A multi-rotor, heavy-load firefighting drone with wind-resistant self-positioning function

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology and discloses a multi-rotor, heavy-duty firefighting UAV with wind-resistant self-positioning function. The UAV includes a main body with a load-bearing device at its lower end. The device uses a U-shaped connecting shell as its core load-bearing structure. In the initial state, two sets of L-shaped connecting plates and the U-shaped connecting shell form a closed frame. A limiting groove combination at the lower end constrains the rope to maintain horizontality. Combined with a winding reel groove and a self-locking hook, this reduces initial swaying of the suspended object. When encountering crosswinds and tilting, a screw-driven T-shaped slider synchronously rotates one side of the L-shaped connecting plate around its axis, causing the rope to disengage from the rigid constraint of the limiting groove to accommodate minor adjustments to the suspended object's center of gravity. Simultaneously, the rotating plate on the outer side of the L-shaped connecting plate expands or contracts outwards with the attitude adjustment, reducing wind resistance interference with correction by changing the windward area. A dual-axis drive motor is simultaneously activated to precisely control the rope's deployment and retraction, achieving wind load balance through structural adjustment without significant tilting of the fuselage.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a multi-rotor, heavy-load firefighting UAV with wind-resistant self-positioning function. Background Technology

[0002] With the increasing demand for fire rescue in high-rise residential buildings, mountainous forests and other areas, traditional fire rescue methods are gradually facing the challenge of limited operational scenarios. In high-rise fires, the range of fire truck water cannons is difficult to cover heights exceeding 100 meters, while in forest fires, the complex terrain makes it difficult for ground rescue forces to quickly reach the core fire point. Against this backdrop, multi-rotor firefighting drones, with their vertical take-off and landing and maneuverability, are gradually becoming an important supplementary equipment to the fire rescue system.

[0003] To meet the actual needs of firefighting operations, high payload capacity has become one of the core research and development directions for this type of drone. It needs to carry loads such as fire extinguishing bombs, high-pressure water hoses, and rescue supplies. Therefore, its structural design needs to take into account both strength and lightweight characteristics. Technologies such as carbon fiber composite materials and integrated molded frames have been gradually applied to the manufacturing of the fuselage and arms.

[0004] Meanwhile, firefighting operations are often accompanied by complex weather conditions such as strong winds and turbulence, which places higher demands on the wind resistance and stability of drones. The industry has adopted RTK Beidou-Vision-SLAM multi-source fusion positioning technology to maintain accurate self-positioning in scenarios such as urban high-rise buildings and mountain canyons, supporting the efficient conduct of operations such as fire point reconnaissance and precise delivery.

[0005] Regarding the aforementioned and existing related technologies, the arms of heavy-load firefighting drones are mostly designed with a fixed length. When encountering crosswinds of level 6 or above, they can only counteract the crosswind thrust by tilting the fuselage significantly around the roll axis and using the horizontal component of the rotor lift. This method has a fatal flaw: heavy loads will tilt synchronously due to inertia. The swing amplitude is large when flexibly mounted, and the shear stress at the mounting point increases sharply when rigidly mounted. In actual operations, accidents such as fatigue fracture of the mounting bracket and fire extinguishing bomb falling off mid-air have occurred. At the same time, the significant tilt of the fuselage leads to a large error in the landing point of firefighting materials, making it impossible to accurately hit high-rise fire points or the core area of ​​forest fires, directly affecting the efficiency of rescue. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that the existing technology has the disadvantage of relying on a large tilt of the attitude to resist crosswinds, which leads to uncontrolled load swaying and a surge in structural risks. To this end, we propose a multi-rotor heavy-load firefighting drone with wind-resistant self-positioning function.

[0007] To achieve the above objectives, this application adopts the following technical solution: a multi-rotor heavy-duty firefighting drone with wind-resistant self-positioning function, comprising a drone body, a load-bearing device at the lower end of the drone body, the drone body including a fuselage and an arm frame; the arm frame including two sets of supporting upper arms horizontally arranged with the fuselage, two sets of supporting lower arms perpendicularly penetrating the fuselage, and a fixing rod, the fixing rod being disposed between the two sets of supporting lower arms and the lower end of the fixing rod being fixedly connected to the load-bearing device, the two sets of supporting upper arms being fixedly connected to the two sets of supporting lower arms and the fixing rod, and motor mounts being provided at both ends of the two sets of supporting upper arms and the fixing rod; T-shaped grooves are opened inside both ends of the fixing rod, servo motors are fixedly installed inside the T-shaped grooves, and lead screws are fixedly installed at the drive ends of the servo motors. One end is rotatably connected to a fixed rod. A T-shaped slider is threaded on the outer side of the lead screw. The T-shaped slider matches a T-shaped groove. Sealing strips are provided on both sides of the T-shaped slider. The sealing strips fit against the outer side of the fixed rod and are slidably connected to it. A limit frame is fixedly installed on the outer side of the T-shaped slider. Two sets of connecting rods are fixedly installed on the outer side of the limit frame. A locking component is fixedly installed at the end of the two sets of connecting rods away from the limit frame. The two sets of locking components are respectively locked onto the outer side of the two sets of support arms and are slidably connected to them. An adjusting rod is rotatably set on the part of the locking component that extends beyond the support arm. The adjusting rod is located between the U-shaped grooves of the locking component. The end of the adjusting rod away from the locking component is rotatably connected to the motor base through a locking component two. A support rod is rotatably set on the lower end of the T-shaped slider. One end of the support rod is rotatably connected to the outer side of the load-bearing device.

[0008] Preferably, both ends of the two sets of support arms are provided with sliding grooves that match the motor base.

[0009] Preferably, both ends of the adjusting rod are provided with engagement grooves, and both engagement parts one and two are provided with electromagnetic latches at their lower ends. The driving end of the electromagnetic latches is magnetically attracted to the inside of the engagement grooves.

[0010] Preferably, the load-bearing device includes a U-shaped connecting shell, and two sets of L-shaped connecting plates are rotatably disposed at the lower end of the U-shaped connecting shell, and both sets of L-shaped connecting plates are rotatably connected to the support rod.

[0011] Preferably, the connection point between the support rod and the L-shaped connecting plate is located on the upper half of one side of the L-shaped connecting plate.

[0012] Preferably, the upper end of the U-shaped connecting shell is fixedly connected to the lower end of the machine body. Two sets of fixing plates are fixedly installed inside the U-shaped connecting shell. A dual-axis drive motor is fixedly installed on the side of the two sets of fixing plates that are close to each other. Two sets of rope winding reels are fixedly installed on the drive end of the dual-axis drive motor. A rope is sleeved on the outside of the rope winding reel, and a hook is suspended at one end of the rope.

[0013] Preferably, a triangular connecting frame is fixedly installed at the lower end of the dual-axis drive motor, and two sets of hydraulic rods are respectively provided at the lower end of the triangular connecting frame. A U-shaped push rod is fixedly installed at the driving end of the hydraulic rod.

[0014] Preferably, the U-shaped push rod is positioned on one side of the rope, and the width of the front end of the U-shaped push rod is much larger than the diameter of the rope.

[0015] Preferably, multiple rotating plates are rotatably installed on one side of both sets of L-shaped connecting plates, and the multiple rotating plates are unfolded to the side away from the rope winding reel.

[0016] Preferably, the lower ends of the two sets of L-shaped connecting plates are provided with two sets of limiting grooves, and the limiting grooves at the lower ends of the two sets of L-shaped connecting plates are combined to form a complete square groove, which is correspondingly set on the outside of the rope.

[0017] The technical effects and advantages of this invention are as follows: In this invention, the device uses a U-shaped connecting shell as the core supporting body. The upper end is fixedly connected to the machine body and a dual-shaft drive motor and a rope winding reel are securely installed through a fixing plate. The lower end is rotatably connected to two sets of L-shaped connecting plates through bearings. The rotation connection point between the L-shaped connecting plates and the support rod is optimized to the upper half of the lever arm. In the initial state, the two sets of L-shaped connecting plates and the U-shaped connecting shell form a closed frame. The lower end limiting groove combination constrains the rope to keep it horizontal. Combined with the winding reel groove and self-locking hook, the initial swaying of the suspended object is reduced from the root. When encountering crosswinds and the machine body tilts, the T-shaped slider driven by the screw synchronously drives the L-shaped connecting plate on one side to rotate around the axis, so that... The rope detaches from the rigid constraint of the limiting groove to accommodate the fine adjustment of the suspended object's center of gravity. Simultaneously, the rotating plate on the outside of the L-shaped connecting plate expands or retracts outward with the attitude adjustment, reducing wind resistance interference with the correction by changing the windward area. The dual-axis drive motor is activated simultaneously to precisely control the rope's extension and retraction. The hydraulic rod at the lower end of the triangular connecting frame drives the wide U-shaped push rod to regularly extend and retract, pushing the rope upward. The rope tension is adjusted in real time to suppress the dynamic swaying of the suspended object. Combined with the mechanical dispersion of the triangular connecting frame and the high-strength support of the fixed plate, stress concentration at the mounting point is avoided. This allows for wind load balance through structural adjustment without significant tilting of the machine body, greatly reducing shear stress at the mounting point and the swing amplitude of the heavy object, thus improving deployment accuracy. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0019] Figure 1 This is a schematic diagram of the overall structure of the UAV body of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the UAV body of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the overall structure of the boom frame of the present invention; Figure 4 This is a schematic diagram of the arm frame structure of the present invention. Figure 1 ; Figure 5 For the present invention Figure 4 Enlarged structural diagram of Figure A in the middle; Figure 6 This is a schematic diagram of the arm frame structure of the present invention. Figure 2 ; Figure 7 This is a schematic diagram of the arm frame structure of the present invention. Figure 3 ; Figure 8 This is a schematic diagram of the arm frame and load-bearing device of the present invention; Figure 9 This is a schematic diagram of the overall structure of the load-bearing device of the present invention; Figure 10 This is a schematic diagram of the internal structure of the load-bearing device of the present invention; Figure 11 This is a schematic diagram of the L-shaped connecting plate structure of the present invention.

[0020] Legend: 1. UAV body; 11. Fuselage; 12. Arm frame; 121. Support arm; 1211. Slide groove; 122. Support forearm; 123. Fixing rod; 1231. T-slot; 1232. Servo motor; 1233. Lead screw; 1234. T-slide block; 1235. Sealing strip; 124. Limiting frame; 1241. Connecting rod; 1242. Clamping part one; 1243. Adjusting rod; 1244. Electromagnetic pin 1. Lock; 1245. Engaging slot; 125. Support rod; 13. Motor base; 131. Engaging part two; 14. Buffer leg; 2. Load-bearing device; 21. U-shaped connecting shell; 211. Fixing plate; 212. Dual-shaft drive motor; 213. Triangular connecting frame; 214. Hydraulic rod; 215. U-shaped push rod; 22. L-shaped connecting plate; 221. Rotating plate; 222. Limiting slot; 23. Rope winding reel; 231. Rope; 232. Hook. Detailed Implementation

[0021] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0022] Reference Figure 1-3As shown, this invention provides a technical solution: a multi-rotor heavy-load firefighting drone with wind-resistant self-positioning function, including a drone body 1. A load-bearing device 2 is installed at the lower end of the drone body 1. The drone body 1 is based on an integrated frame structure, divided into a fuselage 11 and an arm frame 12. The fuselage 11 and arm frame 12 adopt an integral molding design, which ensures structural rigidity to bear large loads, and allows for concealed wiring through reserved space and openings inside the arm frame 12, avoiding exposed and damaged wiring. It also optimizes the weight distribution of the fuselage 11. The equipment compartment plate at the front of the fuselage 11 provides a stable mounting platform for various electrical equipment. The mounting holes at the bottom can precisely fix the antenna, and the GPS antenna at the rear ensures flight positioning accuracy. The radar brackets at the front and rear are equipped with obstacle avoidance radar, building a solid defense for flight safety in complex fire environments. The battery box of the unit adopts a vertical plug-in design, which not only facilitates quick battery replacement to extend the working time, but also further optimizes the center of gravity distribution of the fuselage 11 through the vertical layout. The arm frame 12 fixed to the outside of the fuselage 11 has the dual functions of protection and load-bearing. The motor mount 13 at its outer node is precisely installed with motors. The two motor drive ends of each axis are symmetrically arranged and fixed with rotors. The twelve rotors form an H-shaped six-axis coaxial layout. This layout greatly improves flight stability through the anti-torque cancellation effect of the upper and lower rotors. At the same time, the strong power output of the twelve rotors forms superimposed lift. Combined with the structural strength of the integrated frame, it significantly enhances the load capacity of the UAV body 1. The lower end of the fuselage 11 is equipped with a buffer leg 14, which can effectively buffer the impact of the UAV body 1 when it lands. The load-bearing device 2 under the fuselage 11 can be well adapted to the needs of heavy load operation.

[0023] Reference Figure 1-8 As shown in this embodiment: the boom frame 12 includes two sets of supporting booms 121 horizontally arranged with the body 11, two sets of supporting slender arms 122 vertically penetrating the body 11, and a fixing rod 123. The fixing rod 123 is arranged between the two sets of supporting slender arms 122 and the lower end of the fixing rod 123 is fixedly connected to the load-bearing device 2. The two sets of supporting booms 121 are fixedly connected to the two sets of supporting slender arms 122 and the fixing rod 123.

[0024] Reference Figure 1-8 As shown in this embodiment: both ends of the two sets of support arms 121 and the fixed rod 123 are provided with motor seats 13. The motors are precisely installed on the upper end of the motor seats 13. The rotors are fixed on the two motor drive ends that are symmetrically arranged on each axis. The motor seats 13 at both ends of the two sets of support arms 121 are slidably connected to them.

[0025] Reference Figure 1-8As shown in this embodiment: T-shaped grooves 1231 are provided inside both ends of the fixed rod 123. A servo motor 1232 is fixedly installed inside the T-shaped groove 1231. A lead screw 1233 is fixedly installed at the drive end of the servo motor 1232. One end of the lead screw 1233 is rotatably connected to the fixed rod 123. A T-shaped slider 1234 is threaded onto the outer side of the lead screw 1233. The T-shaped slider 1234 matches the T-shaped groove 1231. Sealing strips 1235 are provided on both sides. The sealing strips 1235 are attached to the outside of the fixed rod 123 and are slidably connected to it. A limit frame 124 is fixedly installed on the outside of the T-shaped slider 1234. Two sets of connecting rods 1241 are fixedly installed on the outside of the limit frame 124. A locking part 1242 is fixedly installed at the end of the two sets of connecting rods 1241 away from the limit frame 124. The two sets of locking parts 1242 are respectively locked on the outside of the two sets of support arms 122 and are slidably connected to them.

[0026] Reference Figure 1-8 As shown in this embodiment: the portion of the locking component 1242 that extends beyond the supporting arm 122 is rotatably provided with an adjusting rod 1243. The adjusting rod 1243 is located between the U-shaped slots of the locking component 1242, and the end of the adjusting rod 1243 away from the locking component 1242 is rotatably connected to the motor base 13 through the locking component 2 131.

[0027] Reference Figure 1-8 As shown in this embodiment: both ends of the two sets of support arms 121 are provided with sliding grooves 1211, which are matched with the motor base 13.

[0028] Reference Figure 1-8 As shown in this embodiment: both ends of the adjusting rod 1243 are provided with engagement grooves 1245, and both the lower ends of engagement component one 1242 and engagement component two 131 are provided with electromagnetic pin locks 1244. The driving end of the electromagnetic pin lock 1244 is magnetically attracted to the inside of the engagement groove 1245.

[0029] Reference Figure 1-8As shown in this embodiment: a support rod 125 is rotatably mounted on the lower end of the T-shaped slider 1234. One end of the support rod 125 is rotatably connected to the outer side of the load-bearing device 2. When the left side of the drone body 1 is exposed to wind, the crosswind will exert a lateral thrust to the left on the drone body 1. In order to counteract this thrust, the drone body 1 needs to adjust its attitude to decompose the lift into a horizontal component to the right. At this time, the fuselage will tilt to the left around the front-rear axis. The recovery method of simply tilting the fuselage to the left and relying on the horizontal component of the lift to counteract the crosswind does not change the essence of torque balance. It relies entirely on attitude compensation, which has significant disadvantages in heavy load scenarios. It is easy to cause a significant increase in the left roll angle due to the need to generate sufficient horizontal component to the right. Due to inertia, the object will tilt. With flexible mounting, the swing amplitude can reach 30-50cm. With rigid mounting, the shear stress at the mounting point increases sharply, which poses the risk of the heavy object falling off and fatigue damage to the mounting structure. It will also generate a horizontal component force due to tilting, and the landing point will be offset to the left, making it impossible to accurately deliver to the target position. At the same time, when the wind speed exceeds level 8, the tilt angle needs to exceed 25° by attitude offset alone. At this time, the downwash of the rotor is prone to airflow separation, and the lift drops sharply. Moreover, the inertia of heavy load will cause attitude adjustment to lag, which may lead to excessive fuselage tilting and the risk of rollover, and the wind resistance level is limited. At this time, we can optimize the balance from the essence of the moment arm without adjusting the speed or relying on large attitude offset, and perfectly avoid the defects of traditional solutions.

[0030] When the UAV body 1 encounters a left-side wind and tilts or deviates to the left, the arm extension system first triggers an action through the fusion of data from its internal wind sensor, IMU attitude sensor, and GPS. The flight control system calculates a target extension of 10-20cm based on wind speed and load. This is achieved by driving the servo motor 1232 on the tilted side to rotate the lead screw 1233, which in turn moves the T-shaped slider 1234 and the limit frame 124 on the outside of the lead screw 1233. Simultaneously, the two sets of connecting rods 1241 on the outside push the locking piece 1242 to move on the supporting forearm 122, thereby pushing the adjusting rod 1243 to gradually extend and extend the length of the motor mounts 13, motors, and rotors on both sides of the supporting arm 121. During this process, the rotation of the adjusting rod 1243 is restricted by the electromagnetic latch lock 1244, thus maintaining the stability of the UAV body 1. The adjusting rod 1243 extends in steps at a speed of 3-5cm / s. The rotor extends and retracts in 2-3 small amplitudes while simultaneously fine-tuning the rotor lift to counteract torque fluctuations. After reaching the target length, the electromagnetic pin lock 1244 at the lower end of the adjusting rod 1243 quickly locks and secures the rotor. The entire process takes only 0.5-0.9 seconds and is smooth and shock-free. This process, by increasing the length of the left torque arm, reduces the fuselage tilt angle by 40%-50% under 6-8 level winds. This not only significantly reduces the sway amplitude of heavy loads and reduces the stress at the mounting points by 30%, but also improves the landing point of the fire extinguishing bombs. With the error controlled within 0.5-1m, the wind resistance level is improved by 1-2 levels, while reducing rotor power consumption by 10%-15% and extending the endurance by 15%-20%. While ensuring flight stability and operational accuracy, it is adapted to the fire rescue needs under extreme wind conditions. The table below is a comparison table of experimental data of heavy-load fire-fighting drones under crosswind conditions: Experimental conditions: drone payload 100kg, fuselage wheelbase 2.8m, left arm extension range 0-20cm, crosswind direction is pure left wind;

[0031]

[0032] Reference Figure 1-2 , Figure 8-11 As shown in this embodiment: the load-bearing device 2 includes a U-shaped connecting shell 21, and two sets of L-shaped connecting plates 22 are rotatably arranged at the lower end of the U-shaped connecting shell 21. Both sets of L-shaped connecting plates 22 are rotatably connected to the support rod 125. The connection point between the support rod 125 and the L-shaped connecting plate 22 is located in the upper half of one side of the L-shaped connecting plate 22.

[0033] Reference Figure 8-11As shown in this embodiment: the upper end of the U-shaped connecting shell 21 is fixedly connected to the lower end of the body 11. Two sets of fixing plates 211 are fixedly installed inside the U-shaped connecting shell 21. A dual-axis drive motor 212 is fixedly installed on the side of the two sets of fixing plates 211 that are close to each other. Two sets of rope winding reels 23 are fixedly installed on the drive end of the dual-axis drive motor 212. A rope 231 is sleeved on the outside of the rope winding reel 23. A hook 232 is suspended at one end of the rope 231.

[0034] Reference Figure 8-11 As shown in this embodiment: a triangular connecting frame 213 is fixedly installed at the lower end of the dual-axis drive motor 212. Two sets of hydraulic rods 214 are respectively provided at the lower end of the triangular connecting frame 213. A U-shaped push rod 215 is fixedly installed at the driving end of the hydraulic rod 214. The U-shaped push rod 215 is correspondingly arranged on one side of the rope 231, and the front end width of the U-shaped push rod 215 is much larger than the diameter of the rope 231.

[0035] Reference Figure 8-11 As shown in this embodiment: multiple sets of rotating plates 221 are rotatably installed on one side of each of the two sets of L-shaped connecting plates 22, and the multiple sets of rotating plates 221 are all unfolded to the side away from the rope winding reel 23.

[0036] Reference Figure 8-11 As shown in this embodiment: two sets of limiting grooves 222 are provided at the lower ends of the two sets of L-shaped connecting plates 22. The limiting grooves 222 at the lower ends of the two sets of L-shaped connecting plates 22 are combined to form a complete square groove. The square groove is set at the position of the rope 231 to limit the lateral movement of the rope 231. When the UAV body 1 encounters tilt and is corrected, the T-shaped slider 1234 on the outside of the lead screw 1233 moves, which synchronously drives the L-shaped connecting plate 22 at the lower end of the U-shaped connecting shell 21 to rotate.

[0037] In the initial state, the two sets of L-shaped connecting plates 22 and the U-shaped connecting shell 21 form an integral frame, housing the two sets of cable winding reels 23. The cables 231 at the lower ends of the two sets of cable winding reels 23 are always at the same horizontal level under the constraint of the limiting groove 222, reducing the risk of swaying of the suspended object below the cable 231. When the drone body 1 tilts, the overall frame shifts accordingly. The cable 231 tilts to one side under the constraint of the limiting groove 222, causing a slight change in the center of gravity of the suspended object below. At this time, the movement of the T-shaped slider 1234 causes the L-shaped connecting plate 22 on one side to rotate, allowing the cable 231 to break free from the constraint of the limiting groove 222 and move freely. Fine-tuning is performed by adjusting the center of gravity to reduce the interference of the suspended object's center of gravity on the aircraft's attitude. This reduces the change in the suspended object's center of gravity by rotating one side of the L-shaped connecting plate 22, while the rotating plate 221 of the other side of the L-shaped connecting plate 22 opens accordingly. This reduces wind resistance under the UAV body 1. At the same time, by activating two sets of hydraulic rods 214, the U-shaped push rod 215 is extended and retracted in a regular manner to extend the rope 231 outward. By increasing the tension of the rope 231, the swaying of the suspended object is reduced. Meanwhile, the regular movement of the U-shaped push rod 215 can break the resonant swaying trend of the suspended object and avoid continuous increase in swaying, ensuring that high-precision operations such as fire-fighting material delivery and high-pressure water hose docking are not affected.

[0038] Working principle: In the initial state, the two sets of L-shaped connecting plates 22 at the lower end of the U-shaped connecting shell 21 of the loading device 2 form a closed frame with it. The limiting groove 222 constrains the rope 231 to keep it horizontal to reduce the swaying of the suspended object. When encountering a left-side wind, the servo motor 1232 drives the lead screw 1233 to move the T-shaped slider 1234. Through the connecting rod 1241 and the adjusting rod 1243, the motor seats 13 at both ends of the support arm 121 are moved to extend the left arm. At the same time, the T-shaped slider 1234 drives the support arm to move. The strut 125 rotates the L-shaped connecting plate 22 on one side, allowing the rope 231 to disengage from the limiting groove 222 to adapt to the center of gravity fine adjustment. The rotating plate 221 unfolds to reduce wind resistance. The electromagnetic pin lock 1244 locks the adjusting rod 1243 to maintain the stability of the boom. The dual-axis drive motor 212 controls the rope 231's retraction and extension. The hydraulic rod 214 at the lower end of the triangular connecting frame 213 drives the U-shaped push rod 215 to regularly extend and retract, adjusting the rope 231's tension and suppressing swaying. The buffer outrigger 14 ensures safe landing and improves operational accuracy and wind resistance.

[0039] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A multi-rotor heavy load firefighting unmanned aerial vehicle with wind-resistant self-positioning function, characterized in that, The utility model provides an unmanned plane, unmanned plane body lower end is provided with the load device, and unmanned plane body includes fuselage and machine arm frame, machine arm frame includes two groups of support big arm with fuselage horizontal arrangement, two groups of support small arm with fuselage vertical through arrangement and fixed link, and fixed link is arranged between two groups of support small arm and the lower end of fixed link is fixedly connected with load device, and two groups of support big arm are fixedly connected between two groups of support small arm and fixed link, and both ends of two groups of support big arm and fixed link are provided with motor seat, the inside of both ends of fixed link is provided with T type sliding groove, T type sliding groove is fixedly installed with servo motor in the inside, and the drive end of servo motor is fixedly installed with screw rod, and one end of screw rod is rotatably connected with fixed link, and the outside of screw rod is screw mounted with T type sliding block, and T type sliding block is matched with T type sliding groove, and both sides of T type sliding block are provided with sealing strip, and sealing strip is attached to the outside of fixed link and is slidably connected with it, and the outside of T type sliding block is fixedly installed with limit frame, and the outside of limit frame is fixedly installed with two groups of connecting rods, and one end of two groups of connecting rods away from limit frame is fixedly installed with engaging piece no.

2. The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function according to claim 1, characterized in that: Both ends of two groups of support big arm are provided with sliding slot. 3.The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function of claim 1, wherein: Both ends of adjusting rod are provided with engaging slot, and the lower end of engaging piece no.

4. The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function according to claim 1, characterized in that: The support rod is rotatably connected to the outside of the load device.

5. The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function according to claim 1, characterized in that: The U-shaped connecting shell is fixedly connected to the lower end of the fuselage.

6. The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function according to claim 5, characterized in that: The U-shaped push rod is arranged on one side of the rope, and the width of the front end of the U-shaped push rod is greater than the diameter of the rope.

7. The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function according to claim 6, characterized in that: A plurality of rotating plates are rotatably installed on one side of the L-shaped connecting plate.

8. The multi-rotor heavy load firefighting drone with wind-resistant self-positioning function according to claim 7, characterized in that: Two groups of limiting grooves are formed on the lower end of the L-shaped connecting plate. The U-shaped push rod is arranged on one side of the rope.

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