Airborne rear delivery cabin for rescue of unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an airborne rear delivery cabin for unmanned aerial vehicle rescue, which comprises a rear delivery cabin body, and is characterized by further comprising an inner hanging frame fixedly sleeved outside the rear delivery cabin body; the outer hanging frame is movably connected with the inner hanging frame through a plurality of universal connecting pieces, and the outer hanging frame is provided with fixing lugs used for being connected with an unmanned aerial vehicle; the universal connecting piece is provided with a balance weight cantilever and a balance weight piece, and a first-level posture stabilizing system enabling the rear delivery cabin body to be kept horizontal in the flying process is formed. Through a first-stage stabilizing system composed of the universal connecting piece and the balance weight, pitching and rolling motion of the unmanned aerial vehicle is effectively decoupled, no matter how the unmanned aerial vehicle tilts, the rear delivery cabin body can passively maintain an approximately horizontal state under the action of the inertia principle, angular motion transmitted to the wounded is greatly reduced, and the unmanned aerial vehicle is more stable. The comfort level is improved; and the risk of secondary injury is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a machine-mounted evacuation cabin for unmanned aerial vehicle rescue. BACKGROUND

[0002] Unmanned aerial vehicles show great potential in emergency rescue, especially in personnel evacuation. Rectangular cabin bodies are the first choice for evacuation cabins because of their regular internal space and convenience for fixing the wounded and equipment. However, the existing unmanned aerial vehicle evacuation cabins have the following technical defects:

[0003] Firstly, the traditional rigid mounting method makes any attitude change (such as pitch and roll) of the unmanned aerial vehicle in flight directly and without buffering to the cabin body, resulting in the wounded in the cabin suffering from severe shaking and angular acceleration, which easily causes discomfort and even secondary injury;

[0004] Secondly, during the landing stage, the flat bottom surface of the rectangular cabin body has poor stability on rugged terrain and is prone to overturning. At the same time, the landing impact energy is directly transmitted to the cabin body through the rigid structure, lacking an effective buffering mechanism, which poses a safety threat to the wounded;

[0005] In addition, high-frequency vibrations (such as engine vibration and airflow disturbance) generated during the flight of the unmanned aerial vehicle are also transmitted to the cabin, intensifying the discomfort and fatigue of the wounded.

[0006] Therefore, the existing technology lacks an intelligent evacuation cabin that can effectively isolate the attitude change of the unmanned aerial vehicle in flight, absorb the landing impact, and adapt to complex terrain, which seriously restricts the application of unmanned aerial vehicles in high-quality medical rescue. SUMMARY

[0007] The purpose of the present application is to overcome the shortcomings of the prior art and provide a machine-mounted evacuation cabin for unmanned aerial vehicle rescue. The evacuation cabin aims to achieve active attitude stabilization and vibration isolation of the cabin body during flight, as well as providing effective buffering and anti-overturning support during landing, thereby maximizing the comfort and safety of the wounded during transfer.

[0008] The machine-mounted evacuation cabin for unmanned aerial vehicle rescue proposed by the present application comprises an evacuation cabin body, and further comprises: an inner hanger fixedly sleeved to the outside of the evacuation cabin body; an outer hanger movably connected with the inner hanger through a plurality of universal connecting pieces, the outer hanger being provided with a fixing ear for connecting the unmanned aerial vehicle; wherein the universal connecting pieces are provided with a counterweight cantilever and a counterweight, constituting a first attitude stabilization system for keeping the evacuation cabin body horizontal during flight; the bottom corners of the evacuation cabin body are each provided with a second buffering and landing support system for buffering the landing impact and adapting to the terrain;

[0009] To solve the problem of traditional unmanned aerial vehicle rear cabin "rigid mounting leading to discomfort of the wounded and unstable landing", the rear cabin realizes breakthrough through "two-stage stabilization + buffer support", the inner hanger is rigidly fixed with the rear cabin, the outer hanger is movably connected with the inner hanger through a universal connecting piece, cooperates with a counterweight cantilever and a counterweight, and forms a first attitude stabilization system, when the unmanned aerial vehicle pitches and rolls, the counterweight maintains vertical due to inertia, the attitude change is isolated through double-axis swinging (around X-axis and Y-axis) of the universal connecting piece, the rear cabin remains horizontal, the angular acceleration borne by the wounded is reduced, and the second buffer system at the bottom absorbs impact during landing, adapts to rugged terrain, and avoids secondary injury caused by rigid transmission, the design adapts to emergency rescue scenes, takes into account flight smoothness and landing safety, and solves the pain points of traditional cabin body "severe shaking and easy overturning during landing".

[0010] As a further optimized scheme of the present application, the two-stage buffer and landing support system comprises a spherical hinge seat and a balance-support assembly connected with the spherical hinge seat, and the lower end of the balance-support assembly is connected with a pad through a spherical hinge;

[0011] The two-stage buffer system adapts to complex terrain through "spherical hinge + support assembly": the spherical hinge seat is connected with the balance-support assembly through a spherical hinge, allowing the assembly to swing at multiple angles, the pad is connected with the lower end of the assembly through a spherical hinge, and the pad can adjust the angle according to the terrain during landing, so that the cabin body is prevented from tilting due to rugged terrain, at the same time, the spherical hinge structure can absorb high-frequency vibration (such as engine vibration and airflow turbulence) during flight, reduce the slight shaking transmitted to the cabin, and improve the comfort of the wounded, the pad directly contacts the ground, and auxiliary buffering is realized through its own deformation, in cooperation with the axial buffering of the balance-support assembly, forming "angle adaptation + impact absorption" double protection, to ensure stable landing.

[0012] As a further optimized scheme of the present application, the balance-support assembly comprises: a fixed cylinder, the upper end of which is connected with the spherical hinge seat through a spherical head; an active rod, the upper end of which is slidably arranged in the lower end of the fixed cylinder, and the lower end of which is connected with the pad through a spherical hinge; and a buffer spring, which is sleeved on the active rod and is used for providing axial buffering;

[0013] The balance-support assembly realizes axial buffering through "sliding + spring": during landing, the impact force pushes the active rod to slide upward along the fixed cylinder, compresses the buffer spring, converts the impact energy into spring elastic potential energy, avoids rigid transmission, the spherical head is connected with the spherical hinge seat through a spherical hinge, ensuring that the assembly can adjust the angle according to the terrain and adapt to concave-convex ground, and the spherical hinge connection between the active rod and the pad further improves the terrain adaptability, that is, even if there is a slope on the ground, the pad can also adhere to the ground to prevent the cabin body from rolling over, and this structure takes into account buffering and attitude adjustment, and adapts to complex rescue scenes such as mountains and ruins.

[0014] As a further optimized scheme of the present application, the ball head is internally provided with a pressure-activated locking mechanism; the pressure-activated locking mechanism comprises a limit pin that can be triggered by the axial movement of the movable rod, and when subjected to landing impact, the limit pin can be radially popped out and abut against the inner wall of the ball joint seat, converting the ball joint connection into a rigid connection;

[0015] The pressure-activated locking mechanism automatically switches the connection state during landing: in normal flight, the limit pin is retracted, and the ball joint connection allows the assembly to swing to isolate vibrations; during landing, the axial movement of the movable rod triggers the mechanism, the limit pin is radially popped out and abuts against the inner wall of the ball joint seat, converting the flexible ball joint connection into a rigid connection, preventing the cabin from shaking due to external forces (such as crosswind, uneven ground) after landing, while dispersing the landing impact force to multiple limit pins to avoid damage caused by excessive force on a single point. This design realizes the switching of "flexible in flight and stable in landing", improving the landing safety.

[0016] As a further optimized scheme of the present application, the rearward sending cabin body is internally provided with a landing gravity center balancing mechanism; the landing gravity center balancing mechanism comprises a micro gear box and a lead screw assembly that can be driven by the movement of the movable rod, and a counterweight slider driven by the lead screw assembly; when landing, the movement of the movable rod drives the micro gear box to drive the lead screw assembly, causing the counterweight slider to move to adjust the gravity center of the cabin, resisting overturning;

[0017] The landing gravity center balancing mechanism converts landing impact into stable power: during landing, the axial movement of the movable rod drives the micro gear box through the transmission structure (such as rack and pinion), which in turn drives the lead screw assembly to rotate, causing the counterweight slider to move along the lead screw - if the cabin has a tendency to overturn (such as landing on one side first), the slider moves to the other side, generating an opposite torque to offset the overturning force, actively adjusting the gravity center. This design converts the destructive impact energy into active stabilizing force, avoiding the side overturning of traditional cabins caused by gravity center deviation, adapting to uneven landing surfaces, and improving the landing reliability of complex terrains.

[0018] As a further optimized scheme of the present application, the bottom of the rearward sending cabin body is further provided with a stabilizing box, and the four corners of the stabilizing box are hingedly connected with retractable outward-expanding limit frames; when the outward-expanding limit frames are extended, they can be pushed outward and semi-enclose the adjacent balance-supporting assemblies to limit their outward-expanding angles;

[0019] The stable box and the outwardly expanded limiting frame further ensure landing stability: before landing, the outwardly expanded limiting frame extends, semi-surrounds the balance-supporting assembly and limits the outward expansion angle, preventing the assembly from swinging excessively due to impact and causing the cabin body to tilt; the telescopic design of the limiting frame does not affect the normal vibration absorption of the assembly during flight, and only plays a role during the landing stage, avoiding the risk of overturning caused by disordered swinging of the assembly, which provides "angle constraint" for the secondary buffer system, cooperates with the gravity balance mechanism, forms double anti-overturning protection, and is suitable for high-impact and multi-terrain landing scenes.

[0020] As a further optimized scheme of the present application, the number of universal connecting pieces is four, which are respectively located at the middle of the four perimeters of the inner hanging rack, so that the inner hanging rack and the rear cabin body can swing relative to the outer hanging rack around the X axis and the Y axis;

[0021] The four universal connecting pieces are arranged around the four perimeters of the inner hanging rack to form a symmetrical double-axis swinging structure: swinging around the X axis can isolate the horizontal roll movement of the unmanned aerial vehicle, and swinging around the Y axis can isolate the pitch movement, ensuring that the rear cabin can maintain horizontal through swinging regardless of the maneuvering of the unmanned aerial vehicle, the symmetrical arrangement makes the stress uniform, avoids overload damage of single-sided connecting pieces, and at the same time improves the stability of attitude adjustment and reduces the shaking amplitude of the cabin body, this design covers the main attitude change direction of the unmanned aerial vehicle, realizes omnidirectional low-frequency attitude isolation, and provides a stable riding environment for the wounded.

[0022] As a further optimized scheme of the present application, the rear cabin body includes a cabin body and a hatch hinged thereto, and a stretcher is arranged in the cabin body through a fixing frame, and an oxygen cylinder storage bin is arranged.

[0023] The rear cabin body takes into account the rescue function and practicality: the hinged design of the hatch facilitates the entry and exit of the wounded, the fixing frame stably fixes the stretcher to avoid displacement of the stretcher during flight and landing, the oxygen cylinder storage bin is independently arranged to facilitate the storage of first-aid equipment and meet the oxygen supply needs of the wounded during the journey, adapt to medical rescue scenes, the internal space of the cabin body is regular, other first-aid equipment (such as a monitor placement position) can be added according to needs, and at the same time, the hatch can be provided with an observation window to facilitate the observation of the outside by the wounded or the checking of the inside by medical staff, improving the convenience and safety of rescue.

[0024] As a further optimized scheme of the present application, the cushion block is a bowl-shaped structure with a reverse buckle, which can improve the landing stability: the reverse buckle design makes the contact area of the cushion block with the ground larger, disperses the landing pressure, and at the same time, the concave part can accommodate small protrusions (such as gravel and soil blocks), avoiding the tilting of the cabin body due to ground debris, and also enhancing the elastic deformation ability of the cushion block to assist in absorbing impact energy, cooperating with the spring buffer of the balance-supporting assembly to further reduce the landing impact.

[0025] As a further optimized scheme of the application, the primary attitude stabilization system is used to isolate the pitching and rolling movements of the unmanned aerial vehicle, and the secondary buffer and landing support system is used to absorb high-frequency vibrations, buffer landing impact and adapt to rugged terrain, so as to realize attitude stabilization and safe landing in the whole flight phase.

[0026] The primary and secondary systems work together to cover the whole flight cycle requirements: in flight, the primary system isolates low-frequency and large-amplitude pitching / rolling, and the secondary system absorbs high-frequency and small-amplitude vibrations, so that the double effects make the cabin smooth and reduce the discomfort of the wounded, and when landing, the secondary system first adapts to the terrain through the spherical hinge and the pad, and then absorbs the impact through the buffer spring and the locking mechanism to fix the attitude, and the inertia of the counterweight of the primary system assists in maintaining the horizontal state of the cabin body, and cooperates with the center of gravity balancing mechanism and the outward expansion limiting frame to ensure stable landing. This kind of collaborative design of "flight smoothness + landing safety" solves the problem that the traditional rear cabin cannot meet the requirements of multiple scenes, and adapts to the whole process of unmanned aerial vehicle emergency rescue.

[0027] The airborne rear cabin for unmanned aerial vehicle rescue provided by the application has the following beneficial effects:

[0028] (1) The primary stabilization system composed of a universal connecting piece and a counterweight effectively decouples the pitching and rolling movements of the unmanned aerial vehicle, so that the rear cabin body can be passively maintained in a generally horizontal state under the action of the principle of inertia, greatly reducing the angular motion transmitted to the wounded, improving the comfort and reducing the risk of secondary injury;

[0029] (2) The double-stage vibration reduction design of "primary stabilization + secondary buffer" is adopted, the primary system mainly isolates low-frequency and large-amplitude attitude changes, and the spherical hinge at the bottom and the balance-support assembly form a secondary buffer system, which can effectively absorb high-frequency and small-amplitude vibrations, and this kind of collaborative action provides much smoother smoothness than a single suspension system;

[0030] (3) When landing, the bowl-shaped pad first contacts the ground to adapt to rugged terrain, and the buffer mechanism in the balance-support assembly can effectively absorb impact energy, and more preferably, the impact force can trigger the pressure-activated locking mechanism to convert the spherical hinge connection into a rigid connection and provide friction support, while the center of gravity balancing mechanism in the cabin is linked to actively adjust the counterweight to resist overturning, and convert the adverse impact energy into stable active control force, which is very safe;

[0031] (4) The system comprehensively responds to the movements of the unmanned aerial vehicle in the X, Y and Z rotational degrees of freedom, not only isolates the pitching and rolling, but also releases the yaw inertia through slight rotation, and dissipates vibration energy through friction damping, realizing omnidirectional attitude stabilization and vibration control.

[0032] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and the attendant drawings or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a schematic view of the top structure of the application;

[0034] Figure 2 is a schematic view of the front structure of the rear cabin body of the application;

[0035] Figure 3 is a schematic view of the side structure of the rear cabin body of the application;

[0036] Figure 4 is a schematic view of the structure of the balance-support assembly of the application;

[0037] Figure 5 is a schematic view of the side structure of the rear cabin body of the application;

[0038] Figure 6 is a schematic view of the three-dimensional structure of the rear cabin body of the application;

[0039] Figure 7 is a schematic view of the opening structure of the rear cabin body of the application.

[0040] BRIEF DESCRIPTION OF DRAWINGS: 1, rear cabin body; 101, cabin body; 102, cabin cover; 103, observation window; 104, fixing frame; 105, stretcher; 106, oxygen bottle storage bin; 107, cover plate; 2, inner hanging frame; 3, outer hanging frame; 5, universal connecting piece; 6, counterweight cantilever; 7, fixing lug; 8, ball hinge base; 9, balance-support assembly; 91, ball head; 92, fixing cylinder; 93, movable rod; 94, movable block; 95, buffer spring; 96, driving rod; 10, cushion block; 11, fixing block; 12, micro gear box; 13, lead screw assembly; 14, counterweight sliding block; 15, input gear; 16, horizontal sliding slot; 17, movable slot; 18, fixing plate; 19, limiting pin; 20, elastic assembly; 21, through hole; 22, through hole; 23, stabilizing box; 24, outwardly expanding limiting frame. DETAILED DESCRIPTION

[0041] Embodiments of the application are described in detail below, examples of which are shown in the drawings, wherein the same or similar symbols throughout the drawings represent the same or similar elements or elements having the same or similar functions. The embodiments described below by reference to the drawings are exemplary only, are for the purpose of explanation of the application, and cannot be understood as a limitation of the application.

[0042] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature is higher in horizontal height than the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is lower in horizontal height than the second feature.

[0043] Embodiment one

[0044] Please refer to Figures 1-7 An unmanned aerial vehicle rescue airborne evacuation cabin includes an evacuation cabin body 1, the outside of the evacuation cabin body 1 is sequentially sleeved with an inner hanger 2 and an outer hanger 3, the inner hanger 2 is rigidly fixed with the mounting position of the outer wall of the evacuation cabin body 1 through bolts, the inner hanger 2 and the outer hanger 3 are movably connected through a plurality of universal connecting pieces 5, the four corners of the outer hanger 3 are all provided with fixing ears 7, and the bottom of the rescue unmanned aerial vehicle is fixedly connected with the four fixing ears 7. Electromagnetic suction cups, clamps or other fastening structures can be selected.

[0045] Specifically, as Figure 1 shown, the inner hanger 2 and the outer hanger 3 are both rectangular frame structures, the number of the universal connecting pieces 5 is four and they are respectively arranged at the middle lower positions of the four perimeters of the inner hanger 2, the two movable ends of the universal connecting piece 5 are respectively rotatably connected with the bearing seats on the outer wall of the inner hanger 2 and the inner wall of the outer hanger 3, the connecting line of the universal connecting pieces 5 on the left and right sides is regarded as the Y axis, so that the inner hanger 2 and the evacuation cabin body 1 can swing relative to the outer hanger 3 around the Y axis, the connecting line of the universal connecting pieces 5 on the front and back sides is regarded as the X axis, so that the inner hanger 2 and the evacuation cabin body 1 can swing relative to the outer hanger 3 around the X axis, and the two sides of the universal joint of the universal connecting piece 5 are further provided with horizontally extending counterweight cantilevers 6, the free ends of the counterweight cantilevers 6 are suspendedly provided with adjustable counterweight pieces through slings, thereby forming a double-degree-of-freedom gyroscopic stabilizing frame.

[0046] When the attitude of the unmanned aerial vehicle changes, the counterweight piece remains vertical due to inertia, generates a stable torque on the universal connecting piece 5 through the sling, and makes the evacuation cabin body 1 maintain horizontal. The two rotating shafts jointly act, isolate the pitching and rolling movements of the unmanned aerial vehicle, and make the evacuation cabin body 1 passively maintain substantially horizontal under the inertial action of the double rotating shafts and the counterweight regardless of the inclination of the unmanned aerial vehicle.

[0047] For the yaw of the unmanned aerial vehicle, i.e. the Z-axis rotating movement, the inner hanger 2 and the outer hanger 3 are rigidly resistant, and this torsional load will be directly transmitted to the evacuation cabin body 1. In order to maintain the flight stability of the evacuation cabin body 1, as Figure 2 and Figure 3As shown, the bottom corners of the rear cabin body 1 are each provided with a spherical hinge seat 8 and a balance-support assembly 9, the upper end of the balance-support assembly 9 is connected with the bottom spherical hinge of the spherical hinge seat 8, and the lower end of the balance-support assembly 9 is connected with a cushion block 10 through a spherical hinge;

[0048] When the unmanned aerial vehicle deviates, the rear cabin body 1 has a tendency of not willing to immediately follow the turning due to inertia, and this tendency is released through the slight turning of the bottom balance-support assembly 9, and in combination with the adjustment of the pitching and rolling movements, the attitude decoupling of the three rotational degrees of freedom X, Y and Z of the unmanned aerial vehicle is realized, so that the wounded person in the cabin almost does not feel any dramatic turning in any direction, the flight stability and the comfort of the wounded person are improved, the dramatic turning is avoided to cause the position of the wounded person in the cabin to change, and then the occurrence of secondary injury is prevented.

[0049] When the rear cabin body 1 lands, the cushion block 10 first contacts the ground, when the ground is rugged or uneven, the cushion block 10 rotates relative to the lower end of the balance-support assembly 9, so as to adapt to landing on various terrains, and the impact force is also axially buffered through the balance-support assembly 9, in combination with the elastic deformation absorption of the cushion block 10, landing buffering is realized, and the cushion block 10 has a bowl-shaped structure with a reverse buckle, which can provide stable support and prevent the rear cabin body 1 from overturning after landing.

[0050] In summary, the four universal connecting pieces 5 and the counterweight thereon form a first-stage vibration reduction, mainly absorbing and isolating low-frequency and large-amplitude attitude changes such as turning and climbing, and the spherical hinge system composed of the spherical hinge seat 8, the balance-support assembly 9 and the cushion block 10 forms a second-stage vibration reduction, mainly absorbing and isolating high-frequency and small-amplitude vibrations such as engine vibration and airflow turbulence.

[0051] This two-stage design of "large movement is borne by the top part and small vibration is absorbed by the bottom part" provides a smoothness far exceeding that of a single suspension system, and the bottom spherical hinge system effectively filters the high-frequency vibrations through the inertia of the balance-support assembly 9 and the slight angular displacement thereof, and in the process of flight, the four balance-support assemblies 9 and the cushion blocks 10 have inertia due to their mass, when the rear cabin body 1 swings due to airflow, the movement of the balance-support assembly 9 will lag behind the movement of the rear cabin body 1, so as to generate an inertia torque opposite to the swinging direction, actively inhibiting the swinging, and each slight swinging of the balance-support assembly 9 will generate slight friction on the bearing surface of the spherical hinge seat 8, and convert the vibration energy into heat energy to dissipate, which is equivalent to a distributed and passive damper, further promoting the smoothness of flight.

[0052] Embodiment two

[0053] It shows another embodiment of the present application based on the embodiment one;

[0054] Specifically, as shown in Figure 2 and Figure 3 The balance-support assembly 9 includes a ball head 91, a fixed cylinder 92, a movable rod 93, a movable block 94, a buffer spring 95, the upper end of the fixed cylinder 92 is connected with the upper end of the ball head 91, the upper end of the ball head 91 is connected with the inner cavity ball hinge of the ball hinge base 8, the upper end of the movable rod 93 is slidingly assembled in the inner part of the lower end of the fixed cylinder 92 and can slide axially along the fixed cylinder 92, the lower end of the movable rod 93 is connected with the pad 10 ball hinge, and a fixed ring is also installed on the lower end of the movable rod 93, the buffer spring 95 is sleeved on the movable rod 93, and the two ends of the buffer spring 95 are respectively abutted with the opposite faces of the fixed cylinder 92 and the fixed ring;

[0055] When the UAV lands, the pad 10 drives the movable rod 93 to move upward and slide axially along the fixed cylinder 92, thereby consuming the landing impact force and achieving the buffering and damping of the UAV landing.

[0056] Further, as shown in Figure 3 The lower end of the fixed cylinder 92 is provided with a movable hole matched with the movable rod 93, the upper end of the movable rod 93 slidingly passes through the movable hole and extends into the fixed cylinder 92 and is installed with the movable block 94, the movable block 94 is slidingly assembled with the inner wall of the fixed cylinder 92, and the upper end face of the movable block 94 is installed with the driving rod 96, the inside of the ball head 91 is hollow and is communicated with the upper end of the fixed cylinder 92, and the upper end of the driving rod 96 extends into the ball head 91;

[0057] The inside of the ball head 91 is provided with a pressure-activated locking mechanism, the mechanism has a plurality of limiting pins 19 which can be radially popped out to the outside of the ball head 91, and the limiting pins 19 are in the retracted state by default under the action of the elastic assembly 20 of the mechanism, when the movable rod 93 drives the movable block 94 to slide axially upward along the fixed cylinder 92, the upper end of the driving rod 96 moves upward to trigger the pressure-activated locking mechanism, so that the limiting pins 19 overcome the spring force of the elastic assembly 20 and are radially popped out to the outside of the ball head 91 and abut with the inner wall of the ball hinge base 8, the originally free ball hinge connection is changed into a rigid connection, the landing impact force is no longer borne by the bearing surface of the ball hinge base 8, but by the contact surface of the plurality of limiting pins 19 and the inner wall of the ball hinge base 8, and the stable support is achieved by the contact friction force of the plurality of limiting pins 19;

[0058] Further, the pressure-activated locking mechanism further comprises a plurality of fixed plates 18 installed in the inner cavity of the ball head 91 and evenly distributed in the circumferential direction, the lower end of each fixed plate 18 is radially slidably sleeved with a limiting pin 19, the outer wall of the ball head 91 is provided with a sliding hole corresponding to and matched with each limiting pin 19, one end of the limiting pin 19 is radially slidably sleeved in the sliding hole, the other end of the limiting pin 19 is a spherical surface, and the spherical surface ends of the plurality of limiting pins 19 are opposite and surround an activation switch through which the driving rod 96 passes, and the elastic assembly 20 comprises a compression spring slidably sleeved on the limiting pin 19 and a movable ring, the movable ring is attached to the outer side of the fixed plate 18, and the two ends of the compression spring are respectively abutted against the outer side of the movable ring and the inner wall of the ball head 91; when the landing impact force is transmitted to the movable block 94 and the driving rod 96 through the driving rod 93, the driving rod 96 is subjected to significant axial pressure and moves upward and is inserted into the activation switch formed by the plurality of driving rods 96, so that the outer side end of the plurality of limiting pins 19 pops out to the outside of the ball head 91 and is abutted against the inner wall of the ball hinge base 8, and the outer side end surface of the limiting pin 19 is a rough surface, preferably a rubber material with particles or anti-skid lines, so as to convert the ball hinge connection between the ball head 91 and the ball hinge base 8 into a rigid connection, avoiding the rotation of the balance-supporting assembly 9 as a whole, thereby stably supporting the unmanned aerial vehicle.

[0059] Embodiment three

[0060] It shows another embodiment of the present application based on the embodiment two;

[0061] As shown in Figure 3 and Figure 4 , the upper end surface of the ball head 91 is provided with a through hole 21 for the driving rod 96 to slide through, and the inside of the ball hinge base 8 is provided with a through hole 22 communicating with the bottom of the inner cavity of the rear cabin body 1, and the bottom of the inner cavity of the rear cabin body 1 is provided with a landing gravity center balancing mechanism; when the unmanned aerial vehicle lands, the balance-supporting assembly 9 as a whole tilts outward, the driving rod 93 drives the movable block 94 and the driving rod 96 to tilt and move upward, so that the driving rod 96 pushes the limiting pin 19 outward, the outer side end of the limiting pin 19 abuts against the inner wall of the ball hinge base 8, and the abutment and friction of the plurality of limiting pins 19 make the ball head 91 and the ball hinge base 8 fixed and difficult to rotate again; at this time, the through hole 21 and the through hole 22 are opposite and communicate, the upper end of the driving rod 96 penetrates the through hole 21 and the through hole 22 and extends into the rear cabin body 1 and triggers the landing gravity center balancing mechanism, so that the bottom of the rear cabin body 1 is simultaneously stabilized, the adverse landing impact energy is converted into beneficial gravity center adjusting power, thereby realizing energy recycling and utilization, and greatly enhancing the anti-overturning capability.

[0062] Specifically, as shown in Figure 3As shown, the landing gravity center balancing mechanism comprises fixed blocks 11 installed at both ends of the bottom of the inner cavity of the rear cabin body 1, and miniature gear boxes 12 are also installed at the four corners of the bottom of the inner cavity of the rear cabin body 1, the two sides of the fixed blocks 11 are respectively connected in transmission with the output ends of the miniature gear boxes 12 through a screw rod assembly 13, a counterweight sliding block 14 is installed on the threaded pair of the screw rod assembly 13, and the counterweight sliding block 14 can slide on the bottom surface of the inner cavity of the rear cabin body 1 along the axial direction of the screw rod assembly 13, the upper end of the driving rod 96 is slidably extended into the rear cabin body 1 and drives the input end of the miniature gear box 12 to rotate, the screw rod assembly 13 is driven to rotate by the speed-increasing gear set inside the miniature gear box 12, and then the counterweight sliding block 14 is driven to move horizontally, so as to adjust the gravity center position of the bottom of the inner cavity of the rear cabin body 1, and the stability of the four corners of the rear cabin body 1 is realized at the same time.

[0063] Further, horizontal sliding grooves 16 located below the adjacent screw rod assemblies 13 are formed on the bottom surface of the inner cavity of the rear cabin body 1, and the counterweight sliding blocks 14 are slidably assembled in the horizontal sliding grooves 16, so as to stably move the counterweight sliding blocks 14 horizontally.

[0064] Further, a movable groove 17 in communication with the through hole 22 is formed on the bottom of the inner cavity of the rear cabin body 1 close to the output end of the miniature gear box 12, the input gear 15 is rotatably installed in the movable groove 17, the upper end of the driving rod 96 has a rack matched with the input gear 15, and the rack is not in contact with the limiting pin 19, so as to avoid interference, when the rack is inserted into the movable groove 17 by the driving rod 96, the rack is engaged with the input gear 15, so as to drive the input gear 15 to rotate, and then the screw rod assembly 13 is driven to rotate by the miniature gear box 12.

[0065] Further, the threaded pair of the screw rod assembly 13 is initially arranged at one end close to the miniature gear box 12, when the cushion block 10 lands, the impact kinetic energy is transmitted according to the landing surface smoothness, and then the counterweight sliding block 14 is driven to move away from the side of the miniature gear box 12, so as to resist overturning, and the initial position of the threaded pair can be adjusted according to actual test conditions.

[0066] Embodiment four

[0067] It shows another embodiment of the application based on any of the above embodiments;

[0068] As Figure 5As shown, the bottom of the rear cabin body 1 is also provided with a stabilizing box 23, and the four corners of the stabilizing box 23 are provided with telescopic outward expansion limiting frames 24, and the inside of the stabilizing box 23 is provided with an electric push rod assembly for driving the telescopic outward expansion limiting frames 24 to expand and contract, when the unmanned aerial vehicle needs to land and has not contacted the landing surface, the four outward expansion limiting frames 24 synchronously expand outward, so that the outer side end of the outward expansion limiting frame 24 pushes the adjacent balance-supporting assembly 9 outward at a fixed angle, and the outer side end of the outward expansion limiting frame 24 is wrapped around the outer side of the balance-supporting assembly 9 in a semi-enclosing manner, so that the balance-supporting assembly 9 can only land outwardly at a predetermined angle, thereby improving the landing stability.

[0069] Embodiment five

[0070] It shows another embodiment of the application based on any of the above embodiments;

[0071] The rear cabin body 1 comprises a cabin body 101 and a cabin cover 102, the cabin cover 102 is hingedly installed at the upper opening of the cabin body 101, and the free end of the cabin cover 102 is locked with the lower opening of the cabin body 101 by a lock buckle, and the end of the cabin cover 102 is also provided with an observation window 103 for the wounded in the cabin body 101 to observe the external environment, and the inner cavity of the cabin body 101 is provided with a stretcher 105 through a fixing frame 104 at the bottom, the stretcher 105 is a hard stretcher for the wounded to lie down, and the cabin body 101 is also provided with an oxygen cylinder storage bin 106 with an upper opening at one end, for storing oxygen cylinders, and the upper opening is covered by a cover plate 107 and locked by fasteners.

[0072] The working principle of the application is based on the core idea of "inertial stabilization" and "graded buffering", which is specifically described as follows:

[0073] When the unmanned aerial vehicle pitches or rolls, the outer rack 3 rigidly connected with the unmanned aerial vehicle tilts, however, the inner rack 2 and the rear cabin body 1 suspended by the universal connecting piece 5 have the tendency to maintain the original posture, especially the horizontal state, under the inertial action of the counterweight cantilever 6 and the counterweight, the counterweight acts as a physical "gyro stabilizer", generating a restoring torque opposite to the tilting direction of the unmanned aerial vehicle, therefore, no matter how the unmanned aerial vehicle maneuvers, the rear cabin body 1 can be passively maintained in a substantially horizontal state under the joint action of X-axis and Y-axis rotation and the counterweight, effectively isolating low-frequency and large-amplitude attitude changes, ensuring the comfort of the wounded;

[0074] For high frequency vibration in the flight of the unmanned aerial vehicle such as engine vibration, and small yaw rotation, the combination effect of the above-mentioned inner and outer suspension racks 2 and 3 is limited, at this time, the ball hinge system composed of the ball hinge seat 8, the balance-support assembly 9 and the cushion block 10 plays a role, the system itself has a certain inertia, and the ball hinge connection allows small multidirectional angular displacement, the high frequency vibration energy is absorbed and dissipated through the inertia lag of the balance-support assembly 9 and the friction at the ball hinge, for yaw movement, the inertia of the aft cabin body makes it "not willing to follow immediately", this trend is released through the small rotation of the ball hinge, avoiding rigid torsion, which realizes the ideal effect of "large movement by the top part and small vibration by the bottom part", and provides all-round stability;

[0075] When the unmanned aerial vehicle lands, the bowl-shaped cushion block 10 first touches the ground, adapts to uneven terrain, and the impact force pushes the movable rod 93 to slide upward, compresses the buffer spring 95, and absorbs most of the impact energy, and the huge impact force simultaneously triggers the pressure-activated locking mechanism through the movable rod 93 and the drive rod 96, so that the limiting pin 19 is ejected, the ball head 91 is locked with the ball hinge seat 8, the cabin body is prevented from shaking after landing, and stable support is provided through the friction between the limiting pin 19 and the inner wall of the ball hinge seat 8;

[0076] The upward movement of the drive rod 96 simultaneously drives the input gear 15 and the micro gear box 12, drives the lead screw assembly 13 to move the counterweight sliding block 14 away from the landing point, and generates a stable torque to resist overturning, this design ingeniously converts the destructive landing impact energy into active control energy to maintain stability, greatly enhancing the anti-overturning ability in landing on complex terrain.

[0077] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue, comprising an evacuation capsule body (1), characterized in that, Also includes: The inner mounting bracket (2) is fixedly fitted onto the outside of the rear delivery cabin body (1); The outer mount (3) is movably connected to the inner mount (2) through multiple universal connectors (5), and the outer mount (3) is provided with a fixed ear (7) for connecting the drone. The universal connector (5) is provided with a counterweight cantilever (6) and a counterweight, which constitute a primary attitude stabilization system that keeps the rear delivery cabin body (1) horizontal during flight. The bottom four corners of the rear delivery capsule body (1) are equipped with a secondary buffer and landing support system for buffering landing impact and adapting to terrain.

2. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 1, characterized in that, The secondary buffer and landing support system includes a ball joint (8) and a balance-support assembly (9) connected to the ball joint (8), with a pad (10) connected to the lower end of the balance-support assembly (9).

3. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 2, characterized in that, The balance-support assembly (9) includes: The upper end of the fixed cylinder (92) is ball-jointed to the ball joint seat (8) via a ball head (91); The upper end of the movable rod (93) is slidably inserted through the lower end of the fixed cylinder (92), and the lower end is connected to the pad block (10) by a ball joint; A buffer spring (95) is fitted onto the movable rod (93) to provide axial buffering.

4. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 3, characterized in that, The ball head (91) is equipped with a pressure-activated locking mechanism inside; The pressure-activated locking mechanism includes a limiting pin (19) that can be triggered by the axial movement of the movable rod (93). When subjected to a landing impact, the limiting pin (19) can be radially ejected and abut against the inner wall of the ball joint seat (8), converting the ball joint connection into a rigid connection.

5. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 4, characterized in that, The rear delivery capsule body (1) is equipped with a landing center of gravity balancing mechanism inside; The landing center of gravity balancing mechanism includes a micro gearbox (12) and a lead screw assembly (13) that can be driven by the movement of the movable rod (93), and a counterweight slider (14) driven by the lead screw assembly (13). Upon landing, the movement of the movable lever (93) drives the micro gearbox (12) to drive the lead screw assembly (13), causing the counterweight slider (14) to move to adjust the cabin's center of gravity and resist capsizing.

6. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 2, characterized in that, The bottom of the rear delivery cabin body (1) is also provided with a stabilizing box (23), and the four corners of the stabilizing box (23) are hinged with retractable outward expansion limiting frames (24). When extended, the outward-expanding limiting frame (24) can be pushed outward and partially enclose the adjacent balance-support assembly (9) to limit its outward-expanding angle.

7. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 1, characterized in that, The number of universal connectors (5) is four, which are located in the center of the inner frame (2) respectively, so that the inner frame (2) and the rear delivery cabin body (1) can swing together around the X-axis and Y-axis relative to the outer frame (3).

8. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 1, characterized in that, The evacuation cabin body (1) includes a cabin body (101) and a hatch (102) hinged thereon. A stretcher (105) is installed inside the cabin body (101) via a fixing frame (104), and an oxygen cylinder storage compartment (106) is provided.

9. The airborne evacuation capsule for unmanned aerial vehicle (UAV) rescue according to claim 2, characterized in that, The pad (10) is an inverted bowl-shaped structure.

10. A drone-borne evacuation capsule for rescue according to any one of claims 1-9, characterized in that, The primary attitude stabilization system is used to isolate the pitch and roll motion of the UAV, while the secondary buffer and landing support system is used to absorb high-frequency vibrations, buffer landing impacts, and adapt to rugged terrain. Together, they achieve attitude stabilization and safe landing throughout the entire flight phase.

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