A swing damping mechanism and a hoisting unmanned aerial vehicle

Abstract

The utility model relates to a hoist unmanned plane technical field, concretely relates to a swing elimination mechanism and hoist unmanned plane. The swing elimination mechanism includes universal connecting piece, the one end of universal connecting piece is connected with the adapter plate, the other end is connected with the lifting rope, the universal connecting piece includes fixed plate, hemp flower spare and lower swing spare, the hemp flower spare is integrated into one piece spare, and is stacked along the axis with first cylinder department and second cylinder department, and the both are 90 degrees staggered hemp flower shape form, first cylinder department with fixed plate rotation is connected, second cylinder department with lower swing spare rotation is connected, attitude sensor is fixedly installed to lower swing spare side edge. The utility model restricts that the installation position of attitude sensor can only exist X, Y axial freedom, and cannot exist the rotation around Z axle direction, makes attitude sensor coordinates and the coordinate of hoist unmanned plane keep consistent, and it is convenient for adjusting unmanned plane attitude to offset the influence of goods swing.

Description

Technical Field

[0001] This utility model relates to the field of hoisting drone technology, specifically to a swing-off mechanism and a hoisting drone. Background Technology

[0002] During cargo transport by hoisting drones, the cargo is easily swayed due to wind, inertia, or improper operation. This swaying not only affects transport efficiency and accuracy but may also cause the hoisting rope to break or the drone to become unbalanced, leading to a crash or cargo falling.

[0003] Existing lifting drones typically use attitude sensors to suppress swaying. Attitude sensors can detect physical quantities such as acceleration, angular velocity, and angle along three axes. The real-time attitude data provided by the attitude sensor allows for adjustment of the drone's attitude, thereby counteracting the effects of cargo swaying. However, because the cargo rotates around the Z-axis during lifting, the coordinates of the attitude sensor cannot be kept consistent with the coordinates of the lifting drone, preventing the drone from eliminating swaying based on the attitude sensor's measurement data.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an anti-sway mechanism and a hoisting drone to solve the problem in the related art that the coordinates of the attitude sensor cannot be kept consistent with the coordinates of the hoisting drone due to the rotation of the cargo around the Z-axis.

[0006] To solve the above-mentioned technical problems, this utility model is implemented using the following technical solution: On one hand, this utility model provides an anti-sway mechanism, including a universal connector. One end of the universal connector is connected to an adapter plate, and the other end is connected to a suspension rope. The universal connector includes a fixing plate, a twisted part, and a lower swing part. The twisted part is an integrally formed part, which is composed of a first cylindrical part and a second cylindrical part stacked along the axis, and the two are in a twisted shape with a 90-degree offset. The first cylindrical part is rotatably connected to the fixing plate, and the second cylindrical part is rotatably connected to the lower swing part. An attitude sensor is fixedly installed on the side of the lower swing part.

[0007] Furthermore, the adapter plate is a triangular plate with a connecting hole at each of its triangular parts. Three connectors hanging from the drone body pass through the three connecting holes to be mounted on the drone body. The triangular plate has two through holes in the middle for the fixing plate to fix it.

[0008] Furthermore, the fixing plate includes an elongated elliptical plate with two through holes at both ends. Two fixing bolts are respectively passed through the through holes in the elongated elliptical plate and the adapter plate to fix the fixing plate to the bottom of the adapter plate. Two vertical support arms extend downward from both ends of the elongated elliptical plate, and each of the two support arms has a first assembly hole for the first rotating shaft to pass through.

[0009] Furthermore, the lower part is H-shaped, including two U-shaped arms connected together, with three connecting ears extending from one side of each U-shaped arm. The three connecting ears are used to install the attitude sensor. The upper U-shaped arm has a second mounting hole for the second rotation axis to pass through, and the lower U-shaped arm has a third mounting hole for the third rotation axis to pass through.

[0010] Furthermore, the first cylindrical portion has a coaxial first bearing hole and a second bearing hole inside it along the axial direction. The first bearing hole is installed in the first bearing hole and the second bearing hole is installed in the second bearing hole. The second cylindrical part has a coaxial third bearing hole and a fourth bearing hole inside it along the axial direction. A third bearing is installed in the third bearing hole and a fourth bearing is installed in the fourth bearing hole. An axial gap is provided between the first bearing and the second bearing, and an axial gap is provided between the third bearing and the fourth bearing. The first rotating shaft passes through the first mounting hole and the inner rings of the first bearing and the second bearing in sequence, thereby rotatably connecting the first cylindrical part to the fixed plate. The second rotating shaft passes through the second mounting hole and the inner rings of the third bearing and the fourth bearing in sequence, thereby rotatably connecting the second cylindrical part to the lower swing piece.

[0011] Furthermore, the end face of the first bearing away from the second bearing abuts against a first gasket, and the end face of the first gasket away from the first bearing abuts against the left support arm; the end face of the second bearing away from the first bearing abuts against a second gasket, and the end face of the second gasket away from the second bearing abuts against the right support arm. The end face of the third bearing away from the fourth bearing abuts against a third gasket, and the end face of the third gasket away from the third bearing abuts against the left side of the upper "U"-shaped arm; the end face of the fourth bearing away from the third bearing abuts against a fourth gasket, and the end face of the fourth gasket away from the fourth bearing abuts against the right side of the upper "U"-shaped arm.

[0012] Furthermore, the third rotating shaft passes through the third mounting hole, the lifting rope is threaded on the third rotating shaft, and a hook for hanging goods is connected below the lifting rope.

[0013] Furthermore, the first rotating shaft, the second rotating shaft, and the third rotating shaft each include an insertion end and a head opposite to the insertion end, and the insertion end is provided with a locking hole for locking with a cotter pin.

[0014] Furthermore, each of the three connecting ears is provided with a through hole, and a connecting plate is installed on the attitude sensor. The connecting plate has holes corresponding to the three through holes, and the attitude sensor is installed on the lower swing piece by passing a fixing bolt through the through hole.

[0015] On the other hand, this utility model provides a hoisting drone, including the aforementioned anti-sway mechanism.

[0016] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: The universal connector provided by this utility model restricts the installation position of the attitude sensor to only have the X and Y axis degrees of freedom, but not the rotation around the Z axis, so that the coordinates of the attitude sensor are consistent with the coordinates of the hoisting drone, thereby realizing the adjustment of the drone's attitude and thus offsetting the influence of cargo swing. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the anti-sway mechanism provided in this embodiment of the utility model; Figure 2 This is an exploded view of the universal connector provided in this embodiment of the utility model; Figure 3 This is an exploded view of the structure of the twisted component provided in this embodiment of the utility model; In the diagram: 1: Universal connector; 2: Adapter plate; 3: Suspension rope; 4: Fixing plate; 5: Twisted part; 6: Lower part; 7: First cylindrical part; 8: Second cylindrical part; 9: Attitude sensor; 10: Hook. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0019] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Example

[0021] Existing lifting drones typically use attitude sensors to suppress swaying. Attitude sensors can detect physical quantities such as acceleration, velocity, and angle along three axes. By using real-time attitude data provided by the attitude sensors, the drone's attitude can be adjusted to counteract the swaying of the cargo. However, because the cargo rotates around the Z-axis during lifting, the coordinates of the attitude sensor cannot be kept consistent with the coordinates of the lifting drone, preventing the drone from eliminating swaying based on the attitude sensor's measurement data.

[0022] To address this technical problem, this embodiment provides an anti-sway mechanism, including a universal connector. The universal connector restricts the installation position of the attitude sensor to have only the X and Y axes of freedom, but not rotation around the Z axis.

[0023] See Figure 1-2 The anti-sway mechanism includes a universal connector 1, one end of which is connected to an adapter plate 2, and the other end is connected to a lifting rope 3. A hook 10 for hanging goods is connected below the lifting rope 3.

[0024] In this embodiment, the universal connector 1 includes a fixing plate 4, a twisted component 5, and a lower swing component 6, with an attitude sensor 9 fixedly installed on the side of the lower swing component 6.

[0025] See Figure 3 The twisted component 5 is a one-piece molded part, consisting of a first cylindrical portion 7 and a second cylindrical portion 8 stacked along an axis, with the two portions offset at 90 degrees in a twisted shape. The first cylindrical portion 7 is rotatably connected to the fixing plate 4, and the second cylindrical portion 8 is rotatably connected to the lower hem component 6. Specifically, the second cylindrical part 8 is rotated 90 degrees relative to the first cylindrical part 7, so that the opening positions of the two cylindrical parts are different, thus forming an alternating spiral shape in the side view, similar to the twisting of a braid.

[0026] In this embodiment, the adapter plate 2 is a triangular plate with a connecting hole at each of its triangular parts. Three connectors hanging from the drone body pass through the three connecting holes to be mounted on the drone body. The triangular plate has two through holes in the middle for fixing the fixing plate 4.

[0027] In this embodiment, the fixing plate 4 includes an elongated elliptical plate with two through holes at both ends. Two fixing bolts pass through the through holes in the elongated elliptical plate and the adapter plate 2, respectively, to fix the fixing plate 4 to the bottom of the adapter plate 2. Two vertical support arms extend downward from both ends of the elongated elliptical plate, and each support arm has a first mounting hole for the first rotating shaft to pass through.

[0028] In this embodiment, the lower swing member 6 is "H" shaped and includes two "U" shaped arms connected together. Three connecting ears extend from one side of the two "U" shaped arms, and the three connecting ears are used to install the attitude sensor 9.

[0029] Specifically, each of the three connecting ears is provided with a through hole, and a connecting plate is installed on the attitude sensor 9. The connecting plate has holes corresponding to the three through holes. The attitude sensor 9 is installed on the lower swing piece 6 by means of a fixing bolt passing through the through hole.

[0030] In this embodiment, the upper "U"-shaped arm of the lower swing member 6 has a second mounting hole for the second rotating shaft to pass through, and the lower "U"-shaped arm has a third mounting hole for the third rotating shaft to pass through.

[0031] In this embodiment, the first cylindrical portion 7 has a coaxial first bearing hole and a second bearing hole inside, the first bearing hole is fitted with a first bearing, and the second bearing hole is fitted with a second bearing.

[0032] The second cylindrical portion 8 has a coaxial third bearing hole and a fourth bearing hole inside, with a third bearing installed in the third bearing hole and a fourth bearing installed in the fourth bearing hole.

[0033] An axial gap is provided between the first bearing and the second bearing, and an axial gap is provided between the third bearing and the fourth bearing. The first rotating shaft passes through the first mounting hole and the inner rings of the first bearing and the second bearing in sequence, thereby rotatably connecting the first cylindrical part 7 to the fixed plate 4. The second rotating shaft passes through the second mounting hole and the inner rings of the third bearing and the fourth bearing in sequence, thereby rotatably connecting the second cylindrical part 8 to the lower swing piece 6.

[0034] In this embodiment, the end face of the first bearing away from the second bearing abuts against a first gasket, and the end face of the first gasket away from the first bearing abuts against the left support arm; the end face of the second bearing away from the first bearing abuts against a second gasket, and the end face of the second gasket away from the second bearing abuts against the right support arm.

[0035] The end face of the third bearing away from the fourth bearing abuts against a third gasket, and the end face of the third gasket away from the third bearing abuts against the left side of the upper "U"-shaped arm; the end face of the fourth bearing away from the third bearing abuts against a fourth gasket, and the end face of the fourth gasket away from the fourth bearing abuts against the right side of the upper "U"-shaped arm.

[0036] In this embodiment, the third rotating shaft passes through the third mounting hole, the lifting rope 3 is threaded on the third rotating shaft, and a hook 10 for hanging goods is connected below the lifting rope 3.

[0037] In this embodiment, the first rotating shaft, the second rotating shaft, and the third rotating shaft all include an insertion end and a head opposite to the insertion end, and the insertion end is provided with a locking hole for locking with a cotter pin.

[0038] Specifically, the insertion end is provided with a radially penetrating locking hole, and the cotter pin includes an annular head formed by folding a metal wire in half and two parallel legs. The two legs can be inserted into the locking hole side by side. After passing through the locking hole, the two legs can be bent outward to form a blocking part. The blocking part is located on both sides of the locking hole and interferes with the end face or side wall of the insertion end, in order to prevent the three rotating shafts from axially dislodging from the three assembly holes respectively.

[0039] This embodiment restricts the installation position of the attitude sensor to only have degrees of freedom in the X and Y axes through the structure of the universal connector, but not rotation around the Z axis. This ensures that the coordinates of the attitude sensor are consistent with the coordinates of the hoisting drone, thereby adjusting the drone's attitude and counteracting the effects of cargo swaying. Example

[0040] This embodiment provides a hoisting drone, including the anti-sway mechanism described in Embodiment 1. The hoisting drone can suppress the swaying of the cargo, effectively eliminate the danger of rope breakage and drone attitude imbalance, and prevent the drone from crashing or the cargo from falling.

Claims

1. A mechanism for eliminating swaying, characterized in that, The device includes a universal connector (1), one end of which is connected to an adapter plate (2) and the other end is connected to a suspension rope (3). The universal connector (1) includes a fixing plate (4), a twisted part (5) and a lower part (6). The twisted part (5) is an integrally formed part, consisting of a first cylindrical part (7) and a second cylindrical part (8) stacked along the axis, with the two in a 90-degree staggered twisted shape. The first cylindrical part (7) is rotatably connected to the fixing plate (4), and the second cylindrical part (8) is rotatably connected to the lower part (6). An attitude sensor (9) is fixedly installed on the side of the lower part (6).

2. The anti-sway mechanism according to claim 1, characterized in that, The adapter plate (2) is a triangular plate with a connecting hole at each of its triangular parts. Three connecting parts hanging from the drone body pass through the three connecting holes to be mounted on the drone body. The triangular plate has two through holes in the middle for fixing the fixing plate (4).

3. The anti-sway mechanism according to claim 2, characterized in that, The fixing plate (4) includes an elongated elliptical plate with two through holes at both ends. Two fixing bolts are used to fix the fixing plate (4) to the bottom of the adapter plate (2) by passing through the through holes on the elongated elliptical plate and the adapter plate (2) respectively. Two vertical support arms extend downward from both ends of the elongated elliptical plate. A first assembly hole for the first rotating shaft to pass through is provided on both support arms.

4. The anti-sway mechanism according to claim 3, characterized in that, The lower part (6) is "H" shaped and includes two "U" shaped arms connected together. Three connecting ears extend from one side of the two "U" shaped arms. The three connecting ears are used to install the attitude sensor (9). The upper "U" shaped arm has a second mounting hole for the second rotation axis to pass through, and the lower "U" shaped arm has a third mounting hole for the third rotation axis to pass through.

5. The anti-sway mechanism according to claim 4, characterized in that, The first cylindrical part (7) has a first bearing hole and a second bearing hole that are coaxially arranged inside. The first bearing hole is equipped with a first bearing and the second bearing hole is equipped with a second bearing. The second cylindrical part (8) has a coaxial third bearing hole and a fourth bearing hole inside, the third bearing hole is installed in the third bearing hole, and the fourth bearing hole is installed in the fourth bearing hole. An axial gap is provided between the first bearing and the second bearing, and an axial gap is provided between the third bearing and the fourth bearing. The first rotating shaft passes through the first mounting hole and the inner rings of the first bearing and the second bearing in sequence, thereby rotatably connecting the first cylindrical part (7) to the fixed plate (4). The second rotating shaft passes through the second mounting hole and the inner rings of the third bearing and the fourth bearing in sequence, thereby rotatably connecting the second cylindrical part (8) to the lower swing piece (6).

6. The anti-sway mechanism according to claim 5, characterized in that, The first bearing has a first washer abutting against the end face away from the second bearing, and the end face of the first washer abutting against the left support arm; the second bearing has a second washer abutting against the end face away from the first bearing, and the end face of the second washer abutting against the right support arm. The end face of the third bearing away from the fourth bearing abuts against a third gasket, and the end face of the third gasket away from the third bearing abuts against the left side of the upper "U"-shaped arm; the end face of the fourth bearing away from the third bearing abuts against a fourth gasket, and the end face of the fourth gasket away from the fourth bearing abuts against the right side of the upper "U"-shaped arm.

7. The anti-sway mechanism according to claim 6, characterized in that, The third rotating shaft passes through the third assembly hole, the lifting rope (3) is threaded on the third rotating shaft, and a hook (10) for hanging goods is connected below the lifting rope (3).

8. The anti-sway mechanism according to claim 7, characterized in that, The first, second, and third rotating shafts each include an insertion end and a head opposite the insertion end, and the insertion end is provided with a locking hole for locking with a cotter pin.

9. The anti-sway mechanism according to claim 4, characterized in that, All three connecting ears are provided with through holes. A connecting plate is installed on the attitude sensor (9). The connecting plate has holes corresponding to the three through holes. The attitude sensor (9) is installed on the lower swing piece (6) by passing through the through holes with fixing bolts.

10. A method for hoisting a drone, characterized in that, Includes the anti-sway mechanism as described in any one of claims 1 to 9.

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