Unmanned aerial vehicle for hanging transportation

Abstract

The invention relates to the technical field of unmanned aerial vehicle transportation, and particularly discloses an unmanned aerial vehicle for hanging transportation, which comprises an aerial vehicle and a mounting bracket, a fixed shaft is fixedly mounted at the bottom end of the mounting bracket, a longitudinal shaft is rotatably mounted at the bottom end of the fixed shaft through a transverse shaft, and a balance ring is rotatably mounted at both ends of the longitudinal shaft; and a hook is arranged below the balance ring. According to the invention, the deflection state of the balance ring is detected, and the balance assembly is utilized to actively apply a reverse compensation force, so that the unmanned aerial vehicle can restrain swinging of loaded goods in real time, and initial shaking caused by center-of-gravity shift when the unmanned aerial vehicle takes off is effectively avoided; and composite swing caused by disturbance such as acceleration, deceleration or crosswind is continuously counteracted in the flight process, the resistance of the unmanned aerial vehicle to low-frequency large-amplitude vibration is remarkably enhanced, meanwhile, the mechanical load and energy consumption of the unmanned aerial vehicle are reduced, the service life of equipment is prolonged, and the unmanned aerial vehicle is suitable for transporting high-value or vulnerable objects.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) transportation technology, specifically to an UAV used for sling transport. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are devices operated by radio remote control equipment and onboard program control devices, or flying machines that are fully or intermittently operated autonomously by onboard computers. Due to their ability to take off and land vertically and maneuver flexibly, they can easily fly over complex terrains such as mountains, waters, jungles, and disaster areas to achieve point-to-point straight-line transportation, facilitating the transportation and delivery of goods in the air.

[0003] Because drones have a fixed size, but their lifting capacity can be far greater than the space inside their fuselage, they can transport cargo much larger than the drone itself. Therefore, drone transport often uses a sling method. During flight, due to the drone's acceleration, deceleration, turning, or encountering external disturbances such as crosswinds, the load suspended by the cable below will experience continuous, or even amplified, swaying. This swaying will change the drone's overall center of gravity, generating additional torque, affecting the stability and controllability of the drone's flight, and may even lead to loss of control. It will also reduce the positioning accuracy during deployment, making it difficult to accurately place the load at the target location, especially in confined spaces or scenarios requiring high-precision docking.

[0004] Existing technologies typically reduce the impact of swaying on the drone by adjusting its flight attitude or adding simple springs or damping blocks at the suspension points. However, adjusting the drone's flight attitude is slow and increases power consumption during flight. Adding springs is only effective for high-frequency, small-amplitude vibrations and is almost ineffective for large-amplitude, low-frequency swaying. Therefore, a mechanical structure solution is needed that can quickly and actively suppress the swaying of the suspended load without relying on complex flight control. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned aerial vehicle for sling transport, so as to solve at least one technical problem existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an unmanned aerial vehicle for sling transport, comprising an aircraft and a mounting bracket, wherein a fixed shaft is fixedly mounted at the bottom end of the mounting bracket, a longitudinal shaft is rotatably mounted at the bottom end of the fixed shaft via a horizontal shaft, a balance ring is rotatably mounted at both ends of the longitudinal shaft, and a hook is provided below the balance ring;

[0007] It also includes a detection component for detecting whether the balance ring remains parallel to the aircraft;

[0008] It also includes a balancing component that can apply a force in the opposite direction of deflection to the balancing ring when it deflects.

[0009] Preferably, the detection assembly includes a fixed disk frame fixedly installed on the outer wall of a fixed shaft. Four rotating rods arranged in a ring are rotatably installed on the bottom surface of the fixed disk frame. A sealing tube is slidably installed on the outer wall of each rotating rod. A connecting rod is fixedly installed at the bottom end of the sealing tube. One end of the connecting rod is rotatably installed on the outer wall of the balance ring.

[0010] Preferably, the end of the rotating rod is provided with a piston plate, and sliding discs that can be slidably adjusted are installed in the sealing tubes on both sides of the piston plate, and springs are provided between both sides of the piston plate and the two sliding discs.

[0011] Preferably, a rotating sleeve is rotatably mounted on the outer wall of the sealing tube. The inner wall of the rotating sleeve is provided with two sets of sliding grooves. Each sliding groove is composed of two horizontal grooves and one inclined groove connected end to end. The side walls of the two sliding discs are fixedly mounted with sliding pins that can slide in the sliding grooves. The side wall of the sealing tube is provided with two sets of straight grooves that allow the sliding pins to slide vertically. A heating module is fixedly mounted on the outer wall of the connecting rod. A memory metal is provided between the heating module and the rotating sleeve.

[0012] Preferably, the balancing assembly includes a rotating shaft rotatably mounted on the four ends of the mounting bracket via a shaft frame. Each rotating shaft has a winding wheel fixedly mounted on its outer wall. A pull line is wound between the winding wheel and the balancing ring. A gear is also fixedly mounted on the outer wall of the rotating shaft. A U-shaped rod that can slide horizontally is provided above the gear, and the bottom surface of the U-shaped rod has a tooth groove that can mesh with the gear.

[0013] Preferably, the bottom surface of the fixed plate frame is fixedly installed with multiple fixed brackets corresponding to the U-shaped rods one by one. A fixed tube is fixedly installed inside the fixed bracket, and a fixed sleeve sleeved on the outer wall of the fixed tube is also fixedly installed inside the fixed bracket. One end of the U-shaped rod is slidably installed in the fixed sleeve. One end of the fixed tube is connected to the top of the sealing tube on the opposite side through a connecting hose, and the outer wall of the sliding plate is provided with multiple sets of perforations.

[0014] Preferably, a sliding ring is slidably installed on the inner wall of the balance ring, a trigger switch is provided on the outer wall of the top of the sliding ring, the trigger switch is connected to the heating module by an electrical signal, a chassis is fixedly installed at the bottom of the sliding ring, and a tension spring is provided between the chassis and the balance ring.

[0015] Preferably, a sliding block is slidably mounted on the bottom surface of the chassis, and a hook is slidably mounted on the bottom surface of the sliding block.

[0016] Preferably, two sets of mounting rings are rotatably mounted on the outer walls of both sides of the mounting bracket, and the two sets of adjacent mounting rings can together form a square clamp.

[0017] Preferably, the outer wall of the mounting bracket is provided with a streamlined wind baffle.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] I. This invention, by detecting the deflection state of the balancing ring and actively applying a counter-compensation force using the balancing components, enables the unmanned aerial vehicle (UAV) to suppress the swaying of its load in real time. This not only effectively avoids the initial swaying caused by the shift in the center of gravity during takeoff but also continuously counteracts the complex swaying caused by acceleration, deceleration, or crosswinds during flight. This active balancing mechanism significantly enhances the UAV's resistance to low-frequency, high-amplitude vibrations, thereby improving flight stability and controllability and reducing delivery errors. Simultaneously, it reduces the UAV's mechanical load and energy consumption, extends equipment life, and is suitable for transporting high-value or fragile goods, ensuring safe and efficient aerial logistics operations.

[0020] Second, this invention utilizes an adaptive damping adjustment mechanism, which enables the device to intelligently adjust according to load weight and flight status. When the load is light, the system automatically reduces the sliding resistance between the connecting rod and the rotating rod, improving response sensitivity and ensuring that even minor swaying of the cargo can be sensed by the balance ring and effectively dissipated through spring damping, avoiding "pseudo-rigid connection" and loss of shock absorption. When the load is heavy or the drone is in dynamic flight phases such as acceleration or turning, the system increases damping, preventing excessive spring travel due to inertia and enhancing the vibration suppression capability of the balance ring, thus ensuring flight stability.

[0021] Third, this invention links the detection signal with a cable-driven actuator, creating a rapid active suppression system for the deflection of the balance ring. When the detection component senses a deflection in a specific direction of the balance ring, it immediately drives the corresponding U-shaped rod to move, which in turn drives the winding wheel to tighten the cable via a gear mechanism. This applies a precise and responsive reverse active pulling force to the balance ring. This active force works in synergy with the passive damping force provided by the spring in the detection component—active suppression quickly counteracts the main swaying trend, while passive damping continuously dissipates residual kinetic energy and suppresses high-frequency vibrations. This combined "active + passive" vibration suppression strategy enables the system to efficiently quell the complex swaying of the loaded cargo, allowing it to quickly return to stability. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the mounting bracket and its related structures in this invention;

[0024] Figure 3 This is a side cross-section of the present invention. Figure 1 ;

[0025] Figure 4 In this invention Figure 3 Isometric cross-section;

[0026] Figure 5 This is a side cross-section of the present invention. Figure 2 ;

[0027] Figure 6 In this invention Figure 5 Isometric cross-section;

[0028] Figure 7 This is an exploded cross-sectional view of the detection component in this invention;

[0029] Figure 8 For the present invention Figure 3 A magnified view of a portion of point A in the middle.

[0030] In the diagram: 1. Aircraft; 2. Mounting bracket; 3. Mounting ring; 4. Fixed shaft; 5. Fixed disc frame; 6. Horizontal axis; 7. Vertical axis; 8. Balance ring; 9. Sliding ring; 10. Chassis; 11. Trigger switch; 12. Sliding block; 13. Hook; 14. Winding reel; 15. Rotating shaft; 16. Gear; 17. U-shaped rod; 18. Pull cable; 19. Fixed frame; 20. Fixed sleeve; 21. Fixed tube; 22. Rotating rod; 23. Connecting rod; 24. Sealing tube; 25. Sliding disc; 26. Sliding pin; 27. Slide groove; 28. Rotating sleeve; 29. ​​Heating module; 30. Connecting hose; 31. Shape memory metal. 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 to 8 The present invention provides a technical solution: an unmanned aerial vehicle for sling transport, including an aircraft 1 and a mounting bracket 2. A fixed shaft 4 is fixedly installed at the bottom of the mounting bracket 2. A longitudinal shaft 7 is rotatably installed at the bottom of the fixed shaft 4 via a horizontal shaft 6. A balance ring 8 is rotatably installed at both ends of the longitudinal shaft 7. A hook 13 is provided below the balance ring 8.

[0033] It also includes a detection component, which is used to detect whether the balance ring 8 is parallel to the aircraft 1;

[0034] It also includes a balancing component that can apply a force in the opposite direction of deflection to the balancing ring 8 when it deflects.

[0035] In use, the device first suspends the load below the balance ring 8 via hook 13. Then, the drone is activated and lifted off the ground, dragging the load off the ground. When the load is completely off the ground, its center of gravity may not coincide with the line of the cable. At this point, the load pulls the balance ring 8 off course. Since the horizontal axis 6 and the fixed axis 4 are also rotatably connected, the balance ring 8 can rotate around the centers of both the horizontal axis 6 and the vertical axis 7, depending on the center of gravity of the load. That is, it can rotate in any direction around the center of the balance ring 8. When the detection component detects that the balance ring 8 is not parallel to the aircraft 1, the balancing component applies a force in the opposite direction to the balance ring 8 based on its offset direction. This actively suppresses the rotation of the balance ring 8 to suppress the swaying of the load until the load... The cargo adjusts itself under its own weight until its center of gravity is aligned with the cable, allowing for cargo transport to begin. This significantly reduces interference to the drone caused by the swaying of the load's center of gravity during takeoff. Furthermore, when the drone accelerates, decelerates, turns, or encounters external disturbances such as crosswinds, the cargo's inertia creates a significant speed difference with the drone, causing the cargo to oscillate along the edge of an elliptical cross-section. This pulls the balance ring 8 to rotate around its center point. The balancing component continuously applies a force opposite to the oscillation direction to the balance ring 8, thereby suppressing the cargo's oscillation and reducing interference with the drone during flight. This enhances the drone's resistance to low-frequency, high-amplitude vibrations, improving the stability and controllability of the drone's flight while reducing positioning accuracy errors during deployment.

[0036] In this way, by detecting the deflection state of the balancing ring 8 and actively applying a counter-compensation force using the balancing components, the unmanned aerial vehicle (UAV) can suppress the swaying of the load in real time. This not only effectively avoids the initial swaying caused by the shift in the center of gravity during takeoff, but also continuously counteracts the complex swaying caused by disturbances such as acceleration, deceleration, or crosswinds during flight. This active balancing mechanism significantly enhances the UAV's resistance to low-frequency, large-amplitude vibrations, thereby improving flight stability and controllability and reducing delivery errors. At the same time, it can also reduce the mechanical load and energy consumption of the UAV, extend equipment life, and is suitable for transporting high-value or fragile items, ensuring safe and efficient aerial logistics operations.

[0037] Furthermore, the detection assembly includes a fixed disk frame 5 fixedly installed on the outer wall of the fixed shaft 4. Four rotating rods 22 arranged in a ring are rotatably installed on the bottom surface of the fixed disk frame 5. A sealing tube 24 is slidably installed on the outer wall of each rotating rod 22. A connecting rod 23 is fixedly installed at the bottom end of the sealing tube 24. One end of the connecting rod 23 is rotatably installed on the outer wall of the balance ring 8.

[0038] Furthermore, a piston plate is provided at the end of the rotating rod 22, and sliding discs 25 that can be slidably adjusted are installed in the sealing tubes 24 on both sides of the piston plate, and springs are provided between the two sides of the piston plate and the two sliding discs 25.

[0039] A specific implementation of the detection component is provided based on the above embodiments, see below for details. Figure 3 and Figure 8 When the balance ring 8 rotates in any direction around its midpoint, the distance between the connecting rod 23 and the fixed plate 5 in the direction of deflection and nearby increases, while the distance between the connecting rod 23 and the fixed plate 5 on the other side decreases, causing the connecting rod 23 and the rotating rod 22 to slide against each other. The rotation angle and direction of the balance ring 8 can be detected by observing the distance between the connecting rod 23 and the rotating rod 22.

[0040] Since the springs on both sides of the piston plate provide the same support force to the piston plate, the piston plate is located in the middle of the sealing tube 24. When the balance ring 8 rotates and drives a certain connecting rod 23 to slide relative to the rotating rod 22, the piston plate and the rotating rod 22 need to compress one side of the spring and stretch the other side of the spring. This not only consumes the gravitational potential energy of the balance ring 8 and the load during the compression process, but also suppresses the swing amplitude of the balance ring 8 by compressing the spring on the stretching side when the balance ring 8 is reset. This allows the device to play a good anti-vibration role against both low-frequency large-amplitude vibration and high-frequency small-amplitude vibration. While detecting the rotation state of the balance ring 8, it also provides a certain vibration damping capability for the balance ring 8 and the load.

[0041] By integrating mechanical detection with passive damping, a highly efficient and reliable "detection-vibration suppression" system is created. When the balance ring 8 deflects, it directly drives the four sets of connecting rods 23 and rotating rods 22 to slide relative to each other. The amount of sliding directly corresponds to the angle and direction of deflection, thus achieving accurate and real-time detection of the load's oscillation state. During this process, the piston plate compresses one side of the spring and stretches the other side. The deformation of the spring not only consumes the kinetic energy of the oscillation, but the resulting restoring force also constitutes a passive damping torque that always acts on the balance ring 8, effectively suppressing and attenuating oscillations of various frequencies. This integrated design achieves both state perception and energy dissipation without the need for external sensors and complex electronic controls. It not only significantly reduces the complexity and cost of the system, but its purely mechanical passive response mechanism also has extremely high reliability, ensuring that the UAV receives continuous and stable vibration suppression protection under various flight conditions, further improving the robustness and environmental adaptability of the entire sling system.

[0042] Furthermore, a rotating sleeve 28 is rotatably installed on the outer wall of the sealing tube 24. The inner wall of the rotating sleeve 28 is provided with two sets of sliding grooves 27. The sliding grooves 27 are composed of two horizontal grooves and one inclined groove connected end to end. The side walls of the two sliding discs 25 are fixedly installed with sliding pins 26 that can slide in the sliding grooves 27. The side wall of the sealing tube 24 is provided with two sets of straight grooves that allow the sliding pins 26 to slide vertically. A heating module 29 is fixedly installed on the outer wall of the connecting rod 23. A memory metal 31 is provided between the heating module 29 and the rotating sleeve 28.

[0043] As can be seen from the above embodiments, when the external driving structure drives the resistance wire in the heating module 29 to heat, the spiral-shaped shape memory metal 31 contracts upon heating, pulling the rotating sleeve 28 to rotate. When the rotating sleeve 28 rotates, the sliding groove 27 on its inner wall drives the two sets of sliding pins 26 and the sliding disk 25 to move closer or further apart. See details below. Figure 8 When the two sets of sliding discs 25 approach each other, both sets of springs are compressed. At this time, the supporting force of the springs on the piston plate at the end of the rotating rod 22 increases, that is, the resistance to relative sliding between the rotating rod 22 and the connecting rod 23 increases. When the two sets of sliding discs 25 move away from each other, the resistance to relative sliding between the rotating rod 22 and the connecting rod 23 decreases. Thus, by changing the sliding resistance between the rotating rod 22 and the connecting rod 23, the sensitivity of the balance ring 8 when the load swings can be adjusted. When the load mass is small, increasing the sensitivity of the balance ring 8 makes it easier for the swing of the load to be transmitted to the rotating rod 22 and the connecting rod 23 through the balance ring 8, and the vibration is suppressed and consumed by the compression and tension of the springs, avoiding... Excessive sliding resistance between the rotating rod 22 and the connecting rod 23 causes a pseudo-rigid connection between them and the cargo. This results in large-amplitude low-frequency vibrations being cut off only at the hook 13, preventing them from being transmitted upwards through the balance ring 8 and consumed by the compression spring. When the cargo is heavy, the sliding resistance between the rotating rod 22 and the connecting rod 23 needs to be increased to prevent the vibration amplitude from exceeding the compression or tension limit of the spring, thus failing to quickly suppress and consume the vibration. At the same time, it can also increase the suppression of the balance ring 8 during flight, improving the stability of the UAV and the cargo, and reduce the suppression of the balance ring 8 during landing to prevent the balance ring 8 and the hook 13 from being damaged by rigid contact with the ground during landing.

[0044] Through an adaptive damping adjustment mechanism, this device achieves the core function of intelligent adjustment based on load weight and flight status. When the load is light, the system automatically reduces the sliding resistance between the connecting rod 23 and the rotating rod 22, improving response sensitivity and ensuring that even slight swaying of the cargo can be sensed by the balance ring 8 and effectively dissipated through spring damping, avoiding "pseudo-rigid connection" and loss of shock absorption. When the load is heavy or the UAV is in dynamic flight phases such as acceleration or turning, the system increases damping, preventing excessive spring travel due to inertia and strengthening the vibration damping capability of the balance ring 8, ensuring flight stability. Crucially, this design can actively reduce damping during landing, allowing the balance ring 8 and hook 13 to make flexible contact with the ground, effectively avoiding structural damage caused by rigid impacts. This integrated adaptive adjustment mechanism significantly improves the adaptability of the sling system to different weights of cargo and different flight conditions without the need for a complex external control system. It combines the advantages of vibration damping accuracy, structural protection, and high reliability, achieving superior performance of mechanical intelligent adjustment.

[0045] It is worth mentioning that since the slide groove 27 is composed of two horizontal grooves and one inclined groove connected end to end, and the straight groove opened on the side wall of the sealing tube 24 can only allow the sliding pin 26 to slide vertically, the sliding disk 25 can slide vertically back and forth when the sliding pin 26 is simultaneously located in the straight groove of the side wall of the sealing tube 24 and the inclined groove section of the slide groove 27. However, when the sliding pin 26 is simultaneously located in the straight groove of the side wall of the sealing tube 24 and the horizontal groove section of the slide groove 27, the sliding disk 25 cannot slide. This avoids the sliding disk 25 being pushed by the spring compression or tension to reverse the rotation of the rotating sleeve 28.

[0046] Furthermore, the balancing assembly includes a rotating shaft 15 rotatably mounted on the four ends of the mounting bracket 2 via a shaft bracket. Each rotating shaft 15 has a winding wheel 14 fixedly mounted on its outer wall. A pull wire 18 is wound between the winding wheel 14 and the balancing ring 8. A gear 16 is also fixedly mounted on the outer wall of the rotating shaft 15. A U-shaped rod 17 that can slide horizontally is provided above the gear 16, and the bottom surface of the U-shaped rod 17 has a tooth groove that can mesh with the gear 16.

[0047] A specific implementation of the balancing component is provided based on the above embodiments; see details below. Figure 3When the detection component detects that the balance ring 8 has deflected, that is, that is, that a pair or more pairs of rotating rods 22 and connecting rods 23 have slipped relative to each other, the external drive structure drives the U-shaped rod 17 to slide horizontally. When a pair of rotating rods 22 and connecting rods 23 move away from each other, that is, the distance between the end of the balance ring 8 on that side and the fixed plate frame 5 increases, the U-shaped rod 17 on the same side will drive the gear 16 to drive the winding wheel 14 to rotate, and wind up the pull line 18, applying a force in the opposite direction of deflection to the balance ring 8, providing an active and rapid suppressing force to the balance ring 8. Together with the spring in the sealing tube 24, it quickly suppresses the rotation amplitude of the balance ring 8, and through multiple suppressions from different directions, it makes the balance ring 8 and the load cargo stop quickly, further reducing the interference caused by the swing of the load cargo to the aircraft 1.

[0048] By linking the detection signal with the cable-driven actuator, this balancing component constructs a rapid active suppression system for the deflection of the balance ring 8. When the detection component senses a deflection of the balance ring 8 in a specific direction, it immediately drives the corresponding U-shaped rod 17 to move, which in turn drives the winding wheel 14 to tighten the cable 18 via the gear mechanism 16. This applies a precise and responsive reverse active pulling force to the balance ring 8. This active force works in synergy with the passive damping force provided by the spring in the detection component—active suppression quickly counteracts the main swaying trend, while passive damping continuously dissipates residual kinetic energy and suppresses high-frequency vibrations. This "active + passive" composite vibration suppression strategy enables the system to efficiently quell the complex swaying of the loaded cargo, allowing it to quickly return to stability. This not only significantly reduces the amplitude and duration of the swaying, effectively improving the stability of the UAV's flight attitude and the speed of control response, but also ensures the reliability and immediacy of the control process through direct mechanical power transmission, significantly enhancing the vibration suppression capability of the entire sling system under complex flight conditions.

[0049] Furthermore, multiple fixing brackets 19 corresponding to the U-shaped rods 17 are fixedly installed on the bottom surface of the fixing plate 5. A fixing tube 21 is fixedly installed inside the fixing bracket 19. A fixing sleeve 20 sleeved on the outer wall of the fixing tube 21 is also fixedly installed inside the fixing bracket 19. One end of the U-shaped rod 17 is slidably installed inside the fixing sleeve 20. One end of the fixing tube 21 is connected to the upper part of the sealing tube 24 on the opposite side through the connecting hose 30. The outer wall of the sliding plate 25 is provided with multiple sets of perforations.

[0050] As can be seen from the above implementation, when the balance ring 8 deflects, regardless of whether there are multiple pairs of rotating rods 22 and connecting rods 23 moving away from each other, at least one pair of rotating rods 22 and connecting rods 23 will move closer to each other (since there are four pairs of rotating rods 22 and connecting rods 23 in this case, and they are evenly distributed in a ring on the outer wall of the balance ring 8), when the rotating rods 22 and connecting rods 23 on this side move closer to each other, the space above the piston plate at the end of the rotating rod 22 and the sealing pipe 24 will be compressed, and the hydraulic oil therein will enter the opposite fixed sleeve 20 along the connecting hose 30 and the fixed pipe 21, pushing the U-shaped rod 17 to move to the left (see details). Figure 3 The winding wheel 14 is driven to wind the wire 18 (which has a certain elasticity). Whenever the rotating rod 22 and the connecting rod 23 on one side approach each other, the distance between the balance ring 8 on the opposite side and the fixed plate frame 5 increases. Then the winding wheel 14 on that side pulls the wire to tighten it and applies a force in the opposite direction to the balance ring 8. Since the outer wall of the sliding plate 25 has multiple sets of perforations, the sliding plate 25 adjusts the sliding resistance between the rotating rod 22 and the connecting rod 23 without affecting the hydraulic oil in the space above the sealing tube 24.

[0051] A completely passive, adaptive active balancing control system was constructed through a hydraulic linkage design. When the balance ring 8 deflects due to load swaying, its mechanical displacement is directly converted into hydraulic pressure within the sealed pipe 24, and the pressure signal is transmitted to the actuator on the opposite side without delay via the connecting hose 30. This process achieves precise and rapid response—"where pressure is applied, force is applied to the opposite side"—without external energy or electronic control intervention. This hydraulic feedback mechanism, in conjunction with the spring damping in the detection component and the adjustable sliding resistance, forms a highly efficient "passive sensing-active suppression" closed-loop control. This not only greatly improves the system's response speed and reliability in suppressing swaying, but also, due to its purely mechanical hydraulic operation, possesses extremely strong environmental adaptability and durability. This ensures that the UAV can still achieve efficient and stable suppression of load swaying under complex working conditions such as vibration and electromagnetic interference, significantly improving the intelligence level and overall performance of the entire suspension system.

[0052] Furthermore, a sliding ring 9 is slidably installed on the inner wall of the balance ring 8, and a trigger switch 11 is provided on the outer wall of the top of the sliding ring 9. The trigger switch 11 is connected to the heating module 29 by an electrical signal. A chassis 10 is fixedly installed at the bottom of the sliding ring 9, and a tension spring is provided between the chassis 10 and the balance ring 8.

[0053] As can be seen from the above implementation method, when the weight of the loaded goods does not exceed the preset value, that is, when the sliding ring 9 slides downwards due to the influence of the weight of the goods and breaks through the tension spring between the chassis 10 and the balance ring 8, if the trigger switch 11 does not contact the balance ring 8, see the details below. Figure 5At this time, the heating module 29 is not activated. However, when the sliding ring 9 descends, causing the trigger switch 11 to contact the balance ring 8, the heating module 29 receives an electrical signal from the trigger switch 11 and begins to heat up, increasing the sliding resistance between the rotating rod 22 and the connecting rod 23, and strengthening the vibration damping capability of the balance ring 8.

[0054] Through an automatic weight sensing and feedback system consisting of a sliding ring 9, a trigger switch 11, and a tension spring, this device achieves intelligent vibration damping mode switching based on load weight. When the cargo is light, the system maintains low sliding resistance, ensuring high sensitivity response and effective dissipation to minor oscillations. When the weight exceeds a preset threshold, the sliding ring 9 compresses the tension spring under gravity and triggers the trigger switch 11, automatically activating the heating module 29 to increase damping, thereby strengthening the suppression capability of the balance ring 8 and effectively coping with the greater inertial impact brought by heavy cargo. This design not only achieves adaptive control of "high sensitivity under light load and strong suppression under heavy load," avoiding the tediousness and lag of manual parameter adjustment, but also plays a crucial role in safety—effectively preventing risks such as insufficient vibration damping capability and excessive spring travel due to excessive load. It significantly improves the system's autonomous adaptability and overall reliability under different weight conditions, enabling the UAV to achieve optimal vibration damping effect and flight stability when carrying cargo of varying weights.

[0055] Furthermore, a sliding block 12 is slidably mounted on the bottom surface of the chassis 10, and a hook 13 is slidably mounted on the bottom surface of the sliding block 12.

[0056] As can be seen from the above implementation method, by simultaneously obtaining horizontal and vertical displacement capabilities for the hook 13, the cargo can slide in any direction along the bottom surface of the balance ring 8 while swinging, thereby offsetting part of the swing amplitude through inertia and further reducing the impact of cargo swing on the drone.

[0057] Furthermore, two sets of mounting rings 3 are rotatably mounted on the outer walls of both sides of the mounting bracket 2, and the two adjacent sets of mounting rings 3 can together form a square clamp.

[0058] As can be seen from the above embodiments, the modular and detachable design between the mounting bracket 2 and the aircraft 1 can improve the installation and disassembly efficiency of the device and enable the device to adapt to aircraft 1 of different sizes.

[0059] Furthermore, the outer wall of the mounting bracket 2 is provided with a streamlined wind baffle.

[0060] As can be seen from the above embodiments, by adding a streamlined wind deflector to the outer wall of the mounting bracket 2, the air resistance of the aircraft 1 during flight can be reduced, and the additional vibration generated when the airflow passes over the irregular mounting bracket 2 can be avoided from affecting the aircraft 1.

[0061] The standard parts used in this embodiment can be purchased directly from the market, while the non-standard structural parts described in the specification and drawings can be processed directly based on existing technical knowledge without any doubt. At the same time, the connection methods of each component adopt mature conventional methods in the existing technology, and the machinery, parts and equipment all adopt conventional models in the existing technology, so they will not be described in detail here.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle for sling transport, comprising an aircraft (1) and a mounting bracket (2), characterized in that: The mounting bracket (2) has a fixed shaft (4) fixedly installed at the bottom end. The fixed shaft (4) has a longitudinal shaft (7) rotatably installed at the bottom end via a horizontal shaft (6). The two ends of the longitudinal shaft (7) are rotatably installed with a balance ring (8). A hook (13) is provided below the balance ring (8). It also includes a detection component for detecting whether the balance ring (8) remains parallel to the aircraft (1); It also includes a balancing component that can apply a force in the opposite direction of deflection to the balancing ring (8) when it deflects.

2. The unmanned aerial vehicle for sling transport according to claim 1, characterized in that: The detection assembly includes a fixed disk frame (5) fixedly installed on the outer wall of the fixed shaft (4). Four rotating rods (22) arranged in a ring are rotatably installed on the bottom surface of the fixed disk frame (5). A sealing tube (24) is slidably installed on the outer wall of each rotating rod (22). A connecting rod (23) is fixedly installed at the bottom end of the sealing tube (24). One end of the connecting rod (23) is rotatably installed on the outer wall of the balance ring (8).

3. The unmanned aerial vehicle for sling transport according to claim 2, characterized in that: The rotating rod (22) has a piston plate at its end. The sealing tubes (24) on both sides of the piston plate are equipped with sliding discs (25) that can be slidably adjusted. Springs are provided between the piston plate and the two sliding discs (25) on both sides.

4. The unmanned aerial vehicle for sling transport according to claim 3, characterized in that: The outer wall of the sealing tube (24) is rotatably mounted with a rotating sleeve (28). The inner wall of the rotating sleeve (28) is provided with two sets of sliding grooves (27). The sliding groove (27) is composed of two horizontal grooves and one inclined groove connected end to end. The side walls of the two sliding discs (25) are fixedly mounted with sliding pins (26) that can slide in the sliding grooves (27). The side wall of the sealing tube (24) is provided with two sets of straight grooves that allow the sliding pins (26) to slide vertically. The outer wall of the connecting rod (23) is fixedly mounted with a heating module (29). The heating module (29) and the rotating sleeve (28) are provided with memory metal (31).

5. The unmanned aerial vehicle for sling transport according to claim 4, characterized in that: The balancing assembly includes a rotating shaft (15) rotatably mounted on the four ends of the mounting bracket (2) via a shaft frame. A winding wheel (14) is fixedly mounted on the outer wall of the rotating shaft (15). A pull line (18) is wound between the winding wheel (14) and the balancing ring (8). A gear (16) is also fixedly mounted on the outer wall of the rotating shaft (15). A U-shaped rod (17) that can slide horizontally is provided above the gear (16), and the bottom surface of the U-shaped rod (17) is provided with a tooth groove that can mesh with the gear (16).

6. The unmanned aerial vehicle for sling transport according to claim 5, characterized in that: The bottom surface of the fixed plate frame (5) is fixedly installed with multiple fixed brackets (19) corresponding one-to-one with the U-shaped rod (17). A fixed tube (21) is fixedly installed inside the fixed bracket (19). A fixed sleeve (20) sleeved on the outer wall of the fixed tube (21) is also fixedly installed inside the fixed bracket (19). One end of the U-shaped rod (17) is slidably installed inside the fixed sleeve (20). One end of the fixed tube (21) is connected to the upper part of the sealing tube (24) on the opposite side through a connecting hose (30). The outer wall of the sliding plate (25) is provided with multiple sets of perforations.

7. The unmanned aerial vehicle for sling transport according to claim 4, characterized in that: A sliding ring (9) is slidably installed on the inner wall of the balance ring (8). A trigger switch (11) is provided on the outer wall of the top of the sliding ring (9). The trigger switch (11) is connected to the heating module (29) by an electrical signal. A chassis (10) is fixedly installed at the bottom of the sliding ring (9). A tension spring is provided between the chassis (10) and the balance ring (8).

8. The unmanned aerial vehicle for sling transport according to claim 7, characterized in that: A sliding block (12) is slidably installed on the bottom surface of the chassis (10), and a hook (13) is slidably installed on the bottom surface of the sliding block (12).

9. The unmanned aerial vehicle for sling transport according to any one of claims 8, characterized in that: The mounting bracket (2) has two sets of mounting rings (3) rotatably mounted on both outer walls. The two sets of adjacent mounting rings (3) can form a square clamp together.

10. The unmanned aerial vehicle for sling transport according to any one of claims 1-9, characterized in that: The mounting bracket (2) has a streamlined wind baffle on its outer wall.

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