Unmanned aerial vehicle mounting device

Abstract

The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an unmanned aerial vehicle mounting device which comprises a lifting unit and a gripping apparatus. The lifting unit is hung below the unmanned aerial vehicle, comprises a traction part and is used for lifting or descending goods and materials; the traction part is accommodated in the lifting unit and can be unfolded, stretched, folded and shortened; and the gripping apparatus is connected with one end of the traction part and is used for locking the materials and automatically releasing the materials. According to the invention, automatic unloading, lifting and descending of the materials can be realized, the delivery efficiency is improved, the materials can be conveniently transported to unattended destinations, and the system is suitable for material transportation in environments such as forests, canyons and the like.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) equipment technology, and particularly relates to a UAV mounting device. Background Technology

[0002] Currently, drone technology has been widely applied; especially in the area of ​​transportation, drones can fully leverage their flexibility, convenience, and cost-effectiveness. However, there are still several inconveniences associated with using drones for transportation.

[0003] During drone transportation, while personnel can manually attach supplies to the drone's mounting device when hoisting them, manual unloading is also required. However, in some special missions, such as providing equipment to rescue personnel or transporting supplies to personnel performing tasks in the field, the destination for drone-transported supplies is sometimes unattended, making manual unloading unsuitable for these special environments. Furthermore, if the destination is located in dense environments such as forests or canyons, the drone cannot land, making it impossible to complete the final unloading stage of the transportation mission.

[0004] The aforementioned inconveniences have caused considerable difficulties for drone transportation tasks in special environments. Therefore, there is an urgent need to provide a drone mounting device that can solve the above problems, improve transportation efficiency, and further expand the application space of drones. Summary of the Invention

[0005] This invention provides a drone mounting device capable of automatically unloading, lifting, and lowering supplies, facilitating the transportation of supplies to unattended destinations and adapting to supply delivery in environments such as forests and canyons. The specific details of the invention are as follows: A drone mounting device includes a lifting unit and a gripper; The lifting unit, mounted below the drone, includes a lifting drive unit and a traction unit, and is used to lift or lower materials. The traction unit is connected to the lifting drive unit and is capable of extending and retracting. The gripper is connected to one end of the traction unit and is used to lock the materials and automatically release them.

[0006] Furthermore, the drone mounting device also includes a drive unit and a transmission unit; The power output end of the drive unit is connected to the power input end of the transmission unit; The power output end of the transmission unit is connected to the power input end of the lifting drive unit.

[0007] Furthermore, the transmission unit includes a reduction mechanism; the reduction mechanism is disposed between the drive unit and the lifting unit, and is used to reduce the output speed of the drive unit and increase the output torque of the drive unit.

[0008] Furthermore, the transmission unit also includes a clutch mechanism; the clutch mechanism is disposed between the drive unit and the lifting unit, and is used to provide overload protection for the drive mechanism.

[0009] Furthermore, the clutch mechanism includes an adjustment knob for adjusting the preload of the clutch mechanism.

[0010] Furthermore, the UAV mounting device also includes a power supply unit; the power supply unit is electrically connected to the drive unit.

[0011] Furthermore, the UAV mounting device also includes a control unit; the control unit is electrically connected to the drive unit and is used to control the output torque and speed of the drive unit.

[0012] Furthermore, the control unit also includes a remote control module; the remote control module is used for remote and / or wired operation of starting and stopping the drive unit.

[0013] Furthermore, the drone mounting device also includes a distance sensor and a tension sensor; The distance sensor is mounted on the lifting unit and electrically connected to the control unit, and is used to collect distance information between the lifting unit and the materials; The tension sensor is mounted on the lifting unit and electrically connected to the control unit, and is used to collect the weight information of the materials.

[0014] Furthermore, the gripper includes a first claw body and a second claw body; The first claw body and the second claw body are arranged in a cross manner and are hinged to each other in the middle, and their upper ends are both connected to the traction part. A first elastic part is connected between the lower end of the first claw body and the upper end of the second claw body; a second elastic part is connected between the lower end of the second claw body and the upper end of the first claw body; the elastic coefficient of the first elastic part is greater than the elastic coefficient of the second elastic part.

[0015] The beneficial effects of this invention are: 1. Equipped with a lifting unit, it can automatically lift and lower materials, improving delivery efficiency and facilitating the transportation of materials in dense environments such as forests and canyons; 2. Equipped with grippers, which can lock and automatically release materials, facilitating the unloading of materials in unattended areas; 3. The drone mounting device provided by this invention solves the current problems that drones cannot automatically unload supplies and cannot land and unload supplies in dense environments, thus further expanding the application space of drones. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the drone mounting device, in which... Figure 1 A is a front view of the drone's mounting device. Figure 1 B is a right view of the drone mounting device; Figure 2 This is a schematic diagram of the gripper structure for a drone mounting device; Figure 3 An exploded view of the overall structure of the drone mounting device; In the diagram: 1. Lifting unit; 101. Lifting drive unit; 102. Traction unit; 2. Grappling device; 201. First claw body; 202. Second claw body; 203. First elastic part; 204. Second elastic part; 205. Hinge; 206. Roller structure; 3. Housing; 301. Searchlight; 4. Drive unit; 5. Transmission unit; 501. Transmission shaft; 502. Reduction mechanism; 5021. First pinion; 5022. First gear; 5023. Double gear; 503. Clutch mechanism; 5031. Adjustment knob; 6. Power supply unit. Detailed Implementation

[0018] 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.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] It should be noted that when a component is referred to as "fixed to," "placed," "equipped with," "provided with," "arranged on," or "connected to" another component, it can be directly on the other component or may have an intervening component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or may have an intervening component present.

[0021] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Please refer to Figures 1-3 The contents are shown to better understand the specific structure of the invention. The present invention provides a drone mounting device, such as... Figure 1 and Figure 2 As shown, it includes a lifting unit 1 and a gripper 2; The lifting unit 1 is mounted below the drone and includes a lifting drive unit 101 and a traction unit 102, used to lift or lower materials; the traction unit 102 is connected to the lifting drive unit 101 and can extend and retract. The gripper 2 is connected to one end of the traction unit 102 and is used to lock the materials and automatically release them.

[0023] It should be noted that the lifting drive unit 101 can adopt a winch structure, with one end of the traction unit 102 fixed to the winch. The rotation of the winch can drive the traction unit 102 to wind around the winch, thereby realizing the lifting and lowering of materials.

[0024] It should be noted that the traction unit 102 can be a cable structure (such as a steel wire rope), which can be wound around the lifting drive unit 101 to lift the gripper 2 when it is retracted, and can be extended to lower the gripper 2 when it is extended.

[0025] It should be noted that the drone mounting device also includes a housing 3, and the lifting unit 1 is installed inside the housing 3; specifically, the lifting unit 1 is detachably connected to the drone through an interface (such as a bolt or a buckle mechanism) provided on the housing 3; a searchlight 301 is provided on the housing 3 for nighttime illumination.

[0026] In specific implementation, a lifting unit 1 is set up to realize the automatic lifting of materials, which is convenient for transporting materials in dense environments such as forests and canyons; a gripper 2 is set up to lock materials and automatically release materials, which is convenient for unloading materials in unattended areas; the drone mounting device provided by the present invention solves the current problems that drones cannot automatically unload materials and cannot land and unload materials in dense environments, further expanding the application space of drones.

[0027] In the embodiments provided by the present invention, such as Figure 2 As shown, the gripper 2 includes a first claw body 201 and a second claw body 202; The first claw body 201 and the second claw body 202 are arranged in a cross manner and are hinged to each other in the middle, and their upper ends are both connected to the traction part 102. A first elastic part 203 is connected between the lower end of the first claw body 201 and the upper end of the second claw body 202; a second elastic part 204 is connected between the lower end of the second claw body 202 and the upper end of the first claw body 201; the elastic coefficient of the first elastic part 203 is greater than the elastic coefficient of the second elastic part 204.

[0028] It should be noted that the middle parts of the first claw body 201 and the second claw body 202 can be connected by a pivot hinge 205 to form a scissor-type connection.

[0029] It should be noted that the lower end of the first claw 201 has a large-angle arc structure, while the lower end of the second claw 202 has a small-angle arc structure. The lower ends of the first claw 201 and the second claw 202 can form a ring shape when locking materials, with the arc structure at the lower end of the first claw 201 serving as a support for the materials.

[0030] It should be noted that the traction unit 102 can be arranged according to Figure 2 The connection method involves mounting the first claw body 201 and the second claw body 202 of the gripper 2; specifically, one end of the traction part 102 passes sequentially around the upper end of the first claw body 201 and the upper end of the second claw body 202 before being fixedly connected to the other end of the traction part 102. Roller structures 206 can be provided at the upper ends of both the first claw body 201 and the second claw body 202 to reduce friction.

[0031] It should be noted that the elastic coefficient of the first elastic part 203 being greater than that of the second elastic part 204 means that the elasticity of the first elastic part 203 is greater than that of the second elastic part 204. Both the first elastic part 203 and the second elastic part 204 can be constructed using a helical spring structure. Since the first claw body 201 is the support part for the material, it bears a relatively large weight. This design allows the first claw body 201 to return to its original position more easily during unlocking by utilizing the greater elasticity of the first elastic part 203, thus achieving a rapid unlocking effect.

[0032] It should be noted that the working process of the gripper 2 is as follows: When the gripper 2 is not loaded, the two claws are in an open state under the tension of the two elastic parts; when a load is required, the personnel manually hang the material on the arc structure of the first claw 201 and close the two claws; the lifting unit 1 is activated to lift the material. At this time, under the action of the material's own weight, the traction part 102 pulls the upper ends of the two claws towards the middle, and the lower ends of the two claws move closer to each other; and the greater the mass of the material, the greater the force of the lower ends of the two claws moving closer to each other, which can lock the material more tightly; after being transported to the destination, the lifting unit 1 lowers the traction part 102 until the material touches the ground, the tension of the traction part 102 disappears, and the lower ends of the two claws move away from each other under the tension of the two elastic parts, unlocking the material and realizing the function of automatic unloading.

[0033] In practice, the use of gripper 2 can solve the problem of drones being unable to automatically unload transported goods, which is beneficial to expanding the application scenarios of drones.

[0034] In some implementations, such as Figure 3 As shown, the UAV mounting device also includes a drive unit 4 and a transmission unit 5; The power output end of the drive unit 4 is connected to the power input end of the transmission unit 5; The power output end of the transmission unit 5 is connected to the power input end of the lifting drive unit 101.

[0035] It should be noted that the drive unit 4 can adopt a stepper motor structure, and the output shaft of the stepper motor is the power output end of the drive unit 4.

[0036] It should be noted that the transmission unit 5 can adopt a transmission mechanism in which gears cooperate with the transmission shaft 501. One end of the transmission shaft 501 is the power input end of the transmission unit 5, which can be connected to the power output end of the drive unit 4 by means of a coupling or flange structure or by means of gears. The other end or middle of the transmission shaft 501 is the power output end of the transmission unit 5, and the lifting drive unit 101 can be mounted on the transmission shaft 501 by means of a key connection.

[0037] It should be noted that the power input end of the lifting drive unit 101 can be a through hole of a winch, which is connected to the drive shaft 501 of the transmission unit 5.

[0038] In practice, the use of drive unit 4 and transmission unit 5 can reliably transmit power, and the structure is simple and compact.

[0039] In the embodiments provided by the present invention, such as Figure 3 As shown, the transmission unit 5 includes a reduction mechanism 502; the reduction mechanism 502 is disposed between the drive unit 4 and the lifting unit 1, and is used to reduce the output speed of the drive unit 4 and increase the output torque of the drive unit 4.

[0040] It should be noted that the reduction mechanism 502 can use gear transmission mechanisms of different sizes to reduce the speed of the drive unit 4 and increase the torque by utilizing the principle of transmission ratio. Specifically, the first pinion 5021 can be fixedly mounted on the power output end of the drive unit; the first large gear 5022 can be fixedly mounted on the power output end of the transmission unit (i.e., the middle part of the transmission shaft 501); and the second pinion and the second large gear can be fixedly connected to form a double gear 5023; the first pinion 5021 meshes with the large gear of the double gear 5023 to form a first-stage reduction; the pinion of the double gear 5023 meshes with the first large gear 5022 to form a second-stage reduction.

[0041] In practice, the principle of gear transmission ratio was used to achieve speed reduction and torque increase of drive unit 4, which ensured the lifting capability of the UAV.

[0042] In some implementations, such as Figure 3 As shown, the transmission unit 5 also includes a clutch mechanism 503; the clutch mechanism 503 is disposed between the drive unit 4 and the lifting unit 1, and is used to provide overload protection for the drive mechanism; the clutch mechanism 503 also includes an adjustment knob 5031, which is used to adjust the preload of the clutch mechanism 503.

[0043] It should be noted that, as Figure 3 As shown, the clutch mechanism 503 can be mounted on the power output end of the drive unit 4 and rotate together with the power output end.

[0044] It should be noted that when the drive unit 4 is started, it drives the clutch mechanism 503 through the power output end. When the load of the material is less than the preset load torque of the clutch mechanism 503, the clutch mechanism 503 normally transmits the output torque of the drive unit 4. When the mass of the material is large and the load exceeds the preset load torque of the clutch mechanism 503, the clutch mechanism 503 slips, thus protecting the internal transmission mechanism and preventing overload. The preset torque of the clutch mechanism 503 can be adjusted manually by adjusting the knob 5031. The clutch mechanism 503 can adopt the clutch structure in the prior art. Specifically, it can include a driving plate, a driven plate and a pressure plate, which are pressed together by the adjusting knob 5031 to realize the transmission of power. It can be set at the power output end of the drive unit 4 to facilitate timely disconnection of power transmission in case of overload.

[0045] In practice, the clutch mechanism 503 can protect the internal transmission mechanism and prevent the mounting device from being overloaded, thus further ensuring the hoisting of the UAV.

[0046] In the embodiments provided by the present invention, such as Figure 3 As shown, the UAV mounting device also includes a power supply unit 6; the power supply unit 6 is electrically connected to the drive unit 4.

[0047] It should be noted that the power supply unit 6 can adopt the existing rechargeable lithium battery structure, or it can be powered by the drone's own power supply.

[0048] In practice, power supply unit 6 is set up to further provide energy security for drone hoisting.

[0049] In one embodiment, the UAV mounting device also includes a control unit (not shown in the figure); the control unit is electrically connected to the drive unit 4 and is used to control the output torque and speed of the drive unit 4.

[0050] It should be noted that the control unit can be a PLC (Programmable Logic Controller), or a circuit including at least one processor, or a circuit including at least one microcontroller, or a combination of multiple circuits or chips, as long as it can achieve the corresponding function. It is understood that for those skilled in the art, the control circuit can also be a common circuit composed of amplifiers, comparators, transistors, MOSFETs, etc., to achieve the corresponding function in a purely hardware manner.

[0051] In practice, the control unit can be used to control the mounting device, including lifting speed, distance, and torque, providing further assurance for drone hoisting.

[0052] In the embodiments provided by the present invention, the control unit further includes a remote control module (not shown in the figure); the remote control module is used for remote and / or wired operation of the start and stop of the drive unit 4.

[0053] It should be noted that the remote control module uses a remote control receiver and transmitter from existing technologies. Through communication with the control unit, it can realize remote or wired control of lifting speed, distance, and torque.

[0054] In practice, setting up a remote control module can enable remote or wired control, providing multiple control options for drone hoisting.

[0055] In one embodiment, the drone mounting device also includes a distance sensor (not shown) and a tension sensor (not shown). A distance sensor is installed on the lifting unit 1 and electrically connected to the control unit to collect distance information between the lifting unit 1 and the materials; A tension sensor is installed on the lifting unit 1 and electrically connected to the control unit to collect the weight information of the materials.

[0056] The control unit acquires real-time distance information between the lifting unit 1 and the ground collected by the distance sensor, processes it to obtain distance information between the material and the ground, and acquires material weight information collected by the tension sensor. Using the material delivery speed control model, it obtains the output power and uses the output power to control the power output of the drive unit 4.

[0057] The expression for the material delivery speed control model is: In the formula: P is the output power of drive unit 4; m is the mass of the material; g is the acceleration due to gravity; H represents the acceleration during the acceleration phase of the material's descent; H represents the initial height of the material; h represents the real-time height of the material. The mechanical efficiency of lifting unit 1; The distance traveled during the acceleration phase of the material's descent; This refers to the descent distance during the deceleration phase. The fastest possible speed at which supplies are falling; This refers to the descent acceleration during the deceleration phase.

[0058] It should be noted that both the distance sensor and the tension sensor can be conventional sensors from existing technologies, as long as they can collect distance and weight information in real time.

[0059] It should be noted that the descent of supplies can be divided into three stages. The first stage is the initial stage, also known as the acceleration stage, during which the supplies descend at a certain rate. , This can be the preset maximum rate at which supplies fall. Acceleration during the acceleration phase. It can be a preset acceleration, the value of which is determined by... Gradually increase to the preset value. The second stage is the mid-course stage, i.e., the constant speed stage, during which the supplies are maintained... The average descent rate. The third stage is the final stage, i.e., the deceleration stage, at which point the descent rate of the materials is... Acceleration during the deceleration phase The preset acceleration can be slightly greater than Its value gradually decreases from the preset value to . and The preset value can be determined according to the quality and specific type of materials. When setting it, the maximum pulling force of the traction unit 102 and the rated power of the drive unit 4 should be taken into account.

[0060] It should be noted that the real-time altitude of the supplies can be obtained by comparing the drone's altitude (which can be obtained through the drone's built-in positioning system) with the difference between the altitude sensor-collected distance between the lifting unit 1 and the supplies (the fixed distance between the lifting unit 1 and the drone should be considered); the mechanical efficiency of the lifting unit 1 refers to the mechanical efficiency of the winch, which can be found in the product manual or determined through testing; the initial stage distance refers to the acceleration of the supplies' descent speed from 0 m / s to... The distance the material descends during the initial descent; the final descent distance refers to the change in the material's descent speed from... The distance the material descends when it decelerates to 0 m / s; the fastest descent speed of the material refers to the fastest speed reached in the initial stage, and the material maintains this fastest descent speed in the middle stage of the descent.

[0061] It should be noted that the descent distance during the acceleration phase of the descent process is... and descent distance during deceleration phase All values ​​are preset. During setup, the preset value can be automatically set by increasing the distance distribution ratio K. K can range from 0.3 to 0.05 and is determined by multiplying K by the initial height H of the material. and The value of .

[0062] It should be noted that the accelerated decline in supplies, i.e. At that time, the supplies had descended a distance of: (s represents the growth from 0 to...) (distance). From this, we can deduce... It can achieve For linear growth, when s=0m , hour The preset value has been reached. The rate at which the materials descend is: The rate at which materials fall smoothly increases from 0 m / s to From this, the real-time pulling force of the traction unit 102 on the material during the acceleration phase can be deduced. The tension decreases smoothly without initial impact. Therefore, the real-time power output by the control unit controlling drive unit 4 is: It should be noted that the slowdown phase of the decline in supplies, i.e. At that time, the distance the supplies descended was: (s represents the growth from 0m to...) (distance). From this, we can deduce... It can achieve For linear growth, when hour , hour The preset value has been reached. The rate at which the materials descend is: The rate of decline of supplies from The speed decreases smoothly to 0 m / s. From this, the real-time pulling force of the traction unit 102 on the material during the acceleration phase can be derived. Therefore, the real-time power output by the control unit controlling the drive unit 4 is: It should be noted that during the uniform velocity phase of the descent, the acceleration is... Pull force = gravity, speed remains constant. The output power of drive unit 4 is constant, connecting the acceleration and deceleration phases to ensure descent efficiency.

[0063] In practical implementation, by using the material delivery speed control model, the output power of the drive unit 4 can be controlled during the material delivery process to achieve the following: the initial stage acceleration from... Gradually increase the acceleration to prevent sudden drops from impacting the supplies; maintain a high-speed descent during the middle phase to improve delivery efficiency; gradually reduce the acceleration at the end phase. This design prevents sudden stops in descent from impacting the supplies, thus achieving a soft landing. Furthermore, the descent speed is continuous throughout, with a landing speed of 0 m / s, perfectly achieving a soft landing while maintaining descent efficiency. Especially in the transport of medical supplies during field rescue operations, for fragile medicines or precision equipment, the supply delivery speed control model is needed to control the output power to achieve gradual descent and a soft landing.

[0064] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0065] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A drone mounting device, characterized in that, Includes lifting units and grippers; The lifting unit, mounted below the drone, includes a lifting drive unit and a traction unit, and is used to lift or lower materials. The traction unit is connected to the lifting drive unit and is capable of extending and retracting. The gripper is connected to one end of the traction unit and is used to lock the materials and automatically release them.

2. The UAV mounting device according to claim 1, characterized in that, The UAV mounting device also includes a drive unit and a transmission unit; The power output end of the drive unit is connected to the power input end of the transmission unit; The power output end of the transmission unit is connected to the power input end of the lifting drive unit.

3. The UAV mounting device according to claim 2, characterized in that, The transmission unit includes a reduction mechanism; the reduction mechanism is disposed between the drive unit and the lifting unit, and is used to reduce the output speed of the drive unit and increase the output torque of the drive unit.

4. The UAV mounting device according to claim 2, characterized in that, The transmission unit also includes a clutch mechanism; the clutch mechanism is disposed between the drive unit and the lifting unit and is used to provide overload protection for the drive mechanism.

5. The UAV mounting device according to claim 4, characterized in that, The clutch mechanism includes an adjustment knob for adjusting the preload of the clutch mechanism.

6. The UAV mounting device according to claim 1, characterized in that, The UAV mounting device also includes a power supply unit; the power supply unit is electrically connected to the drive unit.

7. The UAV mounting device according to claim 2, characterized in that, The UAV mounting device also includes a control unit; the control unit is electrically connected to the drive unit and is used to control the output torque and speed of the drive unit.

8. The UAV mounting device according to claim 7, characterized in that, The control unit also includes a remote control module; the remote control module is used for remote and / or wired operation of starting and stopping the drive unit.

9. The UAV mounting device according to claim 7, characterized in that, The drone mounting device also includes a distance sensor and a tension sensor; The distance sensor is mounted on the lifting unit and electrically connected to the control unit, and is used to collect distance information between the lifting unit and the materials; The tension sensor is mounted on the lifting unit and electrically connected to the control unit, and is used to collect the weight information of the materials.

10. The UAV mounting device according to claim 1, characterized in that, The gripper includes a first claw body and a second claw body; The first claw body and the second claw body are arranged in a cross manner and are hinged to each other in the middle, and their upper ends are both connected to the traction part. A first elastic part is connected between the lower end of the first claw body and the upper end of the second claw body; a second elastic part is connected between the lower end of the second claw body and the upper end of the first claw body; the elastic coefficient of the first elastic part is greater than the elastic coefficient of the second elastic part.

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