Cargo carrying and loading device of unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle cargo handling load device, and relates to the field of unmanned aerial vehicle load equipment, the unmanned aerial vehicle cargo handling load device comprises an unmanned aerial vehicle, a connecting frame is arranged under the unmanned aerial vehicle, a tripod is arranged under the connecting frame, and the connecting frame is used for mounting a sling; the lower end of the sling penetrates through the tripod and is connected to the lifting hook; the tripod is divided into a front bracket and a rear bracket by a fixing frame; the front support is connected with the fixing frame through a front elastic plate structure. The rear support comprises a left support body and a right support body, the left support body is connected with the fixing frame through a left elastic plate structure, and the right support body is connected with the fixing frame through a right elastic plate structure. The front elastic plate structure, the left support and the right support are connected with the different slings through the first connecting cable, the second connecting cable and the third connecting cable correspondingly. The swing of a loaded heavy object can be converted into deformation of the elastic plate in the vertical direction, and finally the effect of overcoming the deformation through the dead weight of the heavy object can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) loading equipment, and in particular to a UAV cargo handling loading device. Background Art

[0002] In the large-scale application of drones in agricultural production, efficient delivery of heavy materials (15-50kg per load), such as granular fertilizer and seeds, has become a key requirement for improving operational efficiency. However, the inertial impact of heavy loads during the drone's takeoff and landing acceleration phase causes the materials to sway, significantly negatively impacting handling.

[0003] First, the load inertia moment induces the UAV's flight attitude to become unstable. Bulk materials such as granular fertilizers produce a forward and backward pendulum effect during the UAV's acceleration phase due to insufficient rigidity constraints of the packaging bags. The coupled oscillation of the large inertia load and the aerodynamic force of the UAV rotor leads to a mismatch in the flight controller PID parameters and an attitude correction delay of 0.5-1.2 seconds. In severe cases, it triggers an uncontrolled forced landing.

[0004] Secondly, the safety boundary of unloading during the start-stop phase is blurred. During delivery, the residual kinetic energy of the load swing causes the fertilizer bag to swing on one side for even more than 1m, posing a collision risk to the receiving personnel within a radius of 3m.

[0005] Existing technologies rely on counterweight balance and low-speed flight strategies (<5m / s), which can reduce the swing amplitude but sacrifice transportation efficiency. Summary of the Invention

[0006] The object of the present invention is to provide a drone cargo handling load device to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: a UAV cargo handling load device, comprising a UAV, a connecting frame provided directly below the UAV, a tripod provided below the connecting frame, and the connecting frame being used to install a sling;

[0008] The lower end of the sling passes through the tripod and is connected to the hook;

[0009] A fixing frame is provided below the connecting frame, and the fixing frame is connected to the tripod;

[0010] The tripod is divided into two parts, a front bracket and a rear bracket, by a fixed frame;

[0011] The front bracket is connected to the fixing frame via a front spring plate structure;

[0012] The rear bracket includes a left bracket and a right bracket, the left bracket and the right bracket are connected by an elastic member, the left bracket is connected to the fixing frame by a left spring plate structure, and the right bracket is connected to the fixing frame by a right spring plate structure;

[0013] The front spring plate structure, the left bracket and the right bracket are respectively connected to different slings through connecting rope 1, connecting rope 2 and connecting rope 3, and the connecting rope 1 includes two symmetrically arranged ropes.

[0014] Preferably, the connecting frame also includes a cover plate and a sling fixing tube, the sling fixing tube is movably mounted on the end of the tripod bracket through a ball joint at the top, the cover plate is fixedly mounted on the upper end of the sling fixing tube and fixedly connected to the tripod bracket by bolts, the tripod bracket is fixedly connected to the bottom of the drone, and the top of the fixing frame is fixedly connected to the tripod bracket.

[0015] Preferably, a sling guide block is provided below the sling fixing cylinder, and the sling guide block is fixedly mounted on the tripod.

[0016] Preferably, the front bracket and the rear bracket are connected via symmetrically arranged protective baffles, and the protective baffles are made of soft rubber.

[0017] Preferably, the front spring plate structure includes two symmetrically arranged groups and each includes a clamping plate 1 and a spring plate 1. The clamping plate 1 is respectively arranged at both ends of the spring plate 1 and one end is connected to the front bracket and the other end is connected to the fixed frame. The spring plate 1 includes two groups symmetrically arranged up and down and a connecting rope rack 1 is provided between the two groups.

[0018] Preferably, the tail ends of the left bracket and the right bracket are provided with a guide structure, and the guide structure includes a guide frame and a guide rod. The guide frame is fixedly connected to the left bracket, and the guide rod is fixedly installed on the right bracket. The guide rod is slidably connected to the guide frame.

[0019] Preferably, the left spring plate structure includes a clamping plate 2 and a spring plate 2, the clamping plate 2 is respectively arranged at both ends of the spring plate 2 and one end is connected to the fixed frame, and the other end is connected to the left bracket, the spring plate 2 includes two groups symmetrically arranged up and down and a connecting rope frame 2 is provided between the two groups.

[0020] Preferably, the right spring plate structure includes a clamping plate three and a spring plate three, the clamping plate three is respectively arranged at both ends of the spring plate three and one end is connected to the fixed frame, and the other end is connected to the left bracket, the spring plate three includes two groups symmetrically arranged up and down and a connecting rope frame three is provided between the two groups.

[0021] Preferably, the slings include sling one, sling two and sling three passing through the front bracket, the left bracket and the right bracket respectively.

[0022] Preferably, the connecting cable frame 1 is connected to the sling 2 and the sling 3 respectively through two connecting cables 1, the connecting cable frame 2 is connected to the sling 1 through the connecting cable 2, and the connecting cable frame 3 is connected to the sling 1 through the connecting cable 3.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The invention provides front, left, and right spring plates that absorb the kinetic energy of the load's back-and-forth swinging due to inertia during the start-up and stop phases of a drone carrying a heavy object. This swinging, especially when the drone reaches its destination, can easily cause injury to personnel receiving the load. Active absorption of this kinetic energy can prevent injury.

[0025] 2. The connecting rope provided in the invention connects the front spring plate structure, the left spring plate structure, the right spring plate structure and the sling. When the front spring plate structure, the left spring plate structure and the right spring plate structure are deformed, the deformation force can be eliminated as quickly as possible through the connecting rope by the gravity of the heavy object itself, thereby achieving the purpose of eliminating the swing by the weight of the heavy object. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the present invention;

[0027] Figure 2 This is the main view of the present invention;

[0028] Figure 3 This is the structural diagram of the payload device after removing the drone;

[0029] Figure 4 This is a top view of the tripod structure;

[0030] Figure 5 This is a diagram of the tripod structure;

[0031] Figure 6 for Figure 5 Enlarged view of the structure at point A.

[0032] In the picture: 1-UAV;

[0033] 2-connecting frame; 21-fixing frame; 22-cover plate; 23-sling fixing cylinder; 24-trident bracket;

[0034] 3-Tripod; 31-Front bracket;

[0035] 32-front spring plate structure; 321-cage plate 1, 322-spring plate 1, 323-connecting cable bracket 1;

[0036] 33-left bracket; 34-right bracket; 35-elastic member;

[0037] 36-left spring plate structure; 361-cage plate 2, 362-spring plate 2, 363-connecting cable bracket 2;

[0038] 37-right spring plate structure; 371-cage plate three, 372-spring plate three, 373-connecting cable bracket three;

[0039] 38-sling guide block; 39-protection baffle; 310-guide frame; 311-guide rod;

[0040] 4-sling; 41-sling one; 42-sling two; 43-sling three; 44-hook;

[0041] 5-Connecting rope 1;

[0042] 6-Connecting rope 2;

[0043] 7-Connecting rope three. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] See also Figures 1 to 6 The present invention provides a technical solution: a UAV cargo handling load device, comprising a UAV 1, characterized in that: a connecting frame 2 is provided directly below the UAV 1, a tripod 3 is provided below the connecting frame 2, and the connecting frame 2 is used to install a sling 4;

[0046] The lower end of the sling 4 passes through the tripod 3 and is connected to the hook 44. For heavier materials, the common method of suspending with a single sling cannot guarantee the safety and stability of the lifting. At least three sets of hooks 44 are required to ensure stability.

[0047] A fixing frame 21 is provided below the connecting frame 2. The fixing frame 21 is connected to the tripod 3. The fixing frame 21 is connected to the drone 1 and serves as a reference for the entire load device.

[0048] The tripod 3 is divided into two parts, a front bracket 31 and a rear bracket, by the fixing frame 21;

[0049] The front bracket 31 is connected to the fixing frame 21 through the front spring plate structure 32;

[0050] The rear bracket includes a left bracket 33 and a right bracket 34. The left bracket 33 and the right bracket 34 are connected by an elastic member 35. The left bracket 33 is connected to the fixing frame 21 through a left spring plate structure 36, and the right bracket 34 is connected to the fixing frame 21 through a right spring plate structure 37.

[0051] The front spring plate structure 32, the left bracket 33 and the right bracket 34 are respectively connected to different slings 4 through a connecting rope 1 5, a connecting rope 2 6 and a connecting rope 3 7, and the connecting rope 1 5 includes two symmetrically arranged ropes.

[0052] In this embodiment, the connecting frame 2 also includes a cover plate 22 and a sling fixing tube 23. The sling fixing tube 23 is movably mounted on the end of the tripod bracket 24 through a ball joint at the top. The cover plate 22 is fixedly mounted on the upper end of the sling fixing tube 23 and is fixedly connected to the tripod bracket 24 through bolts. The tripod bracket 24 is fixedly connected to the bottom of the drone 1. The top of the fixing frame 21 is fixedly connected to the tripod bracket 24. The angle between each adjacent fork of the tripod bracket 24 is 120°, so that the three slings 44 are arranged at equal intervals, which helps to balance the force.

[0053] In this embodiment, a sling guide block 38 is provided below the sling fixing tube 23 . The sling guide block 38 is fixedly mounted on the tripod 3 . The tripod 3 and the connecting frame 2 are connected to each other in the vertical direction.

[0054] In this embodiment, the front bracket 31 and the rear bracket are connected via a symmetrically arranged protective baffle 39 . The protective baffle 39 is made of soft rubber and is only used to protect the structure inside the tripod 3 from the side.

[0055] In this embodiment, the front spring plate structure 32 includes two symmetrically arranged groups and each includes a clamping plate 321 and a spring plate 322. The clamping plate 321 is respectively provided at both ends of the spring plate 322 and one end is connected to the front bracket 31, and the other end is connected to the fixing frame 21. The spring plate 322 includes two groups symmetrically arranged up and down and a connecting rope bracket 323 is provided between the two groups. Through the spring plate 322, when the sling 2 42 and the sling 3 43 swing back and forth, the kinetic energy of the swing can be absorbed by the vertical deformation, that is, the kinetic energy is absorbed and converted into elastic potential energy, thereby preventing personal injury and instability of the drone caused by excessive swing amplitude.

[0056] In this embodiment, a guide structure is provided at the tail end of the left bracket 33 and the right bracket 34, and the guide structure includes a guide frame 310 and a guide rod 311. The guide frame 310 is fixedly connected to the left bracket 33, and the guide rod 311 is fixedly installed on the right bracket 34. The guide rod 311 is slidably connected to the guide frame 310. The guide frame 310 and the guide rod 311 can provide guidance for the lateral sliding between the left bracket 33 and the right bracket 34, thereby preventing damage to the left spring plate structure 36 and the right spring plate structure 37 caused by the absence of guidance.

[0057] In this embodiment, the left spring plate structure 36 includes a second clamping plate 361 and a second spring plate 362. The second clamping plate 361 is respectively arranged at both ends of the second spring plate 362 and one end is connected to the fixing frame 21, and the other end is connected to the left bracket 33. The second spring plate 362 includes two groups symmetrically arranged up and down and a connecting rope rack 2 363 is provided between the two groups. When the sling 41 swings back and forth, the kinetic energy of the swing can be absorbed by the deformation of the second spring plate 362 in the vertical direction, that is, the kinetic energy is absorbed and converted into elastic potential energy, thereby preventing personal injury and instability of the drone caused by excessive swing amplitude.

[0058] In this embodiment, the right spring plate structure 37 includes a clamping plate three 371 and a spring plate three 372. The clamping plate three 371 is respectively arranged at both ends of the spring plate three 372 and one end is connected to the fixing frame 21, and the other end is connected to the left bracket 33. The spring plate three 372 includes two groups symmetrically arranged up and down and a connecting rope bracket three 373 is provided between the two groups. When the sling 41 swings back and forth, the kinetic energy of the swing can be absorbed by the deformation of the spring plate three 372 in the vertical direction, that is, the kinetic energy is absorbed and converted into elastic potential energy, thereby preventing personal injury and instability of the drone caused by excessive swing amplitude.

[0059] In this embodiment, the sling 4 includes sling one 41, sling two 42 and sling three 43 which pass through the front bracket 31, left bracket 33 and right bracket 34 respectively. The three slings can maintain the stability of the heavy object. At the same time, the three slings can act on the front bracket 31, left bracket 33 and right bracket 34 respectively when swinging.

[0060] In this embodiment, the connecting rope frame 1 323 is connected to the sling 2 42 and the sling 3 43 respectively through two connecting ropes 1 5, the connecting rope frame 2 363 is connected to the sling 1 41 through the connecting rope 2 6, and the connecting rope frame 3 373 is connected to the sling 1 41 through the connecting rope 3 7. The three connecting ropes can connect the deformation of the three connecting rope frames with the sling 4 through their own connecting action, that is, finally connect with the heavy object.

[0061] Working principle: When the drone 1 carries a heavy object, the object swings during the start-stop phase, pulling the sling 1 41 , the sling 2 42 , and the sling 3 43 to swing back and forth simultaneously.

[0062] In this process, when the sling 1 41, the sling 2 42 and the sling 3 43 swing forward, the sling 2 42 and the sling 3 43 drive the left bracket 33 and the right bracket 34 to move forward, and this displacement will compress the spring plate 2 362 and the spring plate 3 372, so that the spring plate located in the upper part and the connecting cable frame 2 363 and the connecting cable frame 3 373 installed on this part of the spring plate will be deformed upward, and the movement caused by this deformation will pull the connecting cable 2 6 and the connecting cable 3 7, so When the connecting rope 2 6 and the connecting rope 3 7 are connected to the sling 1 41 , they will pull the sling 1 41 . Since the sling 1 41 is also swinging forward, the heavy object located below will be pulled by the sling 1 41 . The gravity of the heavy object will react on the connecting rope frame 2 363 and the connecting rope frame 3 373 , helping them to overcome the deformation of the spring plate 2 362 and the spring plate 3 372 . In other words, the deformation of the spring plate 2 362 and the spring plate 3 372 is reduced by the gravity of the heavy object, which ultimately affects the amplitude of the swing.

[0063] When the sling 1 41, the sling 2 42 and the sling 3 43 swing backward, the connecting rope 2 6 and the connecting rope 3 7 are no longer under stress, and the sling 1 41 drives the front bracket 31 to move backward. This displacement will compress the spring plate 1 322, causing the spring plate located in the upper part and the connecting rope bracket 1 323 installed on this part of the spring plate to deform upward. The movement caused by this deformation will pull the connecting rope 1 5. Because the connecting rope 1 5 is connected to the sling 2 42 and the sling 3 43, it will pull the sling 2 42 and the sling 3 43. Because the sling 2 42 and the sling 3 43 are also swinging backward, they will eventually pull the heavy object below through the sling 2 42 and the sling 3 43, thereby converting the swing of the heavy object into the vertical deformation of the spring plate and finally overcoming the deformation through the deadweight of the heavy object.

[0064] Based on the above, the invention is provided with a front spring plate structure, a left spring plate structure, and a right spring plate structure, which can absorb the kinetic energy of the heavy object swinging back and forth due to inertia during the start-stop stage of the drone carrying heavy objects, especially the swing when the drone reaches the destination, which can easily cause harm to the personnel receiving the materials. Active absorption of this part of the kinetic energy can avoid causing harm; the invention is provided with a connecting rope connecting the front spring plate structure, the left spring plate structure, and the right spring plate structure with the sling, which can eliminate the deformation force as soon as possible through the connecting rope through the gravity of the heavy object itself when the front spring plate structure, the left spring plate structure, and the right spring plate structure are deformed, thereby achieving the purpose of eliminating the swing by the weight of the heavy object.

[0065] It is understood from common technical knowledge that the present invention may be implemented by other embodiments that do not depart from its spirit or essential features. Therefore, the embodiments disclosed above are, in all respects, merely illustrative and not exclusive. All modifications within the scope of the present invention or equivalent to the scope of the present invention are intended to be encompassed by the present invention.

Claims

1. A drone cargo handling load device, comprising a drone (1), characterized in that: A connecting frame (2) is provided directly below the drone (1), a tripod (3) is provided below the connecting frame (2), and the connecting frame (2) is used to install a sling (4); The lower end of the sling (4) passes through the tripod (3) and is connected to the hook (44); A fixing frame (21) is provided below the connecting frame (2), and the fixing frame (21) is connected to the tripod (3); The tripod (3) is divided into two parts by a fixed frame (21), namely a front frame (31) and a rear frame; The front bracket (31) is connected to the fixing frame (21) via a front spring plate structure (32); The rear bracket comprises a left bracket (33) and a right bracket (34), wherein the left bracket (33) and the right bracket (34) are connected via an elastic member (35), the left bracket (33) is connected to the fixing bracket (21) via a left spring plate structure (36), and the right bracket (34) is connected to the fixing bracket (21) via a right spring plate structure (37); The front spring plate structure (32), the left bracket (33) and the right bracket (34) are respectively connected to different slings (4) through a connecting rope 1 (5), a connecting rope 2 (6) and a connecting rope 3 (7), and the connecting rope 1 (5) includes two symmetrically arranged ropes.

2. The drone cargo handling loading device according to claim 1, characterized in that: The connecting frame (2) further comprises a cover plate (22) and a sling fixing cylinder (23), wherein the sling fixing cylinder (23) is movably mounted on the end of a three-prong bracket (24) via a ball joint at the top, and the cover plate (22) is fixedly mounted on the upper end of the sling fixing cylinder (23) and fixedly connected to the three-prong bracket (24) via bolts, wherein the three-prong bracket (24) is fixedly connected to the bottom of the drone (1), and the top of the fixing frame (21) is fixedly connected to the three-prong bracket (24).

3. The drone cargo handling loading device according to claim 1, characterized in that: A sling guide block (38) is provided below the sling fixing cylinder (23), and the sling guide block (38) is fixedly mounted on the tripod (3).

4. The drone cargo handling loading device according to claim 1, characterized in that: The front bracket (31) and the rear bracket are connected via symmetrically arranged protective baffles (39), and the protective baffles (39) are made of soft rubber material.

5. The drone cargo handling loading device according to claim 1, characterized in that: The front spring plate structure (32) includes two symmetrically arranged groups and each includes a clamping plate (321) and a spring plate (322). The clamping plate (321) is respectively provided at both ends of the spring plate (322), and one end is connected to the front bracket (31), and the other end is connected to the fixing frame (21). The spring plate (322) includes two groups symmetrically arranged in an upper and lower direction, and a connecting cable frame (323) is provided between the two groups.

6. The drone cargo handling loading device according to claim 5, characterized in that: A guide structure is provided at the tail end of the left bracket (33) and the right bracket (34), wherein the guide structure comprises a guide frame (310) and a guide rod (311), wherein the guide frame (310) is fixedly connected to the left bracket (33), and the guide rod (311) is fixedly installed on the right bracket (34), and the guide rod (311) is slidably connected to the guide frame (310).

7. The drone cargo handling loading device according to claim 6, characterized in that: The left spring plate structure (36) includes a second clamping plate (361) and a second spring plate (362). The second clamping plate (361) is respectively arranged at both ends of the second spring plate (362) and one end is connected to the fixing frame (21), and the other end is connected to the left bracket (33). The second spring plate (362) includes two groups symmetrically arranged in an upper and lower direction, and a second connecting rope frame (363) is provided between the two groups.

8. The drone cargo handling loading device according to claim 7, characterized in that: The right spring plate structure (37) includes a clamping plate three (371) and a spring plate three (372). The clamping plate three (371) is respectively arranged at both ends of the spring plate three (372) and one end is connected to the fixing frame (21), and the other end is connected to the left bracket (33). The spring plate three (372) includes two groups symmetrically arranged in an upper and lower direction, and a connecting rope frame three (373) is provided between the two groups.

9. The drone cargo handling loading device according to claim 8, characterized in that: The sling (4) comprises a sling 1 (41), a sling 2 (42) and a sling 3 (43) which pass through the front bracket (31), the left bracket (33) and the right bracket (34) respectively.

10. The drone cargo handling loading device according to claim 9, characterized in that: The connecting rope frame 1 (323) is connected to the sling 2 (42) and the sling 3 (43) respectively through two connecting ropes 1 (5), the connecting rope frame 2 (363) is connected to the sling 1 (41) through the connecting rope 2 (6), and the connecting rope frame 3 (373) is connected to the sling 1 (41) through the connecting rope 3 (7).

Images