A carrying platform and a hydrogen fuel cell unmanned aerial vehicle carrying the carrying platform

Abstract

The present application relates to a kind of carrying platform and the hydrogen fuel cell unmanned vehicle of carrying platform, including first clamping part and second clamping part, the first clamping part and second clamping part between keep close and separate state, the close state and separate state are respectively to guide rope form clamping and release clamping;When the first clamping part or second clamping part reaches threshold value under the action force of guide rope, the first clamping part and second clamping part between from close state return to separate state.The present application can be close and separate between the first clamping part and second clamping part, so as to realize the clamping of guide rope, so as to realize the aerial delivery of guide rope, when the first clamping part or second clamping part is subjected to greater pulling force of guide rope, two can be automatically separated, so that guide rope is automatically dropped from the body, to realize the automatic escape of unmanned vehicle under special circumstances.

Description

TECHNICAL FIELD

[0001] The present application relates to aerial work equipment, in particular to a carrying platform and a hydrogen fuel cell unmanned aerial vehicle carrying the carrying platform. BACKGROUND

[0002] In the process of high-altitude stringing, the rope head of the guide rope connected with one end of the cable is sent to the tower first, and then the guide rope is pulled to realize the erection of the cable. In this process, the guide rope is generally pulled by a hydrogen fuel cell unmanned aerial vehicle. By using the unmanned aerial vehicle, the transportation difficulty caused by complex terrain and large span and other factors can be better overcome, such as special terrains encountered in valleys, forests, rivers and the like. In addition, the hydrogen fuel cell can realize more continuous and longer energy supply requirements, so that the unmanned aerial vehicle can better perform long-distance high-altitude work.

[0003] In the current technology, when the guide rope is pulled and transported by the unmanned aerial vehicle, the guide rope may sometimes be hung on the branches or ground obstacles due to the trailing swing and drooping. At this time, if the guide rope cannot be separated from the unmanned aerial vehicle, it may cause the unmanned aerial vehicle to be unable to escape. At this time, the unmanned aerial vehicle needs to be lowered, and the rope bound on the unmanned aerial vehicle needs to be manually removed. This process will be more time-consuming and difficult. Based on this, the inventor believes that the mounting technology of the unmanned aerial vehicle needs to be further improved to adapt to more efficient stringing work. SUMMARY

[0004] This section is intended to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract and the title. Such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the technical problem in the prior art that the unmanned aerial vehicle cannot flexibly control the rope to separate, the present application provides the following technical solutions:

[0006] A hydrogen fuel cell unmanned aerial vehicle carries a carrying platform. Regarding the carrying platform, it comprises a first clamping part and a second clamping part, wherein:

[0007] The first clamping part and the second clamping part have a holding approach and a separation state. The approach state and the separation state form clamping and unclamping of the guide rope, respectively.

[0008] When the first clamping part or the second clamping part is subjected to a threshold value of the action force of the guide rope, the first clamping part and the second clamping part return from the approach state to the separation state.

[0009] The first clamping part and the second clamping part have an initial restoring force, and remain in a torsional motion at the original position when subjected to an external force, and return to the separated state from the close state when the torsional amplitude reaches a threshold value.

[0010] The supporting part is used for connecting the fuselage, and has a fastening part thereon, the first clamping part is rotationally arranged relative to the supporting part, a bridge member is rotationally arranged on the supporting part and has an initial restoring force, one end of the second clamping part is connected to the bridge member in a universal manner, and the other end is supported by the fastening part to keep the first clamping part close to the second clamping part.

[0011] The bridge member releases the support of the second clamping part by the fastening part when the bridge member rotates by a certain angle under the action of the force of the second clamping part.

[0012] The fastening part comprises a movable member movably arranged on the supporting part, the movable member has an elastic restoring force to one side, and one end of the movable member is in a wedge-shaped structure, one end of the second clamping part is lapped by the movable member, a rotating member in transmission connection with the bridge member is rotationally arranged on the supporting part, and the rotating member has a protruding end, and the protruding end pushes the movable member during the rotation of the rotating member.

[0013] The bridge member and / or the rotating member are connected with a spring member between the bridge member and / or the rotating member and the supporting part, so that the bridge member or the rotating member has an initial position on the supporting part.

[0014] The active release element is used for applying a pushing force to the movable member.

[0015] The force applying element is used for applying a rotating driving force to the first clamping part and / or the second clamping part, the bridge member comprises a first bridge shaft and a second bridge shaft, the first bridge shaft is rotationally connected with the supporting part and is in transmission with the rotating member, the second bridge shaft is connected to the second clamping part in a universal manner and is rotationally connected or rigidly connected with the first bridge shaft.

[0016] The first bridge shaft and the second bridge shaft are rotationally connected and are provided with a synchronizer, a shift fork acting on the synchronizer is movably arranged on the supporting part, the active release element is fixedly arranged on the supporting part and has an excitation function, permanent magnets are arranged on the shift fork and the movable member, and the active release element applies excitation in different directions to form actions on the two permanent magnets.

[0017] The support part is rotatably arranged on the machine body.

[0018] The hydrogen fuel cell unmanned aerial vehicle and the corresponding carrying platform have the following beneficial effects:

[0019] 1、The first clamping part and the second clamping part can be close and separated, thereby realizing clamping of the guide rope, high-altitude conveying of the guide rope, automatic separation of the first clamping part and the second clamping part when the first clamping part or the second clamping part is subjected to a larger pulling force of the guide rope, and automatic escape of the unmanned aerial vehicle in special situations.

[0020] 2、The unmanned aerial vehicle can actively separate the guide rope through cooperation of the moving part and the active release element, thereby realizing release of the guide rope at a predetermined position.

[0021] 3、The first clamping part and the second clamping part can actively rotate when close to each other through cooperation of the force applying element and the special design of the bridge body member, thereby realizing winding and unwinding of the rope head of the guide rope, and facilitating hand receiving of the guide rope by the staff when the guide rope is delivered at a high altitude. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0023] Figure 1 It is a perspective view of the unmanned aerial vehicle in the embodiment of the present application.

[0024] Figure 2 It is a front view of the structure shown. Figure 1

[0025] Figure 3 It is a perspective view of the carrying platform in the embodiment of the present application.

[0026] Figure 4 It is another view of the structure shown. Figure 3

[0027] It is a top view of the structure shown. Figure 5 Figure 3

[0028] Figure 6 It is a split view of the structure shown. Figure 3

[0029] ​​​​Figure 7 The installation schematic diagram of the mobile frame in the embodiment of the present application.

[0030] Figure 8 The schematic diagram of the carrying platform in the embodiment of the present application when mounting the rope.

[0031] Figure 9 The schematic diagram of the bridge member in the embodiment of the present application. Figure 1 The schematic diagram of the embodiment in actual application.

[0032] Figure 10 The structure exploded view of the bridge member in the embodiment of the present application.

[0033] Reference signs:

[0034] 1, support frame; 2, suspension; 3, first winding wheel; 4, second winding wheel; 5, bridge member; 5a, first bridge shaft; 5b, second bridge shaft; 5c, synchronizer; 6, universal joint; 7, mobile frame; 8, roller; 9, along the mouth; 10, rubber layer; 11, sub-gear; 12, torsional spring; 13, convex end; 14, electromagnet; 15, first permanent magnet; 16, driving motor; 17, yoke; 18, second permanent magnet. DETAILED DESCRIPTION

[0035] In order to make the above object, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the concept of the present application, therefore the present application is not limited to the specific embodiments disclosed below.

[0037] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments.

[0038] Thirdly, the present application is described in detail in conjunction with the schematic diagram, and in the detailed description of the embodiments of the present application, the cross-sectional view of the device structure is partially enlarged without the general proportion for the convenience of description, and the schematic diagram is only an example, which should not limit the scope of protection of the present application. In addition, three-dimensional spatial dimensions including length, width and depth should be included in actual manufacture.

[0039] Embodiment:

[0040] Referring to Figure 1and 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 8 As 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.

[0041] 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.

[0042] 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 4The 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.

[0043] Based on the above, in this solution, when the drone is delivering the guide rope:

[0044] 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;

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Further, in the above scheme, the maximum torsional force of the torsion spring 12 when twisted into place can be configured according to the maximum pulling force that the unmanned aerial vehicle can provide, to ensure that when the pulling force applied is close to the maximum pulling force that the unmanned aerial vehicle can provide, the secondary gear 11 has broken free of the torsional force and achieved the lateral movement of the moving frame 7, so that the rope can be smoothly separated from the unmanned aerial vehicle;

[0049] Further, the support frame 1 is also fixedly provided with an electromagnet 14, and the moving frame 7 is provided with a first permanent magnet 15. When the unmanned aerial vehicle sends the guide rope to the predetermined position, and after the personnel grasps the rope head, the electromagnet 14 can output a magnetic attraction force acting on the first permanent magnet 15 at this time, to achieve the lateral movement of the moving frame 7, thereby achieving active release of the guide rope, so that when the guide rope needs to be separated from the unmanned aerial vehicle after being grasped by the receiving personnel, the personnel does not need to pull, and the unmanned aerial vehicle can actively achieve separation from the rope, thereby improving the actual use effect of the scheme.

[0050] Further, regarding the bridge member 5 in the scheme, Figure 10 as shown, it includes a first bridge shaft 5a and a second bridge shaft 5b rotatably connected to each other, the first bridge shaft 5a is rotatably installed on the support frame 1 and is responsible for being in transmission connection with the secondary gear 11 through the teeth, and the second bridge shaft 5b is responsible for connecting the universal joint 6. The second bridge shaft 5b is connected with a synchronizer 5c through a spline, and when the synchronizer 5c is clamped to the first bridge shaft 5a on the side of the first bridge shaft 5a, the first bridge shaft 5a and the second bridge shaft 5b are combined to form a hard connection, thereby forming a whole structure, and this state is as shown in Figure 3 and Figure 4 When the unmanned aerial vehicle normally transports the guide rope, it remains in this state. In addition, the support frame 1 is also fixedly provided with a driving motor 16, which is in transmission connection with the first winding wheel 3, so as to drive the rotation of the first winding wheel 3;

[0051] Based on this, when the unmanned aerial vehicle sends the guide rope to the receiving personnel position, if there is an obstacle near the unmanned aerial vehicle, preventing it from approaching the personnel, at this time, through the scheme, the synchronizer 5c can be controlled to move away from the first bridge shaft 5a, so that the second bridge shaft 5b can rotate freely away from the first bridge shaft 5a. The driving motor 16 synchronously controls the rotation of the first winding wheel 3 at this time, thereby driving the second winding wheel 4 to rotate through friction, so as to realize the movement of the guide rope between the first winding wheel 3 and the second winding wheel 4, thereby releasing the end of the drop connected to the guide rope downward (or upward), so as to facilitate the grasping of the receiving personnel, thereby avoiding the need to lower the height of the unmanned aerial vehicle at the delivery endpoint, thereby ensuring the safety of the unmanned aerial vehicle when it is parked;

[0052] Further, for the movement control of the synchronizer 5c, a shift fork 17 is arranged on the support frame 1 and can control the movement of the synchronizer 5c when sliding, the shift fork 17 is connected with the support frame 1 by a spring, so that the shift fork 17 is always in the fixed initial position, that is Figure 3 、 Figure 4 The state shown in the figure, so that the first axle 5a and the second axle 5b are always in the hard connection state, the shift fork 17 is fixedly provided with a second permanent magnet 18, as Figure 4 When the electromagnet 14 outputs the magnetic force in the first direction, the two ends of the electromagnet 14 synchronously generate an attractive force on the first permanent magnet 15 and the second permanent magnet 18, in this process, since the shift fork 17 has been in the state of resisting to the left, the magnetic force in this direction can only attract the first permanent magnet 15, which is used to control the transverse movement of the moving frame 7; when the electromagnet 14 outputs the magnetic force in the second direction (opposite to the north and south poles in the first direction), the first permanent magnet 15 and the second permanent magnet 18 synchronously generate a repulsive force, at this time, the first permanent magnet 15 cannot be pushed, so only the second permanent magnet 18 can be pushed, thereby completing the movement of the shift fork 17 to the right in the perspective, so as to realize the separation of the synchronizer 5c and the first axle 5a, thereby completing the wire laying action of the unmanned aerial vehicle, in this scheme, the dual-purpose effect of the electromagnet 14 is realized. Figure 4

[0053] It should be understood that during the development of any actual implementation, numerous implementation-specific decisions can be made. Such development efforts, while possibly complex and time-consuming, would nevertheless be routine undertaking for those of ordinary skill in the art having the benefit of this disclosure, and would not require undue experimentation to generate. Accordingly, the development efforts to specific designs, manufacturing, and production work.

[0054] It should be noted that the above examples are only used to illustrate the technical solutions of the present application and not to limit it, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalent, without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.​

Claims

1. A transport platform, characterized in that: It 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 the threshold, the first clamping part and the second clamping part return from the close-up state to the separated state. The first clamping part and the second clamping part have an initial restoring 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. The platform also includes a support for connecting the body, which has a fastening part. The first clamping part is rotatably disposed relative to the support. A bridge component is rotatably disposed on the support, which has an initial restoring force on the support. One end of the second clamping part is universally connected to the bridge component, and the other end is supported by the fastening part to keep it close to the first clamping part. When the bridge component rotates at a certain angle under the force of the second clamping part, it keeps the fastening part from releasing its support for the second clamping part; 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 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. 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.

2. The transport platform according to claim 1, characterized in that: It also includes an active release element, which is used to apply a pushing force to the moving member.

3. The transport platform according to claim 2, 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.

4. The transport platform according to claim 3, 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.

5. A hydrogen fuel cell drone, characterized in that: It is equipped with the transport platform according to any one of claims 1-4, and includes a fuselage, wherein the support is rotatably mounted on the fuselage.

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