Impact isolation device, deicing device and unmanned aerial vehicle

Abstract

The application discloses an impact isolation device, a deicing device and a UAV, comprising a winding drum shaft assembly, a one-way transmission assembly and a force limiting assembly arranged from inside to outside in sequence, and the force limiting assembly is composed of multiple axially stacked friction plates. When the deicing device is impacted, the winding drum shaft assembly rotates in the first direction to release the flexible connecting piece, the one-way transmission assembly transmits the impact force to the force limiting assembly, the force limiting assembly converts the impact force into kinetic friction force between the internal friction plates, so that the force transmitted to the UAV body is limited within a preset safety range. Through the force limiting assembly comprising the stacked friction plates, the application can reduce the impact force peak to a sliding friction force much smaller than the impact force, avoiding control instability and service life damage caused by the impact force directly acting on the UAV.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to an impact isolation device, a de-icing device, and an UAV. Background Technology

[0002] Icing on power transmission lines is a common hazard threatening the safe operation of power grids. In recent years, using drones equipped with de-icing devices has become a new de-icing method. The most common method involves suspending a metal rod beneath the drone, which the user then controls to fly above the icy power line. The user repeatedly taps the power line with the metal rod, causing the ice covering it to break off under the vibration and impact.

[0003] However, this method has significant drawbacks. At the moment the metal rod contacts the wire, the wire generates a strong reaction force on the metal rod, which is transmitted almost without attenuation upwards along the rope to the drone's fuselage. This not only poses instantaneous control risks to the drone, such as causing sharp disturbances to its attitude and consuming a large amount of correction power from the drone's flight control system, but in severe cases, it can also lead to the drone losing control and crashing. Frequent impact loads also accelerate fatigue damage to the drone itself and its mounting structures, shortening the drone's lifespan.

[0004] Therefore, there is an urgent need for a device that can isolate the impact force during de-icing to ensure the flight safety of drones and extend their service life. Summary of the Invention

[0005] This application provides an impact isolation device, a de-icing device, and a drone, which can solve the problem that when a drone is de-icing, it faces the impact force of the conductor's reaction force, which poses a risk of instantaneous control and affects its service life.

[0006] In a first aspect, an impact isolation device provided in this application includes a flexible connector and a drum shaft assembly, a one-way transmission assembly, and a force limiting assembly arranged sequentially from the inside to the outside. The force limiting assembly is composed of a plurality of friction plates stacked along the axial direction. A portion of the outer surface of the drum shaft assembly is splinedly connected to the inner surface of the one-way transmission assembly. One end of the flexible connector is fixed to the drum shaft assembly and wound along the first direction on the remaining outer surface of the drum shaft assembly, while the other end is connected to the impact device. The outer surface of the one-way transmission assembly is splinedly connected to a portion of the inner surface of the force limiting assembly, wherein the first direction is the circumferential direction. When the de-icing device is impacted, the drum shaft assembly is used to rotate along the first direction to release the flexible connector; the one-way transmission assembly is used to transmit the impact force received by the drum shaft assembly through the flexible connector to the force limiting assembly; the force limiting assembly is used to convert the impact force into dynamic friction between the internal friction plates to limit the force transmitted to the UAV body within a preset range.

[0007] In one possible implementation of the first aspect, the spool assembly includes a mainspring, a spool, and a center shaft; The spring is placed inside the drum, the drum is sleeved on the central shaft, a portion of the inner surface of the one-way transmission assembly is fixed to a portion of the outer surface of the drum by a spline, and the flexible connector is wound around the remaining outer surface of the drum. When the de-icing device is subjected to an impact, the spring is used to absorb and convert part of the impact function.

[0008] In one possible implementation of the first aspect, the impact isolation device further includes a housing and a clamping adjustment member, the clamping adjustment member being sleeved on the central shaft and located on the side close to the force limiting component, for providing positive pressure to the force limiting component; The outer shell is fixedly connected to both ends of the central shaft along the axial direction and is splinedly connected to the outer surface of the force limiting component to fix part of the friction plate in the force limiting component; the outer shell is also provided with connection points for connecting the UAV at both ends along the axial direction.

[0009] In one possible implementation of the first aspect, the impact isolation device further includes a housing and a clamping adjustment member, which is located at both ends of the force limiting assembly along the axial direction and is used to provide positive pressure to the force limiting assembly; The outer shell is fixedly connected to both ends of the central shaft along the axial direction and is splinedly connected to the outer surface of the force limiting component to fix part of the friction plate in the force limiting component; the outer shell is also provided with connection points for connecting the UAV at both ends along the axial direction.

[0010] In one possible implementation of the first aspect, the clamping adjustment member includes a compression spring and an adjusting nut, one end of the compression spring pressing on the force limiting assembly and the other end being supported by the adjusting nut; The adjusting nut is used to change the compression of the compression spring to adjust the positive pressure.

[0011] In one possible implementation of the first aspect, the force limiting component includes at least one pair of first slave friction plates and main friction plates alternately sleeved on the outer surface of the unidirectional transmission component along a second direction, and a second slave friction plate located at the tail of the last main friction plate along the second direction. The annular width of the main friction plate is smaller than that of the first and second slave friction plates. The second direction is an axial direction. The inner surface of the main friction plate is provided with a plurality of grooves, and the outer surface is smooth. The inner surfaces of the first and second slave friction plates are smooth, and the outer surfaces are provided with key teeth, which are connected to the outer shell by splines. When the de-icing device is subjected to an impact, the main friction plate is used to convert the impact force into the kinetic friction force through relative sliding with the first and second secondary friction plates.

[0012] In one possible implementation of the first aspect, the one-way transmission assembly is an overrunning clutch, the inner surface of which is provided with a wedge-shaped groove, one end of a spring is fixed on the radial inner wall of the wedge-shaped groove, and the other end of the spring is connected to a ball. When the drum assembly rotates along the first direction, the overrunning clutch drives the main friction plate to rotate via balls embedded in the grooves on the inner surface of the main friction plate, so that the main friction plate and the slave friction plate slide relative to each other.

[0013] In one possible implementation of the first aspect, when the reel assembly rotates in the opposite direction to retract the flexible connector, the overrunning clutch is used to prevent the main friction plate from rotating by means of balls disengaging from the grooves on the inner surface of the main friction plate, thereby reducing the resistance to retracting the flexible connector.

[0014] In one possible implementation of the first aspect, the coefficient of friction between the friction plates inside the force-limiting assembly and the normal force satisfy the following formula:

[0015] in, The friction coefficient is... The maximum value of the preset range. The radius of the roller assembly is [missing information]. The positive pressure, The equivalent friction radius, This represents the total number of friction contact surfaces.

[0016] Secondly, embodiments of this application provide a de-icing device, including an impact isolation device and an impact device as described in the first aspect, wherein the impact device is fixed to one end of a flexible connector inside the impact isolation device.

[0017] Thirdly, embodiments of this application provide a drone, including an impact isolation device, an impact device, and a drone body as described in the first aspect. The two ends of the impact isolation device along the axial direction are fixed to the drone body, and the impact device is fixed to one end of a flexible connector inside the impact isolation device.

[0018] The beneficial effects of the embodiments of this application compared with the prior art are as follows: The device provided in this application can reduce the impact force received by the impact device during de-icing to the magnitude of the sliding friction force between the friction plates through the force limiting component composed of stacked friction plates; since the sliding friction force is much smaller than the impact force peak when not isolated, the force transmitted to the UAV body can be limited to a safe preset range that can be easily compensated by the flight control system, thereby avoiding the situation of UAV control instability and UAV life damage caused by the impact force being directly transmitted to the UAV, improving the control stability of the UAV and extending the service life of the UAV. Attached Figure Description

[0019] Figure 1 (a) and (b) in the figure are a cross-sectional schematic diagram and a side view of an impact isolation device structure provided in the embodiments of this application, respectively; Figure 2 (a) and (b) are respectively a cross-sectional schematic diagram and a side view of a specific structure of an impact isolation device provided in an embodiment of this application; Figure 3 This is a schematic diagram of a de-icing device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a drone provided in an embodiment of this application.

[0020] Figure Labels 100: Impact isolation device; 10: Drum shaft assembly; 11: Central shaft; 12: Spring; 13: Drum; 20: One-way transmission assembly; 21: Spring; 22: Ball bearing; 30: Force limiting assembly; 31: First slave friction plate; 32: Main friction plate; 33: Second slave friction plate; 40: Flexible connector; 50: Housing; 60: Pressure adjustment component; 200: Impact device; 300: De-icing device; 400: UAV; 410: UAV body. Detailed Implementation

[0021] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0022] It should be understood that, when used in this application specification and, the term "comprising" indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof.

[0023] It should also be understood that the term “and / or” as used in this application specification and in the specification means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] As used in this application specification and in the present application, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determination" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determination," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0025] Furthermore, in the description of this application and its contents, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0027] The present application will be described in further detail below with reference to specific embodiments, but the implementation of the present application is not limited thereto.

[0028] Example 1 Figure 1 The diagram shown is a structural schematic of an impact isolation device provided in an embodiment of this application. See also, as an example and not a limitation. Figure 1 In (a), the device 100 may include a drum shaft assembly 10, a one-way transmission assembly 20, a force limiting assembly 30, and a flexible connector 40 arranged sequentially from the inside to the outside (radially).

[0029] In some embodiments, see Figure 1 In (b), a portion of the outer surface of the drum shaft assembly 10 is splinedly connected to the inner surface of the one-way drive assembly 20. See also Figure 1 In (a), one end of the flexible connector 40 is fixed to the drum assembly 10 and along the first direction (see [reference]). Figure 1 The shaft (in the direction indicated by the middle arrows 101 and 102) is wound around the remaining outer surface of the drum assembly 10, with the other end connected to an impact device, such as a metal striking bar. See also Figure 1 In (b), the outer surface of the one-way transmission component 20 is splinedly connected to the inner surface of part of the force limiting component 30.

[0030] For example, see Figure 1 The first direction is a circumferential direction.

[0031] For example, see Figure 1 In (a), the force limiting component 30 can be composed of multiple friction plates stacked along the axial direction.

[0032] In one possible implementation, the main functions of the impact isolation device 100 include: isolating the impact force by releasing a flexible connector 40 after an impact; and recovering the impact device by the flexible connector 40 after de-icing is completed.

[0033] As an example, before de-icing begins, the impact device is stationary relative to the impact isolation device 100, and the force transmitted from the flexible connector 40 to the drum assembly 10 is only the gravity of the impact device. The drum assembly 10 is stationary, and the gravitational response torque of the impact device is much smaller than the maximum static friction torque between the friction plates in the force limiting assembly 30, where the friction plates do not move relative to each other and are statically locked together. The flexible connector 40 extends a fixed length from the device 100.

[0034] During de-icing, the impact device strikes the ice-covered guide wire, and the guide wire generates an upward counter-impact force on the impact device, increasing the tension of the flexible connector. The torque on the drum assembly shaft 10, based on the flexible connector 40, increases sharply. The maximum frictional torque between the friction plates in the force limiting assembly 30 is rapidly exceeded. ;in, The radius of the drum shaft assembly 10 is given. The drum shaft assembly 10 rotates along a first direction, releasing a flexible connecting piece. The one-way transmission assembly 20 also transmits the impact force received by the drum shaft assembly 10 to the force limiting assembly 30 as the drum shaft assembly 10 rotates. Similarly, due to the torque received being greater than... In the force-limiting component 30, the static friction between the friction plates is broken, and a sliding friction state is entered. Based on Coulomb's law of friction, when the relative velocity of the friction plates does not change significantly, the sliding friction force is approximately constant. Therefore, during the sliding and slipping process of the force-limiting component 30, a large impact torque can be limited to a sliding friction torque. This will transfer the force to the drone itself, i.e. , constrained within a preset range ( (Less than the maximum value within the preset range).

[0035] During this process, the impact kinetic energy and excess potential energy can be absorbed through frictional heat and the displacement of the flexible connectors. The momentum change of the UAV body is as follows: ,in, For the quality of drones, , These represent the change in the drone's speed and the duration of the impact, respectively. It can be seen that the drone's speed disturbance is minimal; device 100 achieves the mitigation of the impact by clipping and extending the peak of the impact force waveform.

[0036] Specifically, the relative sliding between the friction plates converts the impact kinetic energy into frictional heat dissipation, and the released flexible connector 40 converts the impact displacement into the angular displacement of the drum shaft assembly 10, thereby preventing the impact force from being directly transmitted to the UAV body in the form of stress waves.

[0037] After de-icing, the impact force disappears, and the tension on the flexible connector 40 drops back to the weight of the impact device itself, far below the maximum static friction force. At this time, the friction plates in the force limiting component 30 re-enter the static lock state, and the drum shaft assembly reverses direction to wind up the rope. Since the one-way transmission component 20 only transmits movement along the first direction, the force limiting component 30 is stationary, no resistance is generated between the friction plates, the flexible connector 40 retracts easily, the impact device returns to the predetermined position, and the device 100 returns to its initial state, ready for the next de-icing operation.

[0038] The device provided in this application can reduce the impact force received during de-icing by the impact device to the magnitude of the sliding friction force between the friction plates through a force-limiting component composed of stacked friction plates. Since the sliding friction force is much smaller than the impact force peak when not isolated, the force transmitted to the UAV body can be limited to a safe preset range that can be easily compensated by the flight control system. This avoids the situation where the UAV control is unstable and the life of the UAV is damaged when the impact force is directly transmitted to the UAV, thereby improving the control stability of the UAV and extending the service life of the UAV.

[0039] While some devices can reduce impact force by adding elastic buffer elements, such as springs or rubber shock absorbers, between the flexible connector and the drone body, these passive buffers absorb some of the momentum required for the impact while also absorbing the impact energy, thus reducing the impact force and significantly decreasing the de-icing effect. This application actively limits the impact force through the sliding friction between the friction plates in the force limiting component, which can isolate the impact while ensuring the de-icing effect.

[0040] Some devices employ an electrically controlled release structure, using sensors to detect the tension on the flexible connector. When the tension exceeds a threshold, a section of rope is actively released by a servo motor or electromagnetic brake to isolate the impact. While this type of device can also ensure de-icing, its method of dissipating impact force is singular, relying solely on the angular displacement of the drum shaft, resulting in poor isolation. Furthermore, these devices generally rely on sensors and controllers, are heavy, and in harsh conditions such as low temperature, high humidity, and icing, the reliability of electronic components is significantly reduced. The additional power consumption also shortens the effective operating endurance of the drone.

[0041] The device provided in this application can achieve impact isolation using only a simple mechanical structure of force limiting component and one-way transmission component. In addition to the drum shaft assembly, it also provides a way to dissipate impact kinetic energy through frictional heat, and does not require external power supply. Therefore, the impact isolation effect of this application is good and the reliability is high.

[0042] Example 2 Figure 2 The diagram shown is a schematic representation of the specific structure of an impact isolation device provided in an embodiment of this application.

[0043] In some embodiments, see Figure 2 In (a), the device 100 may further include a housing 50 and at least one clamping adjustment member 60. The drum assembly 10, the one-way drive assembly 20, the force limiting assembly 30, and the clamping adjustment member 60 are all enclosed in the housing 50.

[0044] For example, the outer casing 50 can be a cylindrical shell with connecting lugs (i.e., connection points) at both ends along the axial direction, through which it is connected to the mounting points of the UAV body. (See also...) Figure 2 In (b), the inner surface of the housing 50 may be provided with an axial groove for fixing the force limiting component 30.

[0045] Optionally, a rope guide sleeve may also be provided at the bottom of the housing 50 to guide the rope in and out.

[0046] For example, the clamping adjustment member 60 can be located in the drum assembly 10, close to the force limiting assembly 30, to provide positive pressure to the overlapping friction plates inside the force limiting assembly 30, so that friction can be generated between the friction plates inside the force limiting assembly 30.

[0047] Optionally, the clamping adjustment member 60 may include a compression spring 61 and an adjusting nut 62. One end of the compression spring 61 may press against the force limiting component 30, and the other end is supported by the adjusting nut 62. The compression amount of the compression spring 61 can be changed by adjusting the adjusting nut 62, thereby adjusting the positive pressure applied to the force limiting component 30, and subsequently adjusting the threshold at which the drum shaft assembly 10 begins to rotate in the first direction.

[0048] In one possible implementation, see Figure 2 In (a), the drum assembly 10 may include a central shaft 11, a mainspring 12, and a drum 13.

[0049] For example, see Figure 2 In (a), the central shaft 11 can be a stepped shaft, with its two ends fixed to the inner surface of the outer casing 50 along the axial direction. The compression spring 61 and the drum 13 can be sequentially sleeved onto the central shaft 11 along the second direction. The mainspring 12 can be located inside the drum 13. See also Figure 2 In (a) and (b), a portion of the inner surface of the unidirectional drive assembly 20 is fixed to a portion of the outer surface of the drum 13 by a spline, while the flexible connector 40 is wound around the remaining outer surface of the drum 13.

[0050] Specifically, the second direction (see...) Figure 2 The direction indicated by the middle arrow 201 can be along the axial direction.

[0051] For example, from the perspective of wave motion, the flexible connector 40 can be regarded as a one-dimensional elastic body. When the drum end changes from a fixed boundary to a constant force sliding boundary, the incident tension wave is partially absorbed, the amplitude of the reflected wave is greatly reduced, the tension doubling effect is avoided, and the impact wave can be attenuated from the physical source.

[0052] For example, before de-icing, the spring 12 can provide a certain pre-tension torque to the drum 13, which is greater than the torque generated by the weight of the impact device and the flexible connector 40 on the drum 13, thereby keeping the flexible connector taut when there is no impact. During de-icing, the drum 13 rotates in the first direction to tighten the spring 12, so as to convert the impact kinetic energy into part of the elastic potential energy, thereby absorbing and storing the impact kinetic energy. After de-icing, the stored elastic potential energy is released, causing the drum 13 to rotate in the opposite direction without electrical power to lift the impact device to a predetermined position.

[0053] By using a spring, an alternative conversion pathway for impact kinetic energy can be provided, further reducing the impact on the UAV itself. Furthermore, by storing and converting the impact kinetic energy upon impact, the spring releases this energy after de-icing, automatically and reliably retrieving the released rope and restoring it to a standby state without manual or flight control intervention, thus ensuring the efficiency of continuous striking operations. This allows the impact isolation device to achieve complete functions of impact force sensing, force limiting release, and automatic reset solely based on the mechanical properties of the mechanical structure itself. This significantly improves the reliability of the device in harsh environments such as low temperatures and icing, while also reducing the system weight.

[0054] Furthermore, by adjusting the compression amount of the compression spring 61 and the preload torque of the spring 12, the device 100 can adapt to the force limiting requirements of impact devices of different weights or different drones, thereby enhancing the applicability of the device 100.

[0055] In one example, see Figure 2 In (a), the drum 13 can be located in the middle section of the central shaft 11, and the outer surface of the part not connected to the one-way transmission assembly 20 is provided with a spiral rope groove for winding and accommodating the flexible connector 40.

[0056] For example, drum 13 can be a rope pulley.

[0057] For example, the flexible connector 40 can be made of a high-strength, lightweight rope, such as Dyneema rope.

[0058] In one example, the mainspring 12 can be a spiral spring.

[0059] For example, the spring 12 can be located in a separate spring box inside the drum 13, with its inner end fixed to the central shaft 11 or the inner wall of the drum 13, and its outer end fixed to the outer casing 50.

[0060] Alternatively, the spring 12 may also be located on one side of the drum 13.

[0061] For example, the torque of a spiral spring With corner Approximately linear relationship , The coefficient is denoted by ; its stored elastic potential energy satisfies: .

[0062] In one possible implementation, see Figure 2 In (b), the one-way drive assembly 20 can be an overrunning clutch.

[0063] For example, the inner surface of the overrunning clutch may be provided with a wedge-shaped groove, and one end of a spring 21 is fixed on the radial inner wall of the groove, while the other end is connected to a ball 22.

[0064] Specifically, within the gap of the wedge angle α, the ball 22 self-locks when α ≤ arctan(μ) (i.e., when rotating in the first direction), where μ is the coefficient of friction between the ball 22 and the inner surface of the force limiting component 30. The overrunning clutch can rotate synchronously with some of the friction plates in the force limiting component 30. When rotating in the opposite direction, the above condition is not met, the self-locking fails, and the overrunning clutch cannot drive the force limiting component 30 to rotate. This enables unidirectional transmission, ensuring transmission when releasing the flexible connector 40 and disengagement when retracting the flexible connector 40.

[0065] In one possible implementation, see Figure 2 In (a), the force limiting component 30 may include at least one pair (only one pair is shown here) of first slave friction plates 31 and main friction plates 32 that are alternately sleeved on the outer surface of the one-way transmission component 20 along the second direction, and a second slave friction plate 33 located at the tail of the last main friction plate along the second direction.

[0066] Specifically, the first friction plate 31 and the second friction plate 33 have the same structure.

[0067] For example, see Figure 2 In (b), the main friction plate 32 and the secondary friction plate (including the first secondary friction plate 31 and the second secondary friction plate 33) can be annular rings with a central hole, which are fitted onto the one-way transmission assembly 20.

[0068] In one example, see Figure 2 In (b), the outer surface of the main friction plate 32 is smooth, and the inner surface is provided with multiple grooves. When the one-way transmission assembly 20 rotates along the first direction, the ball 22 is stuck in the groove, so that the one-way transmission assembly 20 can drive the main friction plate 32 to rotate along the first direction as well.

[0069] Optionally, the main friction plate 31 can slide freely along the axial direction.

[0070] In one example, see Figure 2 In (b), the inner surface of the friction plate is smooth, and multiple key teeth are provided on the outer surface; the key teeth on the outer surface are engaged in the axial groove of the outer shell 50 and are synchronously circumferentially fixed to the outer shell 50.

[0071] Here, "smooth surface" means that the surface has no protrusions, grooves, or other structures, not that the surface has no friction.

[0072] Alternatively, the friction pad can also slide freely along the axial direction.

[0073] For example, see Figure 2 In (a), the circumferential width of the main friction plate 32 is smaller than that of the secondary friction plate, so that the main friction plate 31 can move circumferentially (i.e., rotate in the first direction) inside the housing 50 without contacting the housing 50.

[0074] Specifically, the effective area of ​​the friction surface between the main friction plate 32 and the secondary friction plate is the annular plate that overlaps the main friction plate 32 and the secondary friction plate, and its radial range extends from the inner hole radius Rin of the main friction plate 32 to the outer edge radius Rout of the secondary friction plate.

[0075] For example, the positive pressure of the friction surfaces between the main friction plate 32 and the secondary friction plate is provided by the clamping adjustment member 60 and is evenly transmitted to the entire plate group through the pressure plate.

[0076] For example, the sliding friction torque between the primary friction plate 32 and the secondary friction plate , The coefficient of friction, For positive pressure, The equivalent friction radius, This represents the total number of friction contact surfaces. Only the coefficient of friction is considered. Stable sliding friction torque between friction plates This becomes a constant, thus clamping the tension transmitted to the drone body within... .

[0077] Therefore, in order to limit the force transmitted to the drone within a preset range, the coefficient of friction and normal force between the main friction plate 32 and the slave friction plate can satisfy the following formula:

[0078] in, The coefficient of friction, To determine the maximum force that can be transmitted to the drone, i.e., the maximum value within a preset range. The radius of the roll, For positive pressure, The equivalent friction radius, The total number of friction contact surfaces is numerically equal to the number of pairs of the first secondary friction plate and the primary friction plate.

[0079] As an example, before de-icing begins, the spring 12 provides a certain preload torque so that the impact device is stationary relative to the impact isolation device 100. This torque can be adjusted by the staff before the device leaves the factory.

[0080] During de-icing, the icing wire generates a reaction force on the impact device. The torque transmitted to the drum 13 by this impact force is much greater than the pre-tightening torque, causing the drum 13 to rotate in the forward direction (i.e., the first direction). This releases a certain length of the flexible connector 40, converting a portion of the impact displacement into angular displacement of the drum 13. Simultaneously, the rotation of the drum 13 drives the spring 12 and the overrunning clutch to rotate in the forward direction as well. The spring 12 converts the remaining impact kinetic energy into elastic potential energy for storage (equivalent to tightening the spring). The ball 22 in the overrunning clutch is engaged in the groove on the inner surface of the main friction plate 32, causing the main friction plate 32 to rotate in the forward direction as well. At the same time, the secondary friction plate is fixed to the outer casing 50 by the groove and remains stationary. Relative sliding occurs between the main friction plate 32 and the secondary friction plate, making the torque transmitted to the UAV body through the outer casing 50 equal to the sliding friction torque. And convert the remaining impact kinetic energy into frictional heat.

[0081] Specifically, based on the law of conservation of energy, the sum of the changes in kinetic and potential energy of the impact device during the impact process is equal to the work done by the tension on the flexible connector. This portion of energy is allocated as frictional heat, the elastic potential energy of the spring, and a very small amount of kinetic energy increment from the drone, thereby achieving energy dissipation and temporary storage.

[0082] After de-icing, the impact force disappears. At this point, the torque exerted by the mainspring 12 on the drum 13 is greater than the weight of the flexible connector 40 and the impact device. The drum 13 reverses, releasing the stored elastic potential energy and recovering a certain length of the flexible connector 40. The drum 13 still drives the overrunning clutch to reverse. At this time, the ball bearing 22 disengages from the groove on the inner surface of the main friction plate, compressing the spring 11 and preventing it from rotating the main friction plate 32, thereby reducing the resistance when recovering the flexible connector 40.

[0083] Optionally, to prevent the remaining length of the flexible connector 40 from being shorter than the predetermined position during recycling, a buckle can be provided on the flexible connector 40 to prevent the flexible connector 40 from being over-recycled due to the tendency of the drum 13 to rotate in the opposite direction when the force is balanced.

[0084] The device provided in this application can reduce the impact force received during de-icing by the impact device to the magnitude of the sliding friction force between the friction plates through a force-limiting component composed of stacked friction plates. Since the sliding friction force is much smaller than the impact force peak when not isolated, the force transmitted to the UAV body can be limited to a safe preset range that can be easily compensated by the flight control system. This avoids the situation where the UAV control is unstable and the life of the UAV is damaged when the impact force is directly transmitted to the UAV, thereby improving the control stability of the UAV and extending the service life of the UAV.

[0085] Example 3 Figure 3This is a schematic diagram of a de-icing device provided in an embodiment of this application. As an example and not a limitation, the de-icing device 300 may include the impact isolation device 100 and the impact device 200 as in Embodiment 1 / Embodiment 2.

[0086] For example, see Figure 3 The impact device 200 is fixed to one end of the flexible connector 40 inside the impact isolation device 100.

[0087] Alternatively, the impact device 200 may be a metal rod.

[0088] When de-icing is required, the user can control the drone to move horizontally or vertically to tap the icy wire, shaking off the dirt / ice layer on the wire through vibration. The impact isolation device 100 isolates the impact force generated by tapping the wire, maintaining the stability of the drone's control.

[0089] Example 4 Figure 4 This is a schematic diagram of the structure of a drone provided in an embodiment of this application. As an example and not a limitation, the drone 400 may include the drone body 410, the impact device 200, and the impact isolation device 100.

[0090] For example, see Figure 4 The impact device 200 can be hoisted onto the impact isolation device 100 via the flexible connector 40, and the impact isolation device 100 is fixed to the UAV body 410 via the connection point.

[0091] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

Claims

1. An impact isolation device, characterized in that, It includes a flexible connector and a drum shaft assembly, a one-way transmission assembly, and a force limiting assembly arranged sequentially from the inside to the outside. The force limiting assembly is composed of multiple friction plates stacked along the axial direction. A portion of the outer surface of the drum shaft assembly is splinedly connected to the inner surface of the one-way transmission assembly. One end of the flexible connector is fixed to the drum shaft assembly and wound along the first direction on the remaining outer surface of the drum shaft assembly, while the other end is connected to the impact device. The outer surface of the one-way transmission assembly is splinedly connected to a portion of the inner surface of the force limiting assembly, wherein the first direction is the circumferential direction. When the de-icing device is impacted, the drum shaft assembly is used to rotate along the first direction to release the flexible connector; the one-way transmission assembly is used to transmit the impact force received by the drum shaft assembly through the flexible connector to the force limiting assembly; the force limiting assembly is used to convert the impact force into dynamic friction between the internal friction plates to limit the force transmitted to the UAV body within a preset range.

2. The impact isolation device according to claim 1, characterized in that, The drum shaft assembly includes a mainspring, a drum, and a central shaft; The spring is placed inside the drum, the drum is sleeved on the central shaft, a portion of the inner surface of the one-way transmission assembly is fixed to a portion of the outer surface of the drum by a spline, and the flexible connector is wound around the remaining outer surface of the drum. When the de-icing device is subjected to an impact, the spring is used to absorb and convert part of the impact function.

3. The impact isolation device according to claim 2, characterized in that, The impact isolation device also includes a housing and a clamping adjustment component, which is sleeved on the central shaft and located on the side close to the force limiting component, for providing positive pressure to the force limiting component; The outer shell is fixedly connected to both ends of the central shaft along the axial direction and is splinedly connected to the outer surface of the force limiting component to fix part of the friction plate in the force limiting component; the outer shell is also provided with connection points for connecting the UAV at both ends along the axial direction.

4. The impact isolation device according to claim 3, characterized in that, The clamping adjustment component includes a compression spring and an adjusting nut. One end of the compression spring is pressed against the force limiting component, and the other end is supported by the adjusting nut. The adjusting nut is used to change the compression of the compression spring to adjust the positive pressure.

5. The impact isolation device according to claim 3, characterized in that, The force limiting component includes at least one pair of first and main friction plates alternately sleeved on the outer surface of the unidirectional transmission component along a second direction, and a second friction plate located at the tail of the last main friction plate along the second direction. The circumferential width of the main friction plate is smaller than that of the first and second friction plates. The second direction is an axial direction. The inner surface of the main friction plate is provided with multiple grooves, and the outer surface is smooth. The inner surfaces of the first and second friction plates are smooth, and the outer surfaces are provided with key teeth, which are connected to the spline of the outer shell through the key teeth. When the de-icing device is subjected to an impact, the main friction plate is used to convert the impact force into the kinetic friction force through relative sliding with the first and second secondary friction plates.

6. The impact isolation device according to claim 5, characterized in that, The one-way transmission assembly is an overrunning clutch. The inner surface of the overrunning clutch is provided with a wedge-shaped groove. One end of a spring is fixed on the radial inner wall of the wedge-shaped groove, and the other end of the spring is connected to a ball. When the drum assembly rotates along the first direction, the overrunning clutch drives the main friction plate to rotate via balls embedded in the grooves on the inner surface of the main friction plate, so that the main friction plate and the slave friction plate slide relative to each other.

7. The impact isolation device according to claim 6, characterized in that, When the reel assembly rotates in the opposite direction to retract the flexible connector, the overrunning clutch is used to prevent the main friction plate from rotating by means of balls disengaging from the grooves on the inner surface of the main friction plate, thereby reducing the resistance to retracting the flexible connector.

8. The impact isolation device according to claim 3, characterized in that, The coefficient of friction between the internal friction plates of the force limiting component and the normal force satisfy the following formula: in, The friction coefficient is... The maximum value of the preset range. The radius of the roller assembly is [missing information]. The positive pressure, The equivalent friction radius, This represents the total number of friction contact surfaces.

9. A de-icing device, characterized in that, Includes the impact isolation device and impact device as described in any one of claims 1-8, wherein the impact device is fixed to one end of a flexible connector inside the impact isolation device.

10. A drone, characterized in that, The device includes an impact isolation device, an impact device, and a drone body as described in any one of claims 1-8, wherein the two ends of the impact isolation device along the axial direction are fixed to the drone body, and the impact device is fixed to one end of a flexible connector inside the impact isolation device.

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