Rechargeable unmanned aerial vehicle applied to safety rescue

Abstract

The invention discloses a rechargeable unmanned aerial vehicle applied to safety rescue, relates to the field of unmanned aerial vehicle rescue, and aims to solve the problems that the center of gravity shifts after goods are grabbed on one side during operation of an unmanned aerial vehicle, and adaptive and reliable clamping is difficult to carry out according to the size. According to the unmanned aerial vehicle, an additionally-arranged side swing assembly is combined with a double-side grabbing assembly, dynamic deflection adjustment and adaptive clamping of the unmanned aerial vehicle during safety rescue are achieved, and stable operation control over the unmanned aerial vehicle is achieved in the mode that the clamping position can be adjusted and gravity center arrangement is controllable; in combination with an intelligent analysis center-of-gravity shift control system, measurement of a hydraulic extension value and acquisition of an operation deflection value are carried out on a real-time parameter state in the rescue process of the unmanned aerial vehicle, and real-time center-of-gravity shift adjustment and stability-maintaining operation control are realized by intelligently controlling the unmanned aerial vehicle; therefore, intelligent gravity center deflection control of the unmanned aerial vehicle in the rescue process is realized.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of unmanned aerial vehicle rescue, in particular to a rechargeable unmanned aerial vehicle applied to safety rescue. BACKGROUND

[0002] The safety rescue unmanned aerial vehicle has been widely applied to multiple fields such as disaster response and emergency rescue, greatly improving rescue efficiency and safety, and in search and rescue positioning and life detection, a thermal imaging sensor carried by the unmanned aerial vehicle can penetrate thick smoke and darkness and detect vital signs in complex environments.

[0003] And material delivery and emergency medical support are also important applications of the unmanned aerial vehicle, and through precise air drop technology, the unmanned aerial vehicle can carry first aid kits, medicines, water and other materials, and in an earthquake disaster area where traffic is interrupted, a single task can cover the work of traditional manpower for several hours, and the unmanned aerial vehicle can also carry medical equipment such as a defibrillator, and some models support constant-temperature transportation of special items such as blood and vaccines, in disaster monitoring and real-time evaluation, the unmanned aerial vehicle can collect multi-dimensional data, including optical and infrared monitoring, environmental perception and the like, and can warn secondary disaster risks, and through aerial survey, the unmanned aerial vehicle can generate a disaster damage map to assist in formulating rescue priorities and reconstruction plans and the like.

[0004] In combination with the above required description, when the unmanned aerial vehicle is used for rescue work, most unmanned aerial vehicles only complete one-side grabbing or hoisting of specific items, compared with the unmanned aerial vehicle with a double-side grabbing structure, the center of gravity of the unmanned aerial vehicle is prone to deviation when taking off after grabbing the goods, and the unmanned aerial vehicle cannot adaptively adjust the size when grabbing the object to be rescued, and therefore, the application provides a solution. SUMMARY

[0005] The application aims to provide a rechargeable unmanned aerial vehicle applied to safety rescue, and aims to solve the problems that the center of gravity deviates after one-side grabbing of goods during operation of the unmanned aerial vehicle and the unmanned aerial vehicle cannot adaptively and reliably clamp the size.

[0006] The application can be realized by the following technical scheme: the rechargeable unmanned aerial vehicle applied to safety rescue comprises a base plate and a control panel embedded on the base plate, at least three power units are installed at the upper end of the base plate, and a wing is installed at the output end of the power unit, a side main rod facing downward is installed at the middle part of the two ends of the base plate, and a symmetrical side swing assembly is rotatably installed at the bottom of the side main rod;

[0007] The side swing assembly comprises a side swing plate rotatably connected with the bottom of the side main rod through a rotating assembly, a lower connecting plate and an upper connecting plate are installed at the upper end of the side swing plate from bottom to top, a grabbing frame is jointly installed at the outer side of the upper connecting plate and the lower connecting plate, and a double-side grabbing assembly is horizontally movably installed at the outer side of the grabbing frame;

[0008] The bottom of the base frame plate is rotationally provided with a hydraulic rod II, and the output end of the hydraulic rod II is slidably connected with the upper connecting plate.

[0009] Further, the double-side grabbing assembly comprises outer clamping rods which are arranged in a hinged manner, and inner clamping rods which are symmetrically arranged at the outer ends of the inner ring sides of the outer clamping rods.

[0010] Further, the upper end of the grabbing frame is transversely provided with a sleeve, the inner side of the sleeve is provided with a hydraulic cylinder which is connected with the lower connecting plate, the telescopic end of the hydraulic cylinder extends through the sleeve to an external end portion, and the end portion is provided with a mounting seat, the outer side of the mounting seat is provided with a mounting rod, and the middle portion of the mounting rod is symmetrically rotationally provided with a hydraulic rod I which is rotationally connected with the inner ends of the outer clamping rods.

[0011] Further, the end portions of the inner ring sides of the outer clamping rods are provided with axial motors, and the output ends of the axial motors are connected with the inner ends of the inner clamping rods.

[0012] Further, the rotating assembly comprises a pin shaft and a fixing cylinder, the fixing cylinder is connected with the bottoms of a pair of side swing plates, respectively, and the pin shaft is rotationally arranged in the middle portion of the fixing cylinder and is fixedly connected with the side main rods at both ends.

[0013] Further, the upper surface of the upper connecting plate is provided with a sliding groove corresponding to the hydraulic rod II, and the output end of the hydraulic rod II is rotationally provided with a sliding block which is matched with the sliding groove.

[0014] Further, the lower end of the grabbing frame is provided with a bearing plate, the bottom of the bearing plate extends to the lower side of the lower end portions of the outer clamping rods, and the bearing plate is used for stably landing the unmanned aerial vehicle.

[0015] Further, the control panel is provided with a gravity center offset control system, the gravity center offset control system comprises a parameter acquisition module, a deviation analysis module, a calibration compensation module and a processor which are communicatively connected, the parameter acquisition module is used for acquiring the hydraulic elongation value and the running deflection value during the operation of the unmanned aerial vehicle, and sending the hydraulic elongation value and the running deflection value to the deviation analysis module through the processor, the deviation analysis module immediately analyzes the running state of the unmanned aerial vehicle according to the received hydraulic elongation value and running deflection value to generate a control signal, and sends the control signal to the calibration compensation module to control the movement of the components.

[0016] The present application has the following advantages:

[0017] 1. The application is realized by the additional side swing assembly combined with the double-sided grabbing assembly to realize the dynamic deflection adjustment and adaptive clamping of the unmanned aerial vehicle during the safe rescue, solves the problem of difficult clamping according to the size of the object to be rescued caused by unilateral clamping, and realizes the stable operation control of the unmanned aerial vehicle by adjusting the clamping position and the controllable arrangement of the gravity center; Specifically, the intelligent analysis gravity center offset control system measures the hydraulic elongation value and obtains the running deflection value of the real-time parameter state during the unmanned aerial vehicle rescue process, and realizes real-time gravity center offset adjustment and stable operation control through intelligent control of the unmanned aerial vehicle, so as to satisfy the intelligent gravity center deflection control of the unmanned aerial vehicle during the rescue process, improve the success probability of safe rescue of the unmanned aerial vehicle, and reduce the falling risk of the rescued object.

[0018] 2. When the size is rescued, the unmanned aerial vehicle flies above the object to be rescued and determines the specific position, the hydraulic rod one drives the outer clamping rod to complete the deflection, the outer clamping rod is deflected to the oblique upper side of the object to be rescued and performs a pre-clamping action, then the outer clamping rod and the inner clamping rod are adjusted according to the shape of the object to be rescued, and then the double-drive motor is started to drive the inner clamping rod to expand and partially wrap the surface of the object to be rescued, and then the hydraulic rod one is started to drive the outer clamping rod to expand and wrap the surface of the object to be rescued, finally, the double-drive motor is reversed to drive the inner clamping rod to complete the contraction clamping action one, and the hydraulic rod one is contracted to complete the contraction clamping action two of the outer clamping rod on the surface of the object to be rescued, under the combined action of the contraction clamping action one and the contraction clamping action two, the reliable clamping of the object to be rescued is completed; That is, through the double-sided grabbing assembly, the contraction clamping action one and the contraction clamping action two are cooperated according to the shape of the object to be rescued, so that the object to be rescued is stably clamped more closely and tightly. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creating laborious work.

[0020] Figure 1 It is a structural schematic diagram of the present application;

[0021] Figure 2 It is a bottom view schematic diagram of the present application;

[0022] Figure 3 It is a front view cutaway view of the installation structure of the double-sided grabbing structure of the present application;

[0023] Figure 4 It is a split view of the installation structure of the double-sided grabbing structure of the present application;

[0024] Figure 5 It is a schematic view of the unfolded state of the side swing assembly of the present application;

[0025] Figure 6 It is a side view of the present application;

[0026] Figure 7 It is a side view of the present application.

[0027] In the figure: 1, base plate; 2, power unit; 3, wing; 4, side main rod; 5, upper adapter plate; 6, lower adapter plate; 7, side swing plate; 8, grabbing frame; 9, bearing plate; 10, mounting seat; 11, outer clamping rod; 12, inner clamping rod; 13, hydraulic rod one; 14, double-drive motor; 15, axial motor; 16, hydraulic cylinder; 17, sleeve; 18, hydraulic rod two; 19, sliding groove; 20, sliding block; 21, mounting rod; 22, counterweight box; 23, hydraulic rod three; 24, counterweight. DETAILED DESCRIPTION

[0028] The technical solutions of the present application will be described clearly and completely below in combination with embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0029] Embodiment one: In view of the problem of single-sided grabbing of goods during the operation of the unmanned aerial vehicle, the following technical solution is proposed:

[0030] Referring to Figures 1-7 , the rechargeable unmanned aerial vehicle for safety rescue in the embodiment includes a base plate 1 and a control panel embedded on the base plate 1. The upper end of the base plate 1 is provided with at least three power units 2, and the output end of the power unit 2 is provided with a wing 3. The power unit includes a power device and an energy supplementing device. The energy supplementing device is composed of a rechargeable lithium battery and a wire electrically connected with the power device, providing the unmanned aerial vehicle with fast energy supplementing endurance capability.

[0031] Referring to Figure 2 and Figure 3 , the middle part of the two ends of the base plate 1 is provided with a downwardly directed side main rod 4. The bottom of the side main rod 4 is rotatably provided with symmetrically arranged side swing assemblies. The side swing assembly includes a side swing plate 7 rotatably connected with the bottom of the side main rod 4 through a rotating assembly 25. The upper end of the side swing plate 7 is provided with a lower adapter plate 6 and an upper adapter plate 5 from bottom to top.

[0032] The outer sides of the upper connecting plate 5 and the lower connecting plate 6 are jointly provided with a grabbing frame 8, and the outer side of the grabbing frame 8 is horizontally movably provided with a double-side grabbing assembly, wherein the side swing assembly is integrally formed by the side swing plate 7, the lower connecting plate 6 and the upper connecting plate 5, and the side swing of the grabbing frame 8 after loading the object to be rescued is formed, thereby preventing the problem of unstable flight caused by the shift of the center of gravity after loading.

[0033] Referring to Figure 3 and Figure 6 , the bottom of the base plate 1 is rotatably provided with a hydraulic rod two 18, the output end of the hydraulic rod two 18 is slidably connected with the upper connecting plate 5, the outer side of the side swing plate 7 is provided with a counterweight box 22 connected with the lower connecting plate 6, the inner middle part of the counterweight box 22 is provided with a hydraulic rod three 23 facing the outer side, and the output end of the hydraulic rod three 23 is provided with a counterweight block 24.

[0034] As known from the above, the side swing assembly is driven by the hydraulic rod two 18, the upper connecting plate 5, the lower connecting plate 6 and the grabbing frame 8 are jointly controlled to swing outwardly by the hydraulic rod two 18, and the double-side grabbing assembly installed on the side swing assembly is controlled to swing outwardly after grabbing the object to be rescued, thereby realizing the shift control of the center of gravity.

[0035] Referring to Figure 4 and Figure 5 , the rotating assembly 25 includes a pin shaft and a fixed cylinder, the fixed cylinder is connected with the bottom of a pair of side swing plates 7 respectively, the pin shaft is rotatably arranged in the middle part of the fixed cylinder and fixedly connected with the side main rod 4 at both ends, the upper surface of the upper connecting plate 5 is provided with a sliding groove 19 corresponding to the hydraulic rod two 18, and the output end of the hydraulic rod two 18 is rotatably provided with a sliding block 20 matched with the sliding groove 19.

[0036] Based on the above-mentioned side swing action, when the upper connecting plate 5, the lower connecting plate 6 and the grabbing frame 8 jointly complete the swinging action outwardly, the rotation of the fixed cylinder and the pin shaft on the side main rod 4 is completed, and the hydraulic rod two 18 on both sides can form a sliding telescopic action between the base plate 1 and the upper connecting plate 5 under the matching of the sliding block 20 and the sliding groove 19, so as to finally realize the side swing of the grabbing frame 8.

[0037] The lower end of the grabbing frame 8 is provided with a bearing plate 9, the bottom of the bearing plate 9 extends below the lower end of the outer clamping rod 11, and the bearing plate 9 is used for stable landing support of the unmanned aerial vehicle.

[0038] Structure principle: The unmanned aerial vehicle designed in the present application is basically similar to the unmanned aerial vehicle in the prior art, and the difference is in the structure aspect that the added side swing assembly combined with the double-side grabbing assembly realizes dynamic deflection adjustment and adaptive clamping during safe rescue of the unmanned aerial vehicle, so as to solve the problem that the object to be rescued cannot be clamped due to single-side clamping, improve the success probability of safe rescue of the unmanned aerial vehicle, and reduce the falling risk of the rescued object.

[0039] The control panel is provided with a gravity center offset control system, which comprises a parameter acquisition module, a deviation analysis module, a calibration compensation module and a processor in communication connection;

[0040] The parameter acquisition module is used for acquiring the hydraulic elongation value and the running deflection value during the operation of the unmanned aerial vehicle, wherein the hydraulic elongation value represents the telescopic length of the hydraulic rod two 18 during the current operation of the unmanned aerial vehicle, which is measured by the displacement sensor arranged outside the hydraulic rod two 18, and the running deflection value represents the vertical deflection angle during the current operation of the unmanned aerial vehicle, which is measured by the gyroscope arranged on the double-sided grabbing assembly, and the hydraulic elongation value and the running deflection value are sent to the deviation analysis module through the processor;

[0041] The deviation analysis module immediately analyzes the running state of the unmanned aerial vehicle according to the received hydraulic elongation value and running deflection value, and the specific analysis process is as follows: the hydraulic elongation value and the running deflection value within the time threshold are acquired, and the hydraulic elongation value and the running deflection value are calculated according to the formula SP=(aYS×bYP) 2 / k to obtain the elongation deflection coefficient SP, a and b are both preset proportional factor coefficients, and a>b>0, k is a preset correction factor coefficient and k>0;

[0042] The elongation deflection coefficient is compared and analyzed with the system preset elongation deflection coefficient standard value: if the elongation deflection coefficient is greater than the elongation deflection coefficient standard value, a control signal is generated and sent to the calibration compensation module, the calibration compensation module converts the control signal into a control signal and sends it to the hydraulic rod one 13, the hydraulic rod two 18 and the hydraulic rod three 23 respectively, and the hydraulic rod one 13, the hydraulic rod two 18 and the hydraulic rod three 23 receive the control signal and make the following actions respectively:

[0043] Action one: after the unmanned aerial vehicle completes the grabbing of the rescued object through the double-sided grabbing assembly and takes off, the hydraulic rod two 18 arranged on the double-sided grabbing assembly is started, the hydraulic rod two 18 drives the sliding block 20 to slide in the sliding groove 19 to the inside, so that the upper connecting plate 5, the lower connecting plate 6 and the grabbing frame 8 all complete the stretching to the outside with the rotating assembly 25 as the shaft, and the real-time elongation action of the hydraulic rod two 18 drives the upper connecting plate 5, the lower connecting plate 6 and the grabbing frame 8 to stretch to the outside until the gravity balance is met, so that the rescued object on the grabbing frame 8 can realize the gravity of the overall structure of the unmanned aerial vehicle and the rescued object always centered, maintaining the stable operation of the unmanned aerial vehicle under the condition that the position of the grabbing frame 8 relative to the unmanned aerial vehicle main body is changed;

[0044] Action two: hydraulic rod three 23 starts, hydraulic rod three 23 starts to drive the counterweight 24 to move in the counterweight box 22, so that the center of gravity can be adjusted after the position movement of the counterweight 24 is completed in combination with the stretching position of the current rescued object relative to the unmanned aerial vehicle, in this process, the additional adjustment of the center of gravity is realized according to the current carried rescued object, and the probability of running skew of the unmanned aerial vehicle is reduced.

[0045] If the elongation deflection coefficient is less than or equal to the elongation deflection coefficient standard value, no signal is generated.

[0046] The basic principle is that the additional side swing assembly is combined with the double-sided grabbing assembly to realize dynamic deflection adjustment and adaptive clamping of the unmanned aerial vehicle during safe rescue, so as to solve the problem that unilateral clamping makes it difficult to clamp according to the size of the object to be rescued, and the stable operation control of the unmanned aerial vehicle is realized by adjusting the clamping position and the controllable center of gravity distribution.

[0047] Specifically, the real-time parameter state of the unmanned aerial vehicle during rescue is measured by the hydraulic elongation value and the running deflection value is obtained, and the real-time center of gravity deviation adjustment and stability operation control are realized by intelligently controlling the unmanned aerial vehicle, so as to satisfy the intelligent center of gravity deflection control of the unmanned aerial vehicle during rescue, and prevent the problem of falling risk of the rescued object during rescue.

[0048] Embodiment two: in combination with embodiment one, the problem that the unmanned aerial vehicle is difficult to adaptively and reliably clamp according to the size of the rescued object is solved by the following technical solution.

[0049] Referring to Figures 1-6 As shown in the figure, the double-sided grabbing assembly includes an outer clamping rod 11 arranged in a hinge, and the outer ends of the inner ring side of the outer clamping rod 11 are symmetrically provided with inner clamping rods 12. The outer clamping rod 11 and the inner clamping rod 12 exert double clamping actions on the object to be rescued. The upper end of the grabbing frame 8 is transversely installed with a sleeve 17. The inner side of the sleeve 17 is installed with a hydraulic cylinder 16 connected with the lower connecting plate 6. The extension end of the hydraulic cylinder 16 extends through the sleeve 17 to the outside and is installed with a mounting seat 10 at the end. The outer side of the mounting seat 10 inside is provided with a mounting rod 21. The mounting rod 21 is symmetrically and rotationally installed with a hydraulic rod one 13 having an output end rotationally connected with the inner end of the outer clamping rod 11.

[0050] The grabbing action of the object to be rescued includes the following: the unmanned aerial vehicle flies above the object to be rescued and determines the specific position. The hydraulic rod one 13 is started to drive the outer clamping rod 11 to complete the deflection. The outer clamping rod 11 is deflected to the oblique upper side of the object to be rescued and performs a pre-clamping action. Then, the outer clamping rod 11 and the inner clamping rod 12 are adjusted according to the shape of the object to be rescued.

[0051] Then the double-drive motor 14 is started to drive the inner clamping rod 12 to expand and partially wrap the surface of the object to be rescued, and then the hydraulic rod 1 13 is started to drive the outer clamping rod 11 to expand and wrap the surface of the object to be rescued, and finally the double-drive motor 14 is reversed to drive the inner clamping rod 12 to complete the first shrink clamping action, and the hydraulic rod 1 13 is retracted to complete the second shrink clamping action of the outer clamping rod 11 on the surface of the object to be rescued. Under the combined action of the first shrink clamping action and the second shrink clamping action, the object to be rescued is reliably clamped;

[0052] The end of the outer clamping rod 11 on the inner ring side is provided with an axial motor 15, the output end of the axial motor 15 is provided with a double-drive motor 14, and the output end of the double-drive motor 14 is connected to the inner end of the inner clamping rod 12. Based on the reliable clamping process of the object to be rescued, the inner clamping rod 12 can be driven by the axial motor 15 to complete horizontal rotation, so as to be more closely clamped to the surface of the object to be rescued to complete the stable clamping action. The double-drive motor 14 is a motor with double output shafts, which is a prior art and will not be described in detail here.

[0053] The structure has the advantages that: in this embodiment, the double-sided grabbing assembly is used to cooperate with the first shrink clamping action and the second shrink clamping action according to the shape of the object to be rescued, so that the object to be rescued is stably clamped more closely and tightly.

[0054] In summary: on the one hand, the side swing assembly is added to realize dynamic deflection adjustment and adaptive clamping of the unmanned aerial vehicle during safe rescue, and the stable operation control of the unmanned aerial vehicle is realized by adjusting the clamping position and the gravity center distribution. Specifically, the intelligent analysis gravity center offset control system measures the hydraulic extension value and obtains the running deflection value of the real-time parameter state during the rescue process of the unmanned aerial vehicle, and realizes real-time gravity center offset adjustment and stable operation control through intelligent control of the unmanned aerial vehicle, so as to make intelligent gravity center deflection control for the unmanned aerial vehicle during rescue to prevent the problem of falling risk of the rescued object during rescue.

[0055] On the other hand, the double-sided grabbing assembly is used to cooperate with the first shrink clamping action and the second shrink clamping action according to the shape of the object to be rescued, so that the object to be rescued is stably clamped more closely and tightly. Under the mutual action of the two, the rechargeable unmanned aerial vehicle has better effect in safe rescue scene.

[0056] The preferred embodiments of the application disclosed above are only to facilitate the elucidation of the application. The preferred embodiments do not describe all the details of the application and limit the application to the specific embodiments. Obviously, many modifications and variations can be made in light of the teachings above. The description is chosen and described in order to provide the best illustration of the application and its practical application to those skilled in the art and to enable those skilled in the art to best utilize the application. The application is only limited by the claims as well as their full scope and equivalents.

Claims

1. A rechargeable unmanned aerial vehicle (UAV) for safety rescue applications, comprising a base plate (1) and a control panel embedded in the base plate (1), characterized in that, At least three power units (2) are installed on the upper end of the base plate (1), and the output end of the power unit (2) is equipped with an wing (3). The middle of both ends of the base plate (1) is equipped with a downward-facing side main rod (4), and the bottom of the side main rod (4) is rotatably equipped with symmetrically arranged side swing components. The side swing assembly includes a side swing plate (7) that is rotatably connected to the bottom of the side main rod (4) via a rotating assembly (25). A lower connecting plate (6) and an upper connecting plate (5) are installed on the upper end of the side swing plate (7) from bottom to top. A gripping frame (8) is installed on the outer side of the upper connecting plate (5) and the lower connecting plate (6). A double-sided gripping assembly is horizontally and movably installed on the outer side of the gripping frame (8). A hydraulic rod two (18) is rotatably mounted on the bottom of the base plate (1). The output end of the hydraulic rod two (18) is slidably connected to the upper connecting plate (5). A counterweight box (22) connected to the lower connecting plate (6) is mounted on the outer side of the side swing plate (7). A hydraulic rod three (23) facing outward is mounted in the inner middle of the counterweight box (22). A counterweight block (24) is mounted on the output end of the hydraulic rod three (23).

2. The rechargeable drone for safety rescue according to claim 1, characterized in that, The dual-sided gripping assembly includes an outer clamping rod (11) hinged together, and an inner clamping rod (12) is symmetrically arranged on the outer end of the inner ring side of the outer clamping rod (11). The outer clamping rod (11) and the inner clamping rod (12) apply a double clamping action to the object to be rescued.

3. The rechargeable drone for safety rescue according to claim 2, characterized in that, A sleeve (17) is horizontally installed at the upper end of the gripping frame (8). A hydraulic cylinder (16) connected to the lower plate (6) is installed on the inner side of the sleeve (17). A mounting seat (10) is installed at the end of the hydraulic cylinder (16) that extends through the sleeve (17) to the outside. A mounting rod (21) is provided on the outer side inside the mounting seat (10). A hydraulic rod (13) with its output end rotatably connected to the inner end of the outer clamping rod (11) is symmetrically and rotatably installed in the middle of the mounting rod (21).

4. The rechargeable drone for safety rescue according to claim 3, characterized in that, An axial motor (15) is installed at the end of the inner ring side of the outer clamping rod (11). A dual-drive motor (14) is installed at the output end of the axial motor (15). The output end of the dual-drive motor (14) faces outward and is connected to the inner end of the inner clamping rod (12).

5. The rechargeable drone for safety rescue according to claim 1, characterized in that, The rotating assembly (25) includes a pin and a fixed cylinder. The fixed cylinder is connected to the bottom of a pair of side swing plates (7) respectively. The pin is rotatably located in the middle of the fixed cylinder and its two ends are fixedly connected to the side main rod (4).

6. The rechargeable drone for safety rescue according to claim 5, characterized in that, The upper plate (5) has a sliding groove (19) on the upper surface corresponding to the hydraulic rod (18), and the output end of the hydraulic rod (18) is rotatably mounted with a slider (20) that matches the sliding groove (19).

7. The rechargeable drone for safety rescue according to claim 1, characterized in that, The lower end of the gripping frame (8) is equipped with a support plate (9), the bottom of which extends to the lower end of the outer clamping rod (11), and the support plate (9) is used to support the smooth landing of the UAV.

8. The rechargeable drone for safety rescue according to claim 1, characterized in that, The control panel is equipped with a center of gravity offset control system, which includes a parameter acquisition module, a deviation analysis module, a calibration compensation module, and a processor that are connected in communication. The parameter acquisition module is used to acquire the hydraulic elongation value and operational deflection value during the operation of the UAV, and sends the hydraulic elongation value and operational deflection value to the deviation analysis module via the processor. The deviation analysis module immediately analyzes the UAV's load data and tilt data based on the received hydraulic elongation value and operational deflection value to generate control signals, and sends the control signals to the calibration compensation module to control the movement of the components.

Images