Automatic grabbing, transporting and rescuing device for unmanned aerial vehicle

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to an automatic grabbing, transporting and rescuing device for an unmanned aerial vehicle. Comprising an unmanned aerial vehicle body; the cabin is fixedly connected with the lower end of the unmanned aerial vehicle body; the bearing mechanism is connected with the cabin and comprises a gradienter, a bottom cylinder, a sliding seat and a top plate, the bottom cylinder is slidably connected with the cabin, the top plate is arranged on the inner side of the bottom cylinder, the sliding seat is slidably arranged at the upper end of the top plate, and the gradienter is arranged below the top plate; the expansion grabbing mechanisms are sequentially arranged at the upper end of the top plate at equal intervals in an array mode, each expansion grabbing mechanism comprises two turnover mechanisms, each turnover mechanism comprises a sliding plate, a turnover plate and a bottom frame, the sliding plates are arranged at the upper end of the top plate in a sliding mode, the turnover plates are rotationally connected with one sides of the sliding plates, and the bottom frames are arranged on one sides of the turnover plates in a sliding mode; the flexible clamping jaws are fixedly connected with the side, away from the bottom frame, of the overturning plate. According to the device, people and objects can be conveyed, the safety in the conveying process can be improved, and the people and the objects are prevented from being damaged in the conveying process.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to an automatic grabbing, transporting and rescuing device for unmanned aerial vehicles. Background Art

[0002] In the field of emergency rescue and logistics transportation, it is crucial to move goods and personnel quickly and safely. Traditional manual handling consumes a lot of manpower and is inefficient. When faced with natural disasters and dangerous accidents, it is difficult for rescue workers to approach the scene, which seriously hinders the rescue process.

[0003] Although the existing drone transportation solutions have the advantage of long-distance transportation, they have obvious shortcomings. In terms of cargo transportation, most simple cargo drones are simply designed, using only basic suspension or fixing methods, and lack flexibility. When encountering cargo with irregular center of gravity and complex shape, it is impossible to effectively fix it, and it is very easy to shake and fall, and the types of cargo that can be transported are limited. In the personnel transfer scenario, special groups are not fully considered. It is difficult for people with limited mobility to board the drone cabin. There is a lack of convenient boarding methods and no corresponding auxiliary design, which is not user-friendly enough.

[0004] Problems also frequently arise during the flight process. There is a lack of effective means to deal with changes in airflow, poor flight stability, and difficulty in ensuring cargo safety. Once encountering complex terrain, drone takeoff and landing and operations face huge challenges. Due to the lack of a stable support mechanism, drones often sink or slide sideways, making it impossible to operate normally.

[0005] In view of these difficulties, the direction of improvement is imminent, which is closely related to many subsequent beneficial effects. In order to break through the bottleneck of precise grasping, it is necessary to create an innovative adaptive grasping system that can instantly adjust the grasping strategy according to the different shapes of goods; consider the difficulties of personnel transfer, build a convenient personnel boarding assistance system, so that special groups can also board the plane easily; focus on the needs of flight stability, introduce intelligent monitoring and control components, and ensure flight stability in real time; for complex terrain problems, develop reliable support enhancement technology to ensure smooth take-off and landing operations; finally, by optimizing and integrating the operation process, using automated collaborative operations, reducing manual intervention, and comprehensively improving the efficiency of handling and rescue. Summary of the invention

[0006] Based on this, it is necessary to provide a drone automatic grabbing, transporting and rescuing device to address the existing technical problems.

[0007] In order to solve the problems of the prior art, the technical solution adopted by the present invention is: An automatic grabbing, transporting and rescuing device for a drone, comprising: The drone itself; A cabin, fixedly connected to the lower end of the drone body; The bearing mechanism is connected to the cabin and includes a level meter, a bottom cylinder, a sliding seat and a top plate. The bottom cylinder is slidably connected to the cabin, the top plate is arranged on the inner side of the bottom cylinder, the sliding seat is slidably arranged on the upper end of the top plate, and the level meter is arranged below the top plate. A plurality of expansion grabbing mechanisms are arranged in an array at equal intervals on the upper end of the top plate, each expansion grabbing mechanism includes two flipping mechanisms, the flipping mechanism includes a slide plate, a flipping plate and a bottom frame, the slide plate is slidably arranged on the upper end of the top plate, the flipping plate is rotatably connected to one side of the slide plate, and the bottom frame is slidably arranged on one side of the flipping plate; A plurality of flexible clamping claws are respectively fixedly connected to one side of the turning plate away from the bottom frame.

[0008] Furthermore, the supporting mechanism also includes a supporting plate, a stabilization motor, a stabilization plate and a stabilization shaft. The stabilization plate is fixedly connected to one end of the bottom cylinder close to the cabin, the supporting plate is arranged on the side of the stabilization plate away from the bottom cylinder and is fixedly connected to the slide inside the cabin, the stabilization motor is fixedly connected to the side of the supporting plate away from the stabilization plate, one end of the stabilization shaft is fixedly connected to the stabilization plate, the other end of the stabilization shaft is coaxially connected to the output end of the stabilization motor, and the stabilization motor is electrically connected to the spirit level.

[0009] Furthermore, the bearing mechanism also includes a first telescopic rod, the first telescopic rod is fixedly connected to the inner wall of the cabin, and the output end is fixedly connected to the bearing plate.

[0010] Furthermore, the bearing mechanism also includes a base and a plurality of second telescopic rods, the base is arranged below the top plate and fixedly connected to the bottom tube, the plurality of second telescopic rods are arranged below the top plate and fixedly connected to the base, and the output ends of the second telescopic rods are fixedly connected to the top plate.

[0011] Furthermore, the bearing mechanism also includes a main motor, a main screw, two limit guide rails and two positioning side plates, the two positioning side plates are respectively fixedly connected to the two ends of the top plate, the two limit guide rails are arranged on the side close to the two positioning side plates and the two ends are respectively fixedly connected to the two positioning side plates, the main motor is fixedly connected to the positioning side plate close to the interior of the cabin, the main screw is coaxially fixedly connected to the output end of the main motor and is threadedly connected to the sliding seat, the two ends of the main screw are respectively rotatably connected to the two positioning side plates, and the sliding seat is slidably connected to the limit guide rails.

[0012] Furthermore, a number of avoidance holes are formed in an evenly spaced array on the top plate, and the expansion grabbing mechanism also includes a two-way cylinder and two pads. The two-way cylinder is fixedly connected to the lower end of the top plate, and the two pads are respectively fixedly connected to the two output ends of the two-way cylinder. The two pads are fixedly connected to the corresponding slides after passing through the avoidance holes.

[0013] Furthermore, the flipping mechanism also includes two limit slide rails and two limit sliders, the two limit sliders are respectively fixedly connected to the lower end of the slide plate, and the two limit slide rails are respectively fixedly connected to the upper end of the top plate and are slidably connected to the corresponding limit sliders.

[0014] Furthermore, the flipping mechanism also includes two main racks, two main gears, two main pulleys and two secondary pulleys. The two main racks are symmetrically arranged on both sides of the skateboard and fixedly connected to the top plate. The two main gears are respectively rotatably connected to the end of the skateboard away from the flipping plate. The main gears are meshed with the main racks. The two main pulleys are respectively coaxially fixed with the two main gears. The two secondary pulleys are respectively rotatably connected to the end of the skateboard away from the flipping plate. The main pulley and the secondary pulley are connected by belt transmission. The secondary pulley is coaxially fixed with the end of the flipping plate. The secondary pulley is the input end of the flipping mechanism.

[0015] Furthermore, the flip mechanism also includes two first pulleys, two positioning plates, two positioning gear rings, two adapter plates, two transfer gears, two power gears, two second pulleys, two active bevel gears, two driven bevel gears, two screw sleeves and two auxiliary screws. The auxiliary screw is the output end of the flip mechanism. The two first pulleys are respectively transmission connected to the output end of the flip mechanism. The two positioning plates are respectively fixedly connected to the two sides of the skateboard. The two positioning gear rings are respectively fixedly connected to the two positioning plates. The two adapter plates are respectively rotationally connected to the sides close to the two positioning plates. The two transfer gears are respectively rotationally connected to the two adapter plates and mesh with the corresponding positioning gear rings. The two first pulleys are respectively connected to the two sides of the flip plate for rotation, the two power gears are respectively connected to the two transfer plates for rotation and mesh with the corresponding transfer gears, the two first pulleys are respectively fixedly connected to the two power gears coaxially, the two second pulleys are respectively connected to the end of the flip plate away from the skateboard for rotation, the first pulley and the second pulley are connected by belt transmission, the two active bevel teeth are connected to the flip plate for rotation through the bevel gear rack, the two active bevel teeth are respectively fixedly connected to the two second pulleys coaxially, the two driven bevel teeth are respectively meshed with the two active bevel teeth, the two screw sleeves are respectively fixedly connected to the two driven bevel teeth coaxially, and the two secondary screws are respectively threadedly connected to the two screw sleeves.

[0016] Furthermore, the flipping mechanism also includes two sliding gears, two positioning racks, two wheel seats, two push racks and two positioning guide rails. The two wheel seats are respectively fixedly connected to the output ends of the flipping mechanism, the two positioning racks are fixedly arranged on the sides of the auxiliary screw and are fixedly connected to the flipping plate, the two wheel seats are respectively slidably connected to the two positioning racks, the two sliding gears are respectively meshed with the two positioning racks and are respectively rotatably connected to the two wheel seats, the two positioning guide rails are respectively arranged on the sides of the two sliding gears and are fixedly connected to the flipping plate, the two push racks are respectively slidably connected to the two positioning guide rails, the two push racks are respectively meshed with the two sliding gears, and the lower ends of the two push racks are respectively fixedly connected to the base frame.

[0017] Compared with the prior art, the present invention has the following beneficial effects: First, the device is equipped with multiple expansion grabbing mechanisms. Through the two-way cylinder driving slide, combined with the complex and sophisticated flipping mechanism and flexible grippers, it can adjust the grabbing posture in real time according to the shape and size of the goods. Whether it is a regular box or an irregular shaped object, it can be accurately positioned and firmly grabbed, greatly expanding the range of transportable goods; Second: The personnel transportation system composed of the main motor, screw and sliding seat allows the personnel to be transported to move smoothly into the cabin without climbing up. They only need to stand on the sliding seat, which is especially suitable for the elderly, the weak, the sick, the disabled, pregnant women and other people with limited mobility, significantly improving the humanistic care of rescue and transportation; Third: The spirit level in the bearing mechanism works together with the stabilization motor and the stabilization axis to monitor and dynamically adjust the levelness of the top plate in real time, and cooperate with the first telescopic rod and the second telescopic rod to ensure the stability of the bearing structure, effectively preventing damage to goods or personnel due to shaking or tilting during transportation, and ensuring transportation safety even in low-altitude flight environments with unstable airflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of an embodiment; Figure 2 is a truncated view of the three-dimensional structure of the embodiment; Figure 3 is a front view of an embodiment; Figure 4 It is a partial structural schematic diagram of an embodiment; Figure 5 It is a partial structural schematic diagram of another angle of the embodiment; Figure 6 is a schematic diagram of a three-dimensional structure decomposition of the flip mechanism in the embodiment; Figure 7 yes Figure 6 A magnified view of the structure at center; Figure 8 It is a partial structural schematic diagram of the turning mechanism in the embodiment.

[0019] The numbers in the figure are: 1. UAV body; 2. Cabin; 3. First telescopic rod; 4. Carrying mechanism; 5. Carrying plate; 6. Stabilizing motor; 7. Stabilizing plate; 8. Stabilizing shaft; 9. Level; 10. Bottom tube; 11. Base; 12. Second telescopic rod; 13. Main motor; 14. Main screw; 15. Sliding seat; 16. Positioning side plate; 17. Limiting guide rail; 18. Top plate; 19. Avoidance hole; 20. Expansion grabbing mechanism; 21. Bidirectional cylinder; 22. Pad; 23. Flipping mechanism; 24. Slide plate; 25. Limiting slide rail; 2 6. Limit slider; 27. Flip plate; 28. Main rack; 29. ​​Main gear; 30. Main pulley; 31. Secondary pulley; 32. First pulley; 33. Positioning plate; 34. Positioning gear ring; 35. Adapter plate; 36. Adapter gear; 37. Power gear; 38. Secondary pulley; 39. Active bevel gear; 40. Driven bevel gear; 41. Screw sleeve; 42. Secondary screw; 43. Wheel seat; 44. Sliding gear; 45. Positioning rack; 46. Push rack; 47. Positioning guide rail; 48. Base frame; 49. Flexible clamp. DETAILED DESCRIPTION

[0020] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0021] refer to Figures 1 to 8 , a drone automatic grabbing, transporting and rescuing device, comprising: UAV body 1; A cabin 2, fixedly connected to the lower end of the drone body 1; The bearing mechanism 4 is connected to the cabin 2, and includes a level 9, a bottom cylinder 10, a sliding seat 15 and a top plate 18. The bottom cylinder 10 is slidably connected to the cabin 2, the top plate 18 is arranged on the inner side of the bottom cylinder 10, the sliding seat 15 is slidably arranged on the upper end of the top plate 18, and the level 9 is arranged below the top plate 18; A plurality of expansion grabbing mechanisms 20 are arranged in an array at equal intervals on the upper end of the top plate 18, each expansion grabbing mechanism 20 includes two flipping mechanisms 23, the flipping mechanism 23 includes a slide plate 24, a flipping plate 27 and a bottom frame 48, the slide plate 24 is slidably arranged on the upper end of the top plate 18, the flipping plate 27 is rotatably connected to one side of the slide plate 24, and the bottom frame 48 is slidably arranged on one side of the flipping plate 27; A plurality of flexible clamping claws 49 are respectively fixedly connected to one side of the flip plate 27 away from the bottom frame 48 .

[0022] When the drone body 1 is transporting goods or personnel, the drone body 1 first lands and opens the cabin 2. After the cabin 2 is opened, under the action of the bearing mechanism 4, the bottom tube 10 extends from the cabin 2 and pushes the top plate 18 to move upward, and then the sliding seat 15 moves along the upper end of the top plate 18 away from the cabin 2. During this process, the expansion grabbing mechanism 20 responds to the movement of the sliding seat 15, and then the expansion grabbing mechanism 20 drives the slide plate 24 to move through the flip mechanism 23. During the movement of the slide plate 24, the flip plate 27 is driven to move from a vertical state to a horizontal state. The flexible clamp 49 fixed to the flip plate 27 will be flipped accordingly to facilitate the subsequent positioning of the goods or personnel.

[0023] After the cargo is clamped, the sliding seat 15 will move toward the direction close to the cabin 2, and the flip plate 27 will flip from a horizontal state to a vertical state. At this time, the two relatively arranged groups of flip plates 27 will drive the corresponding flexible clamps 49 to move, so that the grabbed cargo can be protected.

[0024] In order to keep the top plate 18 level and prevent the cargo or personnel from shaking in the cabin 2 when the cargo or personnel are moved, the following features are also specifically provided: The bearing mechanism 4 also includes a bearing plate 5, a stabilizing motor 6, a stabilizing plate 7 and a stabilizing shaft 8. The stabilizing plate 7 is fixedly connected to one end of the bottom cylinder 10 close to the cabin 2. The bearing plate 5 is arranged on the side of the stabilizing plate 7 away from the bottom cylinder 10 and is fixedly connected to the slide inside the cabin 2. The stabilizing motor 6 is fixedly connected to the side of the bearing plate 5 away from the stabilizing plate 7. One end of the stabilizing shaft 8 is fixedly connected to the stabilizing plate 7, and the other end of the stabilizing shaft 8 is coaxially fixedly connected to the output end of the stabilizing motor 6. The stabilizing motor 6 is electrically connected to the level 9. When the drone body 1 is flying in the air or transporting goods or personnel, the level 9 monitors the horizontal state of the top plate 18 in real time. Once it detects that the top plate 18 has a tilting tendency, it immediately transmits a signal to the stabilizing motor 6. After receiving the signal, the stabilizing motor 6 starts quickly and drives the stabilizing shaft 8 to rotate. Since the stabilizing shaft 8 is fixedly connected to the stabilizing plate 7, the stabilizing plate 7 drives the bottom cylinder 10 to make fine adjustments.

[0025] During this process, the load-bearing plate 5 slides along the inner wall of the cabin 2 (the specific movement process is described in detail later) to provide stable support for the adjustment process, thereby ensuring that the top plate 18 always remains level, minimizing the shaking of goods or personnel in the cabin 2, and ensuring the stability and safety of transportation.

[0026] In order to drive the bottom drum 10 to move, so that when transporting goods, the goods only need to be placed on the sliding seat 15 and the plurality of flexible clamps 49, the following features are also specifically provided: The bearing mechanism 4 also includes a first telescopic rod 3, which is fixedly connected to the inner wall of the cabin 2, and the output end is fixedly connected to the bearing plate 5. When it is necessary to transport goods, as the cabin 2 is opened, the first telescopic rod 3 receives a command and starts to work, and its extension pushes the bearing plate 5 to move outside the cabin 2, and the bearing plate 5 drives the stabilizing plate 7 to move synchronously, so that the bottom cylinder 10 fixedly connected to the stabilizing plate 7 is smoothly extended from the cabin 2, providing a convenient channel for subsequent goods to be placed on the sliding seat 15 and the flexible clamping claw 49, greatly improving the efficiency of cargo loading, and the whole process is fast and stable.

[0027] In order to drive the top plate 18 to move so that the goods can be protected by the bottom cylinder 10 during transportation, the following features are also provided: The bearing mechanism 4 also includes a base 11 and a plurality of second telescopic rods 12. The base 11 is arranged below the top plate 18 and is fixedly connected to the bottom cylinder 10. The plurality of second telescopic rods 12 are arranged below the top plate 18 and are fixedly connected to the base 11. The output ends of the second telescopic rods 12 are fixedly connected to the top plate 18. In the process in which the bottom cylinder 10 extends from the cabin 2 and pushes the top plate 18 to move upward, the second telescopic rods 12 play a role of auxiliary support and precise control. When the bottom cylinder 10 moves, the second telescopic rods 12 are adjusted in time according to the preset program or the real-time monitoring data to ensure that the top plate 18 can rise smoothly according to the predetermined trajectory, avoid the top plate 18 from being stuck or offset, and provide a stable and reliable bearing foundation for the goods, effectively protecting the safety of the goods during transportation.

[0028] In order to drive the sliding seat 15 to move, the personnel to be transported can move with the sliding seat 15 to the interior of the cabin 2 without having to climb into the cabin 2 by themselves, the following features are also specifically provided: The bearing mechanism 4 also includes a main motor 13, a main screw 14, two limiting guide rails 17 and two positioning side plates 16. The two positioning side plates 16 are respectively fixedly connected to the two ends of the top plate 18. The two limiting guide rails 17 are arranged on the side close to the two positioning side plates 16 and the two ends are respectively fixedly connected to the two positioning side plates 16. The main motor 13 is fixedly connected to the positioning side plate 16 close to the inside of the cabin 2. The main screw 14 is coaxially fixedly connected to the output end of the main motor 13 and is threadedly connected to the sliding seat 15. The two ends of the main screw 14 are respectively rotatably connected to the two positioning side plates 16, and the sliding seat 15 is slidably connected to the limiting guide rails 17. When transporting personnel, the main motor 13 is started to drive the main screw 14 to rotate. Since the main screw 14 is threadedly connected to the sliding seat 15, and the sliding seat 15 is limited by the limiting guide rails 17 to slide only in a straight line, the rotation of the main screw 14 is converted into a linear motion of the sliding seat 15. The sliding seat 15 moves smoothly along the limiting guide rail 17 in the direction away from the cabin 2. The person to be transferred only needs to stand on the sliding seat 15 and can easily move into the cabin 2 with the sliding seat 15 without the effort of climbing into the cabin 2 by themselves. This greatly improves the convenience and humanity of rescue and transfer, and is especially suitable for special groups such as the injured with limited mobility.

[0029] In order to drive the plurality of slide plates 24 to move, and then drive the corresponding flipping mechanism 23 to start, the following features are also specifically provided: A number of avoidance holes 19 are formed in an array at equal intervals on the top plate 18. The expansion grabbing mechanism 20 also includes a two-way cylinder 21 and two pads 22. The two-way cylinder 21 is fixedly connected to the lower end of the top plate 18. The two pads 22 are respectively fixedly connected to the two output ends of the two-way cylinder 21. The two pads 22 are fixedly connected to the corresponding slide plates 24 after passing through the avoidance holes 19. When it is necessary to start the expansion grabbing mechanism 20, the two-way cylinder 21 receives the instruction to work, and its two output ends respectively push the two pads 22 to move in opposite directions, and the pads 22 drive the slide plates 24 fixed thereto to slide on the top plate 18. Due to the design of the avoidance holes 19, the pads 22 can smoothly pass through the top plate 18 to drive the slide plates 24, so that the movement of the slide plates 24 is more precise and stable, thereby driving the entire flipping mechanism 23 to operate in an orderly manner, achieving precise grasping and positioning of goods or personnel, and ensuring efficient transportation operations.

[0030] In order to limit the movement of the slide plate 24 and prevent the slide plate 24 from moving during the movement, the following features are specifically provided: The flip mechanism 23 also includes two limit rails 25 and two limit sliders 26. The two limit sliders 26 are respectively fixedly connected to the lower end of the slide plate 24. The two limit rails 25 are respectively fixedly connected to the upper end of the top plate 18 and are slidably connected to the corresponding limit sliders 26. When the slide plate 24 moves along with the pad 22, the limit sliders 26 slide tightly in the limit rails 25. On the one hand, the limit rails 25 provide precise guidance for the limit sliders 26 to ensure that the slide plate 24 can only move along a predetermined straight line direction without left or right deviation or skew; on the other hand, the friction between the limit sliders 26 and the limit rails 25 is moderate, which will not hinder the normal movement of the slide plate 24, but can also buffer the impact force during the movement of the slide plate 24 to a certain extent, so that the movement of the slide plate 24 is more stable and reliable, effectively ensuring the stable operation of the flip mechanism 23.

[0031] In order to drive the flip plate 27 to flip 90°, the following features are also specifically provided: The flipping mechanism 23 also includes two main racks 28, two main gears 29, two main pulleys 30 and two secondary pulleys 31. The two main racks 28 are symmetrically arranged on both sides of the skateboard 24 and are fixedly connected to the top plate 18. The two main gears 29 are respectively rotatably connected to one end of the skateboard 24 away from the flip plate 27. The main gears 29 are meshed with the main racks 28. The two main pulleys 30 are respectively coaxially fixedly connected to the two main gears 29. The two secondary pulleys 31 are respectively rotatably connected to one end of the skateboard 24 away from the flip plate 27. The main pulley 30 and the secondary pulley 31 are connected by belt transmission. The secondary pulley 31 is coaxially fixedly connected to the end of the flip plate 27. The secondary pulley 31 is the input end of the flipping mechanism 23. During the movement of the slide plate 24, since the main gear 29 is meshed with the main rack 28, the linear movement of the slide plate 24 drives the main gear 29 to roll along the main rack 28, thereby causing the main pulley 30 coaxially connected to the main gear 29 to rotate synchronously, and the main pulley 30 transmits power to the secondary pulley 31 through the belt transmission, and the secondary pulley 31 drives the flip plate 27 to flip 90° around its end axis. The entire process relies on the precise meshing of the main gear 29 and the main rack 28, as well as the stable and efficient transmission of the main pulley 30 and the secondary pulley 31, to achieve accurate and rapid flipping of the flip plate 27, providing strong support for subsequent cargo grabbing and protection actions.

[0032] In order to provide power for the movement of the chassis 48, the following features are also specifically provided: The flipping mechanism 23 also includes two first pulleys 32, two positioning disks 33, two positioning gear rings 34, two adapter disks 35, two transfer gears 36, two power gears 37, two second pulleys 38, two active bevel gears 39, two driven bevel gears 40, two screw sleeves 41 and two auxiliary screws 42. The auxiliary screws 42 are the output ends of the flipping mechanism 23. The two first pulleys 32 are respectively connected to the output ends of the flipping mechanism 23 by transmission. The two positioning disks 33 are respectively fixedly connected to the two sides of the slide plate 24. The two positioning gear rings 34 are respectively fixedly connected to the two positioning disks 33. The two adapter disks 35 are respectively connected to the sides close to the two positioning disks 33. The two transfer gears 36 are respectively connected to the two adapter disks 35 by rotation and mesh with the corresponding positioning gear rings 34. The two adapter plates 35 are respectively rotatably connected to the two sides of the flip plate 27, the two power gears 37 are respectively rotatably connected to the two adapter plates 35 and mesh with the corresponding adapter gears 36, the two first pulleys 32 are respectively coaxially fixedly connected to the two power gears 37, the two second pulleys 38 are respectively rotatably connected to the end of the flip plate 27 away from the skateboard 24, the first pulley 32 and the second pulley 38 are connected by belt transmission, the two active bevel teeth 39 are rotatably connected to the flip plate 27 through the bevel gear rack, the two active bevel teeth 39 are respectively coaxially fixedly connected to the two second pulleys 38, the two driven bevel teeth 40 are respectively meshed with the two active bevel teeth 39, the two screw sleeves 41 are respectively coaxially fixedly connected to the two driven bevel teeth 40, and the two secondary screws 42 are respectively threadedly connected to the two screw sleeves 41. When it is necessary to drive the base frame 48 to move and the flip plate 27 flips, since the positioning gear ring 34 remains stationary, the flip plate 27 rotates and drives the transfer gear 36 to engage with the positioning gear ring 34, so the transfer gear 36 will rotate at this time. After the transfer gear 36 rotates, it will drive the first pulley 32 to rotate through the power gear 37, and the first pulley 32 will drive the second pulley 38 to rotate. The second pulley 38 drives the active bevel gear 39 fixed thereto to rotate, and the active bevel gear 39 drives the driven bevel gear 40 to rotate, and the driven bevel gear 40 drives the screw sleeve 41 to rotate. Since the secondary screw 42 is threadedly connected to the screw sleeve 41, the telescopic movement of the secondary screw 42 is finally realized, which provides a stable and reliable power source for the movement of the base frame 48, ensuring that the base frame 48 can be accurately displaced as required.

[0033] In order to increase the movement range of the base frame 48 and ensure that the base frame 48 can be pressed against the ground by a large displacement when the flip plate 27 flips from the vertical state to the horizontal state, the following features are also provided: The flipping mechanism 23 also includes two sliding gears 44, two positioning racks 45, two wheel seats 43, two push racks 46 and two positioning guide rails 47. The two wheel seats 43 are respectively fixedly connected to the output ends of the flipping mechanism 23, the two positioning racks 45 are fixedly arranged on the sides of the auxiliary screw 42 and are fixedly connected to the flipping plate 27, the two wheel seats 43 are respectively slidably connected to the two positioning racks 45, the two sliding gears 44 are respectively meshed with the two positioning racks 45 and are respectively rotatably connected to the two wheel seats 43, the two positioning guide rails 47 are respectively arranged on the sides of the two sliding gears 44 and are fixedly connected to the flipping plate 27, the two push racks 46 are respectively slidably connected to the two positioning guide rails 47, the two push racks 46 are respectively meshed with the two sliding gears 44, and the lower ends of the two push racks 46 are respectively fixedly connected to the base frame 48. When the flip plate 27 flips from the vertical state to the horizontal state, as the auxiliary screw 42 moves in extension and contraction, the related parts connected to the auxiliary screw 42 drive the wheel seat 43 to slide along the positioning rack 45. At this time, the sliding gear 44 rolls on the positioning rack 45 and meshes with the push rack 46 for transmission. The push rack 46 slides downward along the positioning guide rail 47. Since the lower end of the push rack 46 is fixedly connected to the base frame 48, the base frame 48 is pushed to move downward significantly. This design enables the base frame 48 to obtain a larger displacement amplitude when the flip plate 27 flips, ensuring that the base frame 48 can be firmly pressed against the ground, providing a more reliable support foundation for the entire grabbing, transporting and rescuing device, especially in complex terrain or unstable working environments, effectively improving the adaptability and safety of the device.

[0034] The working principle of the device is that when performing a mission, the drone body 1 first lands and opens the cabin 2. The bearing mechanism 4 is then activated, the first telescopic rod 3 extends, and pushes the bearing plate 5 to drive the stabilizing plate 7 and the bottom cylinder 10 to extend from the cabin 2, making room for subsequent operations. At the same time, the bottom cylinder 10 pushes the top plate 18 up, and during this process, the second telescopic rod 12 provides auxiliary support to ensure that the top plate 18 rises smoothly, providing a stable bearing foundation for the cargo.

[0035] During this process, the level meter 9 monitors the status of the top plate 18 in real time. Once it tilts, it immediately sends a signal to the stabilizing motor 6. The stabilizing motor 6 drives the stabilizing shaft 8 to rotate and fine-tune the bottom cylinder 10 to keep the top plate 18 level to prevent the goods or people from shaking.

[0036] When transporting personnel, the main motor 13 runs to drive the main screw 14 to rotate. Since the main screw 14 is threadedly connected to the sliding seat 15 and the sliding seat 15 is limited by the limiting guide rail 17, the sliding seat 15 moves along the limiting guide rail 17 away from the cabin 2. Personnel can easily enter the cabin 2 by standing on the sliding seat 15, preventing the transfer of injured persons or persons who are inconvenient to move.

[0037] For cargo grabbing, the bidirectional cylinder 21 works, and its output end pushes the pad 22 through the avoidance hole 19 formed on the top plate 18 to drive the slide plate 24 to move, and the limit slider 26 cooperates with the limit slide rail 25 to ensure the straight and accurate sliding of the slide plate 24. When the slide plate 24 moves, the main gear 29 rolls along the positioning rack 45 until the secondary pulley 31 drives the flip plate 27 to rotate from vertical to horizontal, and the flexible clamp 49 flips accordingly to prepare to grab cargo.

[0038] The flipping mechanism 23 can also drive the base frame 48 to move. During the movement of the base frame 48, the auxiliary screw 42 moves to ensure that when the flip plate 27 flips to a horizontal position, the wheel seat 43, the sliding gear 44 and the push rack 46 work together to make the base frame 48 move down significantly and close to the ground, providing reliable support for the device, adapting to complex environments, and efficiently completing the grabbing, transportation and rescue tasks.

[0039] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. An automatic grabbing, transporting and rescuing device for unmanned aerial vehicles, characterized in that: include: UAV body (1); A cabin (2) is fixedly connected to the lower end of the drone body (1); The bearing mechanism (4) is connected to the cabin (2), and comprises a level (9), a bottom cylinder (10), a sliding seat (15) and a top plate (18); the bottom cylinder (10) is slidably connected to the cabin (2); the top plate (18) is arranged on the inner side of the bottom cylinder (10); the sliding seat (15) is slidably arranged on the upper end of the top plate (18); and the level (9) is arranged below the top plate (18); A plurality of expansion grabbing mechanisms (20) are arranged in an array at equal intervals on the upper end of the top plate (18), each expansion grabbing mechanism (20) comprises two flipping mechanisms (23), the flipping mechanism (23) comprises a slide plate (24), a flipping plate (27) and a bottom frame (48), the slide plate (24) is slidably arranged on the upper end of the top plate (18), the flipping plate (27) is rotatably connected to one side of the slide plate (24), and the bottom frame (48) is slidably arranged on one side of the flipping plate (27); A plurality of flexible clamping claws (49) are respectively fixedly connected to one side of the flip plate (27) away from the bottom frame (48).

2. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1 is characterized in that: The bearing mechanism (4) further comprises a bearing plate (5), a stabilizing motor (6), a stabilizing plate (7) and a stabilizing shaft (8); the stabilizing plate (7) is fixedly connected to one end of the bottom tube (10) close to the cabin (2); the bearing plate (5) is arranged on a side of the stabilizing plate (7) away from the bottom tube (10) and is fixedly connected to a slide inside the cabin (2); the stabilizing motor (6) is fixedly connected to a side of the bearing plate (5) away from the stabilizing plate (7); one end of the stabilizing shaft (8) is fixedly connected to the stabilizing plate (7); the other end of the stabilizing shaft (8) is fixedly connected to the output end of the stabilizing motor (6) coaxially; and the stabilizing motor (6) is electrically connected to a level meter (9).

3. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 2 is characterized in that: The bearing mechanism (4) further comprises a first telescopic rod (3), the first telescopic rod (3) being fixedly connected to the inner wall of the cabin (2), and the output end being fixedly connected to the bearing plate (5).

4. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1 is characterized in that: The bearing mechanism (4) further comprises a base (11) and a plurality of second telescopic rods (12); the base (11) is arranged below the top plate (18) and is fixedly connected to the bottom tube (10); the plurality of second telescopic rods (12) are arranged below the top plate (18) and are fixedly connected to the base (11); and the output ends of the second telescopic rods (12) are fixedly connected to the top plate (18).

5. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1 is characterized in that: The bearing mechanism (4) further comprises a main motor (13), a main screw (14), two limit guide rails (17) and two positioning side plates (16); the two positioning side plates (16) are respectively fixedly connected to two ends of the top plate (18); the two limit guide rails (17) are arranged on a side close to the two positioning side plates (16) and are respectively fixedly connected to the two positioning side plates (16) at both ends; the main motor (13) is fixedly connected to the positioning side plate (16) close to the interior of the cabin (2); the main screw (14) is coaxially fixedly connected to the output end of the main motor (13) and is threadedly connected to the sliding seat (15); the two ends of the main screw (14) are respectively rotatably connected to the two positioning side plates (16); and the sliding seat (15) is slidably connected to the limit guide rails (17).

6. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1, characterized in that: A plurality of avoidance holes (19) are formed in an array at equal intervals on the top plate (18). The expansion grabbing mechanism (20) further comprises a bidirectional cylinder (21) and two pads (22). The bidirectional cylinder (21) is fixedly connected to the lower end of the top plate (18). The two pads (22) are respectively fixedly connected to two output ends of the bidirectional cylinder (21). The two pads (22) are fixedly connected to corresponding slide plates (24) after passing through the avoidance holes (19).

7. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1 is characterized in that: The turning mechanism (23) further comprises two limit slide rails (25) and two limit sliders (26), wherein the two limit sliders (26) are respectively fixedly connected to the lower end of the slide plate (24), and the two limit slide rails (25) are respectively fixedly connected to the upper end of the top plate (18) and are slidably connected to the corresponding limit sliders (26).

8. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1 is characterized in that: The flip mechanism (23) further comprises two main racks (28), two main gears (29), two main pulleys (30) and two secondary pulleys (31). The two main racks (28) are symmetrically arranged on both sides of the slide plate (24) and are fixedly connected to the top plate (18). The two main gears (29) are respectively rotatably connected to one end of the slide plate (24) away from the flip plate (27). The main gears (29) are meshed with the main racks (28). The two main pulleys (30) are respectively coaxially fixedly connected to the two main gears (29). The two secondary pulleys (31) are respectively rotatably connected to one end of the slide plate (24) away from the flip plate (27). The main pulleys (30) and the secondary pulleys (31) are connected via a belt drive. The secondary pulley (31) is coaxially fixedly connected to the end of the flip plate (27). The secondary pulley (31) is the input end of the flip mechanism (23).

9. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1, characterized in that: The turnover mechanism (23) further comprises two first pulleys (32), two positioning disks (33), two positioning gear rings (34), two transfer disks (35), two transfer gears (36), two power gears (37), two second pulleys (38), two active bevel gears (39), two driven bevel gears (40), two screw sleeves (41) and two auxiliary screws (42). The auxiliary screws (42) are output ends of the turnover mechanism (23). The two first pulleys (32) are respectively transmission-connected to the output ends of the turnover mechanism (23). The two positioning disks (33) are respectively fixedly connected to the two sides of the slide plate (24). The two positioning gear rings (34) are respectively fixedly connected to the two positioning disks (33). The two transfer disks (35) are respectively rotationally connected to the sides of the two positioning disks (33) that are close to each other. The two transfer gears (36) are respectively rotationally connected to the two transfer disks (35) and are rotationally connected to the corresponding positioning gear rings (34). The two transfer plates (35) are respectively rotatably connected to the two sides of the flip plate (27); the two power gears (37) are respectively rotatably connected to the two transfer plates (35) and meshed with the corresponding transfer gears (36); the two first pulleys (32) are respectively coaxially fixedly connected to the two power gears (37); the two second pulleys (38) are respectively rotatably connected to one end of the flip plate (27) away from the slide plate (24); the first pulley (32) and the second pulley (38) are connected via a belt transmission; the two active bevel teeth (39) are rotatably connected to the flip plate (27) via a bevel gear rack; the two active bevel teeth (39) are respectively coaxially fixedly connected to the two second pulleys (38); the two driven bevel teeth (40) are respectively meshed with the two active bevel teeth (39); the two screw sleeves (41) are respectively coaxially fixedly connected to the two driven bevel teeth (40); and the two auxiliary screws (42) are respectively threadedly connected to the two screw sleeves (41).

10. The automatic grabbing, transporting and rescuing device for unmanned aerial vehicles according to claim 1, characterized in that: The flipping mechanism (23) further comprises two sliding gears (44), two positioning racks (45), two wheel seats (43), two push racks (46) and two positioning guide rails (47). The two wheel seats (43) are respectively fixedly connected to the output ends of the flipping mechanism (23). The two positioning racks (45) are fixedly arranged on the sides of the auxiliary screw (42) and are fixedly connected to the flipping plate (27). The two wheel seats (43) are respectively slidably connected to the two positioning racks (45). The wheels (44) are respectively meshed with the two positioning racks (45) and are respectively rotatably connected to the two wheel seats (43); the two positioning guide rails (47) are respectively arranged beside the two sliding gears (44) and are fixedly connected to the flip plate (27); the two push racks (46) are respectively slidably connected to the two positioning guide rails (47); the two push racks (46) are respectively meshed with the two sliding gears (44); and the lower ends of the two push racks (46) are respectively fixedly connected to the bottom frame (48).

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