Load balancing and stabilizing device for heavy-load unmanned aerial vehicle

Abstract

The invention provides a load balancing and stabilizing device for a heavy-load unmanned aerial vehicle, and relates to the field of unmanned aerial vehicle cargo carrying devices, the load balancing and stabilizing device is characterized by comprising a movable frame and a movable fixing structure, the movable frame is located below the unmanned aerial vehicle, and a sliding groove is formed in the upper end of a shell of the movable fixing structure and is slidably connected with the movable frame; the movable fixing structure comprises two sets of pulleys and four sets of movable gears, the two sets of pulleys and the four sets of movable gears are symmetrically arranged between the movable frames in pairs, the movable gears are in transmission connection with the movable frames, motors are arranged at the lower ends of the movable gears, and the motors are in transmission connection with the movable gears. Clamping grooves are formed in the two sides of a shell of the movable fixing structure, clamping blocks are arranged at the upper end of the storage box and fixedly connected with the clamping grooves, and the movable fixing structure is used for adjusting the gravity center position of the unmanned aerial vehicle and assisting the unmanned aerial vehicle in keeping balance. The unmanned aerial vehicle has the advantages that heavy-load transportation of the unmanned aerial vehicle is facilitated, meanwhile, overall balance and stability control is facilitated, and therefore flight control is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle cargo devices, and in particular to a load balancing and stabilizing device for a heavy-loaded unmanned aerial vehicle. Background Art

[0002] With the development of drone technology, more and more transportation and observation work are being replaced by more flexible and easy-to-control drones. Among them, rotor drones can fly at low altitudes and achieve rapid transportation, which has led to more and more logistics companies increasing their scientific research investment in this area. However, with the current existing technology, rotor drones can often only efficiently transport goods with small size and light weight. When the goods are large in size and heavy in weight, it will greatly affect the balance and stability of the drone, causing the control effect of the drone to be greatly reduced. It also has high professional requirements for the operator and is inconvenient to use. Summary of the invention

[0003] The purpose of the present invention is to provide a load balancing and stabilizing device for a heavy-loaded UAV, which solves the technical problems in the prior art of poor balance and inconvenient operation and control of UAVs during heavy-load transportation, and achieves the technical effect of convenient balance control and operation control of heavy-loaded UAVs.

[0004] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0005] A load balancing and stabilizing device for a heavy-loaded unmanned aerial vehicle comprises a mobile frame and a mobile fixed structure, wherein the mobile frame is located below the unmanned aerial vehicle and between the landing gears, the upper end of the mobile frame is detachably connected to the unmanned aerial vehicle via bolts, the mobile frame is provided with a slide rail on the side close to the landing gear, the slide rail is provided with a slide groove below and on the inner side of the mobile frame, the upper end of the outer shell of the mobile fixed structure is provided with a slide groove and is slidably connected to the mobile frame, the mobile fixed structure comprises a pulley and a mobile gear, the pulleys are in total of two groups, each group of the pulleys has a total of four pulleys symmetrically arranged on both sides of the axis direction of the mobile frame, each group of the pulleys is slidably connected to the slide groove on the inner side of the mobile frame, the The lower end of the pulley is fixedly connected to the outer shell of the mobile fixed structure through a connecting bracket, and the mobile gear is located inside the outer shell. There are four groups of mobile gears, which are symmetrically arranged between the mobile frames in pairs. The mobile gear is transmission-connected to the mobile frame. The lower end of the mobile gear is provided with a motor, and the lower end of the motor is provided with a fixed plate fixedly connected to the outer shell. The upper end of the motor is provided with a transmission shaft transmission-connected to the mobile gear. Both sides of the outer shell of the mobile fixed structure are provided with card slots, and a storage box is provided under the drone, and the upper end of the storage box is provided with a card block fixedly connected to the card slot. The mobile fixed structure is used to adjust the center of gravity position of the drone to assist the drone in maintaining balance.

[0006] As an improvement, the material of the mobile frame is alloy, the length of the mobile frame is smaller than the length of the drone, the upper end of the mobile frame is provided with a fixing rod, and there are two groups of fixing rods, which are respectively located on both sides of the mobile fixed structure. The fixing rods are used to fix the position of the mobile frame, and a wiring socket is fixed at the upper end of the mobile frame. The lower end of the wiring socket has a line connected to the mobile fixed structure, and the upper end of the wiring socket has a line connected to the control module of the drone.

[0007] As an improvement, the width of the storage box is smaller than the minimum width between the landing gears, and a buckle is provided on one side of the upper cover of the storage box, which is used to close and fix the storage box, a pad is fixed to the lower end of the storage box, and a strap is wrapped and fixed on the outside of the storage box, which is used to increase the closing strength of the storage box and prevent the cargo inside from scattering.

[0008] As an improvement, the mobile fixed structure also includes an electric push rod, which has a total of four electric push rods, which are respectively arranged opposite to the rotating shaft of the motor and fixedly connected to the outer shell through a fixing plate. The upper rotating shaft part of the motor is sleeved with a locking gear, and the locking gear is located below the moving gear. The push rod part of the electric push rod is fixed with a locking plate, and the locking plate is used to limit the rotation of the locking gear. The electric push rod is used to limit the movement of the mobile fixed structure on the mobile frame.

[0009] As an improvement, the mobile fixed structure also includes a position sensing module, which is located inside the mobile fixed structure shell and between the electric push rods. The position sensing module includes a magnetic sensing sensor. A limit plate is provided above the position sensing module, and the limit plate is fixedly connected to the mobile frame by bolts. The limit plate is located in the middle position of the mobile frame, and a magnet is fixed inside the limit plate. The position sensing module is used to determine the position of the mobile fixed structure on the mobile frame.

[0010] As an improvement, a control module is fixed at the lower end of the position sensing module, and both sides of the control module are provided with circuits connected to the motor and the electric push rod for controlling the position of the mobile fixed structure.

[0011] The beneficial effects of the present invention are as follows: by providing a storage box, the transportation and fixation of large-volume and heavy-weight goods are facilitated; by providing a mobile rack and a mobile fixed structure, the heavy-weight goods can be moved under the drone, thereby facilitating the control of the center of gravity position of the entire heavy-loaded drone, thereby achieving the effect of convenient balance control; by providing a positioning gear and an electric push rod in the mobile fixed structure, the position of the goods on the mobile rack can be conveniently controlled to avoid changes in the position of the goods during flight; and by providing a position sensing module, the mobile fixed structure can be better positioned, thereby facilitating the fixation and adjustment of the center of gravity position. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a front view of a load balancing and stabilizing device for a heavy-loaded UAV according to the present invention in use;

[0013] Figure 2 This is a left view of a load balancing and stabilizing device for a heavy-loaded UAV according to the present invention in use;

[0014] Figure 3 This is a front cross-sectional view of the mobile and fixed structure portion of a load balancing and stabilizing device for a heavy-loaded unmanned aerial vehicle of the present invention.

[0015] In the figure: 1. UAV; 2. Mobile frame; 3. Fixed rod; 4. Slide rail; 5. Terminal block; 6. Landing gear; 7. Mobile fixed structure; 8. Positioning block; 9. Storage box; 10. Buckle; 11. Strap; 12. Pad; 13. Pulley; 14. Limit plate; 15. Position sensing module; 16. Mobile gear; 17. Positioning gear; 18. Motor; 19. Electric push rod; 20. Control module. DETAILED DESCRIPTION

[0016] In order to make the content of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. The same parts are represented by the same figure marks. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0017] like Figure 1 and Figure 2As shown, a load balancing and stabilizing device for a heavy-loaded unmanned aerial vehicle comprises a mobile frame 2 and a mobile fixed structure 7, wherein the mobile frame 2 is located below the unmanned aerial vehicle 1 and between the landing gears 6, and the upper end of the mobile frame 2 is detachably connected to the unmanned aerial vehicle 1 by bolts, and the side of the mobile frame 2 close to the landing gear 6 is provided with a slide rail 4, and the slide rail 4 is provided below and on the inner side of the mobile frame 2 with a slide groove, and the upper end of the outer shell of the mobile fixed structure 7 is provided with a slide groove and is slidably connected to the mobile frame 2, and the mobile fixed structure 7 comprises a pulley 13 and a mobile gear 16, and the pulley 13 is in total of two groups, and each group of the pulleys 13 has a total of four and is symmetrically arranged on both sides of the axis direction of the mobile frame 2, and each group of the pulleys 13 is slidably connected to the slide groove on the inner side of the mobile frame 2, so that The lower end of the pulley 13 is fixedly connected to the outer shell of the mobile fixed structure 7 through a connecting bracket. The mobile gear 16 is located inside the outer shell. There are four groups of mobile gears 16, which are symmetrically arranged between the mobile frames 2. The mobile gears 16 are connected to the mobile frames 2 in transmission. The lower end of the mobile gear 16 is provided with a motor 18. The lower end of the motor 18 is provided with a fixed plate and is fixedly connected to the outer shell. The upper end of the motor 18 is provided with a transmission shaft and is connected to the mobile gear 16 in transmission. The outer shell of the mobile fixed structure 7 has card slots on both sides. A storage box 9 is provided below the drone 1. The upper end of the storage box 9 is provided with a card block 8 and is fixedly connected to the card slot. The mobile fixed structure 7 is used to adjust the center of gravity of the drone 1 and assist the drone 1 in maintaining balance. The mobile fixed structure 7 has reinforcing ribs inside, which are used to improve the structural strength of the outer shell and facilitate the connection and fixation of the card block 8.

[0018] The material of the mobile frame 2 is alloy. The length of the mobile frame 2 is less than the length of the drone 1. The upper end of the mobile frame 2 is provided with a fixing rod 3. There are two sets of fixing rods 3, which are respectively located on both sides of the mobile fixing structure 7. The fixing rods 3 are used to fix the position of the mobile frame 2. The upper end of the mobile frame 2 is fixed with a wiring socket 5. The lower end of the wiring socket 5 has a line connected to the mobile fixing structure 7. The upper end of the wiring socket 5 has a line connected to the control module of the drone 1. The width of the storage box 9 is less than the minimum width between the landing gears 6. One side of the upper cover of the storage box 9 is provided with a buckle 10. The buckle 10 is used to close and fix the storage box 9. The lower end of the storage box 9 is fixed with a cushion block 12. The outer side of the storage box 9 is wrapped and fixed with a strap 11. The strap 11 is used to improve the closing strength of the storage box 9 to prevent the internal goods from scattering. The storage box 9 has reinforcing ribs on its outer side, a groove on its upper end, a rubber gasket on its inner side, the groove being used to limit the installation position of the mobile fixed structure 7, and a shock-absorbing pad on its inner side, which is used to fix the cargo and reduce the impact of vibration on the cargo.

[0019] When in use, the operator moves the mobile fixed structure 7 to the middle position of the mobile frame 2, lifts the drone 1, and aligns the mobile fixed structure 7 with the fixed position of the storage box 9, and then connects the storage box 9 to the mobile fixed structure 7 through the positioning block 8; when the drone 1 is launched for transportation, the operator can control the movement of the mobile fixed structure 7 on the mobile frame 2 through the corresponding control panel, thereby changing the center of gravity position of the drone 1 and the storage box 9 as a whole, thereby facilitating the control of their balance.

[0020] However, in actual use, the drone 1 will encounter different wind conditions when flying, which can easily push the larger storage box 9 on the mobile frame 2, thereby changing the overall center of gravity again. In order to make the drone 1 more convenient to control, the following improvements are made:

[0021] like Figure 3 As shown, the mobile fixed structure 7 also includes an electric push rod 19, and the electric push rod 19 has four electric push rods 19, which are respectively arranged opposite to the rotating shaft of the motor 18 and fixedly connected to the housing through a fixing plate. The upper end rotating shaft of the motor 18 is sleeved with a fixed positioning gear 17, and the positioning gear 17 is located below the moving gear 16. The push rod part of the electric push rod 19 is fixed with a clamping plate, and the clamping plate is used to limit the rotation of the clamping gear 17. The electric push rod 19 is used to limit the movement of the mobile fixed structure 7 on the mobile frame 2. The mobile fixed structure 7 also includes a position sensing module 15, which is located inside the housing of the mobile fixed structure 7 and between the electric push rods 19. The position sensing module 15 includes a magnetic sensing sensor. A limit plate 14 is provided above the position sensing module 15. The limit plate 14 is fixedly connected to the mobile frame 2 through bolts. The limit plate 14 is located in the middle position of the mobile frame 2. A magnet is fixed inside the limit plate 14. The position sensing module 15 is used to determine the position of the mobile fixed structure 7 on the mobile frame 2. A control module 20 is fixed at the lower end of the position sensing module 15, and the two sides of the control module 20 are respectively provided with lines connected to the motor 18 and the electric push rod 19, which are used to control the position of the mobile fixed structure 7. A plurality of magnets can be installed on the mobile frame 2 to cooperate with the position sensing module 15 to position the mobile frame 2. The positioning information can be identified by the control module 20 to identify the specific position information, and the relevant data information is connected to the signal transceiver module of the drone 1 through the wiring socket 5 to interact with the operator.

[0022] When in use, the operator can remotely send a control signal to the drone 1 through the panel. When the storage box 9 needs to be moved forward, the motor 18 can be controlled to drive the moving gear 16 to rotate, so that the mobile fixed structure 7 moves the storage box 9 forward, and then the motor 18 stops rotating, and the control module 20 sends a start signal to the electric push rod 19, so that the locking plate part at the front end of the push rod contacts the locking gear 17, thereby limiting the rotation of the motor 18 shaft, and realizing the fixation of the mobile fixed structure 7 on the mobile frame 2; when the mobile fixed structure 7 needs to return to its original position, the motor 18 drives the storage box 9 to move slowly, and the position sensing module 15 will start to sense the magnet on the limit plate 14, so as to realize the positioning of the mobile frame 2. When it moves to the corresponding position, the control module 20 will stop the operation of the motor 18 and start the electric push rod 19 to fix the position of the mobile fixed mechanism 7, so as to realize the balance and stability of the drone 1 during flight.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A load balancing and stabilizing device for a heavy-loaded UAV, characterized in that: The invention comprises a mobile frame (2) and a mobile fixed structure (7), wherein the mobile frame (2) is located below the unmanned aerial vehicle (1) and between the landing gear (6), the upper end of the mobile frame (2) is detachably connected to the unmanned aerial vehicle (1) by bolts, the side of the mobile frame (2) close to the landing gear (6) is provided with a slide rail (4), the lower part of the slide rail (4) and the inner side of the mobile frame (2) are provided with a slide groove, the upper end of the outer shell of the mobile fixed structure (7) is provided with a slide groove and is slidably connected to the mobile frame (2), the mobile fixed structure (7) comprises a pulley (13) and a mobile gear (16), the pulley (13) comprises two groups, each group of the pulleys (13) comprises four pulleys symmetrically arranged on both sides of the axis direction of the mobile frame (2), each group of the pulleys (13) is slidably connected to the slide groove on the inner side of the mobile frame (2), the pulleys (13) are provided with a plurality of pulleys (13) and a plurality of pulleys (16) arranged on the upper side of the outer shell of the mobile fixed structure (7), and ... The lower end is fixedly connected to the outer shell of the mobile fixed structure (7) through a connecting bracket, the mobile gear (16) is located inside the outer shell, there are four groups of mobile gears (16), two of which are symmetrically arranged between the mobile frames (2), the mobile gears (16) are transmission-connected to the mobile frames (2), the lower end of the mobile gear (16) is provided with a motor (18), the lower end of the motor (18) is provided with a fixing plate and is fixedly connected to the outer shell, the upper end of the motor (18) is provided with a transmission shaft and is transmission-connected to the mobile gear (16), the outer shell of the mobile fixed structure (7) is provided with card slots on both sides, a storage box (9) is provided below the drone (1), the upper end of the storage box (9) is provided with a card block (8) and is fixedly connected to the card slot, and the mobile fixed structure (7) is used to adjust the center of gravity position of the drone (1) to assist the drone (1) in maintaining balance.

2. A load balancing and stabilizing device for a heavy-loaded UAV according to claim 1, characterized in that: The material of the mobile frame (2) is alloy. The length of the mobile frame (2) is shorter than the length of the drone (1). The upper end of the mobile frame (2) is provided with a fixing rod (3). There are two sets of the fixing rods (3), which are respectively located on both sides of the mobile fixing structure (7). The fixing rods (3) are used to fix the position of the mobile frame (2). The upper end of the mobile frame (2) is fixed with a wiring seat (5). The lower end of the wiring seat (5) is provided with a line connected to the mobile fixing structure (7). The upper end of the wiring seat (5) is provided with a line connected to the control module of the drone (1).

3. A load balancing and stabilizing device for a heavy-loaded UAV according to claim 1, characterized in that: The width of the storage box (9) is smaller than the minimum width between the landing gears (6); a buckle (10) is provided on one side of the upper cover of the storage box (9); the buckle (10) is used to close and fix the storage box (9); a cushion block (12) is fixed at the lower end of the storage box (9); a strap (11) is wrapped and fixed around the outer side of the storage box (9); the strap (11) is used to improve the closing strength of the storage box (9) and prevent the goods inside from scattering.

4. A load balancing and stabilizing device for a heavy-loaded UAV according to claim 1, characterized in that: The mobile fixed structure (7) also includes an electric push rod (19), wherein a total of four electric push rods (19) are respectively arranged opposite to the rotating shaft of the motor (18) and are fixedly connected to the housing through a fixing plate. A locking gear (17) is sleeved and fixedly mounted on the upper rotating shaft portion of the motor (18), and the locking gear (17) is located below the mobile gear (16). A locking plate is fixedly mounted on the push rod portion of the electric push rod (19), and the locking plate is used to limit the rotation of the locking gear (17). The electric push rod (19) is used to limit the movement of the mobile fixed structure (7) on the mobile frame (2).

5. A load balancing and stabilizing device for a heavy-loaded UAV according to claim 4, characterized in that: The mobile fixed structure (7) further comprises a position sensing module (15), the position sensing module (15) being located inside the housing of the mobile fixed structure (7) and between the electric push rods (19), the position sensing module (15) comprising a magnetic sensing sensor, a limit plate (14) being provided above the position sensing module (15), the limit plate (14) being fixedly connected to the mobile frame (2) by bolts, the limit plate (14) being located in the middle of the mobile frame (2), a magnet being fixed inside the limit plate (14), and the position sensing module (15) being used to determine the position of the mobile fixed structure (7) on the mobile frame (2).

6. A load balancing and stabilizing device for a heavy-loaded UAV according to claim 5, characterized in that: A control module (20) is fixed at the lower end of the position sensing module (15), and two sides of the control module (20) are provided with circuits connected to the motor (18) and the electric push rod (19) for controlling the position of the mobile fixed structure (7).

Images