A drone-mounted anti-sway device

Abstract

This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV hoisting anti-sway device, comprising a support frame, which consists of a support structure and a movable structure. At least two dampers are connected between the support structure and the movable structure, and the anti-sway force between the two dampers is adjusted by an adjustment structure. A fixed base is fixedly connected to the bottom of the UAV, and the support frame is detachably connected to the fixed base via a fixing component. The dampers on both sides effectively anti-sway the swaying suspended object by cooperating with the pilot's anti-sway operation. The damping force of the dampers can be adjusted according to the actual weight of the suspended object, preventing situations where a lighter suspended object with a smaller swing amplitude cannot effectively drive the dampers to operate. After prolonged use, the entire anti-sway device can be disassembled and replaced via the fixing component.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV hoisting and anti-sway device. Background Technology

[0002] When a drone is used for hoisting, the load is prone to inertial swaying due to acceleration, deceleration or wind disturbance. Currently, the main solution is for the drone operator to manually control the drone to perform "anti-sway" operation to eliminate the sway. This not only requires high skill from the drone operator and is inefficient, but also makes it difficult to achieve accurate and rapid positioning and placement in confined spaces or strong winds.

[0003] Drone sway reduction is often achieved by the pilot manually controlling the drone to perform "anti-sway" operations. For example, Chinese Patent Publication No. CN116424555A discloses a drone sway reduction and control method, including the following steps: installing a tilt sensor in the sling system; applying tilt correction formulas to the original longitudinal and lateral tilt angle data; applying angular velocity correction formulas to the original longitudinal and lateral angular velocity data; applying sway velocity calculation formulas to the corrected longitudinal and lateral angular velocity values; applying acceleration feedback calculation formulas to the corrected longitudinal and lateral sway velocity values ​​to obtain acceleration feedback; superimposing the acceleration feedback onto the longitudinal and lateral acceleration control targets; and, according to the energy formula, a suitable acceleration feedback can achieve the sway reduction target where the sway energy of the suspended object decays over time. The advantages of this invention are: by establishing a tilt sensor correction method, accurate perception of the amplitude and phase of the suspended object's sway is achieved; and by establishing a feedback control method for the drone's flight based on the sway reduction design calculation method and system logic, the sway state of the suspended object is effectively suppressed.

[0004] In actual operation, the process in which the suspended object is most likely to swing with the largest amplitude often occurs when the drone stops flying. At this time, the suspended object swings back and forth in one direction due to inertia. In this case, it is inconvenient and inefficient to rely solely on the pilot to cancel the swing by "reverse swing". Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of the existing technology, namely, the low efficiency of anti-swaying, and to propose an unmanned aerial vehicle (UAV) hoisting anti-swaying device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: Design a drone-mounted anti-sway device, including a support frame, which consists of a support structure and a movable structure. At least two dampers are connected between the support structure and the movable structure, and the anti-sway force is adjusted between the two dampers through an adjustment structure. The drone has a fixed base at its bottom, and the support frame is detachably connected to the fixed base via a fixing component.

[0007] Furthermore, the movable structure consists of a support rod and two connecting arms. The top and bottom ends of the two connecting arms are rotatably connected to the support structure and the end of the support rod, respectively. The support structure and the movable structure form a quadrilateral structure.

[0008] Furthermore, the adjustment structure includes a support plate, which is fixedly connected to the midpoint of the support structure. The support plate has an adjustment component in the bottom recessed portion and screws rotatably connected to both sides of the bottom. The opposite ends of the two screws are threadedly connected to the adjustment component.

[0009] Furthermore, the damper includes an active end that is slidably connected inside the fixed end, and the active end and the fixed end of the damper are rotatably connected to the screw and the connecting arm respectively through a connecting seat; The damper is surrounded by a support spring, and the two ends of the support spring are respectively connected to the active end and the fixed end of the damper.

[0010] Furthermore, the fixing component includes a fixing member, the fixing member having at least one insert rod on its side, the insert rod having a T-shaped cross-section, and it being slidably connected to the two side walls of the fixing seat by a compression spring; The insertion rod has a protrusion on its outer periphery.

[0011] Furthermore, the top of the support plate is inserted between the two side walls of the fixed base, and the top of the support plate and the two side walls of the fixed base are provided with locking holes that are adapted to the insertion rod and the protrusion.

[0012] The present invention proposes a drone hoisting anti-sway device, which has the following advantages: the support frame of the present invention is a quadrilateral structure that can swing in one direction, and at least two dampers are connected inside the support frame. When the drone stops, the dampers on both sides effectively eliminate the swing of the suspended object by means of damping and the anti-sway operation of the pilot. Among them, the damping force of the damper can be adjusted according to the actual weight of the suspended object, which can avoid the situation where the damper cannot be effectively driven to operate due to the small swing amplitude of the suspended object with a lighter weight. After prolonged use, the entire anti-sway device can be disassembled and replaced using the fixing components, making it easy to maintain and highly practical. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is an enlarged view of the adjustment structure of this utility model; Figure 3 for Figure 2A magnified structural diagram of area A; Figure 4 This is a schematic diagram of the structure of the fixing component of this utility model; Figure 5 for Figure 4 A magnified structural diagram of region B.

[0014] In the diagram: 1. Support structure; 2. Movable structure; 21. Support rod; 22. Connecting arm; 3. Damper; 31. Connecting seat; 32. Support spring; 4. Adjustment structure; 41. Support plate; 42. Adjusting component; 43. Screw; 5. Fixed seat; 6. Fixed assembly; 61. Fixed component; 62. Insert rod; 63. Compression spring; 64. Protrusion; 65. Locking hole. Detailed Implementation

[0015] 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.

[0016] Reference Figure 1-5 A drone-mounted anti-sway device includes a support frame, which consists of a support structure 1 and a movable structure 2. At least two dampers 3 are connected between the support structure 1 and the movable structure 2. The anti-sway force between the two dampers 3 is adjusted by an adjustment structure 4. The drone has a fixed base 5 at its bottom, and the support frame is detachably connected to the fixed base 5 via a fixing component 6.

[0017] In some embodiments, the damper 3 is existing technology. Its working principle is to use the damping characteristics in conjunction with the support spring to reduce mechanical vibration and consume kinetic energy. At least two dampers 3 are arranged opposite each other. When the drone is stopped, it can cooperate with the pilot's anti-swing operation to eliminate the sway of the unidirectional hanging object. The sway-stopping effect is achieved by quickly eliminating the sway and making small corrections.

[0018] Furthermore, the movable structure 2 consists of a support rod 21 and two connecting arms 22. The top and bottom ends of the two connecting arms 22 are rotatably connected to the support structure 1 and the end of the support rod 21, respectively. The support structure 1 and the movable structure 2 form a quadrilateral structure.

[0019] Furthermore, the adjustment structure 4 includes a support plate 41, which is fixedly connected to the midpoint of the support structure 1. The support plate 41 has an adjustment element 42 in the bottom recessed portion and screws 43 rotatably connected to both sides of the bottom. The opposite ends of the two screws 43 are threadedly connected to the adjustment element 42.

[0020] More specifically, the damper 3 includes an active end that is slidably connected inside the fixed end, and the active end and the fixed end of the damper 3 are rotatably connected to the screw 43 and the connecting arm 22 respectively through the connecting seat 31; The damper 3 is surrounded by a support spring 32, and the two ends of the support spring 32 are respectively connected to the active end and the fixed end of the damper 3.

[0021] In this embodiment, as Figure 2 As shown, under normal circumstances, the support structure 1 and the movable structure 2 form a quadrilateral structure under the support of the dampers 3 on both sides. When the suspended object swings, the support frame moves in a parallelogram posture due to the inertia of the suspended object. During the movement, the damping effect of the dampers 3 gradually achieves the anti-sway effect. Specifically, the structure of the adjustment structure 4 can refer to the turnbuckle structure in the prior art. The adjustment component 42 is movably connected to the bottom of the support plate 41. Due to the limitation at both ends of the screw 43, rotating the adjustment component 42 drives the screws 43 at both ends to move relative to each other, so that the stroke of the two dampers 3 at the working ends can be adjusted at the same time. Of course, the surface of screw 43 can be treated with rust prevention. More specifically, the support spring 32 is used to drive the working end of the damper 3 to reset, and the damping force, i.e. the anti-sway force, is adjusted by adjusting the compression of the support spring 32.

[0022] In general, the fixing component 6 includes a fixing member 61, the fixing member 61 has at least one insert 62 on its side, the insert 62 has a T-shaped cross-section, and it is slidably connected to the two side walls of the fixing base 5 by a compression spring 63; The insertion rod 62 has a protrusion 64 on its outer periphery.

[0023] Finally, the top of the support plate 41 is inserted between the two side walls of the fixed base 5, and the top of the support plate 41 and the two side walls of the fixed base 5 are provided with locking holes 65 that are adapted to the insertion rod 62 and the protrusion 64.

[0024] In this embodiment, as Figure 5 As shown, the two ends of the compression spring 63 abut against the annular protrusion of the insertion rod 62 and the side wall of the fixing seat 5, respectively. Under the elastic support of the compression spring 63, the insertion rod 62 and the protrusion 64 are inserted into the locking hole 65 to fix the support plate 41. It is worth mentioning that pulling the fixing part 61 drives the insertion rod 62 and the protrusion 64 to retract inward. At this time, the insertion rod 62 and the protrusion 64 disengage from the locking hole 65 and retract into the inner wall of one side of the fixing base 5. By avoiding the support plate 41, the anti-sway device can be completely disassembled.

[0025] Working method: During operation, the anti-sway force of the dampers 3 on both sides is adjusted according to the actual weight of the suspended object. For example, rotating the adjusting component 42 drives the ends of the screws 43 on both sides that are connected to the dampers 3 to move relative to each other, thereby changing the compression of the support spring 32. When the anti-sway device needs to be disassembled, the fixing member 61 drives the insert rod 62 and the protrusion 64 to retract inward. After the insert rod 62 and the protrusion 64 are separated from the support plate 41, the anti-sway device can be disassembled.

[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An unmanned aerial vehicle (UAV) swing elimination device comprising a support frame, characterized in that: The support frame consists of a support structure (1) and a movable structure (2). At least two dampers (3) are connected between the support structure (1) and the movable structure (2). The dampers (3) are adjusted by an adjustment structure (4) to reduce the sway force. The drone has a fixed base (5) at its bottom, and the support frame is detachably connected to the fixed base (5) via a fixing component (6).

2. The unmanned aerial vehicle (UAV) hoisting and anti-sway device according to claim 1, characterized in that: The movable structure (2) consists of a support rod (21) and two connecting arms (22). The top and bottom ends of the two connecting arms (22) are rotatably connected to the support structure (1) and the end of the support rod (21), respectively. The support structure (1) and the movable structure (2) are quadrilateral.

3. The unmanned aerial vehicle (UAV) hoisting and anti-sway device according to claim 2, characterized in that: The adjustment structure (4) includes a support plate (41), which is fixedly connected to the midpoint of the support structure (1). The support plate (41) has an adjustment component (42) in the bottom recessed part and screws (43) rotatably connected to both sides of the bottom. The opposite ends of the two screws (43) are threadedly connected to the adjustment component (42).

4. The unmanned aerial vehicle (UAV) hoisting and anti-sway device according to claim 3, characterized in that: The damper (3) includes an active end that is slidably connected inside the fixed end. The active end and the fixed end of the damper (3) are rotatably connected to the screw (43) and the connecting arm (22) respectively through the connecting seat (31). The damper (3) is surrounded by a support spring (32), and the two ends of the support spring (32) are respectively connected to the working end and the fixed end of the damper (3).

5. The unmanned aerial vehicle (UAV) hoisting and anti-sway device according to claim 3, characterized in that: The fixing component (6) includes a fixing member (61), the fixing member (61) has at least one insert (62) on its side, the insert (62) has a T-shaped cross-section, and it is slidably connected to the two side walls of the fixing seat (5) by a compression spring (63); The insertion rod (62) has a protrusion (64) on the periphery of its end.

6. The unmanned aerial vehicle (UAV) hoisting and anti-sway device according to claim 5, characterized in that: The top of the support plate (41) is inserted between the two side walls of the fixed seat (5). The top of the support plate (41) and the two side walls of the fixed seat (5) are provided with locking holes (65) that are compatible with the insertion rod (62) and the protrusion (64).

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