Carrying platform and hydrogen fuel cell unmanned aerial vehicle carrying same

Abstract

The invention relates to a carrying platform and a hydrogen fuel cell unmanned aerial vehicle carrying the carrying platform, the carrying platform comprises a first clamping part and a second clamping part, the first clamping part and the second clamping part have an approaching state and a separating state, and the approaching state and the separating state respectively clamp a guide rope and release the clamping of the guide rope; and when the acting force of the first clamping part or the second clamping part by the guide rope reaches a threshold value, the first clamping part and the second clamping part return to the separation state from the closing state. Through the design that the first clamping part and the second clamping part can be close to each other and separated from each other, clamping of the guide rope can be achieved, high-altitude conveying of the guide rope is achieved, meanwhile, when the first clamping part or the second clamping part is subjected to large pulling force of the guide rope, the first clamping part and the second clamping part can be automatically separated, and the clamping effect is good. And the guide rope automatically falls off from the fuselage, so that the unmanned aerial vehicle can automatically escape under special conditions.

Description

Technical Field

[0001] This invention relates to aerial work equipment, specifically to a transport platform and a hydrogen fuel cell drone equipped with the transport platform. Background Technology

[0002] During the high-altitude cable erection process, the guide rope at one end of the connecting cable is first sent to the tower, and then the cable is erected by pulling the guide rope. In this process, the guide rope is usually transported by a hydrogen fuel cell drone. By using drones, the transportation difficulties caused by complex terrain and large spans can be better overcome, such as special terrains such as canyons, forests, and rivers. In addition, hydrogen fuel cells can meet the power demand for a more continuous and longer period of time, enabling drones to perform long-distance high-altitude operations better. In the current technology, when the guide rope is used for traction and transportation by a drone, it may sometimes sag and get caught on tree branches or ground obstacles due to dragging. If the guide rope cannot be separated from the drone, the drone may be unable to get out of trouble. At this time, it is necessary to lower the drone and manually remove the rope attached to the drone body. This process is time-consuming and difficult. Based on this, the inventor believes that it is necessary to further improve the drone mounting technology to adapt to more efficient wire-laying operations. Summary of the Invention

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0004] To address the technical problem in existing technologies where drones cannot flexibly control the detachment of cables, this invention provides the following technical solution: A hydrogen fuel cell drone is equipped with a transport platform, which includes a first clamping part and a second clamping part, wherein: The first clamping part and the second clamping part have a state of being close together and a state of being separated, and the close together state and the separated state respectively clamp and release the guide rope; When the force exerted by the guide rope on the first clamping part or the second clamping part reaches a threshold, the first clamping part and the second clamping part return from the close-up state to the separated state.

[0005] As a preferred technical solution of this application, the first clamping part and the second clamping part have an initial reset force and maintain a torsional motion in place when subjected to external force. When the torsional amplitude reaches a threshold, they return from the approaching state to the separation state.

[0006] As a preferred technical solution of this application, it also includes a support part for connecting the body, which has a fastening part. The first clamping part is rotatably disposed relative to the support part. A bridge body component is rotatably disposed on the support part, which has an initial restoring force on the support part. One end of the second clamping part is universally connected to the bridge body component, and the other end is supported by the fastening part to keep it close to the first clamping part.

[0007] As a preferred technical solution of this application, when the bridge component rotates at a certain angle during the process of being subjected to the force of the second clamping part, it keeps the fastening part from supporting the second clamping part.

[0008] As a preferred technical solution of this application, the fastening part includes a movable member movably disposed on the support part, which maintains elastic reset to one side and has a wedge-shaped structure at one end. One end of the second clamping part is overlapped by the movable member. A rotating member that is rotatably connected to the bridge body component is rotatably disposed on the support part, and has a protruding end thereon. The protruding end pushes the movable member during the rotation of the rotating member.

[0009] As a preferred technical solution of this application, a spring member is connected between the bridge component and / or the rotating component and the support portion to maintain the bridge component or the rotating component in an initial position on the support portion.

[0010] As a preferred technical solution of this application, it also includes an active release element, which is used to apply a pushing force to the moving component.

[0011] As a preferred technical solution of this application, it also includes a force-applying element that applies a rotational driving force to the first clamping part and / or the second clamping part. The bridge body component includes a first bridge shaft and a second bridge shaft. The first bridge shaft is rotatably connected to the support part and maintains transmission with the rotating component. The second bridge shaft is universally connected to the second clamping part and maintains a rotatable connection or rigid connection with the first bridge shaft.

[0012] As a preferred technical solution of this application, the first bridge shaft and the second bridge shaft are rotatably connected and are equipped with a synchronizer. A shift fork acting on the synchronizer is movably arranged on the support part. The active release element is fixedly arranged on the support part and has an excitation function. Permanent magnets are arranged on both the shift fork and the moving component. When the active release element applies excitation in different directions, it acts on the two permanent magnets respectively.

[0013] As a preferred technical solution of this application, the support part is rotatably mounted on the machine body.

[0014] The hydrogen fuel cell drone and corresponding transport platform provided by this invention have the following beneficial effects: 1. The present invention achieves clamping of the guide rope by means of the first clamping part and the second clamping part being able to approach and separate, thereby achieving high-altitude transport of the guide rope. At the same time, when the first clamping part or the second clamping part is subjected to a large pulling force of the guide rope, the two can automatically separate, allowing the guide rope to automatically detach from the body, so as to achieve automatic escape of the drone in special circumstances.

[0015] 2. The present invention enables the drone to actively separate the guide rope by means of the cooperation of the moving part and the active release element, thereby realizing the deployment of the rope at a predetermined position.

[0016] 3. Through the cooperation of force-applying elements and the special design of bridge components, the present invention enables the first clamping part and the second clamping part to rotate actively when they come close to each other, so as to achieve the effect of retracting and extending the end of the guide rope, thereby making it easy for workers to hold and receive the guide rope when it is delivered at high altitude. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a perspective view of the drone described in an embodiment of the present invention.

[0018] Figure 2 for Figure 1 The front view of the structure shown.

[0019] Figure 3 This is a perspective view of the transport platform described in an embodiment of the present invention.

[0020] Figure 4 for Figure 3 Another perspective view of the structure shown.

[0021] Figure 5 for Figure 3 Top view of the structure shown.

[0022] Figure 6 for Figure 3 A breakdown diagram of the structure shown.

[0023] Figure 7 This is a schematic diagram of the installation of the mobile frame described in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the transport platform with ropes attached, as described in this embodiment of the invention.

[0025] Figure 9 for Figure 1 The illustrated embodiment is a schematic diagram in practical application.

[0026] Figure 10 This is a structural breakdown diagram of the bridge components described in an embodiment of the present invention.

[0027] Figure label: 1. Support frame; 2. Suspension; 3. First sprocket; 4. Second sprocket; 5. Bridge body component; 5a. First bridge axle; 5b. Second bridge axle; 5c. Synchronizer; 6. Universal joint; 7. Moving frame; 8. Roller; 9. Edge; 10. Rubber layer; 11. Secondary gear; 12. Torsion spring; 13. Protruding end; 14. Electromagnet; 15. First permanent magnet; 16. Drive motor; 17. Shift fork; 18. Second permanent magnet. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0031] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0032] Example: Reference Figure 1 and Figure 2 An embodiment of the present invention provides a hydrogen fuel cell drone. A suspension 2 is fixedly mounted on the drone's fuselage for connecting to a carrier platform. Regarding the carrier platform, as... Figures 3 to 8As shown, it includes a support frame 1, which is rotatably mounted on the suspension 2 with the rotation axis remaining vertical. In addition, the invention also includes a first clamping part and a second clamping part, which respectively adopt a first swivel wheel 3 and a second swivel wheel 4. The diameter of the first swivel wheel 3 is much smaller than that of the second swivel wheel 4. The first swivel wheel 3 is rotatably mounted on the support frame 1. A bridge body component 5 is rotatably mounted on the support frame 1. One end axle of the second swivel wheel 4 is connected to the bridge body component 5 through a universal joint 6. If the universal joint 6 is regarded as a fulcrum, the second swivel wheel 4 can swing around the fulcrum. Furthermore, a movable frame 7 is also laterally slidable on the support frame 1, such as... Figure 7 As shown, the movable frame 7 passes through the guide groove constructed inside the support frame 1. A spring piece is connected to the movable frame 7 and elastically abuts against the support frame 1, so that the movable frame 7 maintains its orientation in normal operation. Figure 3 From the perspective of the left side, the moving frame 7 is constructed with a wedge-shaped structure at one end. A roller 8 is rotatably mounted on this wedge-shaped structure. One end of the second rotating wheel 4 has an annular rim 9. When the rim 9 of the second rotating wheel 4 swings upward, the rim 9 can push the moving frame 7 to move laterally through the wedge-shaped structure. When the rim 9 passes over the wedge-shaped structure, the rim 9 overlaps with the roller 8, and the state at this time is as follows. Figure 3 and Figure 4 As shown, the second revolute 4 can rotate synchronously with the bridge component 5; both the surface of the first revolute 3 and the second revolute 4 are provided with a rubber layer 10 structure, so that the first revolute 3 and the second revolute 4 are in close contact with each other. Figure 3 In the state shown, the guide rope can be clamped to ensure sufficient friction between the guide rope and the clamp, thereby holding the guide rope tightly. Furthermore, the transport platform also includes a rotating component, which is a secondary gear 11, rotatably mounted on the support frame 1. One end of the bridge body component 5 is also configured with teeth and meshes with the secondary gear 11. A torsion spring 12 connects the secondary gear 11 and the support frame 1, so that the secondary gear 11 is in a fixed initial position on the support frame 1 under normal conditions, and the same applies to the bridge body component 5 and the second rotating wheel 4. A protruding end 13 is constructed on one end face of the secondary gear 11. When the secondary gear 11 breaks free from torque and gradually rotates to a certain angle, the protruding end 13 can push one end of the moving frame 7, thereby keeping the moving frame 7 in a certain direction. Figure 4 The viewpoint is moved to the right, causing the roller 8 to separate from the edge 9, thereby causing the edge 9 on the second winding wheel 4 to lose its overlapping support, thus allowing the second winding wheel 4 to swing freely, thereby releasing the clamp on the rope. Based on the above, in this solution, when the drone is delivering the guide rope: Place the end of the guide rope onto the second reel 4. Through the engagement of the movable frame 7 and the flange 9, the second reel 4 is secured, thus clamping the guide rope. At this point, rope delivery can begin. Figure 9 As shown, a pendant can be placed at the end of the guide rope to act as a counterweight, ensuring the horizontal stability of the drone during flight and resisting the horizontal drag force from the source end of the guide rope, thus reducing the drone's tilt. Additionally, to maintain clamping force, the rope can be wound several times around the second reel 4, as shown in the diagram. Figure 8 As shown; During the delivery process after the drone tightens the rope, if the guide rope gets tangled in a ground obstacle, the drone will pull the guide rope with force. During this process, the rope will drive the second wheel 4 to rotate through friction, which will cause the secondary gear 11 to rotate synchronously through the bridge component 5. The secondary gear 11 will then break free from the torque and rotate. If the guide rope is not tangled too severely, the guide rope will be pulled off the obstacle before the secondary gear 11 can continue to overcome the torque and rotate to a greater extent, thus continuing the delivery process. If the guide rope is firmly entangled by the obstacle, as the drone continues to exert force, that is, as the guide rope continues to exert a greater pulling force on the second reel 4, the secondary gear 11 continues to rotate against the gradually increasing torque. When the protruding end 13 rotates to one side of the moving frame 7, it pushes the moving frame 7 to move. Then, one side of the second reel 4 loses its overlapping support and swings down freely to release the clamping effect on the guide rope, thereby throwing off the guide rope and separating the guide rope from the drone, so that the drone can get out of trouble. Furthermore, during the above process, since the support frame 1 is rotatably mounted on the suspension 2, the entire transport platform can rotate freely laterally on the aircraft. As a result, when the UAV rotates in any direction in the air, the transport platform connected to the guide rope will not twist arbitrarily with the UAV's fuselage, thus preventing the guide rope from getting tangled on the fuselage and preventing the guide rope from twisting itself (preventing the rope from becoming a tangled mess), keeping the guide rope naturally open throughout the process. Furthermore, in the above scheme, the maximum torque of the torsion spring 12 when it is fully torn can be configured according to the maximum pulling force that the drone can provide, so as to ensure that when the pulling force applied by the drone is close to the maximum pulling force it can provide, the secondary gear 11 has broken free of the torque and realized the lateral movement of the moving frame 7, thereby ensuring that the rope can be successfully separated from the body. Furthermore, an electromagnet 14 is fixedly installed on the support frame 1, and a first permanent magnet 15 is configured on the movable frame 7. When the drone delivers the guide rope to the predetermined position, and after the personnel grab the end of the rope, the electromagnet 14 can output a magnetic attraction force acting on the first permanent magnet 15 to achieve the lateral movement of the movable frame 7, thereby realizing the active release of the guide rope. This means that when the guide rope needs to be separated from the drone after being grabbed by the personnel, there is no need for the personnel to pull it, and the drone can actively separate from the rope, thereby improving the actual use effect of this solution.

[0033] Furthermore, regarding bridge component 5 in this scheme, such as Figure 10 As shown, it includes a first axle 5a and a second axle 5b that are rotatably connected to each other. The first axle 5a is rotatably mounted on the support frame 1 and is responsible for maintaining a transmission connection with the secondary gear 11 through teeth. The second axle 5b is responsible for connecting the universal joint 6. A synchronizer 5c is connected to the second axle 5b through a spline. When the synchronizer 5c is engaged with the first axle 5a, it is thus engaged with the first axle 5a, forming a rigid connection between the first axle 5a and the second axle 5b, which is equivalent to an integral structure. This state is as follows. Figure 3 and Figure 4 As shown, the drone maintains this state when it is normally conveying the guide rope. In addition, a drive motor 16 is also fixedly installed on the support frame 1, which is connected to the first reel 3 for transmission, so as to drive the rotation of the first reel 3. Based on this, when the drone delivers the guide rope to the receiving personnel, if there are obstacles nearby below the drone preventing it from reaching the personnel, this solution can control the synchronizer 5c to leave the first bridge shaft 5a, allowing the second bridge shaft 5b to detach from the first bridge shaft 5a and rotate freely. At this time, the drive motor 16 synchronously controls the first rotating wheel 3 to rotate, thereby driving the second rotating wheel 4 to rotate through friction. This allows the guide rope to move between the first rotating wheel 3 and the second rotating wheel 4, so that the end of the guide rope connected to the pendant can be released downwards (or raised) to facilitate the receiving personnel's grabbing. This eliminates the need to lower the drone too much at the delivery endpoint, thus ensuring the safety of the drone when it docks. Furthermore, for the movement control of synchronizer 5c, a fork 17 is slidably mounted on the support frame 1. When the fork 17 slides, it controls the movement of synchronizer 5c. A spring connects the fork 17 to the support frame 1 to keep the fork 17 in a fixed initial position under normal conditions. Figure 3 , Figure 4 The state shown indicates that the first bridge shaft 5a and the second bridge shaft 5b are normally in a rigid connection state, and a second permanent magnet 18 is fixedly installed on the shift fork 17, such as... Figure 4As shown from the perspective, when electromagnet 14 outputs magnetic force in the first direction, its two ends simultaneously form an attractive force on the first permanent magnet 15 and the second permanent magnet 18. During this process, since the fork 17 is already in a leftward-leaning state, the magnetic force in this direction can only attract the first permanent magnet 15, which is used to control the lateral movement of the moving frame 7. When electromagnet 14 outputs magnetic force in the second direction (opposite to the north and south poles of the first direction), it simultaneously forms a repulsive force on the first permanent magnet 15 and the second permanent magnet 18. At this time, it cannot push the first permanent magnet 15, so it can only push the second permanent magnet 18, thereby completing the movement of the fork 17 towards the left. Figure 4 The movement to the right in the field of view is used to separate the synchronizer 5c from the first bridge shaft 5a, thereby cooperating to complete the line-laying action of the UAV. In this scheme, the electromagnet 14 achieves a dual-purpose effect.

[0034] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A transport platform, characterized in that: It includes a first clamping part, a second clamping part, and a supporting part, wherein the supporting part is used to connect to the machine body and has a fastening part, wherein: The first clamping part is rotatably disposed relative to the support part, and a bridge body component is rotatably disposed on the support part, which has an initial restoring force on the support part. One end of the second clamping part is universally connected to the bridge body component, and the other end is supported by the fastening part to keep it close to the first clamping part. The first clamping part and the second clamping part have a close-up state and a separate state for clamping and releasing the guide rope, respectively, and maintain a torsional motion in place when subjected to external force. When the torsional amplitude reaches a threshold, it returns from the close-up state to the separate state.

2. The transport platform according to claim 1, characterized in that: When the bridge component rotates at a certain angle under the force of the second clamping part, it keeps the fastening part from supporting the second clamping part.

3. The transport platform according to claim 2, characterized in that: The fastening part includes a movable component movably disposed on the support part, which maintains elastic reset to one side and has a wedge-shaped structure at one end. One end of the second clamping part is overlapped by the movable component. A rotating component that is rotatably connected to the bridge body component is rotatably disposed on the support part, and has a protruding end. The protruding end pushes the movable component during the rotation of the rotating component.

4. The transport platform according to claim 3, characterized in that: A spring member is connected between the bridge component and / or the rotating component and the support to maintain the bridge component or the rotating component in its initial position on the support.

5. The transport platform according to claim 4, characterized in that: It also includes an active release element, which is used to apply a pushing force to the moving member.

6. The transport platform according to claim 5, characterized in that: It also includes a force-applying element that applies a rotational driving force to the first clamping part and / or the second clamping part. The bridge body component includes a first bridge shaft and a second bridge shaft. The first bridge shaft is rotatably connected to the support part and maintains transmission with the rotating component. The second bridge shaft is universally connected to the second clamping part and maintains a rotatable connection or rigid connection with the first bridge shaft.

7. The transport platform according to claim 6, characterized in that: The first bridge shaft is rotatably connected to the second bridge shaft and is equipped with a synchronizer. A shift fork that acts on the synchronizer is movably disposed on the support part. The active release element is fixedly disposed on the support part and has an excitation function. Permanent magnets are disposed on both the shift fork and the moving component. When the active release element applies excitation in different directions, it acts on the two permanent magnets respectively.

8. A hydrogen fuel cell drone, characterized in that: It is equipped with the transport platform according to any one of claims 1-7, and includes a fuselage, wherein the support is rotatably mounted on the fuselage.

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