An unmanned aerial vehicle payload device and unmanned aerial vehicle

Abstract

This invention discloses a drone payload device and a drone, relating to the field of drone technology. The device includes: a drone and a suspended payload disk disposed below the drone, with a suspension plate positioned below the suspended payload disk; a swing assist device located between the drone and the suspended payload disk, used to buffer the load fixed to the bottom of the suspension plate during emergency stops in flight; and a position adjuster located between the suspended payload disk and the suspension plate, used to adjust the position of the load fixed to the bottom of the suspension plate during emergency stops in conjunction with the swing assist device. This invention achieves flexible impact isolation between the load and the fuselage through a ball joint universal joint structure combined with a hydraulic damper, significantly reducing the impact and disturbance torque transmitted to the fuselage, ensuring the flight control system stably maintains the fuselage attitude, and avoiding attitude loss of control under extreme maneuvers.

Description

Technical Field

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

[0002] Currently, most existing drone load suspension solutions adopt a rigid connection structure, which means that the working load is directly fixed to the mounting position at the bottom of the drone fuselage through rigid mounting brackets and fasteners. Some optimized solutions only add rubber shock-absorbing pads to the rigid connection parts, which can only attenuate the high-frequency small-amplitude vibrations generated by the drone's power system and cannot cope with the large load inertial impact under complex maneuvering conditions.

[0003] In actual low-altitude operations of drones, especially in scenarios involving urban buildings and complex terrain, drones frequently need to perform extreme maneuvers such as sudden stops, emergency obstacle avoidance, and rapid direction changes. When using the aforementioned rigid suspension scheme, the suspension load will experience a significant forward thrust and sway due to the drone's inertia at the moment of sudden stop. The resulting instantaneous impact load, along with pitch and roll disturbance moments, will be directly and without attenuation transmitted to the drone fuselage through the rigid connection structure. On the one hand, this impact and disturbance moment can easily exceed the real-time attitude adjustment limits of the drone's flight control system, causing drastic changes in fuselage attitude. In severe cases, this can lead to drone instability, crashes, equipment damage, and safety accidents. On the other hand, continuous rigid impacts will accelerate fatigue damage to the fuselage connection structure, shorten equipment lifespan, and easily cause precision loads such as aerial cameras and mapping sensors to experience inaccuracies and component damage due to impact overload, compromising operational quality and continuity. Summary of the Invention

[0004] The purpose of this invention is to address the problem that existing rigid load suspension structures for UAVs cannot achieve flexible impact isolation between the load and the fuselage under extreme maneuvering conditions such as sudden stops and emergency obstacle avoidance. The impact load and disturbance torque generated by the load inertia are directly transmitted to the fuselage, which can easily cause sudden changes in fuselage attitude, instability, and crashes. At the same time, it can easily cause fatigue damage to the fuselage connection structure and overload damage to precision working loads, making it difficult to ensure the flight stability and operational reliability of the UAV. The invention provides a UAV load device and a UAV.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a drone payload device and a drone, comprising: a drone and a suspended payload disk disposed below the drone, wherein a suspension disk is disposed below the suspended payload disk; a swing assist device located between the drone and the suspended payload disk, used to buffer the load fixed at the bottom of the suspension disk in the event of an emergency stop during flight; and a position adjuster located between the suspended payload disk and the suspension disk, used to adjust the position of the load fixed at the bottom of the suspension disk during emergency stop in conjunction with the swing assist device.

[0006] As a further embodiment of the present invention: the swinging aid includes a suspension seat fixedly connected to the bottom of the drone, a ball shaft is embedded in the bottom of the suspension seat, a connecting column is fixedly connected to the bottom of the ball shaft, and the connecting column is fixedly connected to the suspension load plate.

[0007] As a further embodiment of the present invention: the swinging aid further includes a fixed plate fixedly connected to the outer wall of the connecting column, the top of the fixed plate is fixedly connected to multiple sets of first fixed seats, the bottom of the suspension seat is fixedly connected to multiple sets of second fixed seats, and a hydraulic damper is provided between each second fixed seat and the first fixed seat, and the output end and tail end of the hydraulic damper are rotatably connected to the first fixed seat and the second fixed seat through a rotating shaft.

[0008] As a further embodiment of the present invention: a push sleeve is fixedly connected to the outer wall of the output end of the hydraulic damper, a second piston sleeve is fixedly connected to the outer wall of the hydraulic damper, a piston groove is provided on the inner side of the second piston sleeve, a first piston block is slidably connected to the inner side of the piston groove, and the first piston block is fixedly connected to the push sleeve.

[0009] As a further embodiment of the present invention: the position adjuster includes a lateral adjustment chamber fixedly connected to the bottom of the suspension load plate, a first piston groove is provided on the inner side of the lateral adjustment chamber, and a first piston plate is slidably connected to the inner side of the first piston groove.

[0010] As a further embodiment of the present invention: the position adjuster further includes a longitudinal adjustment chamber fixedly connected to the bottom of the first piston plate, the inner side of the longitudinal adjustment chamber is provided with a fourth piston groove, the inner side of the fourth piston groove is slidably connected with a second piston plate, and the second piston plate is fixedly connected to the suspension plate.

[0011] As a further embodiment of the present invention: four first piston sleeves are fixedly connected to the top of the suspension load plate, and every two first piston sleeves are located at the two ends of the lateral adjustment chamber and the longitudinal adjustment chamber, respectively. The oil outlet of each first piston sleeve is connected to the longitudinal adjustment chamber or the lateral adjustment chamber through a second hose, and the oil inlet of each first piston sleeve is connected to a second piston sleeve through a first hose. Each second piston sleeve is correspondingly arranged with a first piston sleeve.

[0012] As a further embodiment of the present invention: a second piston groove and a third piston groove are provided on the inner side of the first piston sleeve, and the second piston groove and the third piston groove are connected. A third piston block is slidably connected to the inner side of the third piston groove, and a second piston block is slidably connected to the inner side of the second piston groove. The second piston block and the third piston block are fixedly connected. A connecting spring is installed between the second piston groove and the second piston block. An exhaust groove communicating with the second piston groove is provided on the top of the first piston sleeve.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention achieves flexible impact isolation between the load and the fuselage by combining a ball joint universal joint structure with a hydraulic damper, which greatly reduces the impact and disturbance torque transmitted to the fuselage, ensures that the flight control system can stably maintain the fuselage attitude, and avoids attitude loss of control under extreme maneuvers; 2. This invention uses a piston sleeve assembly coaxially integrated with the hydraulic damper to precisely constrain the damper's extension and contraction and the omnidirectional swing amplitude of the load through the piston groove stroke. This eliminates the risk of machine instability and equipment collision caused by overload tilting from the root. At the same time, it restricts the ball shaft and damper within the safe working range to avoid component damage and damping failure. This ensures that the buffering process is smooth and controllable, and can form a two-stage buffer to smooth the peak impact of sudden stop. 3. This invention uses the hydraulic damper of the position adjuster and the swing assist device to synchronize and link. In case of emergency stop, the hydraulic drive can be triggered to move the load in the opposite direction of tilt to counteract the off-center load torque. This forms a dual effect of "active center of gravity cancellation + passive damping buffer" with the hydraulic damper, which greatly reduces the load swing amplitude and eliminates residual oscillation. At the same time, the load center of gravity is constrained in the safe center range of the UAV in real time through the horizontal and vertical position adjustment, maintaining the balance of the overall center of gravity of the aircraft. This greatly reduces the disturbance torque transmitted to the fuselage and reduces the attitude adjustment burden of the flight control system, thereby improving the flight safety of the UAV under complex working conditions from the core. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the swing assist device structure of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the top structure of the suspended load disk of the present invention; Figure 5 This is a cross-sectional view of the second piston sleeve of the present invention; Figure 6 This is a cross-sectional view of the lateral adjustment compartment of the present invention; Figure 7 This is a cross-sectional view of the first piston sleeve of the present invention; Figure 8 This is a schematic diagram of the top structure of the suspension disc of the present invention.

[0015] In the diagram: 1. UAV; 2. Suspension load plate; 3. Suspension plate; 4. Suspension seat; 5. Longitudinal adjustment chamber; 6. Lateral adjustment chamber; 7. Ball shaft; 8. Connecting column; 9. First piston sleeve; 10. First hose; 11. Fixed plate; 12. First fixed seat; 13. Second fixed seat; 14. Hydraulic damper; 15. Second piston sleeve; 16. Push sleeve; 17. Piston groove; 18. First piston block; 19. First piston plate; 20. First piston groove; 21. Second piston groove; 22. Second piston block; 23. Connecting spring; 24. Exhaust groove; 25. Third piston groove; 26. Third piston block; 27. Second hose; 28. Second piston plate; 29. ​​Fourth piston groove. Detailed Implementation

[0016] 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.

[0017] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and 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, and therefore should not be construed as a limitation of this 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. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The following describes embodiments of the invention based on its overall structure.

[0018] Please see Figures 1 to 8 This embodiment provides a drone payload device and a drone, including: a drone 1 and a suspended payload disk 2 disposed below the drone 1, with a suspension disk 3 disposed below the suspended payload disk 2; a swing assist device, located between the drone 1 and the suspended payload disk 2, used to buffer the load fixed at the bottom of the suspension disk 3 in the event of an emergency stop during flight, the swing assist device includes a suspension seat 4 fixedly connected to the bottom of the drone 1, a ball shaft 7 embedded in the bottom of the suspension seat 4, a connecting post 8 fixedly connected to the bottom of the ball shaft 7, and the connecting post 8 fixedly connected to the suspended payload disk 2, the swing assist device also includes a fixing disk 11 fixedly connected to the outer wall of the connecting post 8, the fixing disk 11... The top of the suspension seat 4 is fixedly connected to multiple sets of first fixed seats 12, and the bottom of the suspension seat 4 is fixedly connected to multiple sets of second fixed seats 13. A hydraulic damper 14 is provided between each second fixed seat 13 and the first fixed seat 12. The output end and the tail end of the hydraulic damper 14 are rotatably connected to the first fixed seat 12 and the second fixed seat 13 through a rotating shaft. A push sleeve 16 is fixedly connected to the outer wall of the output end of the hydraulic damper 14. A second piston sleeve 15 is fixedly connected to the outer wall of the hydraulic damper 14. A piston groove 17 is opened on the inner side of the second piston sleeve 15. A first piston block 18 is slidably connected to the inner side of the piston groove 17. The first piston block 18 is fixedly connected to the push sleeve 16. First, the object to be suspended is fixed to the bottom of the suspension plate 3. When the drone 1 stops suddenly during flight, the suspension plate 3 will tilt forward under the action of the object suspended at the bottom. Then, the ball shaft 7 will squeeze the output end of the hydraulic damper 14 in the forward tilting direction and pull the output end of the hydraulic damper 14 away from the forward tilting direction, thereby buffering the drone 1. In existing rigid suspension solutions, the inertial impact and disturbance torque of a sudden load stop are directly transmitted to the fuselage, which can easily cause sudden changes in the pitch / roll attitude of the fuselage, even exceeding the adjustment limits of the flight control system, leading to instability and crash. By using the universal joint structure of the ball joint 7 in combination with the hydraulic damper 14, flexible impact isolation between the load and the fuselage is achieved, which greatly reduces the impact load and disturbance torque transmitted to the UAV fuselage, allowing the flight control system to stably maintain the fuselage attitude and avoid attitude loss of control under extreme maneuvers such as sudden stops and emergency obstacle avoidance. The hydraulic damper 14 consists of components such as a housing, piston rod, and spring. As this is existing technology, it is not described in detail here. The second piston sleeve 15 is fixed to the housing, and the push sleeve 16 is fixed to the piston rod. When the output end of the hydraulic damper 14 is contracted or pulled, the push sleeve 16 slides inside the piston groove 17 through the first piston block 18. The size of the piston groove 17 limits the swing amplitude of the suspension disc 3, so that the overall buffering process is carried out within a certain range without excessive tilting. Through the piston sleeve assembly coaxially integrated with the hydraulic damper, the piston groove stroke precisely constrains the extension and contraction of the damper, thereby limiting the omnidirectional swing amplitude of the suspension load. This eliminates the risk of chassis instability and equipment collision interference caused by overload tilting from the root. At the same time, it limits the ball shaft and the damper to a safe working range, avoiding component over-limit damage and damping failure, ensuring a smooth and controllable buffering process, and forming a two-stage buffer to smooth the peak impact of sudden stop.

[0019] Please see Figures 2-8A position adjuster, located between the suspension load plate 2 and the suspension plate 3, is used to adjust the position of the load fixed at the bottom of the suspension plate 3 during emergency stops in conjunction with the swing assist device. The position adjuster includes a lateral adjustment chamber 6 fixedly connected to the bottom of the suspension load plate 2. A first piston groove 20 is formed on the inner side of the lateral adjustment chamber 6, and a first piston plate 19 is slidably connected to the inner side of the first piston groove 20. The position adjuster also includes a longitudinal adjustment chamber 5 fixedly connected to the bottom of the first piston plate 19. A fourth piston groove 29 is formed on the inner side of the longitudinal adjustment chamber 5, and a second piston plate 28 is slidably connected to the inner side of the fourth piston groove 29. The second piston plate 28 is fixedly connected to the suspension plate 3. Four first piston sleeves 9 are fixedly connected to the top of the suspension load plate 2, with each pair of first piston sleeves 9 located at the two ends of the lateral adjustment chamber 6 and the longitudinal adjustment chamber 5, respectively. Each first piston sleeve 9 has an oil outlet that is connected to the longitudinal adjustment chamber 5 or the transverse adjustment chamber 6 via a second hose 27. Each first piston sleeve 9 has an oil inlet that is connected to a second piston sleeve 15 via a first hose 10. Each second piston sleeve 15 is correspondingly set to a first piston sleeve 9. The inner side of the first piston sleeve 9 is provided with a second piston groove 21 and a third piston groove 25, and the second piston groove 21 and the third piston groove 25 are connected. The inner side of the third piston groove 25 is slidably connected to a third piston block 26. The inner side of the second piston groove 21 is slidably connected to a second piston block 22, and the second piston block 22 is fixedly connected to the third piston block 26. A connecting spring 23 is installed between the second piston groove 21 and the second piston block 22. The top of the first piston sleeve 9 is provided with an exhaust groove 24 that communicates with the second piston groove 21. When the horizontally arranged hydraulic damper 14 is compressed, the hydraulic oil inside the second piston sleeve 15 is delivered to the first hose 10 through the first piston block 18. Then, the third piston block 26 squeezes the second piston block 22, causing the hydraulic oil inside the second piston groove 21 to enter the first piston groove 20 through the second hose 27. This pushes the first piston plate 19 to move the suspended item at the bottom in the opposite direction of tilting through the suspension plate 3. When the vertically arranged hydraulic damper 14 is compressed, the second piston plate 28 moves the suspended item at the bottom in the opposite vertical position through the suspension plate 3. This allows the item to make adaptive adjustments in both horizontal and vertical positions when it tilts forward, thereby adjusting the center position of the suspended item to be within the center position range of the drone 1. The hydraulic dampers of the position adjuster and the swing assist are synchronized. When the load swings due to a sudden stop and the damper extends or retracts, the hydraulic oil is directed to drive the piston plate in the horizontal / longitudinal adjustment chamber to move the load in the opposite direction of tilt. This directly counteracts the off-center load torque caused by inertia, weakening the driving force of the load swing from the root. This complements the passive kinetic energy dissipation of the hydraulic damper, achieving the dual effect of "active center of gravity offset + passive damping buffer". This significantly reduces the load swing amplitude during a sudden stop, eliminates residual oscillations after buffering, and allows the load to stabilize quickly. The buffering process is smoother and there is no secondary impact. When a drone makes an emergency stop, the inertial shift of the load can cause the center of gravity of the entire aircraft to deviate from the center of the fuselage, generating additional pitch / roll disturbance torque. This can easily exceed the flight control adjustment limits and cause instability and crash. By adjusting the position in both the horizontal and vertical directions, the center of gravity of the load can be constrained within the safe design range of the drone's center in real time, maintaining the balance of the entire aircraft's center of gravity at all times. This significantly reduces the disturbance torque transmitted to the fuselage, significantly reduces the attitude adjustment burden of the flight control system, and avoids loss of control of the fuselage attitude under extreme maneuvers such as emergency stops and emergency obstacle avoidance. This fundamentally improves the flight safety of drones under complex operating conditions.

[0020] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A drone payload device and a drone, characterized in that, include: The drone (1) and the suspension load disk (2) disposed below the drone (1), with a suspension disk (3) disposed below the suspension load disk (2). The swing assist device is located between the UAV (1) and the suspended load disk (2) and is used to buffer the load items fixed at the bottom of the suspended disk (3) in the event of an emergency stop during flight. The position adjuster is located between the suspension load plate (2) and the suspension plate (3) and is used to adjust the position of the load fixed at the bottom of the suspension plate (3) during the operation of the swing assist device in the event of an emergency stop.

2. The UAV payload device and UAV according to claim 1, characterized in that, The swinging aid includes a suspension seat (4) fixedly connected to the bottom of the UAV (1), a ball shaft (7) is embedded in the bottom of the suspension seat (4), a connecting column (8) is fixedly connected to the bottom of the ball shaft (7), and the connecting column (8) is fixedly connected to the suspension load disk (2).

3. The UAV payload device and UAV according to claim 2, characterized in that, The swinging aid also includes a fixed plate (11) fixedly connected to the outer wall of the connecting column (8). The top of the fixed plate (11) is fixedly connected to multiple sets of first fixed seats (12), and the bottom of the suspension seat (4) is fixedly connected to multiple sets of second fixed seats (13). A hydraulic damper (14) is provided between each second fixed seat (13) and the first fixed seat (12), and the output end and tail end of the hydraulic damper (14) are rotatably connected to the first fixed seat (12) and the second fixed seat (13) through a rotating shaft.

4. The UAV payload device and UAV according to claim 3, characterized in that, A push sleeve (16) is fixedly connected to the outer wall of the output end of the hydraulic damper (14), and a second piston sleeve (15) is fixedly connected to the outer wall of the hydraulic damper (14). A piston groove (17) is opened on the inner side of the second piston sleeve (15), and a first piston block (18) is slidably connected to the inner side of the piston groove (17). The first piston block (18) is fixedly connected to the push sleeve (16).

5. The UAV payload device and UAV according to claim 4, characterized in that, The position adjuster includes a lateral adjustment chamber (6) fixedly connected to the bottom of the suspension load plate (2). A first piston groove (20) is provided on the inner side of the lateral adjustment chamber (6), and a first piston plate (19) is slidably connected to the inner side of the first piston groove (20).

6. The UAV payload device and UAV according to claim 5, characterized in that, The position adjuster also includes a longitudinal adjustment chamber (5) fixedly connected to the bottom of the first piston plate (19). A fourth piston groove (29) is provided on the inner side of the longitudinal adjustment chamber (5). A second piston plate (28) is slidably connected to the inner side of the fourth piston groove (29), and the second piston plate (28) is fixedly connected to the suspension plate (3).

7. The UAV payload device and UAV according to claim 6, characterized in that, The top of the suspended load plate (2) is fixedly connected with four first piston sleeves (9). Each pair of first piston sleeves (9) are located at the two ends of the transverse adjustment chamber (6) and the longitudinal adjustment chamber (5), respectively. The oil outlet of each first piston sleeve (9) is connected to the longitudinal adjustment chamber (5) or the transverse adjustment chamber (6) through a second hose (27). The oil inlet of each first piston sleeve (9) is connected to a second piston sleeve (15) through a first hose (10), and each second piston sleeve (15) is correspondingly set to a first piston sleeve (9).

8. The UAV payload device and UAV according to claim 7, characterized in that, The first piston sleeve (9) has a second piston groove (21) and a third piston groove (25) on its inner side, and the second piston groove (21) and the third piston groove (25) are connected. The third piston block (26) is slidably connected to the inner side of the third piston groove (25). The second piston block (22) is slidably connected to the inner side of the second piston groove (21), and the second piston block (22) is fixedly connected to the third piston block (26). A connecting spring (23) is installed between the second piston groove (21) and the second piston block (22). The top of the first piston sleeve (9) has an exhaust groove (24) that communicates with the second piston groove (21).

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