Unmanned helicopter hoisting mechanism

Abstract

The utility model provides an unmanned helicopter hoisting mechanism which comprises a four-connecting-rod upper frame and further comprises a four-connecting-rod flexible mechanism arranged below the four-connecting-rod upper frame. And the four-connecting-rod lower frame is arranged between the four-connecting-rod flexible mechanisms, and the four-connecting-rod flexible mechanisms flexibly restrain the four-connecting-rod lower frame from four directions. The four-connecting-rod lower frame is completely and symmetrically restrained from four directions through the flexible steel cables, so that a loaded object is conveniently located in the midpoint of the whole mechanism, external disturbance is well adapted, self-balancing of the hoisted object is achieved, a remote sensing controller receives a control signal and converts the control signal into an electric signal, and the self-balancing of the hoisted object is achieved. And the electric push rod is controlled to be shortened, so that the lifting hook is opened, the lifting hook does not have a restraining effect any more, articles hooked on the lifting hook fall down, the throwing function is finally achieved, and remote control and telemetering throwing can be well carried out conveniently.

Description

Technical Field

[0001] The utility model relates to a hoisting mechanism for an unmanned helicopter. Background Art

[0002] Unmanned helicopters are referred to as "drones", and the English abbreviation is "UAV". They are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or are completely or intermittently operated autonomously by on-board computers. Unmanned helicopters are used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, creating romance, etc. When unmanned helicopters transport goods, they usually need to use mounting mechanisms.

[0003] When the unmanned helicopter and the mounting mechanism are hard-connected, the load hoisted by the mounting mechanism will shake violently due to the influence of airflow when the unmanned helicopter is flying. If the entire mounting mechanism is not equipped with a damper, the shaking of the load will have a serious impact on the dynamic balance of the helicopter, which is not conducive to the control of the unmanned helicopter and the transportation and delivery of the load. Therefore, how to reduce the impact of the load shaking on the unmanned helicopter is an important issue that needs to be solved in the design of the unmanned helicopter hoisting mechanism. Utility Model Content

[0004] The utility model provides an unmanned helicopter hoisting mechanism in order to solve the problem of reducing the influence of hoisting sway on the unmanned helicopter.

[0005] The utility model solves the above technical problems through the following technical solutions:

[0006] The utility model provides an unmanned helicopter hoisting mechanism, comprising a four-link upper frame, and further comprising:

[0007] A four-link flexible mechanism, wherein the four-link flexible mechanism is arranged below the four-link upper frame;

[0008] A four-link lower frame, wherein the four-link lower frame is arranged between four-link flexible mechanisms, and the four-link flexible mechanisms flexibly constrain the four-link lower frame from four directions;

[0009] The throwing mechanism is arranged on the four-link lower frame.

[0010] Preferably, four lifting ears are fixedly connected to the four bottom corners of the four-link upper frame.

[0011] In this technical solution, the connection of the four-link flexible mechanism is carried out through lifting ears.

[0012] Preferably, the four-link lower frame comprises a mounting platform, a support rod 1 and a support rod 2, four support rods 1 are fixedly connected to the four corners of the bottom of the mounting platform, and the four support rods 1 are fixedly connected to the support rods 2 in pairs.

[0013] In this technical solution, the load on the mounting platform can be evenly transferred to the four support rods.

[0014] Preferably, a plugging core is fixedly connected to the bottom of the support rod 1.

[0015] In this technical solution, the plugging core blocks the bottom of the support rod one.

[0016] Preferably, the four-link flexible mechanism includes a steel cable, a steel cable pull ring, a connecting frame 1, a connecting frame 2, a fixing bolt 1 and a fixing bolt 2. The top of the steel cable is fixedly connected to the connecting frame 2, and the connecting frame 2 is respectively connected to four lifting ears through the fixing bolt 1. The bottom of the steel cable is fixedly connected to the connecting frame 2. The connecting frame 2 is sleeved with a steel cable pull ring, and the steel cable pull ring is connected to the bottom of the support rod 1 through the fixing bolt 2.

[0017] In this technical solution, the steel cables are flexible, and the four steel cables constrain the four-bar lower frame in four directions in a completely symmetrical manner. Under this mechanical model, no matter in which direction the load is subjected to force, it will eventually be transmitted to the four flexible steel cables, so that the loaded objects are located in the center of the entire mechanism, thereby achieving self-balancing of the hoisted objects.

[0018] Preferably, the throwing mechanism comprises a throwing component and a control component, the throwing component on the throwing mechanism is arranged on the mounting platform, and the control component on the throwing mechanism is arranged on one side of the throwing component.

[0019] In this technical solution, the control component controls the throwing of the throwing component.

[0020] Preferably, the throwing component includes a fixed plate one, three fixed bolts, a pulling rod, a mounting frame, a hook, a fixed rod, a fixed cover, a rotating plate and a torsion spring. The two sides of the fixed cover are connected to two fixed plates one by four three fixed bolts. The top of the fixed plate one is fixedly connected to the mounting frame. The inner side wall of the fixed cover is fixedly connected to the fixing rod. The fixed rod is rotatably connected to the rotating plate. The torsion spring is fixedly connected between the rotating plate and the inner side wall of the fixed cover. The bottom side wall of the rotating plate is fixedly connected to the hook. The pulling rod is fixedly connected to the side wall of the rotating plate.

[0021] In this technical solution, the pulling rod slides in the arc-shaped sliding groove, driving the rotating plate to rotate, and the rotating plate drives the hook to rotate. At this time, the torsion spring twists, causing the hook to open, and the hook no longer has a restraining effect. The object hooked on the hook falls, and finally the throwing function is realized.

[0022] Preferably, an arc-shaped sliding groove is provided on the side wall connecting the fixed cover and the fixed plate, the pulling rod is slidably connected in the sliding groove, and the mounting frame is connected to the bottom of the mounting platform by fixing bolts four.

[0023] Preferably, the control component includes a pull cable, a second fixed plate, a pulling frame, a remote sensing controller, an electric push rod, a mounting plate and a connecting rod, one end of the connecting rod is rotatably connected to the pulling rod, the other end of the connecting rod is fixedly connected to the pull cable, the other end of the pull cable is fixedly connected to the pulling frame, the pulling frame is slidably connected to the back side wall of the second fixed plate, the mounting plate is fixedly connected to the back side wall of the second fixed plate, the electric push rod is fixedly connected between the mounting plate and the pulling frame, and the remote sensing controller is fixedly connected to the front side of the second fixed plate.

[0024] Preferably, the remote sensing controller is electrically connected to the electric push rod.

[0025] In this technical solution, a control signal is received by a remote sensing controller and converted into an electrical signal to control the electric push rod to shorten. The shortened electric push rod pulls the pulling frame to move. The pulling frame pulls the cable to move. The cable pulls the connecting rod to move. The connecting rod pulls the pulling rod to move.

[0026] On the basis of conforming to the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present utility model.

[0027] The positive and progressive effects of the utility model are:

[0028] 1. The four-link lower frame is symmetrically constrained from four directions by flexible steel cables, so that no matter in which direction the load is subjected to force, it will eventually be transmitted to the four flexible steel cables, making it easier to place the load in the center of the entire mechanism, better adapting to external disturbances, thereby achieving self-balancing of the hoisted items.

[0029] 2. By receiving the control signal through the remote sensing controller and converting the control signal into an electrical signal, the electric push rod is controlled to shorten. The shortened electric push rod pulls the pulling rod to move. The pulling rod slides in the arc-shaped sliding groove, driving the rotating plate to rotate. The rotating plate drives the hook to rotate, so that the hook opens, the hook no longer has a restraining effect, and the objects hooked on the hook fall down, finally realizing the function of throwing, which is convenient for better remote control and telemetry throwing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model.

[0031] Figure 2 It is a schematic diagram of the three-dimensional structure of the four-link upper frame of the utility model.

[0032] Figure 3 It is a schematic diagram of the three-dimensional structure of the four-link lower frame of the utility model.

[0033] Figure 4 It is a three-dimensional structural schematic diagram of the four-link flexible mechanism of the utility model.

[0034] Figure 5 It is a three-dimensional structural schematic diagram of the throwing mechanism of the utility model.

[0035] Figure 6 It is a schematic diagram of the internal structure of the throwing mechanism of the utility model.

[0036] Figure 7 It is a schematic diagram of the internal structure of the fixed cover of the utility model from the side.

[0037] Description of Reference Numerals

[0038] 1. Four-link upper frame; 2. Steel cable; 3. Steel cable pull ring; 4. Mounting platform; 5. Plug core; 6. Fixed plate one; 7. Pull cable; 8. Fixed plate two; 9. Lifting ear; 10. Support rod one; 11. Support rod two; 12. Four-link lower frame; 13. Connecting frame one; 14. Fixing bolt one; 15. Fixing bolt two; 16. Connecting frame two; 17. Four-link flexible mechanism; 18. Pulling frame; 19. Fixing bolt three; 20. Pulling rod; 21. Sliding groove; 22. Mounting frame; 23. Fixing bolt four; 24. Hook; 25. Remote sensing controller; 26. Casting mechanism; 27. Electric push rod; 28. Mounting plate; 29. ​​Connecting rod; 30. Fixing rod; 31. Fixing cover; 32. Rotating plate; 33. Torsion spring. DETAILED DESCRIPTION

[0039] The present invention is further described below by way of embodiments, but the present invention is not limited to the scope of the embodiments.

[0040] like Figure 1-7 As shown, an unmanned helicopter hoisting mechanism includes a four-link upper frame 1, and also includes:

[0041] A four-link flexible mechanism 17, wherein the four-link flexible mechanism 17 is arranged below the four-link upper frame 1;

[0042] A four-link lower frame 12, wherein the four-link lower frame 12 is disposed between four-link flexible mechanisms 17, and the four-link flexible mechanisms 17 flexibly constrain the four-link lower frame 12 from four directions;

[0043] The throwing mechanism 26 is arranged on the four-link lower frame 12 .

[0044] Four lifting ears 9 are fixedly connected to the four corners of the bottom of the four-link upper frame 1 .

[0045] The connection of the four-bar flexible mechanism 17 is carried out via the lifting lugs 9 .

[0046] The four-link lower frame 12 includes a mounting platform 4, a support rod 10 and a support rod 2 11. Four support rods 10 are fixedly connected to the four corners of the bottom of the mounting platform 4, and the four support rods 10 are fixedly connected to the support rods 2 11 in pairs.

[0047] The load on the mounting platform 4 can be evenly transferred to the four support rods 10.

[0048] The bottom of the support rod 10 is fixedly connected with a plugging core 5.

[0049] The plugging core 5 blocks the bottom of the support rod 10.

[0050] The four-link flexible mechanism 17 includes a steel cable 2, a steel cable 2 pull ring, a connecting frame 13, a connecting frame 2 16, a fixing bolt 14 and a fixing bolt 2 15. The top of the steel cable 2 is fixedly connected to the connecting frame 2 16, and the connecting frame 2 16 is respectively connected to four lifting ears 9 through the fixing bolt 14. The bottom of the steel cable 2 is fixedly connected to the connecting frame 2 16, and the connecting frame 2 16 is sleeved with a steel cable 2 pull ring, and the steel cable 2 pull ring is connected to the bottom of the support rod 10 through the fixing bolt 2 15.

[0051] The steel cables 2 are flexible, and the four steel cables 2 constrain the four-bar lower frame 12 in four directions in a completely symmetrical manner. Under this mechanical model, no matter in which direction the load is subjected to force, it will eventually be transmitted to the four flexible steel cables 2, so that the loaded objects are located in the center of the entire mechanism, thereby achieving self-balancing of the hoisted objects.

[0052] The throwing mechanism 26 includes a throwing component and a control component. The throwing component of the throwing mechanism 26 is arranged on the mounting platform 4, and the control component of the throwing mechanism 26 is arranged on one side of the throwing component.

[0053] The control component controls the throwing of the throwing component.

[0054] The throwing component includes a fixed plate 6, a fixing bolt 319, a pulling rod 20, a mounting frame 22, a hook 24, a fixing rod 30, a fixing cover 31, a rotating plate 32 and a torsion spring 33. The two sides of the fixing cover 31 are connected to the two fixing plates 6 by four fixing bolts 319. The top of the fixing plate 6 is fixedly connected to the mounting frame 22. The inner side wall of the fixing cover 31 is fixedly connected to the fixing rod 30. The fixing rod 30 is rotatably connected to the rotating plate 32. The torsion spring 33 is fixedly connected between the rotating plate 32 and the inner side wall of the fixing cover 31. The bottom side wall of the rotating plate 32 is fixedly connected to the hook 24. The pulling rod 20 is fixedly connected to the side wall of the rotating plate 32.

[0055] The pulling rod 20 slides in the arc-shaped sliding groove 21, driving the rotating plate 32 to rotate, and the rotating plate 32 drives the hook 24 to rotate. At this time, the torsion spring 33 is twisted, so that the hook 24 is opened, and the hook 24 no longer has a restraining effect. The object hooked on the hook 24 falls down, and finally the throwing function is realized.

[0056] An arc-shaped sliding groove 21 is provided on the side wall connecting the fixed cover 31 and the fixed plate 6, and the pulling rod 20 is slidably connected in the sliding groove 21, and the mounting frame 22 is connected to the bottom of the mounting platform 4 through the fixing bolts 23.

[0057] The control component includes a cable 7, a fixed plate 8, a pulling frame 18, a remote sensing controller 25, an electric push rod 27, a mounting plate 28 and a connecting rod 29, one end of the connecting rod 29 is rotatably connected to the pulling rod 20, the other end of the connecting rod 29 is fixedly connected to the cable 7, the other end of the cable 7 is fixedly connected to the pulling frame 18, the pulling frame 18 is slidably connected to the back side wall of the fixed plate 8, the mounting plate 28 is fixedly connected to the back side wall of the fixed plate 8, the electric push rod 27 is fixedly connected between the mounting plate 28 and the pulling frame 18, and the remote sensing controller 25 is fixedly connected to the front of the fixed plate 8.

[0058] The remote sensing controller 25 is electrically connected to the electric push rod 27 .

[0059] The remote sensing controller 25 receives the control signal and converts the control signal into an electrical signal to control the electric push rod 27 to shorten. The shortening of the electric push rod 27 pulls the pulling frame 18 to move. The pulling frame 18 pulls the cable 7 to move. The cable 7 pulls the connecting rod 29 to move. The connecting rod 29 pulls the pulling rod 20 to move.

[0060] When the utility model is in use, the electrical components in the present application are all externally connected to a power source and a control switch, and the objects to be hoisted are hooked on the hook 24, the four-link upper frame 1 pulls the four steel cables 2, the four steel cables 2 pull the four-link lower frame 12, and the four-link lower frame 12 pulls the hooked objects, so that the objects are better hoisted. Since the steel cables 2 are flexible, and the four steel cables 2 completely symmetrically constrain the four-link lower frame 12 from four directions, under this mechanical model, no matter which direction the hoisted objects are subjected to force, it will eventually be transmitted to the four flexible steel cables 2, so that the loaded objects are located in the center of the entire mechanism, thereby achieving self-balancing of the hoisted objects;

[0061] When throwing the hoisted objects, the remote sensing controller 25 receives the control signal and converts the control signal into an electrical signal to control the electric push rod 27 to shorten. The shortened electric push rod 27 pulls the pulling frame 18 to move. The pulling frame 18 pulls the cable 7 to move. The cable 7 pulls the connecting rod 29 to move. The connecting rod 29 pulls the pulling rod 20 to move. The pulling rod 20 slides in the arc-shaped sliding groove 21, driving the rotating plate 32 to rotate, and the rotating plate 32 drives the hook 24 to rotate. At this time, the torsion spring 33 twists, so that the hook 24 opens, the hook 24 no longer has a restraining effect, and the objects hooked on the hook 24 fall down, finally realizing the throwing function. After the throwing is completed, the electric push rod 27 is extended, the cable 7 is no longer tightened, and the torsion spring 33 drives the rotating plate 32 to return to its original state.

[0062] The utility model is not limited to the above-mentioned embodiments. Any changes in shape or structure are within the protection scope of the utility model. The protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the utility model, but these changes and modifications are within the protection scope of the utility model.

Claims

1. An unmanned helicopter hoisting mechanism, comprising a four-link upper frame (1), characterized in that: Also includes: A four-link flexible mechanism (17), wherein the four-link flexible mechanism (17) is arranged below the four-link upper frame (1); A four-link lower frame (12), wherein the four-link lower frame (12) is arranged between four-link flexible mechanisms (17), and the four-link flexible mechanisms (17) flexibly constrain the four-link lower frame (12) from four directions; A throwing mechanism (26) is arranged on the four-link lower frame (12).

2. The unmanned helicopter hoisting mechanism according to claim 1, characterized in that: Four lifting ears (9) are fixedly connected to the four corners of the bottom of the four-link upper frame (1).

3. The unmanned helicopter hoisting mechanism according to claim 1, characterized in that: The four-link lower frame (12) comprises a mounting platform (4), a support rod one (10) and a support rod two (11); four support rods one (10) are fixedly connected to the four corners at the bottom of the mounting platform (4); and the four support rods one (10) are fixedly connected to the support rod two (11) in pairs.

4. The unmanned helicopter hoisting mechanism according to claim 3, characterized in that: The bottom of the support rod 1 (10) is fixedly connected with a plugging core (5).

5. The unmanned helicopter hoisting mechanism according to claim 1, characterized in that: The four-link flexible mechanism (17) comprises a steel cable (2), a steel cable (2) pull ring, a connecting frame 1 (13), a connecting frame 2 (16), a fixing bolt 1 (14) and a fixing bolt 2 (15); the top of the steel cable (2) is fixedly connected to the connecting frame 2 (16); the connecting frame 2 (16) is respectively connected to four lifting ears (9) through the fixing bolt 1 (14); the bottom of the steel cable (2) is fixedly connected to the connecting frame 2 (16); the connecting frame 2 (16) is sleeved with the steel cable (2) pull ring; the steel cable (2) pull ring is connected to the bottom of the support rod 1 (10) through the fixing bolt 2 (15).

6. The unmanned helicopter hoisting mechanism according to claim 1, characterized in that: The throwing mechanism (26) comprises a throwing component and a control component. The throwing component on the throwing mechanism (26) is arranged on a mounting platform (4), and the control component on the throwing mechanism (26) is arranged on one side of the throwing component.

7. The unmanned helicopter hoisting mechanism according to claim 6, characterized in that: The throwing component comprises a fixing plate (6), a fixing bolt (19), a pulling rod (20), a mounting frame (22), a hook (24), a fixing rod (30), a fixing cover (31), a rotating plate (32) and a torsion spring (33); the two sides of the fixing cover (31) are connected to the two fixing plates (6) by four fixing bolts (19); the top of the fixing plate (6) is fixedly connected to the mounting frame (22); the fixing rod (30) is fixedly connected to the inner side wall of the fixing cover (31); the fixing rod (30) is rotatably connected to the rotating plate (32); the torsion spring (33) is fixedly connected between the rotating plate (32) and the inner side wall of the fixing cover (31); the bottom side wall of the rotating plate (32) is fixedly connected to the hook (24); and the pulling rod (20) is fixedly connected to the side wall of the rotating plate (32).

8. The unmanned helicopter hoisting mechanism according to claim 7, characterized in that: An arc-shaped sliding groove (21) is provided on the side wall connecting the fixed cover (31) and the fixed plate (6), the pulling rod (20) is slidably connected in the sliding groove (21), and the mounting frame (22) is connected to the bottom of the mounting platform (4) through fixing bolts (23).

9. The unmanned helicopter hoisting mechanism according to claim 6, characterized in that: The control component comprises a pull cable (7), a second fixed plate (8), a pulling frame (18), a remote sensing controller (25), an electric push rod (27), a mounting plate (28) and a connecting rod (29); one end of the connecting rod (29) is rotatably connected to the pulling rod (20); the other end of the connecting rod (29) is fixedly connected to the pull cable (7); the other end of the pull cable (7) is fixedly connected to the pulling frame (18); the pulling frame (18) is slidably connected to the back side wall of the second fixed plate (8); the mounting plate (28) is fixedly connected to the back side wall of the second fixed plate (8); the electric push rod (27) is fixedly connected between the mounting plate (28) and the pulling frame (18); and the remote sensing controller (25) is fixedly connected to the front side of the second fixed plate (8).

10. The unmanned helicopter hoisting mechanism according to claim 9, characterized in that: The remote sensing controller (25) is electrically connected to the electric push rod (27).

Images