Connecting rod structure capable of switching between rigid connection and flexible connection

Abstract

The utility model relates to the technical field of unmanned aerial vehicle hoisting robots, in particular to a connecting rod structure capable of switching rigid connection and flexible connection. The joint connecting piece is connected with the lead screw nut and the two-section universal joint respectively; the two-section universal joint is connected with the hoisting butt joint assembly; the second limiting structure is installed on the hoisting butt joint assembly, the first limiting structure is connected to the motor support, the photoelectric sensor is connected to the first limiting structure through the support, and the photoelectric sensing piece is connected to the joint connecting piece. The screw rod nut moves up and down through rotation of the screw rod motor, so that in the process of aerial alignment of the unmanned aerial vehicle and the robot, it is ensured that the alignment process is kept stable and is not affected by movement and wind power of the unmanned aerial vehicle, the docking time is shortened, and the docking efficiency is improved. And when the unmanned aerial vehicle is aligned with the robot for substantive docking, it is ensured that the acting force of the motor does not drag the unmanned aerial vehicle when the robot is docked, the stability of the unmanned aerial vehicle is kept, and the landing safety of the unmanned aerial vehicle is ensured when the unmanned aerial vehicle lands.

Description

Technical Field

[0001] This utility model relates to the technical field of unmanned aerial vehicle (UAV) hoisting robots, and in particular to a linkage structure that can switch between rigid and flexible connections. Background Technology

[0002] Currently, there are two main methods for drone-based lifting robots: one involves storing the robot in a container, connecting the drone to the container via ropes, placing the container on a panel, opening the container, and allowing the robot to automatically move out and onto the panel for operation. The other method involves placing an electronic ball into a guide housing that self-locks, then using this method to retrieve and place the robot. In this method, the electronic ball is connected to the drone via flexible ropes, while the guide housing and robot are rigidly connected. The docking scheme typically involves the drone docking via flexible ropes or articulated links. The main advantage of flexible docking is that it has less impact on the drone's stability during docking. However, a problem arises: flexible docking is prone to swaying during drone movement or in windy conditions, increasing the difficulty and time required for docking. Utility Model Content

[0003] The purpose of this invention is to provide a linkage structure that can switch between rigid and flexible connections, addressing the shortcomings of existing technologies. This allows for switching to a rigid connection during aerial alignment between the drone and robot, ensuring stability and preventing the drone's movement and wind effects, thus improving the docking success rate and reducing docking time. Furthermore, during the actual docking after the drone aligns with the robot, a flexible connection can be established to ensure that the motor's force does not affect the drone, maintaining its stability. Finally, a flexible connection can be used during drone descent to ensure safe landing.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: It includes a lead screw nut, a photoelectric sensor, a photoelectric sensing element, a lead screw motor, a joint connector, a first limiting structure, a double-joint universal joint, a second limiting structure, and a hoisting docking assembly; the joint connector is connected to the lead screw nut and the double-joint universal joint respectively; the double-joint universal joint is connected to the hoisting docking assembly; the second limiting structure is installed on the hoisting docking assembly, the first limiting structure is connected to the motor bracket, the photoelectric sensor is connected to the first limiting structure through the bracket, and the photoelectric sensing element is connected to the joint connector; the lead screw nut moves up and down by the rotation of the lead screw motor.

[0005] Furthermore, the operation of the lead screw motor causes the lead screw nut to move upward. When the photoelectric sensor reaches the position of the upper photoelectric sensor, it triggers the upper photoelectric sensor, and the lead screw motor stops rotating, causing the lead screw nut to stop. The second limiting structure and the first limiting structure contact and abut against each other, forming a rigid connection between the hoisting docking assembly and the UAV. The hoisting docking assembly is in a rigid state that cannot be swung.

[0006] Furthermore, the operation of the lead screw motor causes the lead screw nut to move downwards. When the photoelectric sensor reaches the position of the photoelectric sensor below, it triggers the photoelectric sensor below, and the lead screw motor stops rotating, causing the lead screw nut to stop. The second limiting structure and the first limiting structure are completely disengaged, and a flexible connection is formed between the hoisting docking assembly and the UAV. The hoisting docking assembly is in a flexible, swingable state.

[0007] Furthermore, it also includes a top mounting plate that is connected to the bottom of the drone.

[0008] Furthermore, it also includes a motor bracket, through which the lead screw motor is connected to the top fixing plate.

[0009] Furthermore, the first limiting structure is a tensioning limiting plate.

[0010] Furthermore, the second limiting structure is a limiting flange.

[0011] The system comprises a lead screw nut, a photoelectric sensor, a photoelectric induction plate, a lead screw motor, a joint connector, a first limiting structure, a double-joint universal joint, a second limiting structure, and a hoisting docking assembly. The joint connector is connected to the lead screw nut and the double-joint universal joint. The double-joint universal joint is connected to the hoisting docking assembly. The second limiting structure is mounted on the hoisting docking assembly, the first limiting structure is connected to the motor bracket, the photoelectric sensor is connected to the first limiting structure via the bracket, and the photoelectric induction plate is connected to the joint connector. The lead screw nut moves up and down through the rotation of the lead screw motor. This design allows for a rigid connection during aerial alignment between the UAV and the robot, ensuring stability and preventing interference from UAV movement and wind, thus improving docking success rate and reducing docking time. A flexible connection can be established after the UAV aligns with the robot for actual docking, ensuring the motor's force does not affect the UAV and maintaining its stability. Furthermore, a flexible connection is maintained during UAV landing to ensure safe landing. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the rigid state of the linkage structure of this utility model, which can switch between rigid and flexible connections.

[0014] Figure 2 This is a schematic diagram of the flexible state of the linkage structure of this utility model, which can switch between rigid and flexible connections.

[0015] Figure 3 This is an enlarged schematic diagram of the connecting rod structure of this utility model, which can switch between rigid and flexible connections.

[0016] Figure label:

[0017] 1. Top fixing plate; 2. Motor bracket; 3. Lead screw nut; 4. Photoelectric sensor; 5. Photoelectric sensing plate; 6. Lead screw motor; 7. Joint connector; 8. First limiting structure; 9. Double-section universal joint; 10. Second limiting structure; 11. Lifting and docking assembly. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0019] In the description of this utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inner", and "outer" are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0020] A linkage structure that can switch between rigid and flexible connections, such as Figures 1-3As shown, the assembly includes a lead screw nut 3, a photoelectric sensor 4, a photoelectric sensing element 5, a lead screw motor 6, a joint connector 7, a first limiting structure 8, a double-joint universal joint 9, a second limiting structure 10, and a hoisting docking assembly 11. The joint connector 7 is connected to the lead screw nut 3 and the double-joint universal joint 9, respectively. The double-joint universal joint 9 is connected to the hoisting docking assembly 11. The second limiting structure 10 is mounted on the hoisting docking assembly 11. The first limiting structure 8 is connected to the motor bracket 2. The photoelectric sensor 4 is connected to the first limiting structure 8 through the bracket. The photoelectric sensing element 5 is connected to the joint connector 7. The lead screw nut 3 moves up and down by the rotation of the lead screw motor 6.

[0021] Specifically, the lead screw motor 6 drives the lead screw nut 3 to move downwards, rigidly locking the joint connector 7 with the first limiting structure 8. This ensures stability during aerial alignment between the UAV and the robot, resists interference from wind and UAV movement, and improves the alignment success rate. After the lead screw nut 3 moves upwards, the double-joint universal joint 9 releases multi-degree-of-freedom motion, absorbing the impact force generated during docking or landing and preventing the motor force from being transmitted to the UAV. The photoelectric sensor 4 and photoelectric induction plate 5 monitor the position of the joint connector 7 in real time and feed back to the control system to precisely adjust the stroke of the lead screw motor 6, ensuring the accuracy and timeliness of rigid and flexible switching, avoiding switching failures caused by manual intervention or mechanical misjudgment, improving the level of automation, and enabling reliable operation even in complex environments, reducing docking time. A first limiting structure 8 restricts the upper stroke of the lead screw nut 3 to prevent overload of the rigid connection or lead screw disengagement. A second limiting structure 10 constrains the swing angle of the double-joint universal joint 9 to avoid structural damage due to excessive deflection during flexible connection. The double-joint universal joint 9 allows the hoisting docking assembly 11 to deflect freely in multiple directions during the flexible connection stage, adapting to robot docking requirements at different angles or positions, expanding the applicability of the device, such as inclined ground and asymmetrical hoisting scenarios, reducing the requirements for drone hovering accuracy, and lowering the difficulty of operation. The lead screw motor 6 only works briefly when switching connection modes. After rigid locking, it relies on mechanical structure self-locking to maintain the state, without the need for continuous power supply, significantly reducing the overall energy consumption of the system, improving the drone's endurance, and making it suitable for long-distance or high-frequency operation tasks.

[0022] As a preferred embodiment of the above, such as Figures 1-3 As shown, the lead screw motor 6 operates to move the lead screw nut 3 upward. When the photoelectric sensor 5 reaches the position of the upper photoelectric sensor 4, it triggers the upper photoelectric sensor 4, and the lead screw motor 6 stops rotating, causing the lead screw nut 3 to stop. The second limiting structure 10 and the first limiting structure 8 contact and abut against each other, and a rigid connection is formed between the hoisting docking assembly 11 and the UAV. The hoisting docking assembly 11 is in a rigid state that cannot be swung.

[0023] Specifically, when the photoelectric sensor 5 reaches the position of the photoelectric sensor 4, an automatic signal is triggered, immediately stopping the lead screw motor 6 and precisely controlling the upward movement endpoint of the lead screw nut 3. After the photoelectric signal is triggered, the second limiting structure 10 and the first limiting structure 8 make rigid contact, forming a physical hard limit and doubly locking the position of the lead screw nut 3. After the lead screw motor 6 stops, the lead screw nut 3 is fixed in position by thread self-locking. Combined with the rigid support of the second limiting structure 10, there is no need to continuously supply power to maintain the rigid state. The hoisting docking assembly 11 is completely locked in the rigid state, eliminating the degree of freedom of the double-joint universal joint 9 and resisting the swaying caused by wind or drone attitude adjustment. The lead screw motor 6 and the joint connector 7 adopt a standardized interface, supporting quick disassembly and replacement or adaptation to different specifications of the hoisting docking assembly 11. If the photoelectric sensor 4 fails unexpectedly, the first limiting structure 8 and the second limiting structure 10 can still forcibly stop the lead screw nut 3 through physical contact to prevent structural damage.

[0024] As a preferred embodiment of the above, such as Figures 1-3 As shown, the lead screw motor 6 operates to move the lead screw nut 3 downward. When the photoelectric sensor 5 reaches the position of the photoelectric sensor 4 below, it triggers the photoelectric sensor 4 below, and the lead screw motor 6 stops rotating, causing the lead screw nut 3 to stop. The second limiting structure 10 and the first limiting structure 8 completely disengage, and a flexible connection is formed between the hoisting docking assembly 11 and the UAV. The hoisting docking assembly 11 is in a flexible, swingable state.

[0025] Specifically, after the photoelectric sensor 4 below is triggered by the photoelectric sensor 5, the lead screw motor 6 is immediately stopped, precisely controlling the lead screw nut 3 to move to its endpoint. This ensures that the second limiting structure 10 is completely disengaged from the first limiting structure 8, avoiding the problem of incomplete disengagement caused by wear in traditional mechanical limiting mechanisms. This guarantees interference-free switching between flexible connection states. In the flexible state, the double-joint universal joint 9 releases multi-directional swing degrees of freedom, absorbing the impact and attitude deviation during docking or landing. This solves the problem that traditional rigid connections cannot buffer external forces, protecting the structural integrity of the UAV and robot. In the flexible state, the second limiting structure 10... The maximum swing angle of the double-joint universal joint 9 is limited to prevent excessive deflection from causing structural collisions or docking failures. This achieves a balance between flexibility and safety, avoiding the risk of uncontrolled flexibility. After the lead screw nut 3 moves down and disengages, the double-joint universal joint 9 and the hoisting docking assembly 11 swing freely without the need for any driving components to work continuously. If the photoelectric sensor 4 fails, when the lead screw nut 3 moves down to its limit position, the second limit structure 10 is forcibly disengaged from the first limit structure 8, ensuring a smooth transition for the flexible connection. The lead screw motor 6 drives the lead screw nut 3 to move up and down quickly to complete the switch between rigid and flexible modes, adapting to dynamic operation requirements.

[0026] As a preferred embodiment of the above, such as Figures 1-3As shown, it also includes a top fixing plate 1, which is connected to the bottom of the drone.

[0027] As a preferred embodiment of the above, such as Figures 1-3 As shown, it also includes a motor bracket 2, through which the lead screw motor 6 is connected to the top fixing plate 1.

[0028] Specifically, the top fixed plate 1 serves as the core load-bearing base plate, directly connecting to the bottom of the drone to evenly distribute the entire load of the hoisting system onto the drone body. The lead screw motor 6 is connected to the top fixed plate 1 through the standardized motor bracket 2, using a quick-release interface. The rigid base of the top fixed plate 1 is combined with the elastic shock absorption design of the motor bracket 2 to suppress the impact vibration during the switching between rigidity and flexibility.

[0029] As a preferred embodiment of the above, such as Figures 1-3 As shown, the first limiting structure 8 is a tensioning limiting plate.

[0030] As a preferred embodiment of the above, such as Figures 1-3 As shown, the second limiting structure 10 is a limiting flange.

[0031] Specifically, by tightening the limiting plate and the lead screw nut 3, a zero-gap fit is ensured during rigid connection, eliminating the swaying problem of traditional limiting structures. The limiting flange limits the maximum deflection angle of the double-section universal joint 9 through physical flanges, preventing the risk of collision caused by excessive swinging in flexible state. Tightening the limiting plate shortens the time of rigid and flexible switching, significantly improving work efficiency.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A linkage structure capable of switching between rigid and flexible connections, characterized in that: It includes a lead screw nut (3), a photoelectric sensor (4), a photoelectric sensor (5), a lead screw motor (6), a joint connector (7), a first limiting structure (8), a double-joint universal joint (9), a second limiting structure (10), and a hoisting docking assembly (11). The joint connector (7) and the lead screw nut (3) are respectively connected to the double-joint universal joint (9); The double-joint universal joint (9) and the hoisting docking assembly (11) are connected; The second limiting structure (10) is installed on the hoisting docking assembly (11), the first limiting structure (8) is connected to the motor bracket (2), the photoelectric sensor (4) is connected to the first limiting structure (8) through the bracket, and the photoelectric sensing sheet (5) is connected to the joint connector (7). The lead screw nut (3) moves up and down by the rotation of the lead screw motor (6).

2. The linkage structure according to claim 1, wherein The screw motor (6) operates to move the screw nut (3) upward. When the photoelectric sensor (5) reaches the position of the upper photoelectric sensor (4), it triggers the upper photoelectric sensor (4). The screw motor (6) stops rotating, causing the screw nut (3) to stop. The second limiting structure (10) and the first limiting structure (8) contact and abut against each other. A rigid connection is formed between the hoisting docking assembly (11) and the UAV. The hoisting docking assembly (11) is in a rigid state that cannot be swung.

3. The linkage structure according to claim 2, wherein The working of the lead screw motor (6) causes the lead screw nut (3) to move downward. When the photoelectric sensor (5) reaches the position of the photoelectric sensor (4) below, it triggers the photoelectric sensor (4) below. The lead screw motor (6) stops rotating, causing the lead screw nut (3) to stop. The second limiting structure (10) and the first limiting structure (8) completely separate. The hoisting docking assembly (11) forms a flexible connection with the UAV. The hoisting docking assembly (11) is in a flexible state that can swing.

4. The linkage structure according to claim 3, wherein It also includes a top mounting plate (1) which is attached to the bottom of the drone.

5. The linkage structure according to claim 4, wherein It also includes a motor bracket (2), through which the lead screw motor (6) is connected to the top fixing plate (1).

6. The linkage structure capable of switching between rigid connection and flexible connection according to claim 1, wherein, The first limiting structure (8) is a tensioning limiting plate.

7. A linkage structure capable of switching between rigid connection and flexible connection according to claim 6, characterized in that, The second limiting structure (10) is a limiting flange.

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