Heavy-duty adaptable eccentric adjustment patrol drone center of gravity correction device

Abstract

This invention belongs to the field of concrete conveying technology, specifically a heavy-duty adaptable eccentric adjustment type patrol drone center of gravity correction device. It includes a mounting plate, a bearing unit on the outer side of the mounting plate's end face, a cable adjustment unit on one side of the bearing unit, and energy reduction units evenly distributed circumferentially on the side of the mounting plate closest to gravity. This invention dynamically adjusts the spatial position of the swing fulcrum through the cooperation between the electric lifting platform and the mounting plate, actively changing the torque distribution of the pendulum's lateral force using the lever principle, breaking the inherent periodic characteristics of a flexible pendulum. Simultaneously, through the linkage between the sheave, horizontal shaft, drive gear, arc-shaped gear ring, crank, and guide wheel, supplemented by the actual execution support of rollers, telescopic spring columns, angle rollers, and energy reduction units, it actively applies a tangential braking torque opposite to the swing direction to the cable. This torque can be directly transmitted to the drone body through the mounting plate, thus solving the defect that flexible cables cannot transmit reverse torque.

Description

Technical Field

[0001] This invention belongs to the field of concrete conveying technology, specifically relating to a center of gravity correction device for a heavy-duty adaptable eccentric adjustment patrol drone. Background Technology

[0002] Heavy-duty patrol drones: typically used in heavy-duty scenarios, they have vertical take-off and landing, stable hovering and long endurance capabilities. They also integrate professional payloads such as visible light, thermal imaging, lidar and gas detection. They are professional unmanned aerial vehicles that can perform routine patrols, hazard detection, emergency response and material delivery in emergency scenarios such as power, oil and gas, transportation, water conservancy and mining under complex terrain and severe weather conditions. The UAV and the payload jointly construct a flexible suspended pendulum system. When the motion state of the UAV's suspension point changes abruptly (such as instantaneous acceleration / deceleration, sharp turns, rapid pitch or roll, and rapid ascent / descendance), or when the payload is subjected to external lateral forces (such as continuous turbulence, ground effect, obstacle flow, or changes in air density), the motion of the payload and the suspension point become asynchronous. The flexible suspension rope cannot transmit a reverse torque to counteract the swing, and the payload will swing back and forth around the suspension point under the action of gravity, forming a pendulum effect. Furthermore, when the offset exceeds the adjustment limit of the flight control, it will directly lead to the UAV losing its attitude or even crashing. At the same time, if the external excitation frequency is close to the natural frequency of the pendulum, it may further induce resonance, causing the swing amplitude to continue to amplify. Existing technologies for suppressing the pendulum effect typically employ multi-point symmetrical suspension structures to effectively suppress the pendulum effect generated during the actual transport of heavy-duty patrol drones. However, in practice, the multi-point symmetrical suspension structure is essentially still a system of multiple parallel flexible single pendulums, without changing the core characteristic that the load is connected to the fuselage through a flexible body. That is, the flexible suspension rope cannot transmit reverse torque. As long as the load and the fuselage suspension points are not synchronized, they will still swing back and forth under the action of gravity. It can only limit the maximum swing amplitude and cannot effectively suppress or buffer the pendulum effect. In addition, the multiple suspension ropes significantly increase the overall windward area of ​​the system. During long-distance cruise, crosswinds will apply additional lateral drag to the suspension ropes, making it easier to trigger load swaying and self-torsion. At the same time, the multiple suspension ropes are within the influence range of the rotor downwash, which will generate irregular high-frequency vibrations. These vibrations will be transmitted to the load, forming a superposition effect of high-frequency vibrations and low-frequency swaying, further amplifying the pendulum effect and increasing the difficulty of pendulum suppression in flight control. Summary of the Invention

[0003] To solve the above problems, the present invention adopts the following technical solution: a heavy-duty adaptable eccentric adjustment patrol drone center of gravity correction device, including a mounting shaft disk, a bearing unit is provided on the outer side of the end face of the mounting shaft disk, a cable adjustment unit is provided on one side of the bearing unit, and energy reduction units are uniformly arranged circumferentially on the side of the mounting shaft disk near the gravity. The energy reduction unit includes: There is at least one corner brace, which is evenly distributed circumferentially on the end face of the mounting axle disk near the gravity side; in addition, the mounting axle disk and the corner brace are detachably installed by bolts; Angle tube, snap-fitted and installed in the middle of the horizontal section of the angle brace; The support ring is snapped onto the inner wall of the end of the corner tube near the corner brace. The end ring is coaxially located on the side of the support ring away from the corner bracket, and the end ring is slidably snapped onto the inner wall of the corner cylinder. A return spring is snapped between the opposing surfaces of the support ring and the end ring. The bridging column is coaxially set inside the corner tube, and the bridging column is slidably snapped together with the support ring and snapped together with the end ring. The electric telescopic pole is snapped into place at the end of the bridging column opposite to the support ring. A circumferential spring seat is snapped onto the end of the electric telescopic rod opposite the support ring. The ball joint seat is snap-fitted onto the end of the circumferential spring seat away from the support ring.

[0004] Preferably, the ball joint seat has an energy-reducing tube slidably mounted through it at its axial center. A telescopic spring column is slidably mounted inside the energy-reducing tube at the end furthest from the ball joint seat. A support ring, which slidably engages with the telescopic spring column, is mounted on the inner wall of the end of the energy-reducing tube closest to the ball joint seat. An oil seal plug, which is slidably fitted to the inner wall of the energy-reducing tube, is mounted on the end of the telescopic spring column closest to the ball joint seat. An oil valve, which communicates with the interior of the energy-reducing tube, is inserted and mounted at the middle position of the end of the energy-reducing tube furthest from the telescopic spring column. A U-shaped frame is mounted on the end of the telescopic spring column opposite to the oil valve. Rollers are symmetrically mounted on the vertical sections of the U-shaped frame, and wear-resistant nylon sleeves are fitted onto the outer walls of the rollers.

[0005] Preferably, an external post perpendicular to the roller axis is snapped onto the outer wall of the end of the energy-reducing tube away from the oil valve. A sleeve is snapped onto the end of the external post away from the axis of the energy-reducing tube, and the axis of the sleeve is parallel to the axis of the energy-reducing tube. An angle valve communicating with the inside of the sleeve is snapped onto the outer wall of the end of the sleeve near the ball joint seat. A sealing plate that fits into the inner wall of the sleeve is slidably snapped onto the inner wall of the sleeve near the angle valve. A guide post is circumferentially snapped onto the end face of the sealing plate away from the angle valve. A sealing plate that is slidably snapped onto the guide post is coaxially arranged on the side of the sealing plate away from the angle valve. The number of sealing plates corresponds one-to-one with the sealing plates, and the sealing plates are snapped onto the inner wall of the sleeve by a sealing ring. The guide posts in the same group are snapped onto the end away from the angle valve and are slidably assembled onto the inner wall of the sleeve. A single-headed ball post is slidably snapped onto the inner wall of the sleeve near the end of the sleeve.

[0006] Preferably, a guide rod is rotatably mounted at the middle position of the end face of the sealing plate away from the angle valve, and the outer wall of the guide rod has a serpentine groove that mates with the single-headed ball joint. A cross-spline column is snapped onto the end of the guide rod away from the angle valve, and a connecting column is snapped onto the end of the cross-spline column away from the angle valve. An inner bushing is snapped onto the middle position of the inner wall of the sleeve, and a lead screw is threaded through the center of the inner bushing. The lead screw and the cross-spline column are slidably snapped onto each other. A convex tube is snapped onto the end of the lead screw away from the angle valve, and a cross spring rod is slidably snapped onto the inner wall of the convex tube. An angle roller is rotatably mounted at the end of the cross spring rod away from the angle valve, and the axial length of the angle roller is less than the inner diameter of the convex tube away from the angle valve.

[0007] Preferably, a detection tube is inserted and snapped onto the end of the sleeve away from the corner roller. A limit ring is snapped onto the inner wall of the detection tube near the sealing plate. A detection rod is slidably snapped onto the center of the limit ring. A sensing ball with the same inner diameter as the detection tube is snapped onto the end of the detection rod near the sealing plate. An adjusting ring is snapped onto the outer wall of the detection rod away from the sealing plate and slidably snapped onto the inner wall of the detection tube. A compression spring sleeved on the outer wall of the detection rod is snapped onto the opposite surfaces of the adjusting ring and the limit ring. A positive electrode ring is snapped onto the outer wall of the detection rod away from the sensing ball. A negative electrode ring is coaxially arranged on the side of the positive electrode ring near the sensing ball and snapped onto the inner wall of the detection tube. The negative electrode ring is slidably assembled with the detection rod.

[0008] Preferably, the fuselage is positioned opposite the side of the mounting axle disk facing away from gravity. An aircraft belly support is snapped into the middle of the end face of the fuselage near the mounting axle disk. Rotary arms are snapped into the four corners of the fuselage via rotating beams. An aircraft wing is mounted on the end of the rotating arm away from the fuselage via a rotating shaft. An electric lifting platform is snapped into the middle of the end of the belly support facing away from the fuselage, and the electric lifting platform is snapped into the mounting axle disk. Hooks are evenly snapped into the circumferential end face of the belly support facing away from gravity.

[0009] Preferably, the carrier unit includes: Opening slots are evenly distributed on the outer end of the mounting shaft disk; The shaft is rotatably fitted and installed in the middle position of the inner wall of the opening groove; The bracket is snapped into place at the middle of the outer wall of the connecting shaft, and the cross-section of the bracket is Y-shaped. Torsion springs are snapped between the bracket and the inner wall of the slot, and the torsion springs are symmetrically distributed at both ends of the connecting shaft. The horizontal shaft is plugged in and rotates at the end of the bracket away from the connecting shaft. The reel is snapped into place at the middle position of the outer wall of the horizontal shaft; The cable is slidably sleeved in the middle of the outer wall of the cable, and one end of the cable is snapped into the hook for installation; The weights are positioned opposite each other on the side of the mounting shaft disk away from the machine body. The hooks are evenly and circumferentially snapped onto the end face of the weight body near the machine body, and the hooks are snapped onto the other end of the cable; in addition, the number of hooks corresponds one-to-one with the number of cables.

[0010] Preferably, the cable adjustment unit includes: The support plates are arranged in pairs, symmetrically distributed, and positioned opposite each other on the outer side of the opening slot away from the axis of the mounting axle disc; in addition, the support plates are snap-fitted to the mounting axle disc. The arc groove is located in the middle of the support plate; An arc-shaped frame is snap-fitted into the middle position of the outer wall of one of the two support plates in the same group. An arc-shaped toothed ring is snapped onto the inner wall of the arc-shaped bracket. The drive gear is snapped onto the outer wall of one end of the horizontal shaft, and the drive gear meshes with the arc-shaped gear ring. The crank is snapped onto the outer wall of the other end of the horizontal shaft; The end shaft is installed in a plug-in snap-fit ​​configuration at the center of the crank shaft at the end furthest from the transverse shaft. The guide wheel is snapped into place at the middle position of the outer wall of the end shaft.

[0011] Preferably, the opening slot is provided with an angle plate that is engaged with the mounting shaft disc on the side facing the gravity. An angle post is rotatably mounted on the end of the angle plate away from the axis of the mounting shaft disc. A limiting seat that cooperates with the angle post is slidably engaged on the end of the bracket near the angle plate. A baffle that is directly opposite the limiting seat is engaged on the end of the bracket away from the axis of the mounting shaft disc. A support column that is symmetrically engaged with the baffle is engaged on the end of the limiting seat away from the axis of the mounting shaft disc. An angle ring that is engaged with the outer wall of the support column is provided on the side of the baffle near the limiting seat. An angle ring is engaged with the outer wall of the support column away from the limiting seat. A telescopic spring sleeved on the outer wall of the support column is engaged between the angle ring and the opposite side of the baffle.

[0012] The method for suppressing the pendulum effect of heavy-load patrol drones employs the aforementioned heavy-load adaptive eccentric adjustment patrol drone center-of-gravity correction device. The specific steps are as follows: S1: First, the position of the swing fulcrum between the hanging shaft disk and the machine body and the weight body is dynamically adjusted by the electric lifting platform. That is, by adjusting the "lever fulcrum", the lateral force generated by the pendulum effect and the actual distribution at both ends of the hanging shaft disk are initially changed, so as to complete the initial suppression and buffering of the pendulum effect. S2: Then, under the drive of the external motor, the control bracket drives the horizontal shaft to rotate to a predetermined angle. At this time, the spool synchronously changes the contact angle between itself and the cable. When the cable intensifies the relative force between itself and the spool due to the pendulum effect, the tangential contact angle between the spool and the cable is actively and dynamically adjusted, that is, the included angle between the cable and the spool is reduced. While ensuring stable guiding support for the cable, the relative friction between the cable and the spool is reduced at the same time, thereby improving the actual service life of the cable. During this process, as the horizontal axis deflects, it continuously generates meshing motion between the drive gear and the arc-shaped gear ring, causing the crank to move synchronously towards the cable until the guide wheel contacts the cable and forms a certain auxiliary counteracting force. On the one hand, this relieves the contact pressure between the cable wheel and the cable, and on the other hand, it increases the relative contact area between the two cables, improves the actual service life of the cable, reduces the main load pressure on the cable near the fuselage end, and further stabilizes the flight stability of the fuselage system. S3: Finally, the actual degree of cable sway is dynamically sensed by the rollers in the "relative tangential clamping state" with the cable. That is, in actual operation, the cable is between the two rollers and is initially tangential. When the cable sways, the cable and the rollers move relative to each other until the cable and the rollers are in the "tangential" state again. This ensures that the axis of the telescopic spring column is perpendicular to the axis of the cable, so that the interaction between the rollers and the cable is always relatively perpendicular, avoiding the loss of force in the non-perpendicular state, and ensuring the efficient and stable output of the reverse suppressing pendulum effect torque. Meanwhile, through the connection between the oil valve and the angle valve (in specific implementation, this is achieved via a hose), the oil inside the energy-reducing tube is squeezed into a predetermined range inside the casing through the aforementioned hose until the sealing plate, under the reverse force of the oil, drives the guide post to simultaneously squeeze the retaining ring and move the single-headed ball column to a predetermined depth under the guidance of the sealing plate. Subsequently, under the influence of the single-headed ball column, the lead rod controls the screw to drive the convex tube to move away from the lead rod. Furthermore, through the serpentine groove formed by the interaction between the outer wall of the lead rod and the single-headed ball column, the axial movement of the convex tube on the sealing plate can be explicitly expressed by changing the pitch of the serpentine groove. On the one hand, this ensures the suppression and buffering of the pendulum effect of the cable by the angle roller. On the other hand, it can provide an additional auxiliary support torque output greater than the roller support torque to the cable at another point where the pendulum effect occurs. In addition, the circumferential spring seat can be controlled by an electric telescopic rod to drive the energy reduction unit to move gradually along its axis toward the ground, perfectly matching the swing trajectory. That is, when the angle roller moves downward, it can be completely matched with the movement direction of the cable contact point, maintaining a tight fit throughout the process, continuously applying a reverse force perpendicular to the cable, providing a reverse braking torque throughout the process, and continuously consuming the swing energy.

[0013] The present invention has the following beneficial effects: 1. This invention dynamically adjusts the spatial position of the swing fulcrum by cooperating between the electric lifting platform and the mounting shaft disc, and actively changes the torque distribution of the lateral force of the pendulum using the lever principle, breaking the inherent periodic characteristics of the flexible pendulum; at the same time, through the linkage between the sheave, horizontal shaft, drive gear, arc-shaped gear ring, crank and guide wheel, and further supported by the actual execution of rollers, telescopic spring columns, angle rollers and energy reduction unit, a tangential braking torque opposite to the swing direction is actively applied to the cable. The aforementioned torque can be directly transmitted to the machine body through the mounting shaft disc, thereby solving the core defect that flexible cables cannot transmit reverse torque; In addition, it can directly counteract the driving torque of the weight body's swing, continuously consume the swing mechanical energy, and achieve active depth suppression of the pendulum effect, rather than just limiting the maximum swing amplitude. It achieves negative damping control of the single pendulum system through active torque balance, and greatly improves the swing amplitude decay efficiency.

[0014] 2. This invention uses the adaptive adjustment of the tangentially clamping double rollers and the telescopic spring column to sense the sway angle of the cable in real time and automatically adjust the roller posture to keep the rollers tangential to the cable and the telescopic spring column axis perpendicular to the cable. This ensures that the reverse force applied by the rollers to the cable is 100% (relatively) tangential braking torque with no radial force loss. Ultimately, through a continuous transmission structure consisting of a single-headed ball column, a lead rod, a lead screw, and a convex tube, the angle roller support torque is precisely amplified and explicitly controlled, forming a redundant dual-point suppression structure (with the other suppression point being relatively further away from the weight body, i.e., more fundamentally offset from the pendulum fulcrum, which helps to better suppress the "whiplash amplification effect" and more efficiently suppress the pendulum effect). This constructs a multi-node hierarchical gradient collaborative suppression, balancing the pendulum suppression effect with system reliability and service life. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 This is an appendix to the present invention. Figure 1 Front view of the structure.

[0017] Figure 3 This is an appendix to the present invention. Figure 1 Top view of the middle section of the structure.

[0018] Figure 4 This is an appendix to the present invention. Figure 1 Partial plan view of the structure.

[0019] Figure 5 This is a three-dimensional structural diagram of the mounting shaft disk and its local cable adjustment unit in this invention.

[0020] Figure 6 This is an appendix to the present invention. Figure 5 Front view of the structure.

[0021] Figure 7 This is an appendix to the present invention. Figure 5 Partial cross-sectional view of the central structure.

[0022] Figure 8 This is an appendix to the present invention. Figure 7 A magnified schematic diagram of the local structure at point A in the middle.

[0023] Figure 9 This is a three-dimensional structural diagram of the energy reduction unit in this invention.

[0024] Figure 10 This is a plan view of the internal structure of the energy reduction unit in this invention.

[0025] Figure 11 This is an appendix to the present invention. Figure 10 Enlarged schematic diagram of the local structure at point B.

[0026] Figure 12 This is an appendix to the present invention. Figure 10 Enlarged schematic diagram of the local structure at point C.

[0027] The diagram labels are: 1. Mounting axle disc; 2. Bearing unit; 3. Cable adjustment unit; 4. Energy reduction unit. 11. Fuselage; 12. Underbody support; 13. Rotary arm; 14. Wing; 15. Electric lifting platform; 16. Hook; 21. Opening slot; 22. Coupling shaft; 23. Bracket; 24. Torsion spring; 25. Horizontal shaft; 26. Spool; 27. Cable; 28. Weight body; 29. ​​Hook; 31. Support plate; 32. Arc groove; 33. Arc-shaped bracket; 34. Arc-shaped gear ring; 35. Drive gear; 36. Crank; 37. End shaft; 38. Guide wheel; 311. Angle plate; 312. Angle post; 313. Limiting seat; 314. Baffle; 315. Support column; 316. Angle ring; 317. Angle loop; 318. Telescopic spring; 41. Angle brace; 42. Angle tube; 43. Support ring; 44. End ring; 45. Return spring; 46. Bridging column; 47. Electric telescopic rod; 48. Circumferential spring seat; 49. Ball joint seat; 411. Energy-reducing tube; 412. Telescopic spring column; 413. Support ring; 414. Oil seal plug; 415. Oil valve; 416. U-shaped frame; 417. Roller; 418. Wear-resistant nylon sleeve; 421. External connecting post; 422. Sleeve; 423. Angle valve; 424. Sealing plate; 425. Guide post; 426. Sealing plate; 427. Snap ring; 428. Single-ended ball joint; 431. Lead rod; 432. Cross spline column; 433. Inner bushing; 434. Lead screw; 435. Convex tube; 436. Cross spring rod; 437. Angle roller; 441. Detection tube; 442. Limiting ring; 443. Detection rod; 444. Sensing ball; 445. Adjusting ring; 446. Compression spring; 447. Positive electrode ring; 448. Negative electrode ring. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] It should be noted that the terms "vertical," "horizontal," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0030] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0031] Reference Figure 1 , Figure 2 and Figure 3 It can be seen that the center of gravity correction device of the heavy-duty adaptable eccentric adjustment patrol drone includes a mounting disk 1, a bearing unit 2 is provided on the outer side of the end face of the mounting disk 1, a cable adjustment unit 3 is provided on one side of the bearing unit 2, and energy reduction units 4 are uniformly arranged circumferentially on the side of the mounting disk 1 near the gravity. Reference Figure 1 , Figure 2 and Figure 4 It can be seen that the fuselage 11 is arranged opposite the side of the mounting axle disk 1 that is away from gravity. The fuselage 11 is fitted with a belly support 12 at the middle position of the end face of the side of the mounting axle disk 1. The four corners of the fuselage 11 are fitted with rotating arms 13 via rotating arm beams. The end of the rotating arm 13 away from the fuselage 11 is fitted with a wing 14 via a rotating shaft. The middle position of the belly support 12 that is away from the fuselage 11 is fitted with an electric lifting platform 15, and the electric lifting platform 15 is fitted with the mounting axle disk 1. Hooks 16 are evenly fitted with the end face of the belly support 12 that is away from gravity. Reference Figure 1 , Figure 3 and Figure 7 It can be seen that the bearing unit 2 includes: an opening slot 21, evenly opened on the outer end of the mounting shaft disk 1; a connecting shaft 22, rotatably mounted in the middle position of the inner wall of the opening slot 21; a bracket 23, snapped onto the middle position of the outer wall of the connecting shaft 22, and the cross-section of the bracket 23 is Y-shaped; a torsion spring 24, snapped onto the bracket 23 and the inner wall of the opening slot 21, and the torsion spring 24 is symmetrically distributed at both ends of the connecting shaft 22; and a horizontal shaft 25, plugged into and rotatably mounted on the bracket 23 away from the connecting shaft 21. 2. One end; a reel 26, snapped into the middle of the outer wall of the horizontal shaft 25; a cable 27, slidably sleeved in the middle of the outer wall of the cable 27, with one end of the cable 27 snapped into the hook 16; a weight body 28, positioned opposite the mounting shaft 1 on the side away from the machine body 11; hooks 29, evenly snapped into the end face of the weight body 28 near the machine body 11 in a circumferential direction, with the hooks 29 snapped into the other end of the cable 27; in addition, the number of hooks 29 corresponds one-to-one with the number of cables 27.

[0032] A simplified process for heavy-duty patrol drones transporting goods: Preliminary preparation: Operators check whether the UAV's power system, flight control system, and payload adjustment system are functioning properly; The heavy object to be transported is placed stably on the ground. Multiple cables 27 are led out through the mounting plate 1 and connected to the hooks 29 on the end face of the heavy object (weight body 28) through the hooks 16. (In specific implementation, the electric lifting platform 15 is extended and retracted slightly to control the up and down movement of the mounting plate 1 to tension all cables 27 and eliminate slack.) The anti-detachment buckle is locked (not shown in the figure) to ensure that all cables 27 have the same initial length and uniform force, and to avoid initial uneven load. Note: In the initial state, the electric lifting platform 15 is in the initial neutral position, and the support 23 and the reel 26 are in the initial zero position. S1: The UAV flight control system starts the wing 14 (the rotor arm 13 is reasonably arranged to reduce the spatial distribution between the wings 14, and the lift is slowly increased to lift the object off the ground); S2: The drone climbs to the predetermined altitude and enters long-distance cruise. When the drone accelerates, decelerates, turns, crosswinds, turbulence and other factors cause pendulum effects, the pendulum effect is suppressed in three stages throughout the entire cycle through the load-bearing unit 2, cable adjustment unit 3 and energy reduction unit 4. Dynamic adjustment scheme for primary fulcrum: In practice, the position of the mounting plate 1 (relative to the machine body 11 and the object to be transported) can be adjusted by the electric lifting platform 15 to dynamically change the equivalent pendulum length of the pendulum, continuously avoid the external excitation frequency range, and reduce the probability of resonance (at the same time, by adjusting the contact point between the spool 26 and the cable 27, the lateral torque of the pendulum can be initially offset to suppress the "basic" pendulum phenomenon). S3: After the drone arrives over the destination, the flight control system decelerates the drone and enters a hovering state (while controlling the cable adjustment unit 3 and the energy reduction unit 4 to perform pendulum suppression and quickly stabilize the heavy object). The flight control system controls the drone to descend slowly. When the heavy object is close to the ground, the electric lifting platform 15 drives the mounting plate 1 to move slowly downward, coordinating with the drone's descent to keep the cable 27 taut until the heavy object is stable. When the heavy object is fully in contact with the ground and the cable 27 is slack, the operator unlocks the hook 29 and the anti-detachment lock, thus completing the heavy object deployment.

[0033] Reference Figure 1 , Figure 4 , Figure 5 and Figure 6It is known that the cable adjustment unit 3 includes: support plates 31, two in a group, symmetrically distributed, and facing each other on the outer side of the opening slot 21 away from the axis of the mounting shaft disk 1; in addition, the support plates 31 are snap-fitted to the mounting shaft disk 1; an arc groove 32 is opened in the middle of the support plates 31; an arc-shaped bracket 33 is snap-fitted to the middle of the outer wall of one of the two support plates 31 in the same group; an arc-shaped gear ring 34 is snap-fitted to the inner wall of the arc-shaped bracket 33; a drive gear 35 is snap-fitted to the outer wall of one end of the horizontal shaft 25, and the drive gear 35 meshes with the arc-shaped gear ring; a crank 36 is snap-fitted to the outer wall of the other end of the horizontal shaft 25; an end shaft 37 is plugged into and snap-fitted to the center of the crank 36 at the end of the shaft 37 away from the horizontal shaft 25; and a guide wheel 38 is snap-fitted to the middle of the outer wall of the end shaft 37. Reference Figure 3 , Figure 7 and Figure 8 It can be seen that an angle plate 311, which is engaged with the mounting shaft disk 1, is provided opposite to the side of the opening slot 21 near the gravity. An angle post 312 is rotatably mounted on the end of the angle plate 311 away from the axis of the mounting shaft disk 1. A limiting seat 313, which cooperates with the angle post 312, is slidably engaged with the end of the bracket 23 near the angle plate 311. A baffle 314, which is directly opposite to the limiting seat 313, is engaged with the end of the bracket 23 away from the axis of the mounting shaft disk 1. A support column 315, which is symmetrically snapped onto the end of the mounting disc 1 away from the axis, is slidably snapped onto the baffle 314. An angle ring 316, which is snapped onto the outer wall of the support column 315, is provided on the side of the baffle 314 near the limiting seat 313. An angle ring 317 is snapped onto the outer wall of the end of the support column 315 away from the limiting seat 313. A telescopic spring 318, which is sleeved on the outer wall of the support column 315, is snapped onto the opposite side of the angle ring 317 and the baffle 314.

[0034] When the drone exhibits a pendulum effect, the synchronous adjustment process of the contact angle between the spool 26 and the cable 27 is as follows: Secondary guidance and load sharing: In practice, an external motor can drive the coupling 22 to rotate at a predetermined angle (the yaw signal is detected by the yaw angle sensor of the cable 27, which is used to link the start and stop of the external motor, which can be achieved through an external PLC control system). At this time, the bracket 23 synchronously controls the horizontal shaft 25 to drive the wire wheel 26 to deflect towards the machine body 11 (with the axis of the coupling 22 as the rotation reference), adjusting the tangential contact angle between the wire wheel 26 and the cable 27 to reduce friction and wear. Prerequisites: The bracket 23 rotates at an angle α. The contact surface between the reel 26 and the cable 27 gradually becomes a downward-sloping surface, and the normal direction of the contact point becomes downward-sloping. In actual implementation, the horizontal overturning force is the product of the total compressive force of the cable 27 and the reel 26 and the cosine. The larger the angle α, the smaller the overturning force. In addition, the vertical force is downward along the axis of the cable 27. It will not generate any overturning moment, but will instead apply a downward pulling force to the cable 27, converting the swing kinetic energy of the cable 27 into the gravitational potential energy and frictional heat energy of the object, consuming the energy of the pendulum effect from the root, allowing the swing amplitude to decay rapidly, and the total pressure to decrease synchronously. In addition, the contact area is greatly increased, that is, from the initial line contact to the surface contact between the reel 26 and the cable 27. The contact length increases with the increase of the α angle, the contact pressure decreases, and the wear base is directly reduced. At the same time, the inclined contact surface after the aforementioned rotation angle is equivalent to adding a passive viscous damper to the cable 27 in the swing state, which helps to quickly attenuate the sway phenomenon in a shorter period of time and reduce the risk of overturning. At the same time, the horizontal shaft 25 rotates to drive the drive gear 35 to mesh with the arc-shaped gear ring (providing stable support to the arc-shaped gear ring through the arc frame 33 and the support plate 31), and through the crank 36 drives the guide wheel 38 to contact the cable 27, share the contact pressure of the wheel 26, reduce the load pressure on the cable 27, help stabilize the guide path of the cable 27, and suppress the aggravation of swaying. The bracket 23 can only deflect to the side of the fuselage 11, limiting the process to one direction: In practice, when the bracket 23 rotates toward the body 11, the limiting seat 313, under the limiting action of the corner post 312, causes the limiting seat 313 to slide relative to the bracket 23. The support column 315, driven by the limiting seat 313, controls the corner ring 317 to squeeze the telescopic spring 318 to the side of the baffle 314, thereby ensuring the smooth rotation of the bracket 23. Conversely, by limiting the position between the corner ring 316 and the baffle 314 (after the telescopic spring 318 returns to its original position, the corner ring 316 and the baffle 314 abut against each other, and at the same time the relative sliding between the limit seat 313 and the bracket 23 is restricted), when the bracket 23 has a tendency to rotate in the opposite direction, the limit seat 313 and the corner post 312 interfere with each other, preventing the bracket 23 from rotating.

[0035] Reference Figure 7 , Figure 9 and Figure 10It can be seen that the energy reduction unit 4 includes: at least one corner brace 41, which is circumferentially and evenly arranged on the end face of the mounting axle disk 1 near the gravity side; in addition, the mounting axle disk 1 and the corner brace 41 are detachably installed by bolts; a corner cylinder 42, which is snapped into the middle position of the horizontal section of the corner brace 41; a support ring 43, which is snapped into the inner wall of the corner cylinder 42 near the corner brace 41; and an end ring 44, which is coaxially arranged on the side of the support ring 43 away from the corner brace 41, and the end ring 44 is slidably snapped into the inner wall of the corner cylinder 42. The following components are included: a return spring 45, which is snap-fitted between the opposing surfaces of the support ring 43 and the end ring 44; a bridging column 46, which is coaxially disposed inside the angle tube 42 and is slidably snap-fitted with the support ring 43 and snap-fitted with the end ring 44; an electric telescopic rod 47, which is snap-fitted to the end of the bridging column 46 opposite to the support ring 43; a circumferential spring seat 48, which is snap-fitted to the end of the electric telescopic rod 47 opposite to the support ring 43; and a ball joint seat 49, which is snap-fitted to the end of the circumferential spring seat 48 opposite to the support ring 43. Reference Figure 9 and Figure 10 It is known that the ball joint seat 49 is axially slidably fitted with an energy reducing tube 411. The end of the energy reducing tube 411 away from the ball joint seat 49 is slidably fitted with a telescopic spring column 412. The inner wall of the end of the energy reducing tube 411 near the ball joint seat 49 is fitted with a support ring 413 that is slidably fitted with the telescopic spring column 412. The end of the telescopic spring column 412 near the ball joint seat 49 is fitted with an oil seal plug 414 that is fitted with the inner wall of the energy reducing tube 411. The middle position of the end of the energy reducing tube 411 away from the telescopic spring column 412 is fitted with an oil valve 415 that is connected to the inside of the energy reducing tube 411. The end of the telescopic spring column 412 away from the oil valve 415 is fitted with a U-shaped frame 416. The vertical sections of the U-shaped frame 416 are symmetrically fitted with rollers 417. The outer wall of the rollers 417 is fitted with a wear-resistant nylon sleeve 418. Reference Figure 9 , Figure 10 and Figure 11It is known that an external connector 421 perpendicular to the axis of the roller 417 is snapped onto the outer wall of the end of the energy reducing pipe 411 away from the oil valve 415. A sleeve 422 is snapped onto the end of the external connector 421 away from the axis of the energy reducing pipe 411, and the axis of the sleeve 422 is parallel to the axis of the energy reducing pipe 411. An angle valve 423 communicating with the inside of the sleeve 422 is snapped onto the outer wall of the end of the sleeve 422 near the ball joint seat 49. A sealing plate 424 fitted into the inner wall of the sleeve 422 is slidably snapped onto the inner wall of the end of the sleeve 422 near the angle valve 423. A guide post 425 is circumferentially and uniformly snapped onto one end face of the angle valve 423. A sealing plate 426 is coaxially arranged on the side of the sealing plate 424 away from the angle valve 423 and is slidably snapped onto the guide post 425. The number of sealing plates 426 corresponds one-to-one with the sealing plate 424. The sealing plate 426 is snapped onto the inner wall of the sleeve 422 by a sealing ring. The guide post 425 in the same group is snapped onto the side of the angle valve 423 and is slidably assembled onto the inner wall of the sleeve 422. A single-headed ball post 428 is slidably snapped onto the inner wall of the sleeve 422 near the end of the sealing plate 424. Reference Figure 9 , Figure 10 and Figure 12 It can be seen that a guide rod 431 is rotatably mounted on the middle position of the end face of the sealing plate 426 away from the angle valve 423, and the outer wall of the guide rod 431 is provided with a serpentine groove that mates with the single-headed ball column 428. A cross-spline column 432 is snapped onto one end of the guide rod 431 away from the angle valve 423, and a connecting column is snapped onto one end of the cross-spline column 432 away from the angle valve 423. An inner bushing 433 is snapped onto the middle position of the inner wall of the sleeve 422. A lead screw 434 is threaded through the shaft and is slidably engaged with a cross-spline column 432. A convex tube 435 is engaged with the end of the lead screw 434 away from the angle valve 423. A cross spring rod 436 is slidably engaged with the inner wall of the convex tube 435. An angle roller 437 is rotatably engaged with the end of the cross spring rod 436 away from the angle valve 423, and the axial length of the angle roller 437 is less than the inner diameter of the side of the convex tube 435 away from the angle valve 423. Reference Figure 9 , Figure 10 and Figure 11It can be seen that a detection tube 441 is plugged into and snapped onto one end of the sleeve 422 away from the corner roller 437. A limit ring 442 is snapped onto the inner wall of the end of the detection tube 441 near the sealing plate 424. A detection rod 443 is slidably snapped onto the center of the limit ring 442. A sensing ball 444 with the same inner diameter as the detection tube 441 is snapped onto the end of the detection rod 443 near the sealing plate 424. A sensing ball 444 with the same inner diameter as the detection tube 441 is snapped onto the outer wall of the end of the detection rod 443 away from the sealing plate 424. An adjusting ring 445 is slidably snapped onto the inner wall of the measuring tube 441. A compression spring 446 sleeved on the outer wall of the measuring rod 443 is snapped onto the opposite surfaces of the adjusting ring 445 and the limiting ring 442. A positive electrode ring 447 is snapped onto the outer wall of the measuring rod 443 at the end away from the measuring ball. A negative electrode ring 448 is coaxially arranged on the side of the positive electrode ring 447 near the measuring ball and snapped onto the inner wall of the measuring tube 441. The negative electrode ring 448 is slidably assembled with the measuring rod 443.

[0036] Three-level depth torque suppression mechanism: The double rollers 417 sense the sway of the cable 27 in real time and automatically adjust their posture to always be tangent to the cable 27. They apply a first-point reverse tangential braking torque to the cable 27 without any loss of force. At the same time, the sway of the cable 27 is converted into hydraulic pressure through the elastic potential energy of the telescopic spring column 412, which drives the angle roller 437 to move toward the cable 27 and apply a second-point reverse braking torque with a larger torque. This continuously consumes the swaying mechanical energy and rapidly decays the sway. It should be noted that in the initial state, the cable 27 is located between the two rollers 417, and the wear-resistant nylon sleeve 418 on the outer wall of the rollers 417 is tangent to the surface of the cable 27. As cable 27 began to swing due to the pendulum effect: In practice, cable 27 squeezes the wear-resistant nylon sleeve 418, and relative movement occurs between the two. Lateral squeezing force is generated between cable 27 and roller 417, which drives U-shaped bracket 23 and telescopic spring column 412 to rotate autonomously (the rotation of roller 417 causes U-shaped bracket 23 to control telescopic spring column 412 to apply interaction force to support ring 413, so that it provides initial power to deflect the ball joint seat 49 to energy drop tube 411. In practice, the circumferential spring seat 48 can provide restoring power to ball joint seat 49, and can also indirectly provide buffer support to cable 27), until the axes of the two rollers 417 are parallel to the axis of cable 27 again. At this time, the axis of telescopic spring column 412 automatically becomes perpendicular to the axis of cable 27. During this process, under the guidance of the support ring 413, the telescopic spring column 412 moves to a predetermined depth away from the cable 27. The oil seal plug 414 converts the elastic force of the aforementioned telescopic spring column 412 into oil pressure. In specific implementation, the oil valve 415 and the angle valve 423 are connected through a hose to squeeze the aforementioned oil into the sleeve 422. Subsequently, under the pressure of the oil, the sealing plate 424 pushes the guide post 425 to squeeze the retaining ring 427 (the sealing plate 426 provides stable guiding support to the guide post 425, and the retaining ring 427 provides auxiliary support to the guide rod 431). The retaining ring 427 synchronously controls the relative movement between the single-head ball post 428 and the serpentine groove on the outer wall of the guide rod 431. In specific implementation, the rotation angle of the guide rod 431 under the limited displacement of the single-head ball post 428 can be adjusted by reasonably arranging the pitch of the serpentine groove. Under the control of the cross-spline column 432, the lead screw 434 synchronously produces a threaded engagement with the inner bushing 433, causing the convex tube 435 to move towards the cable 27 under the influence of the lead screw 434, until the angle roller 437 makes contact with the cable 27 at another point with a greater torque (in specific implementation, an annular groove can be opened in the middle of the angle roller 437 and chamfered to lock the cable 27 in it, thereby suppressing the torsion of the cable 27). The purpose of making the sleeve 422 parallel to the axis of the energy reduction tube 411 is to ensure that the contact between different points and the cable 27 is relatively perpendicular, with no component force loss, and to quickly suppress the sway energy. Compared to the supplementary technical solution of dynamic adjustment of the primary fulcrum (multi-level synergistic inhibition): The electric telescopic rod 47 drives the energy reduction unit 4 to move along the swing trajectory of the cable 27, which is completely matched with the movement direction of the contact point of the cable 27, and maintains a tight fit throughout the entire process, thus achieving full-cycle suppression of the pendulum effect. The purpose of the return spring 45 is to work with the energy-reducing tube 411 and the ball joint seat 49 to ensure relative degrees of freedom (provide relative displacement margin) and improve the relative perpendicularity of the cable 27 after contact with the roller 417.

[0037] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0038] The above are merely embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A heavy-duty adaptable eccentric adjustment patrol UAV center of gravity correction device, comprising a mounting disk (1), characterized in that: The mounting shaft disk (1) is provided with a bearing unit (2) on the outer side of the end face, a cable adjustment unit (3) is provided on one side of the bearing unit (2), and energy reduction units (4) are uniformly arranged circumferentially on the side of the mounting shaft disk (1) near gravity. The energy reduction unit (4) includes: There is at least one corner brace (41), which is evenly arranged circumferentially on the end face of the mounting axle disk (1) near the gravity side; in addition, the mounting axle disk (1) and the corner brace (41) are detachably installed by bolts; Angle tube (42) is snapped into the middle of the horizontal section of the angle brace (41); The support ring (43) is snapped onto the inner wall of the corner tube (42) near the corner support (41); The end ring (44) is coaxially set on the side of the support ring (43) away from the corner bracket (41), and the end ring (44) is slidably snapped onto the inner wall of the corner tube (42); The return spring (45) is snapped between the opposing surfaces of the support ring (43) and the end ring (44); The bridging column (46) is coaxially set inside the corner tube (42), and the bridging column (46) is slidably snapped together with the support ring (43) and snapped together with the end ring (44). The electric telescopic rod (47) is snapped onto the end of the bridging column (46) away from the support ring (43); A circumferential spring seat (48) is snapped onto the end of the electric telescopic rod (47) away from the support ring (43); The ball joint seat (49) is snapped onto the end of the circumferential spring seat (48) away from the support ring (43).

2. The center of gravity correction device for heavy-duty adaptive eccentric adjustment patrol drone according to claim 1, characterized in that: The ball joint seat (49) is axially connected to a slidingly mounted energy reducing tube (411). A telescopic spring column (412) is slidably mounted on the end of the energy reducing tube (411) away from the ball joint seat (49). A support ring (413) that slides and engages with the telescopic spring column (412) is mounted on the inner wall of the end of the energy reducing tube (411) closest to the ball joint seat (49). A support ring (413) that fits snugly against the inner wall of the energy reducing tube (411) is mounted on the end of the telescopic spring column (412) closest to the ball joint seat (49). The oil seal plug (414) of the sliding assembly is inserted and snapped at the middle position of the end of the energy reducing tube (411) away from the telescopic spring column (412), and the oil valve (415) is connected to the inside of the energy reducing tube (411). The telescopic spring column (412) is snapped and installed at the end away from the oil valve (415), and the vertical sections of the U-shaped frame (416) are symmetrically rotated and fitted with rollers (417). The outer wall of the rollers (417) is fitted with a wear-resistant nylon sleeve (418).

3. The center of gravity correction device for heavy-duty adaptable eccentric adjustment patrol UAV according to claim 2, characterized in that: The energy-reducing tube (411) is attached to an outer wall opposite to the oil valve (415) with an external connector (421) perpendicular to the axis of the roller (417). A sleeve (422) is attached to the outer wall away from the axis of the energy-reducing tube (411), and the axis of the sleeve (422) is parallel to the axis of the energy-reducing tube (411). An angle valve (423) communicating with the inside of the sleeve (422) is attached to the outer wall of the sleeve (422) near the ball joint seat (49) in a plug-in manner. A sealing plate (424) fitted to the inner wall of the sleeve (422) near the angle valve (423) is slidably attached to the inner wall of the sleeve (422). A guide post (425) is uniformly snapped onto one end face of the angle valve (423) in a circumferential manner. A sealing plate (426) is coaxially set on the side of the sealing plate (424) away from the angle valve (423) and is slidably snapped onto the guide post (425). The number of sealing plates (426) corresponds one-to-one with the sealing plate (424). The sealing plate (426) is snapped onto the inner wall of the sleeve (422) by a sealing ring. The guide post (425) in the same group is snapped onto one end of the angle valve (423) and is slidably snapped onto the inner wall of the sleeve (422). A single-headed ball column (428) is slidably snapped onto the inner wall of the sleeve (422) near the end of the sealing plate (424).

4. The heavy-duty adaptable eccentric adjustment patrol UAV center of gravity correction device according to claim 3, characterized in that: The sealing plate (426) is rotatably fitted with a guide rod (431) at the middle position of the end face away from the angle valve (423). The outer wall of the guide rod (431) is provided with a serpentine groove that mates with the single-headed ball column (428). A cross-spline column (432) is snapped onto one end of the guide rod (431) away from the angle valve (423). A connecting column is snapped onto one end of the cross-spline column (432) away from the angle valve (423). An inner bushing (433) is snapped onto the middle position of the inner wall of the sleeve (422). The inner bushing (433) is located at the axial center of the inner bushing (433). A lead screw (434) is fitted with a through thread, and the lead screw (434) is slidably snapped into the cross spline column (432). A convex tube (435) is snapped into one end of the lead screw (434) away from the angle valve (423). A cross spring rod (436) is slidably snapped into the inner wall of the convex tube (435). An angle roller (437) is rotatably fitted into one end of the cross spring rod (436) away from the angle valve (423), and the axial length of the angle roller (437) is less than the inner diameter of the side of the convex tube (435) away from the angle valve (423).

5. The center of gravity correction device for heavy-duty adaptable eccentric adjustment patrol UAV according to claim 4, characterized in that: The sleeve (422) is fitted with a detection tube (441) at one end away from the corner roller (437) via a plug-in snap-fit. A limit ring (442) is snap-fitted onto the inner wall of the end of the detection tube (441) near the sealing plate (424). A detection rod (443) is fitted through and slidably snap-fitted onto the axis of the limit ring (442). A sensing ball (444) with the same inner diameter as the detection tube (441) is snap-fitted onto the end of the detection rod (443) near the sealing plate (424). A sensing ball (444) with the same inner diameter as the detection tube (441) is snap-fitted onto the outer wall of the end of the detection rod (443) away from the sealing plate (424). An adjusting ring (445) is slidably snapped onto the inner wall of the tube (441). A compression spring (446) sleeved on the outer wall of the detection rod (443) is snapped onto the opposite surfaces of the adjusting ring (445) and the limiting ring (442). A positive electrode ring (447) is snapped onto the outer wall of the end of the detection rod (443) away from the detection ball. A negative electrode ring (448) is coaxially set on the side of the positive electrode ring (447) near the detection ball and is snapped onto the inner wall of the detection tube (441). The negative electrode ring (448) is slidably assembled with the detection rod (443).

6. The center of gravity correction device for heavy-duty adaptive eccentric adjustment patrol UAV according to claim 1, characterized in that: The mounting axle disk (1) is positioned opposite the side facing away from gravity and has a fuselage (11). An underbody support (12) is attached to the middle of the side face of the fuselage (11) near the mounting axle disk (1). Rotary arms (13) are attached to the four corners of the fuselage (11) via rotating arm beams. A wing (14) is attached to the end of the rotating arm (13) away from the fuselage (11) via a rotating shaft. An electric lifting platform (15) is attached to the middle of the side face of the underbody support (12) away from the fuselage (11). The electric lifting platform (15) is attached to the mounting axle disk (1). Hooks (16) are evenly attached to the side face of the underbody support (12) facing away from gravity.

7. The center of gravity correction device for heavy-duty adaptable eccentric adjustment patrol UAV according to claim 1, characterized in that: The carrier unit (2) includes: Opening slots (21) are evenly distributed on the outer end of the mounting shaft disk (1); The connecting shaft (22) is rotatably fitted in the middle position of the inner wall of the opening groove (21); The bracket (23) is snapped into the middle position of the outer wall of the connecting shaft (22), and the cross-section of the bracket (23) is Y-shaped; Torsion spring (24) is snapped between the bracket (23) and the inner wall of the opening slot (21), and the torsion spring (24) is symmetrically distributed at both ends of the connecting shaft (22); The horizontal shaft (25) is rotatably mounted on the bracket (23) at the end away from the connecting shaft (22); The reel (26) is snapped into place at the middle position of the outer wall of the horizontal shaft (25); The cable (27) is slidably sleeved in the middle of the outer wall of the cable (27), and one end of the cable (27) is snapped together with the hook (16); The weight body (28) is positioned opposite to the mounting shaft disk (1) on the side away from the machine body (11); Hooks (29) are evenly snapped onto the end face of the weight body (28) near the machine body (11) in a circumferential direction, and hooks (29) are snapped onto the other end of the cable (27); in addition, the number of hooks (29) corresponds one-to-one with the number of cables (27).

8. The center of gravity correction device for heavy-duty adaptable eccentric adjustment patrol UAV according to claim 7, characterized in that: The cable adjustment unit (3) includes: The support plates (31) are arranged in pairs, symmetrically distributed, and positioned opposite each other on the outside of the opening slot (21) away from the axis of the mounting axle disk (1); in addition, the support plates (31) are snap-fitted together with the mounting axle disk (1). The arc groove (32) is located in the middle of the support plate (31); The arc-shaped bracket (33) is snapped into the middle of the outer wall of one of the two support plates (31) in the same group; The arc-shaped toothed ring (34) is snapped onto the inner wall of the arc-shaped bracket (33); The drive gear (35) is snapped onto the outer wall of one end of the horizontal shaft (25), and the drive gear (35) meshes with the arc-shaped gear ring; The crank (36) is snapped onto the outer wall of the other end of the horizontal shaft (25); The end shaft (37) is installed in a plug-in snap-fit ​​manner at the center of the end shaft (37) of the crank (36) away from the horizontal shaft (25); The guide wheel (38) is snapped into the middle position of the outer wall of the end shaft (37).

9. The center of gravity correction device for heavy-duty adaptable eccentric adjustment patrol UAV according to claim 8, characterized in that: The opening slot (21) is directly opposite to the gravity side and has an angle plate (311) that is snapped onto the mounting shaft disk (1). An angle post (312) is rotatably mounted on the end of the angle plate (311) away from the axis of the mounting shaft disk (1). A limiting seat (313) that cooperates with the angle post (312) is slidably snapped onto the end of the bracket (23) near the angle plate (311). A baffle (314) that is directly opposite the limiting seat (313) is snapped onto the end of the bracket (23) away from the axis of the mounting shaft disk (1). A support column (315) is symmetrically snapped onto one end of the axis away from the mounting disc (1) and is slidably snapped onto the same baffle (314). An angle ring (316) is snapped onto the outer wall of the support column (315) on the side of the baffle (314) near the limit seat (313). An angle ring (317) is snapped onto the outer wall of the support column (315) away from the limit seat (313). A telescopic spring (318) is snapped onto the outer wall of the support column (315) between the angle ring (317) and the opposite side of the baffle (314).

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