A damping mechanism for hoisting and mounting of a large-load unmanned aerial vehicle

Abstract

The present invention provides a heavy-load UAV hoisting and mounting damping mechanism, which solves the problems of UAV hoisting motion stability, etc., and comprises a fixed mounting plate, the upper end of which is connected to a UAV connecting frame, the lower end of which is movably connected to a stepping assembly, the lower end of which 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. The present invention has the advantages of good structural stability and high safety.

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 stepping component includes a gear box body, the gear box body is connected with a motor mounting plate, a stepping motor is fixed on the motor mounting plate, and the stepping motor is drivingly connected with a commutation component arranged in the gear box body through a synchronous pulley.

[0008] In the above-mentioned large-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 with a fixed mounting plate through a spherical plain bearing.

[0009] In the above-mentioned large-load UAV hoisting and mounting damping mechanism, the commutation component includes a rotating worm drivingly connected with the synchronous pulley, the rotating worm is drivingly connected with a transmission rod coupling through a rotating worm gear, and the transmission rod coupling is drivingly connected with a linkage component.

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

[0011] In the above-mentioned large-load UAV hoisting and mounting damping mechanism, the claw component includes a protective shell fixedly installed at the lower end of the linkage cylinder, a turntable coupling connected with the hollow transmission connecting rod is movably installed in the protective shell, a claw upper cover is installed at the upper end of the turntable coupling, a claw bottom cover is installed at the lower end of the turntable coupling, and telescopic claws arranged in central symmetry and capable of telescoping relative to the protective shell are movably installed between the claw upper cover and the claw bottom cover, and a gear rack component for driving the telescopic claws to expand and contract synchronously is installed between the telescopic claws and the turntable coupling.

[0012] In the above-mentioned large-load UAV hoisting and mounting damping mechanism, a position sensor is installed between the telescopic claw and the turntable coupling, the position sensor is connected with a data transmission line and the data transmission line penetrates into the hollow transmission connecting rod and extends upward, and a control system connected with the data transmission line and the stepping motor is installed on the fixed mounting plate; the control system communicates with the UAV through a wireless communication link. In the above-mentioned large-load UAV hoisting and mounting damping mechanism, the damping component includes a plurality of extension protrusions extending outward relative to the fixed mounting plate, movable seats capable of circumferential rotation are respectively installed at the lower ends of the extension protrusions, damping rods capable of swinging are rotatably connected to the lower ends of the movable seats, a fixed seat capable of sliding up and down is movably installed outside the linkage component, and the lower end of the damping rod is swingably connected with the fixed seat.

[0013] In the above-mentioned large-load UAV hoisting and mounting damping mechanism, the UAV connecting frame is fixedly connected with the fixed mounting plate through threaded parts, and the UAV connecting frames are symmetrically arranged relative to the fixed mounting plate.

[0014] In the above-mentioned large-load UAV hoisting and mounting damping mechanism, the fixed mounting plate and the UAV connecting frame are provided with hollow slots, 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 as follows: The damping system provides all-round buffering for the claw assembly, can absorb vibration energy in different directions, thereby reducing the external interference received by the hoisting mechanism and ensuring the stable operation of the UAV; the stepping assembly drives the claw assembly to perform high-precision telescoping, meeting the requirements for adjusting the position of the claw under different working conditions, and its feedback adjustment mechanism helps to improve the intelligence level and operation convenience of the hoisting system; the plate body and the frame body adopt a combination of hollow structures and reinforcing beams to achieve the lightweight of the mounting mechanism while ensuring the overall bearing strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present invention;

[0017] Figure 2 is a schematic structural diagram of another perspective of the present invention;

[0018] Figure 3 is a schematic structural diagram of another perspective of the present invention;

[0019] Figure 4 is a structural sectional view of the present invention;

[0020] Figure 5 is a schematic structural diagram of the claw assembly of the present invention;

[0021] Figure 6 is another schematic structural diagram of the claw assembly of the present invention;

[0022] In the figure, fixed mounting plate 1, hollow slot 11, reinforcing beam 12, UAV connecting frame 2, motor mounting plate 31, stepping motor 32, synchronous pulley 33, linkage assembly 4, linkage cylinder 41, hollow transmission connecting rod 42, claw assembly 5, protective shell 51, turntable coupling 52, claw upper cover 53, claw bottom cover 54, telescopic claw 55, gear and rack assembly 56, position sensor 57, data transmission line 58, control system 59, damping assembly 6, extending protrusion 61, movable seat 62, damping rod 63, fixed seat 64, gear box body 7, upper cover plate 71, lower cover plate 72, spherical plain bearing 73, commutation assembly 8, rotating worm 81, rotating worm gear 82, transmission rod coupling 83. DETAILED DESCRIPTION OF THE INVENTION

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] As 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.

[0025] 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.

[0026] 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.

[0027] Furthermore, the commutation assembly 8 includes a rotating worm 81 drivingly connected to the synchronous pulley 33. The rotating worm 81 is drivingly connected to the drive rod coupling 83 through a rotating worm gear 82, and the drive rod coupling 83 is drivingly connected to the linkage assembly 4. The worm and worm gear are suitable for a compact environment. When the lead angle of the rotating worm 81 is less than the equivalent friction angle between the meshing teeth, the worm and worm gear mechanism has self-locking property. This characteristic is very important in some devices that need to prevent reverse rotation. The rotating worm 81 needs to rotate inside the gear housing 7. Two connecting rod bearings are added on both sides of the gear housing 7, and the rotating worm 81 can rotate easily after adding the bearings.

[0028] Furthermore, the linkage assembly 4 includes a linkage cylinder 41 connected to the lower end of the gear housing 7. A hollow drive connecting rod 42 is rotatably installed inside the linkage cylinder 41 to ensure normal rotation without any interference. The hollow drive connecting rod 42 is drivingly connected to the claw assembly 5. The upper and lower ends of the linkage cylinder 41 are respectively fixed by six M3 screws. The linkage assembly 4 provides driving torque for the claw assembly 5 on the one hand and provides a support and limit structure for the damping assembly 6 on the other hand.

[0029] In addition, the claw assembly 5 includes a protective shell 51 fixedly installed at the lower end of the linkage cylinder 41. The protective shell 51 is symmetrically assembled and fixed by two screws. A turntable coupling 52 connected to the hollow drive connecting rod 42 is movably installed inside the protective shell 51. A claw upper cover 53 is installed at the upper end of the turntable coupling 52, and a claw bottom cover 54 is installed at the lower end of the turntable coupling 52. A telescopic claw 55 arranged in central symmetry and capable of telescoping relative to the protective shell 51 is movably installed between the claw upper cover 53 and the claw bottom cover 54. A gear and rack assembly 56 for driving the telescopic claw 55 to expand and contract synchronously is installed between the telescopic claw 55 and the turntable coupling 52. When the claw assembly 5 rotates forward, the telescopic claw 55 will open, and when the claw assembly 5 rotates in reverse, the telescopic claw 55 will retract.

[0030] At the same time, a position sensor 57 is installed between the telescopic claw 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 into the hollow drive connecting rod 42 and extends upward. A control system 59 connected to the data transmission line 58 and the stepper motor 32 is fixedly installed on the mounting plate 1. The movement position of the telescopic claw 55 is obtained in real time by the position sensor 57, and its movement amount is accurately controlled by means of feedback regulation. The control system 59 can interact with the drone immediately through a wireless communication link, and can also send the drone flight coordinate points through the system cloud. The drone will fly to the sent coordinate points by itself and accurately execute the tasks of grasping and dropping the transportation equipment.

[0031] Different from the conventional claw structure, the telescopic claw 55 in this embodiment has good expandability. It has a clamping portion extending downward and toward one side, which can provide sufficient clamping stability. At the same time, the telescopic claw 55 is slotted to facilitate module expansion and further improve the applicability of the telescopic claw 55.

[0032] Visibly, the damping assembly 6 includes a number of extension protrusions 61 extending outward relative to the fixed mounting plate 1. The lower ends of the extension protrusions 61 are respectively installed with rotatable movable seats 62. The lower ends of the movable seats 62 are rotatably connected with swingable damping rods 63. A slidable fixed seat 64 is movably installed outside the linkage assembly 4. The lower end of the damping rod 63 is swingably connected with the fixed seat 64. In this embodiment, four damping rods 63 are adopted. The upper end of each damping rod 63 is installed with the movable seat 62 by means of a pin shaft plus a snap ring. The lower end of the damping rod 63 is installed on the fixed seat 64, also by means of a pin shaft plus a snap ring. The fixed seat 64 is fixed on the linkage cylinder 41 in a clamping form. When there is no cargo during the operation of the drone, each damping rod 63 is under force balance constraint, and the linkage cylinder 41 is in a vertical state. When there is cargo below and it sways left and right under the influence of air flow disturbance at this time, the four damping rods 63 are subjected to different forces and start to counteract the sway in the opposite direction to ensure the vertical transportation of the cargo.

[0033] Obviously, the drone connecting frame 2 is fixedly connected to the fixed mounting plate 1 through threaded parts, and the drone connecting frames 2 are symmetrically arranged relative to the fixed mounting plate 1.

[0034] Preferably, considering that the parts of the drone need to be designed with reduced weight but without affecting the strength of the parts, the fixed mounting plate 1 and the drone connecting frame 2 are provided with hollow slots 11. The hollow slots 11 provide a flow channel for the wind, increasing the air exhaust volume. The air can pass through the area of the fixed mounting plate 1 more quickly, reducing the situation where the wind forms a large obstacle on the surface of the device, thereby effectively reducing the redundant wind resistance. Reinforcing ribs are added at the weak parts 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 deformed due to the excessive force of the transported cargo. Aviation aluminum is used as the main material of this mounting mechanism.

[0035] In summary, the principle of this embodiment is that the stepping assembly is movably connected to the fixed mounting plate 1 through the spherical plain bearing 73. The stepping assembly provides the driving force, and the linkage assembly 4 drives the claw assembly 5 to perform the clamping action. Among them, 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 claw assembly 5 during the movement of the drone and improving its load stability.

[0036] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains may make various modifications or supplements to the described specific embodiments or use similar means for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0037] Although 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 belt pulley 33, linkage assembly 4, linkage cylinder 41, hollow transmission connecting rod 42, hook claw assembly 5, protective shell 51, turntable coupling 52, hook claw upper cover 53, hook claw bottom cover 54, telescopic hook claw 55, gear rack assembly 56, position sensor 57, data transmission line 58, control system 59, damping assembly 6, extending protrusion 61, movable seat 62, damping rod 63, fixed seat 64, gear box body 7, upper cover plate 71, lower cover plate 72, spherical plain bearing 73, commutation assembly 8, rotating worm 81, rotating worm gear 82, transmission rod coupling 83 are used more frequently herein, the possibility of using other terms is not excluded. The use of these terms is only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitation is contrary to the spirit of the present invention.

Claims

1. A large-load drone hoisting and mounting damping mechanism, comprising a fixed mounting plate (1), an upper end of the fixed mounting plate (1) is connected to a drone connecting frame (2), and a lower end of the fixed mounting plate (1) is movably connected to a stepping component, characterized in that, The lower end of the described stepping component is drivingly connected to the claw component (5) through a linkage component (4), and a damping component (6) is installed between the fixed mounting plate (1) and the linkage component (4); the damping component (6) includes a number of extension protrusions (61) extending outward relative to the fixed mounting plate (1), the lower ends of the extension protrusions (61) are respectively installed with rotatable movable seats (62) in the circumferential direction, the lower ends of the movable seats (62) are rotatably connected to swingable damping rods (63), a fixed seat (64) that can slide up and down is movably installed outside the linkage component (4), and the lower end of the damping rod (63) is swingably connected to the fixed seat (64).

2. The damping mechanism for hoisting and mounting of a large-load unmanned aerial vehicle according to claim 1, wherein The described stepping component includes a gear box body (7), the gear box body (7) is connected to a motor mounting plate (31), a stepping motor (32) is fixed on the motor mounting plate (31), and the stepping motor (32) is drivingly connected to a commutation component (8) arranged in the gear box body (7) through a synchronous belt pulley (33).

3. A large-load drone hoisting and mounting damping mechanism according to claim 2, characterized in that, The gear box body (7) includes 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) through a spherical plain bearing (73).

4. A large-load UAV hoisting and hanging damping mechanism according to claim 2, characterized in that, The commutation component (8) includes a rotating worm (81) drivingly connected to the synchronous belt pulley (33), the rotating worm (81) is drivingly connected to a drive rod coupling (83) through a rotating worm gear (82), and the drive rod coupling (83) is drivingly connected to the linkage component (4).

5. The damping mechanism for hoisting and mounting of a large-load unmanned aerial vehicle according to claim 4, characterized in that, The linkage component (4) includes a linkage cylinder (41) connected to the lower end of the gear box body (7), a hollow drive connecting rod (42) is rotatably installed in the linkage cylinder (41), and the hollow drive connecting rod (42) is drivingly connected to the claw component (5).

6. The damping mechanism for hoisting and mounting of a large-load unmanned aerial vehicle according to claim 5, characterized in that The claw component (5) includes a protective shell (51) fixedly installed at the lower end of the linkage cylinder (41), a turntable coupling (52) connected to the hollow drive connecting rod (42) is movably installed in the protective shell (51), a claw upper cover (53) is installed at the upper end of the turntable coupling (52), a claw bottom cover (54) is installed at the lower end of the turntable coupling (52), telescopic claws (55) arranged in central symmetry and capable of telescoping relative to the protective shell (51) are movably installed between the claw upper cover (53) and the claw bottom cover (54), and a gear and rack component (56) for driving the telescopic claws (55) to expand and contract synchronously is installed between the telescopic claws (55) and the turntable coupling (52).

7. A large-load drone hoisting and mounting damping mechanism according to claim 6, characterized in that, A position sensor (57) is installed between the telescopic claws (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 into the hollow drive connecting rod (42) and extends upward, and 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 unmanned aerial vehicle through a wireless communication link.

8. A large-load UAV hoisting and mounting damping mechanism according to claim 1, characterized in that, The described drone connecting frame (2) is fixedly connected to the fixed mounting plate (1) through threaded parts, and the drone connecting frames (2) are symmetrically arranged relative to the fixed mounting plate (1).

9. The damping mechanism for hoisting and mounting of a large-load unmanned aerial vehicle according to claim 1, characterized in that, Hollow slots (11) are provided on the fixed mounting plate (1) and the drone connecting frame (2), and a reinforcing beam (12) is installed at the lower end of the fixed mounting plate (1).

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