Hoisting and mounting damping mechanism for heavy-load unmanned aerial vehicle

Abstract

The invention provides a heavy-load unmanned aerial vehicle hoisting mounting damping mechanism which solves the problem of unmanned aerial vehicle hoisting motion stability and the like and comprises a fixed mounting plate, an unmanned aerial vehicle connecting frame is connected to the upper end of the fixed mounting plate, and a stepping assembly is movably connected to the lower end of the fixed mounting plate. The lower end of the stepping assembly is in transmission connection with the claw assembly through the linkage assembly, and the damping assembly is installed between the fixed installation plate and the linkage assembly. The device has the advantages of good structural stability, high safety and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle mounting, and in particular relates to a heavy-load unmanned aerial vehicle hoisting and mounting damping mechanism. Background Art

[0002] According to the existing technical products on the market, the main problem with the heavy-load UAV lifting system is that before the UAV lifts the equipment, someone needs to hang the equipment on the U-shaped hook of the UAV before taking off to perform the task. This not only wastes time but also increases labor costs. In addition, the U-shaped hook surface of the lifting device during the flight transportation after the lifting equipment is installed is relatively smooth, and the swing amplitude of the lifting rope is relatively large. When the UAV performs turning and starting actions, the swing amplitude of the hoisted equipment is too large. The UAV needs to pause and wait for the hoisting equipment to stabilize before operating. This requires extremely high operating ability of the operator, and will also affect the flight safety of the UAV and reduce the flight endurance of the UAV. For existing technical products, the connection method between the heavy-load UAV and the hoisted items and the inertial reverse force generated during the transportation of the hoisted items by the UAV after suspending the hoisted items in the air, resulting in the unstable posture of the UAV, is a problem that needs to be solved urgently, and there is currently no corresponding special equipment that meets the above requirements.

[0003] In order to solve the shortcomings of the existing technology, people have conducted long-term exploration and proposed various solutions. For example, the Chinese patent document discloses an unmanned semi-flexible connection mounting and release device [202211673881.4], which has a mounting connection plate at the bottom, and a multi-section semi-flexible suspension device is connected to the bottom of the mounting connection plate. The multi-section semi-flexible suspension device consists of two upper and lower rigid connection mechanisms and a semi-flexible connection mechanism in the middle; a remote control electronic lock is installed at the bottom of the lower rigid connection mechanism, and a hook is provided on the top of the mount to cooperate with the remote control electronic lock.

[0004] The above solution solves the problem of rapid connection and release of the mounting structure to a certain extent, but the solution still has many shortcomings, such as the problem of movement stability being affected by inertia. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems and provide a heavy-load UAV hoisting and mounting damping mechanism with reasonable design and good motion stability.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a large-load UAV hoisting and mounting damping mechanism, comprising a fixed mounting plate, the upper end of the fixed mounting plate is connected to a UAV connecting frame, the lower end of the fixed mounting plate is movably connected to a stepping assembly, the lower end of the stepping assembly is transmission-connected to a hook assembly through a linkage assembly, and a damping assembly is installed between the fixed mounting plate and the linkage assembly.

[0007] In the above-mentioned large-load UAV hoisting and mounting damping mechanism, the stepper assembly includes a gear box body, the gear box body is connected to a motor mounting plate, a stepper motor is fixed on the motor mounting plate, and the stepper motor is transmission-connected to a reversing assembly arranged in the gear box body through a synchronous pulley.

[0008] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, the gear box body includes an upper cover plate and a lower cover plate, and the upper end of the upper cover plate is movably connected to the fixed mounting plate through a joint bearing.

[0009] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, the reversing assembly includes a rotating worm gear connected to a synchronous pulley, the rotating worm gear is connected to a transmission rod coupling through a rotating worm wheel, and the transmission rod coupling is connected to a linkage assembly.

[0010] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, the linkage assembly includes a linkage cylinder connected to the lower end of the gear box, a hollow transmission connecting rod is rotatably installed in the linkage cylinder, and the hollow transmission connecting rod is transmission-connected to the hook claw assembly.

[0011] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, the hook claw assembly includes a protective shell fixedly installed at the lower end of the linkage cylinder, a turntable coupling connected to the hollow transmission connecting rod is movably installed in the protective shell, a hook claw upper cover is installed at the upper end of the turntable coupling, and a hook claw bottom cover is installed at the lower end of the turntable coupling. A telescopic hook claw is movably installed between the hook claw upper cover and the hook claw bottom cover, which is arranged in a centrally symmetrical manner and can be extended and retracted relative to the protective shell, and a gear rack assembly is installed between the telescopic hook claw and the turntable coupling to drive the telescopic hook claw to extend and retract synchronously.

[0012] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, a position sensor is installed between the telescopic hook and the turntable coupling, the position sensor is connected to a data transmission line, and the data transmission line passes through the hollow transmission connecting rod and extends upward, and a control system connected to the data transmission line and the stepper motor is installed on the fixed mounting plate; the control system communicates with the UAV through a wireless communication link. In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, the damping assembly includes a plurality of extension protrusions extending outward relative to the fixed mounting plate, and the lower ends of the extension protrusions are respectively equipped with movable seats that can rotate circumferentially, and the lower ends of the movable seats are rotatably connected to a swingable damping rod, and a fixed seat that can slide up and down is movably installed on the outer side of the linkage assembly, and the lower end of the damping rod is swingably connected to the fixed seat.

[0013] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, the UAV connecting frame is fixedly connected to the fixed mounting plate through a threaded member, and the UAV connecting frame is symmetrically arranged relative to the fixed mounting plate.

[0014] In the above-mentioned heavy-load UAV hoisting and mounting damping mechanism, hollow grooves are opened on the fixed mounting plate and the UAV connecting frame, and a reinforcing beam is installed at the lower end of the fixed mounting plate.

[0015] Compared with the existing technology, the advantages of the present invention are: the damping system provides all-round buffering for the hook assembly, which can absorb vibration energy in different directions, thereby reducing external interference to the lifting mechanism and ensuring the smooth operation of the UAV; the stepping assembly drives the hook assembly to retract and extend with high precision to meet the needs of hook position adjustment under different working conditions, and its feedback adjustment mechanism helps to improve the intelligence level and ease of operation of the lifting system; the plate body and the frame body adopt a combination of hollow structure and reinforcing beams to achieve lightweight mounting mechanism while ensuring overall load-bearing strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of another perspective of the present invention; Figure 3 It is a structural schematic diagram of another perspective of the present invention; Figure 4 It is a structural cross-sectional view of the present invention; Figure 5 is a schematic structural diagram of a hook assembly of the present invention; Figure 6 is another structural schematic diagram of the hook assembly of the present invention; In the figure, a fixed mounting plate 1, a hollow groove 11, a reinforcing beam 12, a UAV connecting frame 2, a motor mounting plate 31, a stepping motor 32, a synchronous pulley 33, a linkage assembly 4, a linkage cylinder 41, a hollow transmission connecting rod 42, a hook assembly 5, a protective shell 51, a turntable coupling 52, a hook upper cover 53, a hook bottom cover 54, a telescopic hook 55, a gear rack assembly 56, a position sensor 57, a data transmission line 58, a control system 59, a damping assembly 6, an extension protrusion 61, a movable seat 62, a damping rod 63, a fixed seat 64, a gear box 7, an upper cover plate 71, a lower cover plate 72, a spherical bearing 73, a reversing assembly 8, a rotating worm 81, a rotating worm wheel 82, and a transmission rod coupling 83. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1-6As shown, a heavy-load UAV hoisting and mounting damping mechanism is intended to solve the problem that when the UAV in the heavy-load UAV transport equipment makes forward, backward, turning and other movements, the hoisted equipment will generate reaction force, thereby affecting the unstable posture and increased energy consumption during the flight of the UAV. The mechanism specifically includes a fixed mounting plate 1, the upper end of the fixed mounting plate 1 is connected to a UAV connecting frame 2, the lower end of the fixed mounting plate 1 is movably connected to a stepping assembly, the lower end of the stepping assembly is transmission-connected to the hook claw assembly 5 through a linkage assembly 4, and a damping assembly 6 is installed between the fixed mounting plate 1 and the linkage assembly 4. The traditional U-hook that requires manual mounting is changed to a hook component 5 transmission connection, which realizes automation and intelligence while ensuring the safety of operators; secondly, in order to ensure that the drone can operate smoothly after lifting the equipment and prevent the equipment from swinging sharply due to the influence of wind and inertia, causing drone transportation accidents, a damping component 6 is added to the lifting mechanism. According to the principle and characteristic analysis of the damping component 6, when a stressed object changes from a balanced state to an unbalanced state under the action of force, the damping rod will intervene to convert the change in force into a damping force to slow down the change of the moving object, effectively suppressing vibration or swinging, and a linkage component 4 disperses the force to the damping component 6. With their intervention, the influence of forces from various angles on the suspended equipment can be effectively reduced.

[0019] Specifically, the stepper assembly includes a gear box 7, the gear box 7 is connected to a motor mounting plate 31, a stepper motor 32 is fixed to the motor mounting plate 31, and in order to reduce the lateral installation size, the stepper motor 32 is connected to the reversing assembly 8 arranged in the gear box 7 through a synchronous pulley 33, which greatly saves the installation space. Space is left between the drone connecting frame 2 for the stepper motor 32 to move.

[0020] In-depth, when the drone adjusts its posture during the cargo lifting operation, it will cause the cargo to swing randomly. In order to solve this problem, the gear box 7 includes an upper cover plate 71 and a lower cover plate 72. The upper end of the upper cover plate 71 is movably connected to the fixed mounting plate 1 through a joint bearing 73. In order to ensure that the lifting mechanism does not cause deformation of parts due to the random swing of the cargo, the joint bearing 73 changes the lifting mechanism from a rigid connecting rod to a semi-flexible state, while reducing the risk of deformation of parts due to excessive stress. The joint bearing 73 has two parts, the upper half is connected to the fixed mounting plate 1, and the lower half is connected and installed with the gear box 7.

[0021] Furthermore, the reversing assembly 8 includes a rotating worm 81 that is transmission-connected to the synchronous pulley 33, and the rotating worm 81 is transmission-connected to the transmission rod coupling 83 through the rotating worm wheel 82, and the transmission rod coupling 83 is transmission-connected to the linkage assembly 4. The worm gear is suitable for compact environments, and when the lead angle of the rotating worm 81 is less than the equivalent friction angle between the meshing gear teeth, the worm gear mechanism has self-locking properties. This feature is very important in some devices that need to prevent reversal. The rotating worm 81 rotates in the gear box 7, and two connecting rod bearings are added on both sides of the gear box 7. After adding the bearings, the rotating worm 81 can be easily rotated.

[0022] Furthermore, the linkage assembly 4 includes a linkage cylinder 41 connected to the lower end of the gear box 7, and a hollow transmission connecting rod 42 is rotatably installed in the linkage cylinder 41 to ensure normal rotation without any dryness. The hollow transmission connecting rod 42 is transmission-connected with the hook assembly 5. The upper and lower ends of the linkage cylinder 41 are fixed by six M3 screws respectively. The linkage assembly 4 provides a transmission torque for the hook assembly 5 on the one hand, and provides a support and limit structure for the damping assembly 6 on the other hand.

[0023] In addition, the hook assembly 5 includes a protective shell 51 fixedly mounted at the lower end of the linkage cylinder 41, and the protective shell 51 is symmetrically assembled and fixed by two screws. A turntable coupling 52 connected to the hollow transmission connecting rod 42 is movably mounted in the protective shell 51, a hook upper cover 53 is mounted on the upper end of the turntable coupling 52, and a hook bottom cover 54 is mounted on the lower end of the turntable coupling 52. A telescopic hook 55 arranged in a central symmetrical manner and retractable relative to the protective shell 51 is movably mounted between the hook upper cover 53 and the hook bottom cover 54, and a gear rack assembly 56 is mounted between the telescopic hook 55 and the turntable coupling 52 to drive the telescopic hook 55 to retract synchronously. When the hook assembly 5 rotates forward, the telescopic hook 55 will open, and when the hook assembly 5 rotates reversely, the telescopic hook 55 will retract.

[0024] At the same time, a position sensor 57 is installed between the telescopic hook 55 and the turntable coupling 52, and the position sensor 57 is connected to a data transmission line 58, and the data transmission line 58 penetrates the hollow transmission connecting rod 42 and extends upward, and a control system 59 connected to the data transmission line 58 and the stepper motor 32 is installed on the fixed mounting plate 1. The movement position of the telescopic hook 55 is obtained in real time by the position sensor 57, and its movement amount is accurately controlled by feedback adjustment. The control system 59 can interact with the drone in real time with the help of a wireless communication link, and can also send the drone flight coordinate point through the system cloud. The drone will fly to the sent coordinate point by itself to accurately perform the task of grabbing and placing the transportation equipment.

[0025] Different from the conventional hook structure, the telescopic hook 55 in this embodiment has good expandability, and has a clamping portion extending downward and toward one side, which can provide sufficient clamping stability. At the same time, the telescopic hook 55 is slotted to facilitate module expansion, further improving the applicability of the telescopic hook 55.

[0026] It can be seen that the damping assembly 6 includes a plurality of extension protrusions 61 extending outward relative to the fixed mounting plate 1, and the lower ends of the extension protrusions 61 are respectively installed with movable seats 62 that can rotate in the circumferential direction, and the lower ends of the movable seats 62 are rotatably connected with swingable damping rods 63. A fixed seat 64 that can slide up and down is movably installed on the outer side of the linkage assembly 4, and the lower ends of the damping rods 63 are swingably connected with the fixed seat 64. In this embodiment, four damping rods 63 are used, and the upper end of each damping rod 63 is installed with the movable seat 62 by means of a pin shaft and a retaining spring, and the lower end of the damping rod 63 is installed on the fixed seat 64, which is also installed by means of a pin shaft and a retaining spring. The fixed seat 64 is fixed to the linkage cylinder 41 in the form of a clamp. When there is no cargo during the operation of the drone, each damping rod 63 is subject to force balance constraints, and the linkage cylinder 41 is in a vertical state. When there is cargo below, it shakes left and right due to the disturbance of the airflow, and the four damping rods 63 are subjected to different forces and begin to reversely offset the shaking to ensure the vertical transportation of the cargo.

[0027] Obviously, the drone connecting frame 2 is fixedly connected to the fixed mounting plate 1 via a screw member, and the drone connecting frame 2 is symmetrically arranged relative to the fixed mounting plate 1 .

[0028] Preferably, considering that the UAV parts need to be lightened in design but the strength of the parts cannot be affected, a hollow groove 11 is opened on the fixed mounting plate 1 and the UAV connecting frame 2. The hollow groove 11 provides a flow channel for the wind, increases the exhaust volume, and the air can pass through the fixed mounting plate 1 area more quickly, reducing the situation where the wind forms a large obstacle on the surface of the equipment, thereby effectively reducing the excess wind resistance. Strengthening ribs are added to the weak points to effectively resist torsion. A reinforcing beam 12 is installed at the lower end of the fixed mounting plate 1 to ensure that the fixed mounting plate 1 will not be affected by the deformation caused by the excessive weight of the transported goods. Aviation aluminum is used as the main material of this mounting mechanism.

[0029] To sum up, the principle of this embodiment is that the stepping assembly is movably connected to the fixed mounting plate 1 through the joint bearing 73, the stepping assembly provides driving force, and the linkage assembly 4 drives the hook assembly 5 to perform a clamping action, wherein the damping assembly 6 provides multi-directional damping buffering for the linkage assembly 4 and the fixed mounting plate 1, thereby reducing the impact on the hook assembly 5 during the movement of the drone and improving its load stability.

[0030] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0031] Although this article uses more terms such as fixed mounting plate 1, hollow groove 11, reinforcing beam 12, drone connecting frame 2, motor mounting plate 31, stepping motor 32, synchronous pulley 33, linkage assembly 4, linkage cylinder 41, hollow transmission connecting rod 42, hook assembly 5, protective shell 51, turntable coupling 52, hook upper cover 53, hook bottom cover 54, telescopic hook 55, gear rack assembly 56, position sensor 57, data transmission line 58, control system 59, damping assembly 6, extension protrusion 61, movable seat 62, damping rod 63, fixed seat 64, gear box 7, upper cover 71, lower cover 72, joint bearing 73, reversing assembly 8, rotating worm 81, rotating worm wheel 82, transmission rod coupling 83, etc., it does not exclude the possibility of using other terms. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A heavy-load UAV hoisting and mounting damping mechanism, comprising a fixed mounting plate (1), the upper end of the fixed mounting plate (1) being connected to a UAV connecting frame (2), the lower end of the fixed mounting plate (1) being movably connected to a stepping assembly, characterized in that: The lower end of the stepping assembly is transmission-connected to the hook assembly (5) via a linkage assembly (4), and a damping assembly (6) is installed between the fixed mounting plate (1) and the linkage assembly (4).

2. A heavy-load UAV hoisting and mounting damping mechanism according to claim 1, characterized in that: The stepper assembly comprises a gear box (7), the gear box (7) is connected to a motor mounting plate (31), a stepper motor (32) is fixed to the motor mounting plate (31), and the stepper motor (32) is transmission-connected to a reversing assembly (8) arranged in the gear box (7) via a synchronous pulley (33).

3. The heavy-load UAV hoisting and mounting damping mechanism according to claim 2 is characterized in that: The gear box body (7) comprises an upper cover plate (71) and a lower cover plate (72), and the upper end of the upper cover plate (71) is movably connected to the fixed mounting plate (1) via a joint bearing (73).

4. The heavy-load UAV hoisting and mounting damping mechanism according to claim 2 is characterized in that: The reversing assembly (8) comprises a rotating worm (81) drivingly connected to the synchronous pulley (33); the rotating worm (81) is drivingly connected to the transmission rod coupling (83) via a rotating worm wheel (82); and the transmission rod coupling (83) is drivingly connected to the linkage assembly (4).

5. The heavy-load UAV hoisting and mounting damping mechanism according to claim 4 is characterized in that: The linkage assembly (4) comprises a linkage cylinder (41) connected to the lower end of the gear housing (7), a hollow transmission connecting rod (42) is rotatably mounted in the linkage cylinder (41), and the hollow transmission connecting rod (42) is transmission-connected to the hook claw assembly (5).

6. A heavy-load UAV hoisting and mounting damping mechanism according to claim 5, characterized in that: The hook assembly (5) comprises a protective shell (51) fixedly mounted at the lower end of the linkage cylinder (41); a turntable coupling (52) connected to the hollow transmission connecting rod (42) is movably mounted in the protective shell (51); a hook upper cover (53) is mounted at the upper end of the turntable coupling (52); a hook bottom cover (54) is mounted at the lower end of the turntable coupling (52); a telescopic hook (55) is movably mounted between the hook upper cover (53) and the hook bottom cover (54) and is arranged in a central symmetry and can be extended and retracted relative to the protective shell (51); and a gear rack assembly (56) is mounted between the telescopic hook (55) and the turntable coupling (52) for driving the telescopic hook (55) to be synchronously extended and retracted.

7. The heavy-load UAV hoisting and mounting damping mechanism according to claim 5 is characterized in that: A position sensor (57) is installed between the telescopic hook (55) and the turntable coupling (52); the position sensor (57) is connected to a data transmission line (58), and the data transmission line (58) penetrates the hollow transmission connecting rod (42) and extends upward; a control system (59) connected to the data transmission line (58) and the stepping motor (32) is installed on the fixed mounting plate (1); the control system (59) communicates with the drone via a wireless communication link.

8. The heavy-load UAV hoisting and mounting damping mechanism according to claim 1 is characterized in that: The damping assembly (6) comprises a plurality of extension protrusions (61) extending outwardly relative to the fixed mounting plate (1), the lower ends of the extension protrusions (61) are respectively mounted with movable seats (62) that can rotate in the circumferential direction, the lower ends of the movable seats (62) are rotatably connected with swingable damping rods (63), the outer side of the linkage assembly (4) is movably mounted with a fixed seat (64) that can slide up and down, and the lower end of the damping rod (63) is swingably connected to the fixed seat (64).

9. The heavy-load UAV hoisting and mounting damping mechanism according to claim 1 is characterized in that: The drone connecting frame (2) is fixedly connected to the fixed mounting plate (1) via a threaded member, and the drone connecting frame (2) is symmetrically arranged relative to the fixed mounting plate (1).

10. The heavy-load UAV hoisting and mounting damping mechanism according to claim 1, characterized in that: The fixed installation plate (1) and the drone connecting frame (2) are provided with hollow grooves (11), and a reinforcing beam (12) is installed at the lower end of the fixed installation plate (1).

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