Flexible hinged type stable anti-shake express delivery carrying unmanned aerial vehicle

Abstract

The invention relates to a flexible hinged type stable anti-shake express delivery carrying unmanned aerial vehicle and discloses a stable anti-shake express delivery carrying unmanned aerial vehicle which absorbs vibration energy during flight through a vehicle body assembly to maintain vehicle body stability and flight attitude and buffers landing impact through a damping assembly to adapt to stable landing under different ground conditions. The unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is composed of a vehicle body assembly and a damping assembly, the vehicle body assembly is composed of a vehicle body, pin shafts, pin heads, first hydraulic dampers, wings and hinges, a containing groove is formed in the side face, close to the top end, of the vehicle body, another containing groove is formed in the side face of the middle of the vehicle body, and the pin shafts are fixedly arranged on the vehicle body containing groove; the multiple sets of pin shafts are symmetrically distributed on the two sides of the machine body, each set of pin shafts is divided into two rows, the pin shafts fixedly connected with the side face containing groove in the top end of the machine body are arranged on the upper row, the pin shafts fixedly connected with the side face containing groove in the middle of the machine body are arranged on the lower row, and the number of the pin shafts in each row is the same.

Description

Technical Field

[0001] A flexible articulated stable anti-shake express delivery UAV of the present invention relates to a stable anti-shake express delivery UAV capable of stably transporting express deliveries, belonging to the technical field of UAVs. In particular, it relates to a stable anti-shake express delivery UAV that absorbs the vibration energy during flight through the fuselage assembly to maintain the fuselage stability and flight attitude, and buffers the landing impact through the shock-absorbing assembly to adapt to different ground conditions for smooth landing. Background Art

[0002] With the rapid development of e-commerce, higher requirements are put forward for the efficiency and safety of express delivery. UAVs have gradually become a research hotspot in the express delivery industry. However, there are many problems in the actual application of existing UAVs. First, in terms of flight stability, it is vulnerable to external air flow interference, and the flight attitude is difficult to control. The rigid connection between the wing and the fuselage also cannot adapt to complex air flow environments. Second, the landing gear structure design of existing UAVs is relatively fixed, lacking a flexible adjustment mechanism, and it is difficult to meet the landing requirements of different terrains. When landing on uneven ground, the fuselage is prone to tilt, bump, and even cause the UAV to overturn.

[0003] Publication No. CN108725786B discloses an express delivery UAV, including a UAV for transporting express deliveries and an article loading box. The UAV for transporting express deliveries includes a UAV main body, and an express delivery placement compartment is formed inside the fuselage of the UAV main body. A lifting lug joint locking mechanism is provided at the express delivery placement compartment of the fuselage of the UAV main body; the article loading box includes a loading box body, and a loading cavity is formed inside the loading box body; Lugs are provided on both sides of the top of the loading box body, and the lifting lug joint locking mechanism corresponds to the lugs on the top of the loading box body. However, the landing gear structure design of the above UAV is relatively fixed, lacking a flexible adjustment mechanism, and it is difficult to meet the landing requirements of different terrains. When landing on uneven ground, the fuselage is prone to tilt, bump, and even cause the UAV to overturn. Summary of the Invention

[0004] In order to improve the above situation, a flexible articulated stable anti-shake express delivery UAV of the present invention provides a stable anti-shake express delivery UAV that absorbs the vibration energy during flight through the fuselage assembly to maintain the fuselage stability and flight attitude, and buffers the landing impact through the shock-absorbing assembly to adapt to different ground conditions for smooth landing.

[0005] A flexible articulated stable anti-shake express delivery UAV of the present invention is realized as follows: A flexible articulated stable anti-shake express delivery UAV of the present invention is composed of a fuselage assembly and a shock-absorbing assembly. The fuselage assembly is composed of a fuselage, a pin shaft, a pin head, a first hydraulic damper, a wing, and a hinge. There is a placement groove on the side of the fuselage near the top, and there is another placement groove on the side of the middle part of the fuselage. Preferably, the fuselage is made of lightweight and high-strength materials. The pin shafts are fixedly placed on the placement grooves of the fuselage. There are multiple groups of pin shafts on the fuselage, and the multiple groups of pin shafts are symmetrically arranged on both sides of the fuselage. Each group of the pin shafts is divided into two columns. The pin shafts fixedly connected to the placement groove on the side of the top of the fuselage are the upper column, and the pin shafts fixedly connected to the placement groove on the side of the middle part of the fuselage are the lower column. The number of the pin shafts in each column is the same, and multiple pin shafts in each column are equidistantly arranged along the direction of the placement groove where they are located. The pin shafts in the upper column and the lower column in each group of the pin shafts correspond to each other one by one, and the corresponding two pin shafts are placed up and down. The pin heads are sleeved on the pin shafts and fixedly connected to the pin shafts. The pin heads are in an annular structure, and the pin heads correspond to the pin shafts one by one. One end of the first hydraulic damper is fixedly connected to the outer side surface of the pin head. The first hydraulic dampers correspond to the pin heads one by one. The number of the wings is the same as the number of groups of the pin shafts. There is a connection groove on the side of the wing near the top. Preferably, the wings are made of lightweight alloy materials and are coated with corrosion-resistant coatings on the surface. The other end of the first hydraulic damper is rotationally connected to the wing through a hinge. Each wing corresponds to a group of hinges. Each group of the hinges is divided into two columns. The upper column of the hinges is fixedly connected to the connection groove of the wing, and the lower column of the hinges is fixedly connected to the bottom surface of the wing. The number of the hinges in each column is the same. The upper column and the lower column of the hinges in each group of the hinges correspond to each other one by one, and the corresponding two hinges are placed up and down. Multiple groups of the pin shafts correspond to multiple groups of the hinges one by one. Multiple pin shafts in the upper column in each group of the pin shafts correspond to multiple hinges in the upper column in the corresponding group of the hinges one by one. Multiple pin shafts in the lower column in each group of the pin shafts correspond to multiple hinges in the lower column in the corresponding group of the hinges one by one. The corresponding pin shafts and hinges are connected by the pin heads and the first hydraulic dampers. The shock absorption assembly is composed of a chassis, a fixing part, a bracket, a fixed connecting rod, a fixed connecting ring, a second telescopic rod, a second connecting part, a second buffer block, a first buffer block, a spring shock absorption housing, a landing gear strut, a connecting roller, a spring, a first telescopic rod, a first connecting part, a second hydraulic damper, and shock absorption silica gel. The chassis is fixedly placed on the bottom surface of the fuselage and is placed near the side of the fuselage. There are three chassis, and the three chassis are connected to form an equilateral triangle, and the centroid of the equilateral triangle is located at the middle position of the bottom surface of the fuselage. The fixing part is fixedly connected to the middle position of the bottom surface of the chassis. The fixing parts correspond to the chassis one by one. The top surface of the bracket is fixedly connected to the bottom surface of the fixing member. Each of the fixing members corresponds to two brackets, and there is a certain distance between the two brackets. Both ends of the fixed connecting rod are fixedly connected to the two brackets fixedly connected to the same fixing member, and the fixed connecting rod is disposed between the two brackets. The fixed connection ring sleeve is sleeved on the fixed connecting rod and is fixedly connected to the side surface of the fixed connecting rod. The fixed connection rings correspond to the fixed connecting rods one by one. One end of the second telescopic rod is fixedly connected to the side surface of the fixed connection ring. The second telescopic rods correspond to the fixed connection rings one by one. The other end of the second telescopic rod is fixedly connected to one end of the second connecting member. The second connecting members correspond to the second telescopic rods one by one. The second connecting member has a cylindrical structure. The other end of the second connecting member is fixedly connected to the side surface of the second buffer block. The second buffer block has a disc-shaped structure. One end of the first buffer block is fixedly connected to the second buffer block and is coaxially arranged. One end of the spring shock-absorbing housing is fixedly placed on the other end of the first buffer block. The bottom surface of the landing gear strut is fixedly connected to the other end of the spring shock-absorbing housing. One end of the connecting roller is fixedly connected to the side surface of the landing gear strut, and the other end of the connecting roller is fixedly connected to the side surface of the fuselage. The spring is placed inside the spring shock-absorbing housing. One end of the spring is fixedly connected to the top end of the first buffer block, and the other end of the spring is fixedly connected to the bottom surface of the landing gear strut. Preferably, the spring is made of high-elastic stainless steel material and is subjected to high-temperature tempering treatment. One end of the first telescopic rod is fixedly connected to the bottom surface of the second buffer block. The first telescopic rod is coaxially arranged with the second buffer block. The first telescopic rod is obliquely placed and is inclined outward from the top end to the bottom end towards the fuselage. One end of the first connecting member is fixedly connected to the other end of the first telescopic rod. One end of the second hydraulic damper is fixedly connected to the other end of the first connecting member. Preferably, a double-sealing structure is adopted between the cylinder barrel and the piston rod of the second hydraulic damper. The top surface of the shock-absorbing silica gel is fixedly connected to the other end of the second hydraulic damper. A pressure sensor is fixedly arranged at the bottom of the shock-absorbing silica gel. Preferably, the shock-absorbing silica gel is made of high-rebound silicone material and is provided with a honeycomb microporous structure inside. A flexible articulated stable anti-shake express delivery UAV of the present invention further includes a stability analysis system. The stability analysis system includes a signal converter, a data processor, and a controller. The signal converter is placed on the fuselage, and the data processor is placed on the fuselage. The pressure sensor is connected to the signal converter. The first telescopic rod is connected to the controller through a data transmission line. The signal converter is connected to the data processor through a data transmission line, and the data processor is connected to the controller through a data transmission line. The signal converter can convert the electrical signal transmitted by the pressure sensor into a digital signal. The data processor and the signal converter perform information interaction. When the stability analysis system is executed, the following steps are mainly achieved: During the take-off process, when the UAV is disturbed by external airflow, strong wind will exert an external force on the wing, causing the wing to have a tendency or actual movement relative to the fuselage. Since the hydraulic damper is connected to the wing through a hinge, the movement of the wing will be transmitted to the hydraulic damper through the hinge, generating a pulling force on the hydraulic damper. When the hydraulic damper is subjected to the pulling force of the wing, it will generate a resistance to resist this pulling force. This resistance is opposite to the movement direction of the wing, thereby absorbing the vibration of the wing affected by the airflow and maintaining flight stability. When the UAV approaches the destination landing point, the flight speed is reduced in advance so that the UAV can land smoothly. At the moment of contacting the ground, the spring is first compressed, absorbing most of the impact force in the vertical direction. Subsequently, the second hydraulic damper and the shock-absorbing silica gel further buffer the vibration, ensuring that the fuselage lands smoothly and avoiding damage to the goods. After the UAV lands, the data processor obtains and compares the data of the three pressure sensors through the signal converter. Once the data is different, it means that the pressures received by the bottoms of the three shock-absorbing components are uneven due to the uneven ground. At this time, the controller will quickly respond and accurately locate the shock-absorbing component where the pressure sensor with smaller pressure is located. The first telescopic rod in this shock-absorbing component will then receive the instruction to perform telescopic adjustment. Through continuous fine-tuning, the pressures received by each point at the bottom of the UAV gradually tend to be consistent, so that the UAV can also be placed stably on uneven ground. Furthermore, anti-slip blocks are fixedly arranged at the bottom ends of the shock-absorbing silica gels, and the shock-absorbing silica gels correspond to the anti-slip blocks one by one. Beneficial effects

[0006] 1. It can effectively absorb the vibration energy generated by airflow interference during flight and maintain the overall flight stability.

[0007] 2. The multi-stage buffering of the shock-absorbing components can minimize the vibration impact on the goods to the greatest extent and avoid damage to the goods.

[0008] 3. By accurately sensing the ground conditions with the pressure sensor, quickly adjusting the first telescopic rod, efficiently and stably balancing the UAV, and ensuring stable placement. Description of the drawings

[0009] Figure 1 This is the three-dimensional structure diagram of a flexible articulated stable anti-shake express delivery UAV according to the present invention; Figure 2 This is the three-dimensional structure diagram of a flexible articulated stable anti-shake express delivery UAV according to the present invention, which only shows the structure of the shock-absorbing component; Figure 3 This is the three-dimensional structure diagram of a flexible articulated stable anti-shake express delivery UAV according to the present invention, which only shows the structure of the shock-absorbing component; Figure 4 This is the three-dimensional structure diagram of Embodiment 2 of a flexible articulated stable anti-shake express delivery UAV according to the present invention. Accompanying drawings

[0010] Among them are: fuselage (1), pin shaft (2), first hydraulic damper (3), wing (4), landing gear strut (5), spring shock-absorbing housing (6), first buffer block (7), second buffer block (8), first telescopic rod (9), first connecting piece (10), second hydraulic damper (11), shock-absorbing silica gel (12), pin head (13), hinge (14), spring (15), connecting roller (16), fixed connecting rod (17), chassis (18), fixing piece (19), bracket (20), second connecting piece (21), second telescopic rod (22), fixed connecting ring (23), anti-slip block (24). Detailed implementation manners Embodiment 1

[0011] A flexible articulated stable anti-shake express delivery UAV according to the present invention is realized as follows: A flexible articulated stable anti-shake express delivery UAV according to the present invention is composed of a body component and a shock-absorbing component, The body component is composed of a fuselage (1), a pin shaft (2), a pin head (13), a first hydraulic damper (3), a wing (4) and a hinge (14), A placement groove is opened on the side near the top of the fuselage (1), and another placement groove is opened on the side in the middle of the fuselage (1), Preferably, the fuselage (1) is made of a lightweight and high-strength material, A terrain detection sensor is fixedly arranged on the bottom surface of the fuselage (1), The pin shaft (2) is fixedly arranged on the placement groove of the fuselage (1), and multiple groups of pin shafts (2) are arranged on the fuselage (1), and multiple groups of pin shafts (2) are symmetrically arranged on both sides of the fuselage (1), Each of the pin shafts (2) is divided into two columns. The pin shafts (2) fixedly connected to the placement grooves on the side surface of the top end of the fuselage (1) are the upper column, and the pin shafts (2) fixedly connected to the placement grooves on the side surface of the middle part of the fuselage (1) are the lower column. The number of pin shafts (2) in each column is the same, and multiple pin shafts (2) in each column are arranged at equal intervals along the direction of the placement groove where they are located. The pin shafts (2) in the upper column and the lower column of each group of pin shafts (2) correspond to each other one by one, and the corresponding two pin shafts (2) are placed vertically. The pin head (13) is sleeved on the pin shaft (2) and fixedly connected to the pin shaft (2). The pin head (13) has an annular structure, and the pin head (13) corresponds to the pin shaft (2) one by one. One end of the first hydraulic damper (3) is fixedly connected to the outer side surface of the pin head (13). The first hydraulic damper (3) corresponds to the pin head (13) one by one. The number of wings (4) is the same as the number of groups of pin shafts (2). A connection groove is formed on the side surface near the top end of the wing (4). Preferably, the wing (4) is made of a lightweight alloy material and a corrosion-resistant coating is applied on the surface. The other end of the first hydraulic damper (3) is rotatably connected to the wing (4) through a hinge (14). Each wing (4) corresponds to a group of hinges (14). Each group of hinges (14) is divided into two columns. The upper column of hinges (14) is fixedly connected to the connection groove of the wing (4), and the lower column of hinges (14) is fixedly connected to the bottom surface of the wing (4). The number of hinges (14) in each column is the same. The upper column and the lower column of hinges (14) in each group of hinges (14) correspond to each other one by one, and the corresponding two hinges (14) are placed vertically. Multiple groups of pin shafts (2) correspond to multiple hinges (14) one by one. The multiple pin shafts (2) in the upper column of each group of pin shafts (2) correspond to the multiple hinges (14) in the upper column of the corresponding group of hinges (14) one by one. The multiple pin shafts (2) in the lower column of each group of pin shafts (2) correspond to the multiple hinges (14) in the lower column of the corresponding group of hinges (14) one by one. The corresponding pin shafts (2) and hinges (14) are connected by the pin head (13) and the first hydraulic damper (3). The shock absorption assembly is composed of a chassis (18), a fixing member (19), a bracket (20), a fixed connecting rod (17), a fixed connecting ring (23), a second telescopic rod (22), a second connecting member (21), a second buffer block (8), a first buffer block (7), a spring shock absorption housing (6), a landing gear strut (5), a connecting roller (16), a spring (15), a first telescopic rod (9), a first connecting member (10), a second hydraulic damper (11), and shock absorption silica gel (12). The chassis (18) is fixedly placed on the bottom surface of the fuselage (1) and is placed close to the side surface of the fuselage (1). There are three chassis (18), and the three chassis (18) are connected to form an equilateral triangle, and the centroid of this equilateral triangle is placed at the middle position of the bottom surface of the fuselage (1). The fixing member (19) is fixedly connected to the middle position of the bottom surface of the chassis (18). The fixing members (19) correspond to the chassis (18) one by one. The top surface of the bracket (20) is fixedly connected to the bottom surface of the fixing member (19). Each fixing member (19) corresponds to two brackets (20), and there is a certain distance between the two brackets (20). Both ends of the fixed connecting rod (17) are fixedly connected to the two brackets (20) fixedly connected to the same fixing member (19), and the fixed connecting rod (17) is placed between the two brackets (20). The fixed connecting ring (23) is sleeved on the fixed connecting rod (17) and is fixedly connected to the side surface of the fixed connecting rod (17). The fixed connecting rings (23) correspond to the fixed connecting rods (17) one by one. One end of the second telescopic rod (22) is fixedly connected to the side surface of the fixed connecting ring (23). The second telescopic rods (22) correspond to the fixed connecting rings (23) one by one. The other end of the second telescopic rod (22) is fixedly connected to one end of the second connecting member (21). The second connecting members (21) correspond to the second telescopic rods (22) one by one. The second connecting member (21) has a cylindrical structure. The other end of the second connecting member (21) is fixedly connected to the side surface of the second buffer block (8). The second buffer block (8) has a disc-shaped structure. One end of the first buffer block (7) is fixedly connected to the second buffer block (8) and is coaxially arranged. One end of the spring shock-absorbing housing (6) is fixedly placed on the other end of the first buffer block (7). The bottom surface of the landing gear strut (5) is fixedly connected to the other end of the spring shock-absorbing housing (6). One end of the connecting roller (16) is fixedly connected to the side surface of the landing gear strut (5), and the other end of the connecting roller (16) is fixedly connected to the side surface of the fuselage (1). The spring (15) is placed inside the spring shock-absorbing housing (6). One end of the spring (15) is fixedly connected to the top end of the first buffer block (7), and the other end of the spring (15) is fixedly connected to the bottom surface of the landing gear strut (5). Preferably, the spring (15) is made of high-elastic stainless steel material and is subjected to high-temperature tempering treatment. One end of the first telescopic rod (9) is fixedly connected to the bottom surface of the second buffer block (8). The first telescopic rod (9) is coaxially arranged with the second buffer block (8). The first telescopic rod (9) is obliquely placed and slopes outward from the top to the bottom towards the fuselage (1). One end of the first connecting piece (10) is fixedly connected to the other end of the first telescopic rod (9). One end of the second hydraulic damper (11) is fixedly connected to the other end of the first connecting piece (10). Preferably, a double-sealing structure is adopted between the cylinder barrel and the piston rod of the second hydraulic damper (11). The top surface of the shock-absorbing silica gel (12) is fixedly connected to the other end of the second hydraulic damper (11). A pressure sensor is fixedly arranged at the bottom of the shock-absorbing silica gel (12). Preferably, the shock-absorbing silica gel (12) is made of a high resilience silicone material and is provided with a honeycomb microporous structure inside. A flexible articulated stable anti-shake express delivery UAV of the present invention further includes a stability analysis system. The stability analysis system includes a signal converter, a data processor and a controller. The signal converter is arranged on the fuselage (1), and the data processor is arranged on the fuselage (1). The pressure sensor is connected to the signal converter. The first telescopic rod (9) is connected to the controller through a data transmission line. The signal converter is connected to the data processor through a data transmission line, and the data processor is connected to the controller through a data transmission line. The signal converter can convert the electrical signal transmitted by the pressure sensor into a digital signal. The data processor and the signal converter perform information interaction. When the stability analysis system is executed, the following steps are mainly implemented: During the takeoff process, when the UAV is disturbed by external airflow, strong wind will apply an external force to the wing (4), causing the wing to have a tendency or actual movement relative to the fuselage. Since the hydraulic damper (3) is connected to the wing (4) through the hinge (14), the movement of the wing (4) will be transmitted to the hydraulic damper (3) through the hinge (14), generating a tensile force on the hydraulic damper (3). When the hydraulic damper (3) is subjected to the tensile force of the wing (4), it will generate a resistance to resist this tensile force. This resistance is opposite to the movement direction of the wing (4), thereby absorbing the vibration of the wing (4) after being disturbed by the airflow and maintaining flight stability. When the UAV approaches the destination landing point, the flight speed is reduced in advance so that the UAV can land smoothly. At the moment of contacting the ground, the spring (15) is first compressed, absorbing most of the impact force in the vertical direction. Subsequently, the second hydraulic damper (11) and the shock-absorbing silica gel (12) further buffer the vibration, ensuring that the fuselage (1) lands smoothly and preventing the goods from being damaged. After the UAV lands, the data processor obtains and compares the data of the three pressure sensors through the signal converter. Once there is a difference in the data, it means that the pressures received by the bottoms of the three shock-absorbing components are uneven due to the uneven ground. At this time, the controller will respond quickly and accurately locate the shock-absorbing component where the pressure sensor with a smaller pressure is located. The first telescopic rod (9) in this shock-absorbing component will then receive an instruction to perform telescopic adjustment. Through continuous fine-tuning, the pressures received by each point at the bottom of the UAV gradually tend to be the same, thereby enabling the UAV to be placed stably on the uneven ground; Embodiment 2

[0012] The difference between this embodiment and Embodiment 1 is that: an anti-slip block (24) is fixedly arranged at the bottom end of the shock-absorbing silica gel (12), and the shock-absorbing silica gel (12) corresponds to the anti-slip block (24) one by one. When in use, when the UAV lands and touches the ground, the anti-slip block (24) directly contacts the ground, which can increase the friction with the ground, effectively preventing the UAV from sliding or displacing due to the horizontal component force at the moment of landing, ensuring that the UAV accurately stays at the predetermined landing position, and avoiding collisions with surrounding objects due to sliding, protecting the safety of the UAV itself and the express goods carried; The fuselage (1) is designed with lightweight and high-strength materials, reducing the overall weight of the UAV, which is beneficial to improving the endurance and flight efficiency. At the same time, the high-strength materials ensure that the fuselage (1) can withstand various external forces during flight, including airflow impact and mechanical vibration, improving the structural stability and reliability of the UAV and reducing the risk of flight accidents caused by damage to the fuselage (1); One end of the first hydraulic damper (3) is fixedly connected to the outer side of the pin head (13), and the other end is rotatably connected to the wing (4) through a hinge (14). When the UAV is disturbed by external airflows, strong winds will exert an external force on the wing (4), causing the wing to have a tendency or actual movement relative to the fuselage. Since the hydraulic damper (3) is connected to the wing (4) through the hinge (14), the movement of the wing (4) will be transmitted to the hydraulic damper (3) through the hinge (14), generating a tensile force on the hydraulic damper (3). When the hydraulic damper (3) is subjected to the tensile force of the wing (4), it will generate a resistance to resist this tensile force. This resistance is opposite to the movement direction of the wing (4), thereby absorbing the vibration of the wing (4) and maintaining flight stability. This not only improves flight safety but also reduces the vibration impact on the express goods carried on the fuselage, reducing the risk of damage to the goods; The spring (15) is placed inside the spring shock-absorbing housing (6). One end is fixedly connected to the top of the first buffer block (7), and the other end is fixedly connected to the bottom surface of the landing gear strut (5). The spring (15) is designed with high-elastic stainless steel material and undergoes high-temperature tempering treatment, having good elasticity and durability. At the moment when the UAV lands, it can quickly compress and absorb a large amount of vertical impact force, greatly reducing the impact strength received by the fuselage (1), playing a key role in protecting the structure of the fuselage (1) and the safety of the goods; One end of the second hydraulic damper (11) is fixedly connected to the first connecting piece (10). The design of the double-seal structure between the cylinder barrel and the piston rod of the damper improves the sealing performance and working stability of the damper. After the spring (15) absorbs most of the impact force, the second hydraulic damper (11) further buffers the vibration, reducing the vibration amplitude of the fuselage (1). The top surface of the shock-absorbing silica gel (12) is fixedly connected to the other end of the second hydraulic damper (11). It is made of high-rebound silicone material and has a honeycomb microporous structure inside, which can effectively absorb and disperse the remaining vibration energy, ensuring the smooth landing of the fuselage (1) and minimizing the damage to the goods to the greatest extent. One end of the first telescopic rod (9) is fixedly connected to the bottom surface of the second buffer block (8), and the other end is fixedly connected to the first connecting piece (10). The design of the pressure sensor fixedly placed at the bottom of the shock-absorbing silica gel (12) can accurately extend or shorten according to the data feedback of the pressure sensor, flexibly adjusting the support height of the UAV on uneven ground, thereby quickly and accurately balancing the fuselage and ensuring the stable placement of the UAV, greatly enhancing the adaptability of the UAV in complex ground environments.

[0013] It achieves the purpose of being able to absorb the vibration energy during flight through the fuselage assembly to maintain the stability of the fuselage and the flight attitude, and buffer the landing impact through the shock-absorbing assembly to adapt to different ground conditions and land smoothly.

[0014] It should be noted that, unless otherwise clearly specified or limited, the terms "placed", "connected", and "joined" should be understood in a broad sense. For example, it can be fixed connection methods such as hemming connection, rivet connection, pin connection, bonding connection, and welding connection, or detachable connection methods such as threaded connection, snap connection, and hinge connection, or integral connection, or electrical connection, or directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0015] It should be further pointed out that when describing the above specific embodiments, for the sake of simplicity and clarity, only the differences from other embodiments are described. However, those skilled in the art should know that the above specific embodiments themselves are also independent technical solutions.

Claims

1. A flexible articulated stable and anti-shake express delivery drone, characterized by: The invention is composed of a fuselage component and a shock absorbing component, wherein the fuselage component is composed of a fuselage, a pin shaft, a pin head, a first hydraulic damper, a wing and a hinge. A placement groove is opened on the side of the fuselage near the top end, and another placement groove is opened on the side of the middle part of the fuselage. The pin shaft is fixedly placed on the placement groove of the fuselage. Multiple groups of pin shafts are arranged on the fuselage, and the multiple groups of pin shafts are symmetrically distributed on both sides of the fuselage. The pin head sleeve is placed on the pin shaft and fixedly connected to the pin shaft. One end of the first hydraulic damper is fixedly connected to the outer side of the pin head. The first hydraulic damper corresponds to the pin head one by one. A connecting groove is opened on the side of the wing near the top end. The other end of the first hydraulic damper is rotatably connected to the wing through a hinge. Each wing corresponds to a group of hinges, and the hinges in each group are divided into two rows. The hinges in the upper row are connected to the hinges in the lower row. The wing connecting groove is fixedly connected, the following hinge is fixedly connected to the bottom surface of the wing, the shock absorbing assembly is composed of a chassis, a fixing part, a bracket, a fixed connecting rod, a fixed connecting ring, a second telescopic rod, a second connecting part, a second buffer block, a first buffer block, a spring shock absorbing shell, a landing gear strut, a connecting roller, a spring, a first telescopic rod, a first connecting part, a second hydraulic damper and a shock absorbing silica gel. The chassis is fixedly placed on the bottom surface of the fuselage and placed close to the side of the fuselage. The fixing part is fixedly connected to the middle position of the bottom surface of the chassis. The fixing part corresponds to the chassis one by one, the top surface of the bracket is fixedly connected to the bottom surface of the fixing part, each of the fixing parts corresponds to two brackets, and the two ends of the fixed connecting rod are respectively fixedly connected to the two brackets fixedly connected to the same fixing part, and the fixed connecting rod is placed Between the two brackets, a fixed connecting ring sleeve is placed on the fixed connecting rod and is fixedly connected to the side of the fixed connecting rod, the fixed connecting ring corresponds to the fixed connecting rod one-to-one, one end of the second telescopic rod is fixedly connected to the side of the fixed connecting ring, the second telescopic rod corresponds to the fixed connecting ring one-to-one, the other end of the second telescopic rod is fixedly connected to one end of the second connecting member, the second connecting member corresponds to the second telescopic rod one-to-one, the other end of the second connecting member is fixedly connected to the side of the second buffer block, one end of the first buffer block is fixedly connected to the second buffer block and is coaxially arranged, one end of the spring shock-absorbing housing is fixedly placed on the other end of the first buffer block, the bottom surface of the landing gear strut is fixedly connected to the other end of the spring shock-absorbing housing, one end of the connecting roller is fixedly connected to the side of the landing gear strut, the The other end of the connecting roller is fixedly connected to the side of the fuselage, and the spring is placed in the spring shock-absorbing housing. One end of the spring is fixedly connected to the top of the first buffer block, and the other end of the spring is fixedly connected to the bottom surface of the landing gear strut. One end of the first telescopic rod is fixedly connected to the bottom surface of the second buffer block. The first telescopic rod and the second buffer block are coaxially arranged. The first telescopic rod is tilted and tilted toward the outside of the fuselage from the top to the bottom. One end of the first connecting piece is fixedly connected to the other end of the first telescopic rod, one end of the second hydraulic damper is fixedly connected to the other end of the first connecting piece, the top surface of the shock-absorbing silicone rubber is fixedly connected to the other end of the second hydraulic damper, and a pressure sensor is fixedly mounted on the bottom of the shock-absorbing silicone rubber. The flexible articulated stable and anti-shake express delivery drone also includes a stability analysis system.

2. A flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that An anti-sliding block is fixedly disposed at the bottom end of the shock-absorbing silica gel, and the shock-absorbing silica gel corresponds to the anti-sliding block one by one.

3. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that The fuselage is made of lightweight and high-strength material. Each group of pins is divided into two rows. The pins fixedly connected to the side placement slots at the top of the fuselage are the upper row, and the pins fixedly connected to the side placement slots in the middle of the fuselage are the lower row. The number of pins in each row is the same, and multiple pins in each row are equidistantly arranged along the direction of the placement slots at their positions. The pins in the upper row and the lower row of pins in each group correspond to each other one by one, and the corresponding two pins are placed up and down.

4. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that The pin head is in a circular ring structure, and the pin head corresponds to the pin shaft one by one. The wing is made of lightweight alloy material and is coated with a corrosion-resistant coating on the surface.

5. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that The number is the same as the number of pin shaft groups, the number of hinges in each column is the same, the hinges in the upper column and the lower column in each group correspond to each other, and the corresponding two hinges are placed up and down.

6. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that Multiple groups of the pins correspond one-to-one to the multiple hinges, the upper multiple pins in each group of the pins correspond one-to-one to the upper multiple hinges in a corresponding group of hinges, the lower multiple pins in each group of the pins correspond one-to-one to the lower multiple hinges in a corresponding group of hinges, and the corresponding pins and hinges are connected to the first hydraulic damper through pin heads.

7. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that There are three chassis, which are connected to form an equilateral triangle, and the center of gravity of the equilateral triangle is placed in the middle of the bottom surface of the fuselage. There is a certain distance between two brackets.

8. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that The second connecting piece is in a cylindrical structure, the second buffer block is in a disc-shaped structure, and the spring is made of high-elastic stainless steel material and is subjected to high-temperature tempering treatment.

9. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that A double sealing structure is adopted between the cylinder and the piston rod of the second hydraulic damper, and the shock-absorbing silica gel is made of high-resilience organic silicon material and is provided with a honeycomb microporous structure inside.

10. The flexible articulated stable anti-shake express delivery drone according to claim 1, characterized in that The stability analysis system includes a signal converter, a data processor and a controller, wherein the signal converter is placed on the fuselage, the data processor is placed on the fuselage, the pressure sensor is connected to the signal converter, the first telescopic rod is connected to the controller via a data transmission line, the signal converter is connected to the data processor via a data transmission line, the data processor is connected to the controller via a data transmission line, the signal converter can convert the electrical signal transmitted by the pressure sensor into a digital signal, the data processor and the signal converter exchange information, and the stability analysis system mainly implements the following steps when executed: during takeoff, when the drone is disturbed by external airflow, strong wind will exert external force on the wing, causing the wing to produce a movement trend or actual movement relative to the fuselage. Since the hydraulic damping is connected to the wing through a hinge, the movement of the wing will be transmitted to the hydraulic damping through the hinge, generating tension on the hydraulic damping. When the hydraulic damping is subjected to the tension of the wing, it will generate resistance The resistance against this pulling force is opposite to the direction of movement of the wing, so as to absorb the vibration of the wing affected by the airflow and maintain flight stability. When the drone approaches the landing point of the destination, the flight speed is reduced in advance so that the drone can land smoothly. At the moment of contact with the ground, the spring is first compressed to absorb most of the impact force in the vertical direction. Then the second hydraulic damper and shock-absorbing silicone further buffer the vibration to ensure a smooth landing of the fuselage and avoid damage to the cargo. After the drone lands, the data processor obtains and compares the data of the three pressure sensors through the signal converter. Once there is a difference in the data, it means that the bottom of the three shock-absorbing components are subjected to uneven pressure due to the uneven ground. At this time, the controller will respond quickly and accurately locate the shock-absorbing component where the pressure sensor with smaller pressure is located. The first telescopic rod in the shock-absorbing component immediately receives the command to perform telescopic adjustment. After continuous fine-tuning, the pressure at each point on the bottom of the drone gradually becomes consistent, so that the drone can be placed stably on uneven ground.

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