Balanced hoisting and mounting structure of large-load unmanned aerial vehicle and robot dog in cooperation

Abstract

The application discloses a large-load unmanned aerial vehicle and robot dog cooperative balance hoisting and mounting structure and relates to the technical field of unmanned aerial vehicle hoisting and mounting. The unmanned aerial vehicle body bottom is provided with an electric turntable, and the electric turntable control assembly is electrically connected with the unmanned aerial vehicle body control assembly; the electric turntable bottom is provided with a bidirectional screw rod sliding table, the two groups of sliding blocks of the bidirectional screw rod sliding table are connected with sliding frames, and the inner sides of the sliding frames are connected with guide frames. The application drives the fixed plate to clamp the two sides of the robot dog through the bidirectional screw rod sliding table, drives the transmission frame to clamp the robot dog during the clamping of the fixed plate, drives the unmanned aerial vehicle to move to adjust the position after the fixed plate and the transmission frame are attached to one side of the robot dog, and then the robot dog is located at the center position of the unmanned aerial vehicle, the balance of the robot dog after being fixed and mounted is ensured, the fixing time is short, and the unmanned aerial vehicle can quickly mount the robot dog.

Description

Technical Field

[0001] This invention relates to the field of drone hoisting technology, specifically to a balanced hoisting structure for a heavy-duty drone and a robot dog working together. Background Technology

[0002] Unmanned vehicles, or drones for short, are devices operated using radio remote control equipment and onboard program control devices, or operated autonomously, either completely or intermittently, by an onboard computer. Drones are often used in conjunction with robotic dogs, which are combined through a balanced hoisting structure to form an air-ground collaborative robot system. This is a highly forward-looking and practical research direction in the field of robotics. This combination can overcome the limitations of a single platform and achieve perception, movement, and task execution capabilities in more complex environments. The drone is fixed to the robotic dog by being equipped with a balanced hoisting structure.

[0003] Existing drone balancing and mounting structures mainly involve inserting the fixing fixture's fasteners into the connectors on the back of the drone for fixation. Before fixing the drone, operators need to precisely adjust it to ensure it is centered at the bottom of the drone to guarantee a secure hold. This adjustment process is cumbersome and results in low drone mounting efficiency. If the drone is directly clamped and fixed using the fixture after adjustment, the drone's position may shift, affecting the drone's stability during flight.

[0004] To address the aforementioned issues, innovative design based on existing methods is urgently needed. Summary of the Invention

[0005] The purpose of this invention is to provide a balanced hoisting and mounting structure for a heavy-duty UAV and a robotic dog, in order to solve the problems in the background art where the UAV balanced hoisting and mounting structure lacks an automatic calibration structure, resulting in the need for manual adjustment of the UAV's position, which is cumbersome and the robotic dog has low fixed mounting efficiency. The technical solution of this invention addresses the problem of the overly simplistic nature of existing technical solutions and provides a solution that is significantly different from existing technologies.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a balanced hoisting and mounting structure for a heavy-duty UAV and a robot dog, comprising a UAV body, an electric turntable installed at the bottom of the UAV body, and an electric turntable control component electrically connected to the UAV body control component; a bidirectional screw slide table installed at the bottom of the electric turntable, with two sets of sliders of the bidirectional screw slide table each connected to a sliding frame; a guide frame connected to the inner side of the sliding frame; a main gear slidably connected inside the guide frame; a fixed plate connected to one end of the main gear outside the sliding frame; a transmission frame slidably connected to the sliding frame; a secondary gear connected to one side of the transmission frame; and a long rack rotatably connected to the inner side of the sliding frame via a rotating shaft, with the long rack meshing with the secondary rack and the long rack meshing with the main rack.

[0007] A flow guiding component is disposed at the bottom of the electric turntable, and a support component is disposed at the bottom of the electric turntable.

[0008] Preferably, the flow guiding assembly has flow guiding frames rotatably connected to both sides of the sliding frame, a flow guiding plate slidably connected to the inner side of the flow guiding frame, a connecting frame connected to the bottom of the electric turntable, and the connecting frame rotatably connected to the flow guiding plate, and a baffle plate connected to the bottom of the sliding frame.

[0009] Preferably, the support assembly has a lifting plate slidably connected to the inner side of the fixed plate, a support plate is provided below the lifting plate and the support plate is slidably connected to the fixed plate, the transmission frame is slidably connected to a transmission block on one side of the fixed plate, a pushing block is provided below the transmission block and the pushing block is slidably connected to the transmission frame.

[0010] Preferably, a limiting rod is connected to the inner side of the sliding frame, and the limiting rod is slidably connected to the auxiliary gear.

[0011] Preferably, an extension frame is connected to the outer side of the sliding frame, a first spring is connected to the inner sidewall of the extension frame, and the other end of the first spring is connected to the main gear.

[0012] Preferably, eight sets of rotating rollers are rotatably connected to the outside of the fixed plate, and rubber pads are provided on the surface of the eight sets of rotating rollers.

[0013] Preferably, sealing gaskets are provided on both sides of the sliding frame, and the sealing gaskets are in contact with the guide frame.

[0014] Preferably, the transmission block is connected to a second spring on one side inside the transmission frame, and the other end of the second spring is connected to the inner wall of the transmission frame. The transmission block is slidably connected to a first guide rod, and the first guide rod is fixedly connected to the transmission frame. The first guide rod passes through a hole formed in the center of the second spring.

[0015] Preferably, the support plate has limit protrusions on both sides, and the limit protrusions are connected to a third spring. The other end of the second spring is connected to the inner wall of the fixed plate. The limit protrusions are slidably connected to a second guide rod, and the second guide rod passes through the hole formed in the center of the third spring.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] This invention uses a bidirectional lead screw slide to drive a fixing plate to clamp the mechanical dog on both sides. During the clamping process, the fixing plate will drive the transmission frame to clamp the mechanical dog. After the fixing plate and transmission frame are in contact with one side of the mechanical dog, they will drive the drone to move and adjust its position, thereby placing the mechanical dog in the center of the drone. This ensures the balance of the mechanical dog after it is fixedly mounted, and the fixing time is short, which makes it easy for the drone to quickly mount the mechanical dog.

[0018] In this invention, the transmission frame rotates during its movement, causing the guide frame and guide plate to rotate. The guide frame and guide plate protect and guide the front and rear sides of the robot dog, thus preventing external airflow from affecting the robot dog. During the drone's turning process, the electric turntable is activated to rotate, adjusting the squareness of the guide frame and guide plate, thereby ensuring the protective and guiding effect of the guide frame and guide plate. Furthermore, the angle of the guide frame and guide plate can be adjusted according to the size of the robot dog, thereby improving the guiding effect of the guide frame and guide plate.

[0019] In this invention, the transmission frame moves the transmission block during the process of fitting with the mechanical dog. The movement of the transmission block causes the support plate to unfold, and the unfolded support plate supports the bottom side of the mechanical dog, improving the stability of the mechanical dog after it is fixed. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the bottom structure of the present invention;

[0022] Figure 3 For the present invention Figure 2 Enlarged schematic diagram of the structure at point A in the middle;

[0023] Figure 4 This is a schematic diagram of the internal structure of the guide frame of the present invention;

[0024] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of the structure at point B;

[0025] Figure 6 For the present invention Figure 4 Enlarged schematic diagram of the structure at point C;

[0026] Figure 7 This is a schematic diagram of the front structure of the guide frame of the present invention;

[0027] Figure 8 For the present invention Figure 7 Enlarged schematic diagram of the structure at point D;

[0028] Figure 9 For the present invention Figure 7 Enlarged schematic diagram of the structure at point E in the middle;

[0029] Figure 10 This is a schematic diagram of the side structure of the guide frame of the present invention.

[0030] In the diagram: 1. UAV body; 2. Electric turntable; 3. Sliding frame; 4. Guide frame; 5. Main rack; 6. Fixing plate; 7. Transmission frame; 8. Secondary rack; 9. Long rack; 10. Flow guide assembly; 101. Flow guide frame; 102. Flow guide plate; 103. Connecting frame; 104. Baffle plate; 11. Support assembly; 111. Lifting plate; 112. Support plate; 113. Transmission block; 114. Pushing block; 12. Bidirectional lead screw slide. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figures 1-10This invention provides a technical solution: a balanced hoisting and mounting structure for a heavy-duty drone and a robot dog working together, comprising a drone body 1, an electric turntable 2 mounted on the bottom of the drone body 1, and the control components of the electric turntable 2 being electrically connected to the control components of the drone body 1; a bidirectional lead screw slide 12 mounted on the bottom of the electric turntable 2, with two sets of sliders of the bidirectional lead screw slide 12 each connected to a sliding frame 3; a guide frame 4 connected to the inner side of the sliding frame 3; a main gear 5 slidably connected inside the guide frame 4, and the main gear 5 slidably connected to the sliding frame 3; a fixing plate 6 connected to one end of the main gear 5 outside the sliding frame 3; and a transmission frame 7 slidably connected to the sliding frame 3. The moving frame 7 is connected to the auxiliary gear 8 on one side of the sliding frame 3. The inner side of the sliding frame 3 is rotatably connected to the long rack 9 via a rotating shaft. The long rack 9 is meshed with the auxiliary gear 8 and the long rack 9 is meshed with the main gear 5. By activating the bidirectional screw slide 12, the fixing plate 6 is driven to clamp the mechanical dog on both sides. During the clamping process, the fixing plate 6 will drive the transmission frame 7 to clamp the mechanical dog. After the fixing plate 6 and the transmission frame 7 are in contact with one side of the mechanical dog, they will drive the drone to move and adjust its position, thereby making the mechanical dog located in the center of the drone. This ensures the balance of the mechanical dog after it is fixedly mounted, and the fixing time is short, which makes it easy for the drone to quickly mount the mechanical dog.

[0033] A flow guiding component 10 is disposed at the bottom of the electric turntable 2, and a support component 11 is disposed at the bottom of the electric turntable 2.

[0034] In one embodiment of the present invention, the flow guiding assembly 10 has a flow guiding frame 101 rotatably connected to both sides of the sliding frame 3, a flow guiding plate 102 slidably connected to the inner side of the flow guiding frame 101, a connecting frame 103 connected to the bottom of the electric turntable 2, and the connecting frame 103 rotatably connected to the flow guiding plate 102. A shielding plate 104 is connected to the bottom of the sliding frame 3. During the movement of the transmission frame 7, the flow guiding frame 101 and the flow guiding plate 102 will be driven to rotate. The flow guiding frame 101 and the flow guiding plate 102 can protect and guide the front and rear sides of the mechanical dog, thereby preventing the external airflow from affecting the mechanical dog. During the turning process of the drone, the electric turntable 2 will be started to rotate to adjust the direction of the flow guiding frame 101 and the flow guiding plate 102, thereby ensuring the protective and flow guiding effect of the flow guiding frame 101 and the flow guiding plate 102.

[0035] In one embodiment of the present invention, the support assembly 11 has a lifting plate 111 slidably connected to the inner side of the fixed plate 6, a support plate 112 is provided below the lifting plate 111, and the support plate 112 is slidably connected to the fixed plate 6. The transmission frame 7 is located on one side of the fixed plate 6 and is slidably connected to a transmission block 113. A pushing block 114 is provided below the transmission block 113 and is slidably connected to the transmission frame 7. During the process of the transmission frame 7 and the mechanical dog being in contact, the transmission block 113 will be driven to move. The movement of the transmission block 113 will drive the support plate 112 to unfold. The unfolding of the support plate 112 will support the bottom side of the mechanical dog and improve the stability of the mechanical dog after it is fixed.

[0036] In one embodiment of the present invention, a limiting rod is connected to the inner side of the sliding frame 3, and the limiting rod is slidably connected to the auxiliary toothed rod 8. By setting the limiting rod, the auxiliary toothed rod 8 can be limited, reducing the possibility of the auxiliary toothed rod 8 deviating during horizontal movement. An extension frame is connected to the outer side of the sliding frame 3, and a first spring is connected to the inner side wall of the extension frame. The other end of the first spring is connected to the main toothed rod 5. By setting the first spring, the main toothed rod 5 can be pushed back to the initial position, making it convenient for the operator to use the device to calibrate and fix the mechanical dog. Eight sets of rotating rollers are rotatably connected to the outer side of the fixing plate 6, and rubber pads are provided on the surface of the eight sets of rotating rollers. By setting the eight sets of rotating rollers, the occurrence of friction damage between the fixing plate 6 and the two sides of the mechanical dog is reduced.

[0037] As one embodiment of the present invention, sealing gaskets are provided on both sides of the sliding frame 3, and the sealing gaskets are in contact with the guide frame 101. By providing a sealing strip, the connection between the guide frame 101 and the sliding frame 3 is sealed to a certain extent, thereby preventing the rapid entry of external air and causing the connection of the guide frame 101 to vibrate.

[0038] In one embodiment of the present invention, a second spring is connected to one side of the transmission block 113 inside the transmission frame 7, and the other end of the second spring is connected to the inner wall of the transmission frame 7. By providing the second spring, the transmission block 113 can quickly return to its initial position. The transmission block 113 is slidably connected to a first guide rod, and the first guide rod is fixedly connected to the transmission frame 7. The first guide rod passes through the hole formed in the center of the second spring. By providing the first guide rod, the second spring can be limited, reducing the possibility of deformation and misalignment of the second spring. Limiting protrusions are provided on both sides of the support plate 112, and the limiting protrusions are connected to a third spring. The other end of the second spring is connected to the inner wall of the fixing plate 6. By providing the third spring, the support plate 112 can return to its initial position. The limiting protrusions are slidably connected to a second guide rod, and the second guide rod passes through the hole formed in the center of the third spring. By providing the second guide rod, the third spring can be limited, reducing the possibility of deformation and misalignment of the third spring.

[0039] Working principle: First, when the robot dog needs to be mounted, the drone is lowered above the robot dog, and the robot dog is located between the two sets of sliding frames 3. Then, the bidirectional screw slide 12 is activated. The bidirectional screw slide 12 drives the two sets of sliding frames 3 to come closer to the sides of the robot dog. The movement of the sliding frames 3 will drive the fixed plate 6 to move. When one set of fixed plates 6 is in contact with the robot dog, since the bottom of the drone is equipped with rollers, the fixed plate 6 will push the drone to move after it is in contact with the robot dog. The movement of the drone causes the robot dog to be in contact with the other set of fixed plates 6, so that both sets of fixed plates 6 are in contact with the sides of the robot dog.

[0040] Secondly, after the two sets of fixing plates 6 are attached to both sides of the mechanical dog, the bidirectional screw slide 12 is still activated. The operation of the bidirectional screw slide 12 will still drive the sliding frame 3 to move, so that the main gear 5 is gradually housed inside the sliding frame 3. Since the main gear 5 is meshed with the long rack 9 and the long rack 9 is meshed with the secondary gear 8, the movement of the main gear 5 will drive the long rack 9 to rotate. The rotation of the long rack 9 will drive the secondary gear 8 to move horizontally. The movement of the secondary gear 8 will drive the transmission frame 7 to move. The movement of the transmission frame 7 will gradually fit with the mechanical dog. Since the transmission frames 7 are grouped in pairs and located on the front and rear sides of the mechanical dog, when one side of the transmission frame 7 fits with the mechanical dog, it will push the drone to move, so that the other side of the transmission frame 7 fits with the mechanical dog, thus making the mechanical dog located in the center of the drone. The two sets of fixing plates 6 and four sets of transmission frames 7 clamp and fix the sides of the mechanical dog.

[0041] Then, during the process of the transmission frame 7 and the mechanical dog being in contact, the transmission block 113 will be pushed to move inward to the transmission frame 7. Since the bottom slope of the transmission block 113 is in contact with the top slope of the push block 114, the horizontal movement of the transmission block 113 will push the push block 114 to move vertically. The vertical movement of the push block 114 will push the lower lifting plate 111 to move downward. Since the lower slope of the lifting plate 111 is in contact with the support plate 112, the downward movement of the lifting plate 111 will push the support plate 112 to move towards the mechanical dog. After the support plate 112 is unfolded, it will support the bottom sides of the mechanical dog, thereby improving the stability of the mechanical dog during the transportation process.

[0042] Finally, during the flight of the drone carrying the mechanical dog, the air guide frame 101 and the air guide plate 102 will provide airflow protection to the front and rear sides of the mechanical dog to prevent external airflow from affecting the stability of the mechanical dog after it is carried. When the drone turns, it will start the electric turntable 2 to rotate and adjust the square shape of the air guide frame 101 and the air guide plate 102, thereby ensuring the protective airflow guidance effect of the air guide frame 101 and the air guide plate 102.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A balanced hoisting and mounting structure for a heavy-duty UAV and a robot dog working together, comprising the main body of the UAV (1), characterized in that: The bottom of the drone body (1) is equipped with an electric turntable (2), and the control component of the electric turntable (2) is electrically connected to the control component of the drone body (1). The bottom of the electric turntable (2) is equipped with a bidirectional screw slide (12). Both sets of sliders of the bidirectional screw slide (12) are connected to a sliding frame (3). The inner side of the sliding frame (3) is connected to a guide frame (4). The guide frame (4) is slidably connected to a main gear (5), and the main gear (5) is slidably connected to the sliding frame (3). The main gear (5) is connected to a fixed plate (6) at one end outside the sliding frame (3). The sliding frame (3) is slidably connected to a transmission frame (7). The transmission frame (7) is connected to a secondary gear (8) on one side of the sliding frame (3). The inner side of the sliding frame (3) is rotatably connected to a long rack (9) through a rotating shaft, and the long rack (9) is meshed with the secondary rack (8), and the long rack (9) is meshed with the main rack (5). A flow guiding component (10) is disposed at the bottom of the electric turntable (2); Support assembly (11), which is disposed at the bottom of electric turntable (2); The flow guiding assembly (10) has a flow guiding frame (101) rotatably connected to both sides of the sliding frame (3), a flow guiding plate (102) slidably connected to the inner side of the flow guiding frame (101), a connecting frame (103) connected to the bottom of the electric turntable (2), and the connecting frame (103) rotatably connected to the flow guiding plate (102), and a baffle plate (104) connected to the bottom of the sliding frame (3). The support assembly (11) has a lifting plate (111) slidably connected to the inner side of the fixed plate (6). A support plate (112) is provided below the lifting plate (111), and the support plate (112) is slidably connected to the fixed plate (6). A transmission block (113) is slidably connected to the transmission frame (7) on one side of the fixed plate (6). A push block (114) is provided below the transmission block (113), and the push block (114) is slidably connected to the transmission frame (7). A second spring is connected to one side of the transmission block (113) inside the transmission frame (7), and the other end of the second spring is connected to the inner wall of the transmission frame (7). A first guide rod is slidably connected to the transmission block (113), and the first guide rod is fixedly connected to the transmission frame (7). The first guide rod passes through the hole formed in the center of the second spring. The support plate (112) has limit protrusions on both sides, and the limit protrusions are connected to a third spring. The other end of the third spring is connected to the inner wall of the fixing plate (6). The limit protrusions are slidably connected to a second guide rod, and the second guide rod passes through the hole formed in the center of the third spring. An extension frame is connected to the outside of the sliding frame (3), and a first spring is connected to the inner side wall of the extension frame, with the other end of the first spring connected to the main gear rod (5).

2. The balanced hoisting and mounting structure for a heavy-duty UAV and a robot dog in collaboration as described in claim 1, characterized in that: The sliding frame (3) is provided with sealing gaskets on both sides, and the sealing gaskets are in contact with the guide frame (101).

3. The balanced hoisting and mounting structure for a heavy-duty UAV and a robot dog in collaboration as described in claim 2, characterized in that: The sliding frame (3) is connected to a limiting rod on its inner side, and the limiting rod is slidably connected to the auxiliary toothed rod (8).

4. The balanced hoisting and mounting structure for a heavy-duty UAV and a robot dog in collaboration as described in claim 3, characterized in that: The fixed plate (6) is rotatably connected to eight sets of rotating rollers, and the surfaces of the eight sets of rotating rollers are provided with rubber pads.

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