed Implementation

[0041] Example 1

[0042] refer to Figure 1 and Figure 8 This embodiment provides an automatic wing flipping and transfer device for a large unmanned aerial vehicle (UAV), including a transport bracket 2 and a parking bracket 1 for parking the horizontally positioned wing 9. The specific structure of the parking bracket 1 is not limited and can be based on existing technology, such as an existing scissor lift platform. The top of the platform is provided with a contoured support block for supporting the wing 9. It should be understood that in actual applications, at least two scissor lift platforms are used in conjunction.

[0043] The transport bracket 2 is provided with several support brackets 3 (only one is shown in the figure), and the transport bracket 2 is provided with a flipping mechanism 5 and a lifting mechanism 4 at each support bracket 3.

[0044] refer to Figure 2The support frame 3 is a frame structure for supporting the wing 9 in a vertical state, and its lower end is rotatably mounted on the transport bracket 2, that is, the transport bracket 2 can rotate around the rotation point. Specifically, in this embodiment, the support frame 3 includes a movable support rib 302 and a fixed support rib 301. The fixed support rib 301 is rotatably mounted on the transport bracket 2. The lower end of the movable support rib 302 is rotatably connected to the fixed support rib 301. The upper end of the movable support rib 302 is connected to the fixed support rib 301 by fasteners (such as quick-release pins, bolts and nuts). With this configuration, the support frame 3 can be opened by removing the fasteners and rotating the movable support rib 302. After the wing 9 is sent into the support frame 3, the support frame 3 can be closed by connecting the upper end of the movable support rib 302 to the fixed support rib 301 by fasteners.

[0045] In some embodiments, both ends of the movable support rib 302 can be detachably connected to the fixed support rib 301, for example, by bolts and nuts. When the support frame 3 is opened, the movable support rib 302 is disassembled, and when the support frame 3 is closed, the movable support rib 302 is connected and fixed to the fixed support rib 301. In addition, it should be understood that the structure of the support frame 3 in this embodiment is only an option and not a limitation. In other embodiments, the support frame 3 can also be set as a U-shaped frame structure, as long as it can play the role of supporting the wing 9.

[0046] In practical applications, the support frame 3 is equipped with a protective pad 10, which can be made of a foam-like material to protect the wing 9 and prevent damage to the surface of the wing 9.

[0047] refer to Figure 2 and Figure 3 The flipping mechanism 5 includes a push rod 501 and a flipping drive component 502. The push rod 501 is detachably connected to the upper end of the support frame 3. Specifically, in this embodiment, the upper side of the support frame 3 is provided with a second sliding hole 303. The flipping mechanism 5, located near the support frame 3, is rotatably mounted on the transport bracket 2, and its push rod 501 passes through the second sliding hole 303. In this embodiment, the flipping drive component 502 adopts a worm gear screw jack. Its basic principle is that the worm drives the worm wheel to rotate, and the worm wheel drives the screw to move axially. Based on this, the push rod 501 and the screw are connected by fasteners (such as screws) and are perpendicular to each other. When the screw of the worm gear screw jack moves axially, the push rod 501 can push the support frame 3 to flip at a certain angle. In practical applications, this angle is about 20°, mainly to change the center of gravity of the wing 9, so as to facilitate further flipping under the action of gravity.

[0048] Furthermore, it should be understood that the specific arrangement of the push-pull rod and the flip drive component 502 in this embodiment is only an option, not a limitation. For example, in other embodiments, the flip drive component 502 can be fixed on the transport bracket 2, one end of the push-pull rod can be connected to the support bracket 3 by fasteners, and a connecting rod can be hinged between the push-pull rod and the output component of the flip drive component 502.

[0049] Refer again Figure 2 and Figure 3 The lifting mechanism 4 includes a lifting rope 401 and a lifting drive component for driving the lifting rope 401 to be wound up and down. One end of the lifting rope 401 is detachably connected to the top of the support frame 3. Specifically, the top of the support frame 3 is provided with a lifting ring, and the lifting rope 401 is bolted to the lifting ring. The other end of the lifting rope 401 is wound around the lifting drive component. In this embodiment, the lifting drive component is an electric winch, which is installed on the transport bracket 2. After the support frame 3 is flipped downwards at a certain angle (about 20°) under the action of the flipping mechanism 5, the center of gravity of the wing 9 changes. Releasing the lifting rope 401 allows the support frame 3 to continue to flip downwards under the gravity of the wing 9. In practical applications, after the wing 9 is flipped to a horizontal state, it can be supported by the parking bracket 1 for subsequent transfer and assembly of the wing 9. Compared with the prior art, the present invention can realize the flipping and transfer of the wing 9 without relying on a crane, which greatly reduces the limitations of the application.

[0050] In this embodiment, the transport bracket 2 is also provided with a constraint bracket 6 for fixing the root end of the wing 9, see reference. Figure 7 The lower end of the constraint bracket 6 is rotatably mounted on the transport bracket 2, and the constraint bracket 6 is detachably connected to the connecting lug 902 at the wing root by fasteners (such as bolts and nuts). It is worth noting that, with this configuration, on the one hand, the wing 9 can be prevented from shifting along the line connecting the wing root and the wing tail when the wing 9 is flipped, and on the other hand, the wing 9 can also be prevented from shifting along the line connecting the wing root and the wing tail during transportation.

[0051] Based on this, the transport bracket 2 is also equipped with a tilting mechanism 5 and a lifting mechanism 4 near the restraint bracket 6. The push rod 501 of the tilting mechanism 5 is detachably connected to the upper end of the restraint bracket 6, and the lifting rope 401 is detachably connected to the top of the restraint bracket 6. (See again...) Figure 7 In this embodiment, each of the two connecting ears 902 at the wing root is detachably connected (e.g., by bolts and nuts) to a connecting plate 7. The lifting rope 401 is detachably connected to the connecting plate 7 near the leading edge 901. Specifically, the connecting plate 7 is provided with a lifting ring, and the lifting rope 401 is bolted to the lifting ring. A connecting rib 8 is fixedly connected between the two connecting plates 7. The connecting rib 8 is provided with a first sliding hole 801. The flipping mechanism 5 near the constraint bracket 6 is rotatably mounted on the transport bracket 2, and its push rod 501 passes through the first sliding hole 801.

[0052] Example 2

[0053] This embodiment provides an automatic wing flipping and transfer method for large unmanned aerial vehicles (UAVs), applied to the automatic wing flipping and transfer device for large UAVs provided in Embodiment 1. The assembly process after the wing 9 is transported to its destination includes the following steps:

[0054] S1. Connect the tilting mechanism 5 and lifting mechanism 4 at the support frame 3 to the support frame 3, that is, fasten the lifting rope 401 to the lifting ring at the top of the support frame 3, and connect the push rod 501 of the tilting mechanism 5 to the tilting drive component 502 and insert it into the second sliding hole 303 on the support frame 3; at the same time, connect the tilting mechanism 5 and lifting mechanism 4 at the constraint bracket 6 to the constraint bracket 6, that is, connect the lifting rope 401 to the lifting ring on the connecting plate 7, and connect the push rod 501 of the tilting mechanism 5 to the tilting drive component 502 and insert it into the first slider on the connecting rib 8 (i.e., Figure 4 (The state shown).

[0055] S2. The tilting drive component 502 (i.e., the worm gear screw jack) is activated, pushing the support bracket 3 and the constraint bracket 6, causing the wing 9 to tilt downwards at a certain angle (approximately 20°). Figure 5 As shown in the diagram, it should be understood that while the mechanism is flipping, the lifting mechanism 4 slowly releases the lifting rope 401.

[0056] S3. Separate the push rod 501 of the flipping mechanism 5 from the support bracket 3 and the constraint bracket 6, that is, disassemble the push rod 501.

[0057] S4. The lifting drive unit (i.e., the electric winch) is activated, and the lifting rope 401 is slowly released. Under the gravity of the wing 9, the support frame 3 and the constraint frame 6 continue to rotate until the wing 9 is in a horizontal state (i.e., Figure 6 (as shown in the image);

[0058] S5. Support the horizontally positioned wing 9 after the above steps using the parking bracket 1 (i.e. Figure 8 (as shown in the figure), and separate the sling 401 from the support frame 3, and at the same time separate the sling 401 from the restraint bracket 6;

[0059] S6. Open the support bracket 3, and push the wing 9 to the position that matches the fuselage through the parking bracket 1 for installation.

[0060] Furthermore, the following steps are included when wing 9 is disassembled from the fuselage and packaged:

[0061] S11. Insert the parking bracket 1 under the wing 9 and adjust it to a height that can support the wing 9.

[0062] S12. After removing wing 9, park it using parking bracket 1;

[0063] S13. Push the parking bracket 1 to bring the wing 9 close to the transport bracket 2, send the wing 9 into the support bracket 3, and then close the support bracket 3.

[0064] S14. Connect the constraint bracket 6 to the connecting lug 902 at the wing root with bolts and nuts, and connect the lifting mechanism 4 at the support bracket 3 to the support bracket 3, that is, the lifting rope 401 is bolted to the lifting ring at the top of the support bracket 3; connect the lifting mechanism 4 at the constraint bracket 6 to the constraint bracket 6, that is, the lifting rope 401 is bolted to the lifting ring on the connecting plate 7.

[0065] S15. The lifting drive unit (i.e., the electric winch) is started, and the lifting rope 401 is slowly wound, causing the support frame 3 and the restraint bracket 6 to flip upward until the wing 9 is in a vertical state.

[0066] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device, characterized in that, It includes a transport bracket (2) and a parking bracket (1). The transport bracket (2) is provided with several support brackets (3), and the transport bracket (2) is provided with a flipping mechanism (5) and a lifting mechanism (4) at each support bracket (3). The support frame (3) is a frame structure for supporting the vertical wing (9), and its lower end is rotatably mounted on the transport bracket (2); The flipping mechanism (5) includes a push rod (501) and a flipping drive component (502). The push rod (501) is detachably connected to the upper end of the support frame (3). The flipping drive component (502) is configured to drive the push rod (501) to move so as to cause the support frame (3) to flip downward at a certain angle. The lifting mechanism (4) includes a lifting rope (401) and a lifting drive component for driving the lifting rope (401) to be wound up and down. One end of the lifting rope (401) is detachably connected to the top of the support frame (3), and the other end of the lifting rope (401) is wound around the lifting drive component. After the support frame (3) is flipped down at a certain angle under the action of the flipping mechanism (5), the lifting rope (401) is released so that the support frame (3) can continue to flip down under the gravity of the wing (9) so that the wing (9) is in a horizontal state. The parking bracket (1) is used to receive the wing (9) that has been flipped to a horizontal state.

2. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to claim 1, characterized in that, The transport bracket (2) is also provided with a constraint bracket (6) for fixing the wing root end of the wing (9). The lower end of the constraint bracket (6) is rotatably mounted on the transport bracket (2), and the constraint bracket (6) is detachably connected to the connecting lug (902) at the wing root by fasteners. The transport bracket (2) is also provided with the flipping mechanism (5) and the lifting mechanism (4) near the constraint bracket (6). The push rod (501) of the flipping mechanism (5) is detachably connected to the upper end of the constraint bracket (6), and the lifting rope (401) is detachably connected to the top of the constraint bracket (6).

3. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to claim 2, characterized in that, Two connecting ears (902) at the wing root are each detachably connected to a connecting plate (7). The suspension rope (401) is detachably connected to the connecting plate (7) near the front edge (901). A connecting rib (8) is fixedly connected between the two connecting plates (7). A first sliding hole (801) is provided on the connecting rib (8). A flipping mechanism (5) near the constraint bracket (6) is rotatably mounted on the transport bracket (2), and its push rod (501) passes through the first sliding hole (801).

4. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to claim 1, characterized in that, The support frame (3) includes a movable support rib (302) and a fixed support rib (301). The fixed support rib (301) is rotatably mounted on the transport bracket (2), and the movable support rib (302) and the fixed support rib (301) are detachably connected.

5. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to claim 4, characterized in that, The lower end of the movable support rib (302) is rotatably connected to the fixed support rib (301), and the upper end of the movable support rib (302) is connected to the fixed support rib (301) by fasteners.

6. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to claim 1, characterized in that, The upper side of the support frame (3) is provided with a second sliding hole (303). The flipping mechanism (5) near the support frame (3) is rotatably mounted on the transport bracket (2), and its push rod (501) passes through the second sliding hole (303).

7. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to any one of claims 1-6, characterized in that, The lifting drive component is an electric winch.

8. The large unmanned aerial vehicle (UAV) wing automatic flipping and transfer device according to any one of claims 1-6, characterized in that, The flipping mechanism (5) is a worm gear screw jack.

9. A method for automatically flipping and transferring the wings of a large unmanned aerial vehicle (UAV), used in the automatic flipping and transferring device for the wings of a large UAV as described in any one of claims 2-8, characterized in that, The assembly of the wing (9) after it has been transported to its destination includes the following steps: S1. Connect the flipping mechanism (5) and lifting mechanism (4) at the support frame (3) to the support frame (3), and at the same time connect the flipping mechanism (5) and lifting mechanism (4) at the constraint bracket (6) to the constraint bracket (6). S2. The rotating mechanism (5) pushes the support frame (3) and the constraint frame (6) to make the wing (9) rotate downward at a certain angle. At the same time as the rotation, the lifting mechanism (4) slowly releases the lifting rope (401). S3. Separate the push rod (501) of the flipping mechanism (5) from the support bracket (3) and the constraint bracket (6); S4. The hoisting rope (401) is slowly released through the hoisting mechanism (4). Under the gravity of the wing (9), the support frame (3) and the constraint frame (6) continue to rotate until the wing (9) is in a horizontal state. S5. The wing (9) which is in a horizontal state after the above steps is supported by the parking bracket (1), and the sling (401) is separated from the support bracket (3), and the sling (401) is separated from the restraint bracket (6). S6. Open the support bracket (3) and push the wing (9) to the position that matches the fuselage through the parking bracket (1) for installation.

10. The method for automatic wing flipping and transfer of a large unmanned aerial vehicle (UAV) according to claim 9, characterized in that, When the wing (9) is removed from the fuselage and packed, the following steps are included: S11. Place the parking bracket (1) under the wing (9) and adjust it to a height that can support the wing (9); S12. After removing the wing (9), park it using the parking bracket (1); S13. Push the parking bracket (1) to bring the wing (9) close to the transport bracket (2) and send the wing (9) into the support bracket (3); S14. Connect the constraint bracket (6) to the connecting lug (902) at the wing root, and connect the lifting mechanism (4) at the support bracket (3) to the support bracket (3), and connect the lifting mechanism (4) at the constraint bracket (6) to the constraint bracket (6). S15. The lifting mechanism (4) is used to flip the support frame (3) and the constraint bracket (6) upwards, so that the wing (9) is in a vertical state.

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