Anti-swing device assembly and flight transportation system

Abstract

The invention discloses an anti-swing device assembly and a flight transportation system, and relates to the technical field of transportation equipment. The anti-swing device assembly comprises a support, a releaser and a connecting mechanism, the support is used for being connected with the aircraft, and the support and the releaser are connected through the connecting mechanism so that the releaser can swing in multiple directions relative to the support. The flight transportation system comprises a first sliding assembly, a first lifting rope, at least one pair of aircrafts and the anti-swing device assemblies, each aircraft is connected with one anti-swing device assembly, and the two ends of the first lifting rope are connected to the two anti-swing device assemblies connected with the two aircrafts in the same pair correspondingly. The first sliding assembly is connected to the first lifting rope and can slide along the first lifting rope. According to the flight transportation system, the influence of cargo swinging on the aircrafts and the mutual influence between the aircrafts can be reduced, so that the coordination control difficulty during collaborative transportation of the multiple aircrafts is reduced, and the reliability of the aircrafts during running is improved.

Description

Technical Field

[0001] The present application relates to the technical field of transportation equipment, and in particular to a sway damper assembly and a flight transportation system. Background Art

[0002] In the prior art, when using aircraft to transport goods, a single aircraft is often used to carry the goods for transportation. In this case, the goods will swing relative to the aircraft due to inertia, and the swing of the goods will affect the attitude and stability of the aircraft's flight; and when the aircraft needs to adjust its attitude, the traction of the goods is also likely to affect the attitude adjustment of the aircraft. In addition, the weight of goods that can be transported at a time is usually limited by the load-bearing capacity of the aircraft, and the weight of goods transported by a single aircraft is limited. The related art provides a method of using multiple aircraft to transport goods in a coordinated manner, but the flight movements of multiple aircraft are likely to affect each other, resulting in difficulty in the coordinated control of multiple aircraft. Summary of the invention

[0003] The purpose of this application includes providing a sway damper assembly and a flight transportation system, which can reduce the impact of cargo sway on the aircraft and reduce the difficulty of coordinated control when multiple aircraft cooperate in transporting cargo.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, the present application provides a sway damper assembly, comprising a bracket, a releaser and a connecting mechanism, wherein the bracket is used to connect to an aircraft, the bracket and the releaser are connected via the connecting mechanism so that the releaser can swing in multiple directions relative to the bracket, and the releaser is used to mount and release cargo.

[0006] In an optional embodiment, the connecting mechanism includes a connector and an adapter, one end of the connector is rotatably connected to the bracket, the other end of the connector is rotatably connected to the adapter, the adapter is fixedly connected to the releaser, and the rotation axis of the connector relative to the bracket and the rotation axis of the adapter relative to the connector form an angle.

[0007] In an optional embodiment, the connector includes a base body and a first axis and a second axis connected to the base body, the first axis extends along a first direction, the second axis extends along a second direction, the first axis and the second axis are spaced apart in a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the connector is rotatably connected to the bracket through the first axis, and the connector is rotatably connected to the adapter through the second axis.

[0008] In an optional embodiment, the seat body includes two first fixing portions spaced apart from each other in a first direction, and two ends of the first shaft body are respectively connected to the two first fixing portions;

[0009] And / or, the seat body includes two second fixing parts spaced apart from each other in the second direction, two ends of the second shaft body are respectively connected to the two second fixing parts, and a part of the adapter is located between the two second fixing parts and plugged into the second shaft body.

[0010] In an optional embodiment, the sway damper assembly further includes a posture sensor, and the posture sensor is used to detect the swing state of the connector relative to the bracket.

[0011] In an optional embodiment, the adapter includes an adapter plate and a boss disposed on the adapter plate, the adapter plate is fixedly connected to the releaser, and the boss is rotatably connected to the connector.

[0012] In an optional embodiment, the sway damper assembly further includes a plurality of fixing ropes, and the bracket is connected to the aircraft via the plurality of fixing ropes.

[0013] In an optional embodiment, the bracket includes a bottom frame, a support portion and a plurality of support arms, the bottom frame and the support portion are spaced apart in a normal direction to a plane where the bottom frame is located, one end of the support arm is connected to the bottom frame, and the other end is connected to the support portion, the bottom frame, the support portion and the plurality of support arms together form a storage space for accommodating a releaser and a connecting mechanism, and the connecting mechanism is rotatably connected to the support portion.

[0014] In a second aspect, the present application provides a flight transportation system, comprising a first sliding assembly, a first sling, at least one pair of aircraft, and the sway damper assembly of any one of the embodiments of the first aspect, wherein each aircraft is connected to a sway damper assembly, and both ends of the first sling are respectively connected to two sway damper assemblies connected to two aircraft in the same pair, wherein the bracket of the sway damper assembly is connected to the aircraft, the releaser of the sway damper assembly is connected to the end of the first sling, the first sliding assembly is connected to the first sling and can slide along the first sling, and the first sliding assembly is used to bear the load.

[0015] In an optional embodiment, the first sliding assembly includes a sliding body and a rotating connection member, the sliding body can slide along the first suspension rope, the rotating connection member is rotatably connected to the sliding body, and the rotating connection member is used to bear the load.

[0016] In an optional embodiment, the sliding body includes a mounting seat and a roller, the roller is rotatably connected to the mounting seat, the roller can roll along the first suspension rope, the rotating connecting member is rotatably connected to the mounting seat, and the rotation axis of the rotating connecting member forms an angle with the rotation axis of the roller.

[0017] In an optional embodiment, the rotation axis of the rotating connection member is perpendicular to the rotation axis of the roller, and the rotating connection member and the roller are spaced apart in the extension direction of the rotation axis of the rotating connection member.

[0018] In an optional embodiment, the rotating connection member includes a rotating shaft and a hanging ring. The rotating shaft is inserted into the mounting seat and can rotate along its own axis relative to the mounting seat. The hanging ring is connected to one end of the rotating shaft away from the mounting seat.

[0019] In an optional embodiment, the flying transportation system includes at least two pairs of aircraft, each pair of aircraft is mounted with a first sling and a first sliding assembly, the flying transportation system also includes a second sling and a second sliding assembly, the two ends of the second sling are respectively connected to the first sliding assemblies mounted on the two pairs of aircraft, the second sliding assembly is connected to the second sling and can slide along the second sling, and the second sliding assembly is used to bear the load.

[0020] The beneficial effects of the sway damper assembly and the flight transportation system provided by the embodiments of the present application include:

[0021] The sway dampener assembly provided in the embodiment of the present application includes a bracket, a releaser and a connecting mechanism. The bracket is used to connect to the aircraft. The bracket and the releaser are connected by the connecting mechanism so that the releaser can swing in multiple directions relative to the bracket. The releaser is used to mount and release cargo. When the aircraft uses the sway dampener assembly provided in the embodiment of the present application to mount cargo, when the cargo swings due to inertia, the cargo can drive the releaser to swing in multiple directions relative to the bracket. Since the releaser has a higher degree of freedom relative to the bracket, the swing of the cargo is not easy to affect the attitude of the aircraft. Similarly, when the aircraft needs to change its attitude (such as the fuselage tilts), the influence of the traction force from the cargo is small, which is beneficial to the attitude adjustment of the aircraft. Therefore, the sway dampener assembly provided in the embodiment of the present application is beneficial to improving the reliability of the aircraft during flight.

[0022] The flying transportation system provided by the embodiment of the present application includes a first sliding assembly, a first hanging rope, at least one pair of aircraft and the above-mentioned sway-eliminating assembly, each aircraft is connected to a sway-eliminating assembly, and the two ends of the first hanging rope are respectively connected to two sway-eliminating assemblies connected to the two aircrafts of the same pair, wherein the bracket of the sway-eliminating assembly is connected to the aircraft, the releaser of the sway-eliminating assembly is connected to the end of the first hanging rope, the first sliding assembly is connected to the first hanging rope and can slide along the first hanging rope, and the first sliding assembly is used to bear the load. Since the flying transportation system provided by the embodiment of the present application includes at least one pair of two aircrafts, it has a higher bearing capacity and can transport heavier goods. In addition, through the first hanging rope and the first sliding assembly, when the load direction changes due to the swing of the cargo, or when one aircraft changes its position relative to other aircrafts, the first sliding assembly on the first hanging rope can slide along the first hanging rope, so that the force point on the first hanging rope can be adjusted adaptively, which alleviates the phenomenon of uneven force between aircrafts caused by the swing of cargo or the uncoordinated action of the aircraft, that is, reduces the mutual influence between aircrafts. Through the dynamic changes of the sway damper assembly and the first sliding assembly, the shaking of cargo or the change of center of gravity caused by the relative state changes of multiple aircraft during flight transportation, as well as the mutual influence between aircraft can be alleviated, thereby reducing the difficulty of coordinated control during collaborative transportation of multiple aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of a flight transportation system (two aircraft) in one embodiment of the present application;

[0025] Figure 2 This is a schematic diagram of a sway damper assembly in one embodiment of the present application at a first viewing angle;

[0026] Figure 3 This is a schematic diagram of a sway damper assembly in an embodiment of the present application at a second viewing angle;

[0027] Figure 4 This is a schematic diagram of the connection between the sway damper assembly and the aircraft in one embodiment of the present application;

[0028] Figure 5 for Figure 3 A magnified view of the local V in the middle;

[0029] Figure 6This is a schematic diagram of a connector in one embodiment of the present application;

[0030] Figure 7 This is a schematic diagram of a transfer element in one embodiment of the present application;

[0031] Figure 8 This is a schematic diagram of the cooperation between the first sliding assembly and the first hanging rope and the cargo rope in one embodiment of the present application;

[0032] Fig. 9 It is a schematic diagram of a flying transportation system (four aircrafts) in another embodiment of the present application.

[0033] Icons: 100-aircraft; 200-sway damper assembly; 210-bracket; 211-bottom frame; 212-support arm; 213-support part; 220-connecting mechanism; 221-connector; 2211-seat body; 2212-first axis body; 2213-first fixing part; 2214-second axis body; 2215-second fixing part; 222-adapter; 2221-adapter plate; 2222-boss; 2223-axis hole; 230-releaser; 240-attitude sensor; 250-fixing rope; 300-first lifting rope; 400-first sliding assembly; 410-sliding body; 411-mounting seat; 412-roller; 420-rotating connecting member; 421-rotation axis; 422-lifting ring; 500-second lifting rope; 600-second sliding assembly; 10-cargo; 11-cargo rope. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0036] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0037] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0039] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0040] When an aircraft (such as a drone) is carrying cargo for transportation, the cargo may swing relative to the aircraft. For example, when the aircraft accelerates, decelerates, or turns suddenly, the cargo will swing under its own inertia. Or, when encountering crosswinds, the cargo will also swing. The swing of the cargo relative to the aircraft will affect the attitude of the aircraft, such as causing the aircraft to tilt; similarly, if the aircraft actively adjusts its attitude, it will also be constrained by the cargo, making it difficult to adjust the attitude of the aircraft. In the related art, the mounting assembly (such as a releaser) used to mount cargo is fixed to the fuselage. When the mounting assembly is pulled laterally due to the swing of the cargo, it is easy to tilt itself and cause the fuselage to tilt accordingly, which has a serious negative impact on the reliability of the aircraft during flight. In addition, the load-bearing capacity of a single aircraft is limited. If multiple aircraft are used to carry cargo together, the coordination and control between the aircraft is difficult. When an aircraft produces an uncoordinated action, such as lowering the flight altitude relative to other aircraft, the weight borne by other aircraft will increase significantly. In addition, when the cargo swings due to external forces, the uniformity of force between aircraft will also be seriously affected. Therefore, the control of multiple aircrafts coordinating cargo transportation in the prior art is difficult and has poor stability.

[0041] To this end, an embodiment of the present application provides a sway damper assembly and a flight transportation system, which, by setting a connection mechanism and a sliding assembly with a high degree of freedom, alleviates the impact of cargo swing on the aircraft and the impact between aircraft, improves the reliability of the aircraft, and reduces the difficulty of coordinated control during collaborative transportation of multiple aircraft.

[0042] Figure 1 FIG. 1 is a schematic diagram of a flight transportation system (two aircraft 100) in one embodiment of the present application. Figure 1As shown, the flight transportation system provided by the embodiment of the present application includes a first sliding assembly 400, a first suspension rope 300, at least one pair of aircraft 100 and a sway damper assembly 200, each aircraft 100 is connected to a sway damper assembly 200, the two ends of the first suspension rope 300 are respectively connected to two sway damper assemblies 200 connected to the two aircraft 100 of the same pair, the first sliding assembly 400 is connected to the first suspension rope 300 and can slide along the first suspension rope 300, and the first sliding assembly 400 is used to bear the load. In other words, the number of aircraft 100 in each pair of aircraft 100 is two, each of the two aircraft 100 is connected to a sway damper assembly 200, and the two sway damper assemblies 200 connected to the two aircraft 100 of the same pair are respectively connected to the two ends of the first suspension rope 300. Figure 1 In the illustrated embodiment, the flight transportation system includes a pair of aircraft 100, that is, the cargo 10 is transported together by two aircraft 100. The load borne by the first sliding assembly 400 comes from the cargo 10. Specifically, the cargo 10 is connected to the first sliding assembly 400 through the cargo rope 11. In other embodiments, the cargo 10 can also be directly connected to the first sliding assembly 400. The load borne by the sway damper assembly 200 comes directly from the first hanging rope 300. The swing of the cargo 10 will affect the direction of the traction force of the first hanging rope 300 on the sway damper assembly 200. In the present application, the sway damper assembly 200 can alleviate the influence of the force it receives on the aircraft 100, thereby ensuring the stability of the aircraft 100. The first sliding assembly 400 can slide along the first hanging rope 300. Therefore, when the cargo 10 swings, the position of the first sliding assembly 400 on the first hanging rope 300 can be adaptively adjusted, so that the force conditions of each aircraft 100 are relatively uniform. In the present application, the force conditions of each aircraft 100 are relatively uniform, which means that the directions of the traction forces on different aircraft 100 are similar in deflection angle relative to the vertical direction, and the magnitudes of the traction forces on the two aircraft 100 are similar.

[0043] In an embodiment of the present application, the aircraft 100 may be an unmanned aerial vehicle, such as an unmanned helicopter, a compound-wing unmanned aerial vehicle, a multi-rotor unmanned aerial vehicle, etc.; in other optional embodiments, the aircraft 100 may also be a manned aircraft driven by a pilot.

[0044] Figure 2 This is a schematic diagram of a sway damper assembly 200 in an embodiment of the present application at a first viewing angle; Figure 3 This is a schematic diagram of a sway damper assembly 200 in an embodiment of the present application at a second viewing angle; Figure 4 This is a schematic diagram of the connection between the sway damper assembly 200 and the aircraft 100 in one embodiment of the present application. Figures 2 to 4As shown, the sway damper assembly 200 includes a bracket 210, a releaser 230 and a connecting mechanism 220. The bracket 210 is used to connect the aircraft 100. The bracket 210 and the releaser 230 are connected through the connecting mechanism 220 so that the releaser 230 can swing in multiple directions relative to the bracket 210. The releaser 230 is used to mount and release the cargo 10. In this embodiment, the bracket 210 is used to connect the aircraft 100 and plays the role of carrying the connecting mechanism 220 and the releaser 230. In this embodiment, the load carried by the releaser 230 is directly derived from the first suspension rope 300. The releaser 230 can maintain the traction of the first suspension rope 300, and can also release the first suspension rope 300 in a controlled manner. For example, the releaser 230 includes a hook and an electrically controlled driving mechanism, and the driving mechanism can make the hook move between a locked position and an unlocked position. When the hook is in the locked position, the first hanging rope 300 can be reliably hung on the hook; when the driving mechanism drives the hook to the unlocked position, the first hanging rope 300 is detached from the hook under the traction of the cargo 10 and its own gravity, thereby realizing the release of the cargo 10.

[0045] Combination Figures 1 to 4 In this embodiment, the bracket 210 of the sway damper assembly 200 is connected to the aircraft 100, and the releaser 230 of the sway damper assembly 200 is connected to the end of the first suspension rope 300. Specifically, in this embodiment, the two ends of the first suspension rope 300 are respectively connected to the releasers 230 of the two sway damper assemblies 200 connected to the same pair of two aircraft 100, that is, the releasers 230 of the two sway damper assemblies 200 connected to the same pair of two aircraft 100 are respectively connected to the two ends of the first suspension rope 300. Further, the sway damper assembly 200 further includes a plurality of fixing ropes 250, and the bracket 210 is connected to the aircraft 100 through the plurality of fixing ropes 250.

[0046] In the embodiment of the present application, the bracket 210 includes a bottom frame 211, a support portion 213 and a plurality of support arms 212. The bottom frame 211 and the support portion 213 are spaced apart in the normal direction of the plane where the bottom frame 211 is located. One end of the support arm 212 is connected to the bottom frame 211, and the other end is connected to the support portion 213. The bottom frame 211, the support portion 213 and the plurality of support arms 212 together enclose a storage space for accommodating the releaser 230 and the connecting mechanism 220, and the connecting mechanism 220 is rotatably connected to the support portion 213. In the present embodiment, the bottom frame 211 is a closed structure, and the plane where the bottom frame 211 is located is a virtual space plane. Any section of the bottom frame 211 in its circumferential direction is connected to the plane where the bottom frame 211 is located. Optionally, when the aircraft 100 is flying steadily, the plane where the bottom frame 211 is located can be approximately horizontal, and the bottom frame 211 and the support portion 213 are spaced apart in the vertical direction and the support portion 213 is above the bottom frame 211.

[0047] In this embodiment, one end of the plurality of support arms 212 connected to the bottom frame 211 is evenly spaced and arranged in the circumferential direction of the bottom frame 211, and the other end of the support arm 212 converges at the support portion 213, so that the entire bracket 210 is a cage-like structure with the opening facing downward. The support arm 212 arches outward from the accommodation space, so that the accommodation space can be expanded. Since the bracket 210 forms an accommodation space, the connecting mechanism 220 and the releaser 230 can be in the accommodation space, so the connecting mechanism 220 and the releaser 230 can be protected by the bracket 210 and are not easy to collide with external objects. In addition, the bracket 210 has a larger size than the connecting mechanism 220, so it can be connected to the lower side of the aircraft 100 in a multi-point connection manner to improve the connection reliability of the entire sway damper assembly 200. For example, in this embodiment, multiple fixed ropes 250 are used to connect the sway damper assembly 200 to the aircraft 100.

[0048] In this embodiment, the connection positions of the plurality of support arms 212 and the bottom frame 211 are arranged at intervals in the circumferential direction of the bottom frame 211. Optionally, the bottom frame 211 is a rectangular frame, and the sway damper assembly 200 includes four support arms 212, and the connection points of the four support arms 212 and the bottom frame 211 are located at the four corners of the bottom frame 211. Further, the sway damper assembly 200 includes four fixing ropes 250, and the connection positions of the four fixing ropes 250 and the bracket 210 are adjacent to the four corners of the bottom frame 211, thereby improving the reliability of the connection. It should be understood that in other embodiments, the shape of the bottom frame 211 can also be other shapes, such as other polygons, circles, and ellipses; among which other polygons can be selected as triangles, pentagons, hexagons, etc. If the shape of the bottom frame 211 is complex, it will result in a large number of support arms 212 and fixing ropes 250, which will cause the weight of the sway elimination device assembly 200 to be heavy; if the shape of the bottom frame 211 is too simple, such as a polygon with too few sides, it will result in a poor sway elimination effect; therefore, the shape of the bottom frame 211 can be adjusted according to actual needs, and accordingly, the number of support arms 212 and fixing ropes 250 can be adjusted accordingly according to the shape of the bottom frame 211. At the same time, the number of fixing ropes 250 must also match the number of mounting points on the aircraft 100. The matching here can be equal in number or the number of fixing ropes 250 is less than the number of mounting points on the aircraft 100, as long as they are mounted evenly.

[0049] Figure 5 for Figure 3 The enlarged view of the local V in . Figure 5As shown, in this embodiment, the connecting mechanism 220 includes a connector 221 and an adapter 222, one end of the connector 221 is rotatably connected to the bracket 210, and the other end of the connector 221 is rotatably connected to the releaser 230, and the rotation axis of the connector 221 relative to the bracket 210 and the rotation axis of the adapter 222 relative to the connector 221 form an angle.

[0050] Figure 6 FIG. 2 is a schematic diagram of a connector 221 in an embodiment of the present application. Figure 6 As shown, in the embodiment of the present application, the connector 221 includes a seat body 2211 and a first shaft body 2212 and a second shaft body 2214 connected to the seat body 2211. The first shaft body 2212 extends along the first direction, and the second shaft body 2214 extends along the second direction. The first shaft body 2212 and the second shaft body 2214 are spaced apart in the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. The connector 221 is rotatably connected to the bracket 210 through the first shaft body 2212, and the connector 221 is rotatably connected to the adapter 222 through the second shaft body 2214. Figure 6 In the figure, the first direction is the direction of arrows ab, the second direction is the direction of arrows cd, and the third direction is the direction of arrows ef.

[0051] Further, the seat body 2211 includes two first fixing parts 2213 spaced apart from each other in the first direction, and the two ends of the first shaft body 2212 are respectively connected to the two first fixing parts 2213; and / or, the seat body 2211 includes two second fixing parts 2215 spaced apart from each other in the second direction, and the two ends of the second shaft body 2214 are respectively connected to the two second fixing parts 2215, and a part of the adapter 222 is located between the two second fixing parts 2215 and plugged with the second shaft body 2214. In this embodiment, the support part 213 includes a plate body, and a convex part is provided on a side of the plate body facing the bottom frame 211, and a part of the convex part of the support part 213 is embedded in the gap between the two first fixing parts 2213 and is rotatably connected to the first shaft body 2212.

[0052] Figure 7 FIG. 2 is a schematic diagram of an adapter 222 in an embodiment of the present application. Figure 7As shown, the adapter 222 includes an adapter plate 2221 and a boss 2222 disposed on the adapter plate 2221, the adapter plate 2221 is fixedly connected to the releaser 230, and the boss 2222 is rotatably connected to the connector 221. Optionally, the adapter plate 2221 can be fixedly connected to the releaser 230 via a fastener, and the fastener includes but is not limited to a screw or a bolt; an axial hole 2223 is disposed on the boss 2222, and the boss 2222 is embedded in the gap between the two second fixing portions 2215 of the seat body 2211 of the connector 221 and is rotatably connected to the second shaft body 2214 of the connector 221 via the axial hole 2223. It should be understood that the first shaft 2212 can be rotatably connected to the first fixed portion 2213, can be rotatably connected to the support portion 213, or can be rotatably connected to both the first fixed portion 2213 and the support portion 213; similarly, the second shaft 2214 can be rotatably connected to the second fixed portion 2215, can be rotatably connected to the adapter 222, or can be rotatably connected to both the second fixed portion 2215 and the adapter 222.

[0053] Please refer again Figure 5 Further, the sway damper assembly 200 further includes a posture sensor 240, which is used to detect the swing state of the connector 221 relative to the bracket 210. Optionally, the swing state of the connector 221 relative to the bracket 210 includes at least one of the swing amplitude, swing direction, and swing speed of the connector 221. The swing direction angle and swing speed of the first suspension rope 300 can be collected in real time by the posture sensor 240 and transmitted back to the flight control component (not shown in the figure), and then the flight posture of the aircraft 100 can be adjusted according to the information fed back by the posture sensor 240, thereby reducing the swing state of the hanging cargo 10 and returning to a safe range. Therefore, the posture sensor 240 can improve the reliability of the aircraft 100 unit when transporting the cargo 10. Optionally, the posture sensor 240 includes an encoder and a code disk, the encoder is connected to the support portion 213, the code disk is connected to the connector 221 and can rotate synchronously with the connector 221, and the encoder is used to detect the rotation of the code disk to obtain the swing amplitude of the connector 221 relative to the bracket 210.

[0054] Figure 8 Schematic diagram of the cooperation between the first sliding assembly 400, the first hanging rope 300 and the cargo rope 11 in one embodiment of the present application. Figure 1 and Figure 8As shown, in this embodiment, the first sliding assembly 400 includes a sliding body 410 and a rotating connection member 420. The sliding body 410 can slide along the first hanging rope 300. The rotating connection member 420 is rotatably connected to the sliding body 410, and the rotating connection member 420 is used to bear the load. When the cargo 10 swings, or an aircraft 100 has an uncoordinated action (such as suddenly rising or lowering, moving away from or approaching the cargo 10), the first sliding assembly 400 will slide along the first hanging rope 300, so that the force position of the first hanging rope 300 changes. This adaptive adjustment of the force position can keep the forces on the aircraft 100 at both ends of the first hanging rope 300 similar. For example, when an aircraft 100 is suddenly lowered (i.e., an uncoordinated action occurs), the first sliding assembly 400 will slide along the first suspension rope 300 toward the descending aircraft 100, so that the load of another aircraft 100 at a higher position will not be significantly increased, and the magnitude of the forces on the two aircraft 100 will tend to be the same, and the inclination angle of the force direction relative to the vertical direction will also tend to be the same. In addition to the situation where the flight altitude of the aircraft 100 is uncoordinated, when the cargo 10 encounters crosswinds, the flight speed of the aircraft 100 is uncoordinated, the turning angular velocity of the aircraft 100 is uncoordinated, and other situations, the first sliding assembly 400 can balance the force conditions of each aircraft 100 by adaptively adjusting its position on the first suspension rope 300. It can be seen that by setting the first suspension rope 300 and the first sliding assembly 400, the tolerance for uncoordinated actions of the aircraft 100 can be improved, so the difficulty of coordinated control of the aircraft 100 during the coordinated transportation of multiple aircraft 100 can be reduced.

[0055] Furthermore, when the cargo 10 rotates, since the rotating connector 420 can rotate 360° relative to the sliding body 410, the rotating connector 420 will not transmit a large torque to the sliding body 410, and the rotation of the cargo 10 will not drive the sliding body 410 to rotate. This makes the cooperation between the sliding body 410 and the first hanging rope 300 more stable, and it is not easy to cause the sliding body 410 to be unable to slide relative to the first hanging rope 300 due to the rotation of the sliding body 410.

[0056] In this embodiment, the sliding body 410 includes a mounting seat 411 and a roller 412, the roller 412 is rotatably connected to the mounting seat 411, and the roller 412 can roll along the first suspension rope 300, and the rotating connector 420 is rotatably connected to the mounting seat 411, and the rotation axis of the rotating connector 420 is at an angle to the rotation axis of the roller 412. Further, the rotation axis of the rotating connector 420 is perpendicular to the rotation axis of the roller 412, and the rotating connector 420 and the roller 412 are arranged at intervals in the extension direction of the rotation axis of the rotating connector 420. In this embodiment, the mounting seat 411 is a U-shaped structure, and the roller 412 is rotatably connected to the mounting seat 411 through a rotating shaft. A groove is provided on the outer peripheral side of the roller 412, and a part of the first suspension rope 300 can be embedded in the groove, so that it can maintain radial contact with the outer peripheral side of the roller 412 during the rolling process of the roller 412.

[0057] By providing the roller 412, a smaller friction resistance can be achieved between the sliding body 410 and the first hanging rope 300, so that the first sliding assembly 400 can more smoothly adjust its position on the first hanging rope 300. In other optional embodiments, the sliding body 410 can also be other structures, for example, the sliding body 410 includes a smooth annular structure, which is sleeved on the first hanging rope 300 and can slide along the first hanging rope 300.

[0058] In this embodiment, the rotating connecting member 420 includes a rotating shaft 421 and a hanging ring 422. The rotating shaft 421 is inserted into the mounting seat 411. The rotating shaft 421 can rotate along its own axis relative to the mounting seat 411. The hanging ring 422 is connected to one end of the rotating shaft 421 away from the mounting seat 411.

[0059] exist Figure 8 In the illustrated embodiment, the cargo rope 11 is connected to the rotating connector 420, specifically to the lifting ring 422. In other embodiments, such as the embodiment in which two or more pairs of aircraft 100 are used to transport cargo 10, the rotating connector 420 can also be connected to an intermediate transition rope (such as the second lifting rope 500 described later).

[0060] Fig. 9 FIG. 1 is a schematic diagram of a flight transportation system (four aircraft 100) in another embodiment of the present application. Fig. 9As shown, in an optional embodiment, the flying transportation system includes at least two pairs of aircraft 100, each pair of aircraft 100 is mounted with a first sling 300 and a first sliding assembly 400, the flying transportation system also includes a second sling 500 and a second sliding assembly 600, both ends of the second sling 500 are respectively connected to the first sliding assemblies 400 mounted on the two pairs of aircraft 100, the second sliding assembly 600 is connected to the second sling 500 and can slide along the second sling 500, and the second sliding assembly 600 is used to bear the load. Fig. 9 In the embodiment shown, the flight transportation system includes two pairs of four aircraft 100, so compared with Figure 1 The flying transportation system of the embodiment has a stronger load capacity. In addition, since the first sliding assembly 400 can slide along the first hanging rope 300 and the second sliding assembly 600 can slide along the second hanging rope 500, when the cargo 10 swings, the first sliding assembly 400 and the second sliding assembly 600 can both adaptively adjust their positions on the corresponding hanging ropes, and the adjustment directions are different, so as to better balance the forces on each aircraft 100. Fig. 9 In the illustrated embodiment, the cargo rope 11 is directly connected to the second sliding assembly 600 .

[0061] Optionally, the configuration of the second sliding assembly 600 may be the same as or similar to that of the first sliding assembly 400 .

[0062] It should be understood that in other optional embodiments, the flight transportation system may further include more aircraft 100, thereby further improving the load capacity. For example, the flight transportation system includes four pairs (eight in total) of aircraft 100; further includes a third sling and a third sliding assembly, the two ends of the third sling are respectively connected to two second sliding assemblies 600, the third sliding assembly is connected to the third sling and can slide along the third sling, and the third sliding assembly can be directly or indirectly connected to the cargo 10. By analogy, a flight transportation system with eight pairs of aircraft 100 or even more aircraft 100 can also be completed.

[0063] In summary, the embodiment of the present application provides a sway damper assembly 200 and a flight transportation system. The sway damper assembly 200 includes a bracket 210, a releaser 230 and a connecting mechanism 220. The bracket 210 is used to connect the aircraft 100. The bracket 210 and the releaser 230 are connected through the connecting mechanism 220 so that the releaser 230 can swing in multiple directions relative to the bracket 210. The releaser 230 is used to mount and release the cargo 10. When the aircraft 100 uses the sway damper assembly 200 provided in the embodiment of the present application to mount the cargo 10, when the cargo 10 swings due to inertia, the cargo 10 can drive the releaser 230 to swing in multiple directions relative to the bracket 210. Since the releaser 230 has a high degree of freedom relative to the bracket 210, the swing of the cargo 10 is not easy to affect the attitude of the aircraft 100. Similarly, when the aircraft 100 needs to change its attitude (such as the tilt of the fuselage), the influence of the traction force from the cargo 10 is small, which is conducive to the attitude adjustment of the aircraft 100. Therefore, the sway damper assembly 200 provided in the embodiment of the present application is helpful in improving the reliability of the aircraft 100 during flight.

[0064] The flying transportation system provided by the embodiment of the present application includes a first sliding assembly 400, a first hanging rope 300, at least one pair of aircraft 100 and the above-mentioned sway damper assembly 200, each aircraft 100 is connected to a sway damper assembly 200, and the two ends of the first hanging rope 300 are respectively connected to two sway damper assemblies 200 connected to the two aircraft 100 of the same pair, wherein the bracket 210 of the sway damper assembly 200 is connected to the aircraft 100, the releaser 230 of the sway damper assembly 200 is connected to the end of the first hanging rope 300, the first sliding assembly 400 is connected to the first hanging rope 300 and can slide along the first hanging rope 300, and the first sliding assembly 400 is used to bear the load. Since the flying transportation system provided by the embodiment of the present application includes at least one pair of two aircraft 100, it has a higher load-bearing capacity and can transport heavier goods 10. Furthermore, through the first sling 300 and the first sliding assembly 400, when the load direction changes due to the swing of the cargo 10, or when one aircraft 100 changes its position relative to other aircraft 100, the first sliding assembly 400 on the first sling 300 can slide along the first sling 300, so that the force points on the first sling 300 can be adaptively adjusted, thereby alleviating the uneven force between the aircraft 100 caused by the swing of the cargo 10 or the uncoordinated movement of the aircraft 100, that is, reducing the mutual influence between the aircraft 100. Through the dynamic changes of the sway-eliminating device assembly 200 and the first sliding assembly 400, the shaking or center of gravity change of the cargo 10 caused by the relative state change of multiple aircraft 100 during flight transportation, as well as the mutual influence between the aircraft 100, can be alleviated, thereby reducing the difficulty of coordinated control during the coordinated transportation of multiple aircraft 100.

[0065] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A sway damper assembly, characterized in that: It comprises a bracket, a releaser and a connecting mechanism, wherein the bracket is used to connect to the aircraft, the bracket and the releaser are connected via the connecting mechanism so that the releaser can swing in multiple directions relative to the bracket, and the releaser is used to mount and release cargo.

2. The sway damper assembly according to claim 1, characterized in that: The connection mechanism comprises a connector and an adapter, one end of the connector is rotatably connected to the bracket, the other end of the connector is rotatably connected to the adapter, the adapter is fixedly connected to the releaser, and the rotation axis of the connector relative to the bracket and the rotation axis of the adapter relative to the connector form an angle; The connector comprises a seat body and a first shaft body and a second shaft body connected to the seat body, the first shaft body extends along a first direction, the second shaft body extends along a second direction, the first shaft body and the second shaft body are spaced apart in a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the connector is rotatably connected to the bracket through the first shaft body, and the connector is rotatably connected to the adapter through the second shaft body; The seat body comprises two first fixing parts spaced apart from each other in the first direction, and two ends of the first shaft body are respectively connected to the two first fixing parts; And / or, the seat body includes two second fixing parts spaced apart from each other in the second direction, two ends of the second shaft body are respectively connected to the two second fixing parts, and a part of the adapter is located between the two second fixing parts and is plugged into and matched with the second shaft body.

3. The sway damper assembly according to claim 2, characterized in that: The sway damper assembly further includes a posture sensor, and the posture sensor is used to detect the swing state of the connector relative to the bracket.

4. The sway damper assembly according to claim 2, characterized in that: The adapter comprises an adapter plate and a boss arranged on the adapter plate, the adapter plate is fixedly connected to the releaser, and the boss is rotatably connected to the connector.

5. The sway damper assembly according to claim 1, characterized in that: The sway damper assembly further comprises a plurality of fixing ropes, and the bracket is connected to the aircraft via the plurality of fixing ropes; The bracket includes a bottom frame, a support portion and a plurality of support arms, wherein the bottom frame and the support portion are spaced apart in a normal direction of a plane where the bottom frame is located, one end of the support arm is connected to the bottom frame, and the other end is connected to the support portion, and the bottom frame, the support portion and the plurality of support arms together form a storage space for accommodating the releaser and the connecting mechanism, and the connecting mechanism is rotatably connected to the support portion.

6. A flying transportation system, characterized in that: It includes a first sliding assembly, a first suspension rope, at least one pair of aircraft and a sway damper assembly according to any one of claims 1 to 5, each aircraft is connected to one sway damper assembly, the two ends of the first suspension rope are respectively connected to two sway damper assemblies connected to two aircraft in the same pair, wherein the bracket of the sway damper assembly is connected to the aircraft, the releaser of the sway damper assembly is connected to the end of the first suspension rope, the first sliding assembly is connected to the first suspension rope and can slide along the first suspension rope, and the first sliding assembly is used to bear the load.

7. The flying transportation system according to claim 6, characterized in that: The first sliding assembly includes a sliding body and a rotating connecting member, wherein the sliding body can slide along the first suspension rope, the rotating connecting member is rotatably connected to the sliding body, and the rotating connecting member is used to bear a load; The sliding body includes a mounting seat and a roller, the roller is rotatably connected to the mounting seat, the roller can roll along the first suspension rope, the rotating connecting member is rotatably connected to the mounting seat, and the rotation axis of the rotating connecting member forms an angle with the rotation axis of the roller.

8. The flying transportation system according to claim 7, characterized in that: The rotation axis of the rotating connection member is perpendicular to the rotation axis of the roller, and the rotating connection member and the roller are spaced apart in the extending direction of the rotation axis of the rotating connection member.

9. The flying transportation system according to claim 7, characterized in that: The rotating connecting member comprises a rotation shaft and a hanging ring. The rotation shaft is inserted into the mounting seat and can rotate along its own axis relative to the mounting seat. The hanging ring is connected to one end of the rotation shaft away from the mounting seat.

10. The flying transportation system according to any one of claims 6 to 9, characterized in that: The flying transportation system includes at least two pairs of the aircraft, each pair of the aircraft is mounted with the first sling and the first sliding assembly, the flying transportation system also includes a second sling and a second sliding assembly, both ends of the second sling are respectively connected to the first sliding assemblies mounted on the two pairs of the aircraft, the second sliding assembly is connected to the second sling and can slide along the second sling, and the second sliding assembly is used to bear the load.

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