CN118850326B - Logistics unmanned aerial vehicle - Google Patents
Logistics unmanned aerial vehicle Download PDFInfo
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- CN118850326B CN118850326B CN202411338556.1A CN202411338556A CN118850326B CN 118850326 B CN118850326 B CN 118850326B CN 202411338556 A CN202411338556 A CN 202411338556A CN 118850326 B CN118850326 B CN 118850326B
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- 238000011084 recovery Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 37
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 abstract description 14
- 230000001174 ascending effect Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 description 9
- 238000005381 potential energy Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/67—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs comprising tethers for lowering the goods
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
本发明涉及无人机技术领域，尤其是涉及一种物流无人机，包括无人机本体，所述无人机本体的下侧设置有起降装置；所述起降装置包括固定在无人机本体下侧的装载框，所述装载框的外侧一端安装有起降电机，且装载框的内侧贯穿转动连接有两个主轴，两个所述主轴的两端均键连接有两个绕绳盘，四个所述绕绳盘的外侧均缠绕设置有拉绳。本发明通过起降装置和其中的能量回收机构，在无人机本体不降落在地面的情况下，可以在空中将货物送到距离地面的位置，不仅省去了无人机本体下降和上升的过程，还省去了无人机本体降落时调整姿态和调整降落位置的过程，从而减小了无人机本体在卸货过程中的电耗，有利于提高无人机本体的续航能力。
The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a logistics unmanned aerial vehicle, comprising an unmanned aerial vehicle body, wherein a take-off and landing device is arranged at the lower side of the unmanned aerial vehicle body; the take-off and landing device comprises a loading frame fixed at the lower side of the unmanned aerial vehicle body, a take-off and landing motor is installed at one end of the outer side of the loading frame, and two main shafts are rotatably connected through the inner side of the loading frame, and two rope winding drums are keyed at both ends of the two main shafts, and pull ropes are wound around the outer sides of the four rope winding drums. The present invention can deliver goods to a position away from the ground in the air through the take-off and landing device and the energy recovery mechanism therein without the unmanned aerial vehicle body landing on the ground, which not only saves the process of the unmanned aerial vehicle body descending and ascending, but also saves the process of adjusting the posture and the landing position of the unmanned aerial vehicle body when landing, thereby reducing the power consumption of the unmanned aerial vehicle body during the unloading process, which is conducive to improving the endurance of the unmanned aerial vehicle body.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a logistics unmanned aerial vehicle.
Background
The logistics unmanned aerial vehicle generally refers to an unmanned low-altitude aerial vehicle which is operated by utilizing radio remote control equipment and a self-contained program control device, can be used for carrying express packages and automatically delivering the express packages to a destination, and has the advantages of mainly solving the delivery problem in remote areas, improving the delivery efficiency and reducing the labor cost.
The publication number is: CN 216887228U's chinese patent discloses commodity circulation transportation unmanned aerial vehicle, including paddle and host computer shell, the paddle is installed on connecting rod a, and connecting rod a installs on the host computer shell, and host computer shell both sides are installed to the support frame, and buffer gear is installed to the support frame bottom, and the host computer shell bottom is provided with fixed establishment, fixed establishment connecting rod B and transport case joint.
Based on the above search and in combination with the real problem discovery: this commodity circulation unmanned aerial vehicle has improved commodity circulation transportation efficiency, but its when arriving the destination and unloading, need drop on ground along with unmanned aerial vehicle and cargo is whole, wait to receive the cargo people and take off the back of goods, unmanned aerial vehicle takes off once more and leaves, unmanned aerial vehicle carries the process that the goods was fallen and unmanned aerial vehicle lifts off the in-process that the goods was lifted, unmanned aerial vehicle's screw needs to rotate with higher speed thereby control unmanned aerial vehicle's decline and ascending speed, consequently, this in-process unmanned aerial vehicle needs to consume more electric energy, thereby unmanned aerial vehicle's duration has been influenced, and unmanned aerial vehicle carries the goods when falling moreover, in order to guarantee unmanned aerial vehicle and the steady of goods, unmanned aerial vehicle's continuous adjustment unmanned aerial vehicle's take off and land the gesture, consequently, further increased unmanned aerial vehicle's electric energy consumption, further reduced duration.
Disclosure of Invention
The invention aims to provide a logistics unmanned aerial vehicle so as to solve the problems in the background technology.
The technical scheme of the invention is as follows: the logistics unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a take-off and landing device is arranged on the lower side of the unmanned aerial vehicle body; the lifting device comprises a loading frame fixed on the lower side of the unmanned aerial vehicle body, a lifting motor is installed at one end of the outer side of the loading frame, two main shafts penetrate through and are connected with the inner side of the loading frame in a rotating mode, two rope winding disks are connected to two ends of the two main shafts in a key mode, pull ropes are wound on the outer sides of the four rope winding disks, and an energy recovery mechanism is arranged between one main shaft and the unmanned aerial vehicle body; the energy recovery mechanism comprises a cylinder arranged at the inner side of the loading frame, a transmission shaft penetrating through and rotatably connected to the inner side of the loading frame, and a pinion fixed at the outer side of the main shaft, wherein a movable plate is movably arranged at the outer side of the transmission shaft through the transmission mechanism, the movable plate is elastically connected with one end of the inner side of the cylinder through an elastic part, and a large gear meshed with the pinion is fixed at one end of the transmission shaft; distance adjusting mechanisms are arranged at the two ends of the transmission shaft and the inner side of the loading frame; the distance-adjusting mechanism comprises two threaded rods fixed at two ends of the transmission shaft, the outer sides of the two threaded rods are respectively connected with a sliding block in a threaded manner, and the upper side and the lower side of the two sliding blocks are respectively connected with two positioning pin shafts capable of driving a rope winding disc to move in a rotating manner; the end part of one main shaft without the pinion is provided with a centrifugal constant speed mechanism; the centrifugal constant speed mechanism comprises a fixed disc fixed at the end part of the main shaft and a movable disc sleeved at one end of the outer side of the main shaft in a sliding manner, and a plurality of balancing weights are movably arranged between the movable disc and the fixed disc.
Preferably, the transmission mechanism comprises a sliding groove column fixed on the outer side of the transmission shaft and a sliding pin rotatably connected to one side of the moving plate, a spiral sliding groove is formed in the outer side of the sliding groove column, and the sliding pin is movably connected to the inner side of the spiral sliding groove.
Preferably, two guide rods are fixed on the inner side of the cylinder, and the two guide rods are slidably inserted into the inner side of the moving plate.
Preferably, the elastic member is a coil spring.
Preferably, four slider guide rods are fixed at positions corresponding to the two threaded rods on the inner side of the loading frame, two sliders are respectively and slidably connected to the outer sides of the four slider guide rods, and one ends of the four positioning pins respectively extend into rope grooves in the middle of the four rope winding discs for accommodating pull ropes.
Preferably, the thread directions of the external threads on the outer sides of the two threaded rods are opposite.
Preferably, one end of each of the two main shafts is fixed with a synchronizing gear engaged with each other.
Preferably, one end of the movable disc is fixed with a soft rubber sleeve, one end of the soft rubber sleeve is fixed with a friction plate, the outer side of the movable disc is rotationally connected with a plurality of second connecting rods which are circumferentially arranged, the outer side of the fixed disc is rotationally connected with a first connecting rod at the position corresponding to each second connecting rod, and two ends of each balancing weight are rotationally connected with the first connecting rod and the second connecting rod at the corresponding positions respectively.
Preferably, a braking mechanism is arranged between the lifting motor and the main shaft, the braking mechanism comprises an annular groove formed in one end of the lifting motor, a rotary circular frame and an electric cylinder are rotationally connected to the inner side of the annular groove, the telescopic end of the electric cylinder is rotationally connected with the inner side of the rotary circular frame, a plurality of locking columns which are circumferentially arranged are slidingly inserted into the inner side of the annular groove, each locking column is provided with an arc-shaped surface matched with the outer side of the main shaft at the opposite end, and the other end of each locking column is rotationally connected with the outer side of the rotary circular frame through a locking push rod.
Preferably, the lower ends of the four pull ropes are fixed with a lifting box, and the outer sides of the lifting boxes are matched with the inner sides of the loading frames.
Compared with the prior art, the logistics unmanned aerial vehicle provided by the invention has the following improvement and advantages:
The method comprises the following steps: according to the invention, through the take-off and landing device and the energy recovery mechanism therein, under the condition that the unmanned aerial vehicle body does not land on the ground, goods can be sent to a position away from the ground in the air, so that not only are the processes of descending and ascending of the unmanned aerial vehicle body omitted, but also the processes of adjusting the posture and adjusting the landing position when the unmanned aerial vehicle body lands are omitted, thereby reducing the power consumption of the unmanned aerial vehicle body in the unloading process, being beneficial to improving the cruising ability of the unmanned aerial vehicle body, and simultaneously, when the unmanned aerial vehicle body is unloaded, the energy recovery mechanism can reduce the rotation speeds of the main shaft and the rope winding disc, thereby reducing the falling speeds of the lifting box and the goods, preventing accidents caused by too fast free falling speeds of the lifting box and the goods, and ensuring the stability of the unmanned aerial vehicle body and the goods when the unmanned aerial vehicle body and the goods are unloaded.
And two,: the centrifugal constant speed mechanism can keep the main shaft in a proper rotating speed range all the time, prevent the main shaft from rotating too slowly and too fast, and also prevent the main shaft from having larger positive and negative accelerations, so that the lifting box and cargoes fall at proper speeds, and also prevent the lifting box and cargoes from having larger positive and negative accelerations when falling, thereby improving the stability of the unloading process, reducing the generation of the positive and negative accelerations, reducing the influence on the hovering gesture of the unmanned aerial vehicle body, reducing the electric energy consumed by the unmanned aerial vehicle body for adjusting the hovering gesture, and further playing the role of improving the cruising duration.
And thirdly,: according to the invention, when the lifting box and the goods are driven to descend by the release and extension of the four pull ropes through the distance adjusting mechanism, the four rope winding disks can slowly move towards the middle section along with the increase of the descending stroke of the lifting box, so that the four rope winding disks can drive the upper ends of the four pull ropes to incline towards the middle section, the angles of the four pull ropes are gradually changed from the original vertical angles to the inclined angles, and the original parallelogram structure between the pull ropes and the lifting box is changed into an isosceles trapezoid structure, so that the lifting box and the goods can be well prevented from transversely swinging when the lifting box and the goods fall, the stability of the hovering gesture of the unmanned aerial vehicle body during unloading is further improved, the electric energy consumed by the unmanned aerial vehicle body for adjusting the hovering gesture is reduced, and the integral cruising ability of the logistics unmanned aerial vehicle is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the structure of the inside of the loading frame according to the present invention;
FIG. 3 is a first cross-sectional schematic view of the present invention;
FIG. 4 is a second cross-sectional schematic view of the present invention;
FIG. 5 is a schematic diagram of a transmission mechanism according to the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 3A according to the present invention;
FIG. 7 is an enlarged schematic view of the structure of FIG. 4B according to the present invention;
FIG. 8 is a schematic diagram of a brake mechanism according to the present invention;
fig. 9 is a schematic view showing a state that the upper end of the pull rope is inclined inwards in the invention.
Reference numerals:
1. An unmanned aerial vehicle body; 3. a loading frame; 4. a landing motor; 5. a main shaft; 6. a rope winding disc; 7. a pull rope; 8. a lifting box; 9. a synchronizing gear; 101. a pinion gear; 102. a transmission shaft; 103. a cylinder; 104. a large gear; 105. a moving plate; 106. a coil spring; 107. a guide rod; 108. a runner post; 109. a spiral chute; 110. a slide pin; 201. a fixed plate; 202. a movable plate; 203. a first link; 204. a second link; 205. balancing weight; 206. a soft rubber sleeve; 207. a friction plate; 301. a threaded rod; 302. a slide block guide rod; 303. a slide block; 304. positioning pin shafts; 401. an annular groove; 402. rotating the round frame; 403. locking the column; 404. locking the push rod; 405. and (5) an electric cylinder.
Detailed Description
The following detailed description of the present invention clearly and fully describes the technical solutions of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a logistics unmanned aerial vehicle through improvement, and the technical scheme of the invention is as follows:
As shown in fig. 1 to 9, the embodiment of the invention provides a logistics unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 1, wherein a lifting device is arranged on the lower side of the unmanned aerial vehicle body 1; the lifting device comprises a loading frame 3 fixed on the lower side of the unmanned aerial vehicle body 1, a lifting motor 4 is installed at one end of the outer side of the loading frame 3, two main shafts 5 are connected through rotation on the inner side of the loading frame 3, two rope winding discs 6 are connected at two ends of the two main shafts 5 in a key manner, pull ropes 7 are wound on the outer sides of the four rope winding discs 6, and an energy recovery mechanism is arranged between one main shaft 5 and the unmanned aerial vehicle body 1; the energy recovery mechanism comprises a cylinder 103 arranged at the inner side of the loading frame 3, a transmission shaft 102 penetrating through the inner side of the loading frame, and a pinion 101 fixed at the outer side of the main shaft 5, wherein a moving plate 105 is movably arranged at the outer side of the transmission shaft 102 through the transmission mechanism, the moving plate 105 is elastically connected with one end of the inner side of the cylinder 103 through an elastic part, and a large gear 104 meshed with the pinion 101 is fixed at one end of the transmission shaft 102; both ends of the transmission shaft 102 and the inner side of the loading frame 3 are provided with distance adjusting mechanisms; the distance-adjusting mechanism comprises two threaded rods 301 fixed at two ends of the transmission shaft 102, the outer sides of the two threaded rods 301 are respectively connected with a sliding block 303 in a threaded manner, and the upper side and the lower side of the two sliding blocks 303 are respectively connected with two positioning pin shafts 304 capable of driving the rope reel 6 to move in a rotating manner; the end of one main shaft 5 not provided with the pinion 101 is provided with a centrifugal constant speed mechanism; the centrifugal constant speed mechanism comprises a fixed disc 201 fixed at the end part of the main shaft 5 and a movable disc 202 sleeved at one end of the outer side of the main shaft 5 in a sliding manner, and a plurality of balancing weights 205 are movably arranged between the movable disc 202 and the fixed disc 201.
Further, the transmission mechanism comprises a chute column 108 fixed on the outer side of the transmission shaft 102 and a sliding pin 110 rotatably connected to one side of the moving plate 105, a spiral chute 109 is formed on the outer side of the chute column 108, and the sliding pin 110 is movably connected to the inner side of the spiral chute 109;
Through drive mechanism, when transmission shaft 102 rotates, can drive movable plate 105 and remove, movable plate 105 removes and can compress coil spring 106, and coil spring 106 is compressed and can be with the gravitational potential energy conversion of goods its elastic potential energy temporary storage, reduces the loss of energy, improves unmanned aerial vehicle body 1's duration.
Further, four slider guide rods 302 are fixed at positions corresponding to the two threaded rods 301 on the inner side of the loading frame 3, two sliders 303 are respectively and slidably connected to the outer sides of the four slider guide rods 302, and one ends of four positioning pins 304 respectively extend into rope grooves in the middle of the four rope winding discs 6 for accommodating the pull ropes 7;
When goods and lifting box 8 descend, can release rope 7 from the rope groove of rope reel 6, two threaded rods 301 can drive two sliders 303 to the middle section position remove, two sliders 303 drive four rope reels 6 through four locating pin shafts 304 and remove to the middle section position, along with rope 7 constantly released, lifting box 8 descends the journey more greatly, four rope reels 6 can drive four upper ends of rope 7 to the middle section position slope, make four rope 7's angle become inclination gradually by original vertical angle, at this moment, become isosceles trapezoid's structure by original parallelogram structure between rope 7 and the lifting box 8, therefore when lifting box 8 and goods whereabouts, can be fine prevent that lifting box 8 and goods from producing horizontal swing, further improved the stability of unmanned aerial vehicle body 1's the gesture of hovering when unloading, reduce unmanned aerial vehicle body 1 adjusts the electric energy that hovers gesture consumed, further improve logistics unmanned aerial vehicle holistic duration.
Further, one end of each of the two main shafts 5 is fixed with a synchronizing gear 9 which is meshed with each other;
The synchronous gears 9 are meshed with each other, so that equal speed and opposite rotation can be kept, the two main shafts 5 can be kept at equal speed and opposite rotation, the four rope winding discs 6 on two sides are guaranteed to reversely rotate at the same speed, the four pull ropes 7 are released and wound at equal speed, the lifting box 8 and goods are kept in a horizontal state in the lifting process, goods are prevented from being inclined, and stability is improved.
Further, a soft rubber sleeve 206 is fixed at one end of the movable disc 202, a friction plate 207 is fixed at one end of the soft rubber sleeve 206, a plurality of second connecting rods 204 which are circumferentially arranged are rotatably connected to the outer side of the movable disc 202, a first connecting rod 203 is rotatably connected to the outer side of the fixed disc 201 at the position corresponding to each second connecting rod 204, and two ends of each balancing weight 205 are rotatably connected with the first connecting rod 203 and the second connecting rod 204 at the corresponding positions respectively;
Through centrifugal constant speed mechanism, can make main shaft 5 remain at a suitable rotational speed scope all the time, prevent that the rotational speed of main shaft 5 from being too slow and too fast, also can prevent that main shaft 5 from having great positive and negative acceleration, thereby make lift box 8 and goods fall with suitable speed, also prevent that lift box 8 and goods from having great positive and negative acceleration when falling, improved the stationarity of unloading process, reduce the production of positive and negative acceleration simultaneously, can reduce the influence to unmanned aerial vehicle body 1 hovering gesture in the sky, thereby reduce the electric energy that unmanned aerial vehicle body 1 adjustment hovers the gesture and consume, further played the effect that improves the duration.
Further, a braking mechanism is arranged between the lifting motor 4 and the main shaft 5, the braking mechanism comprises an annular groove 401 arranged at one end of the lifting motor 4, the inner side of the annular groove 401 is rotationally connected with a rotary circular frame 402 and an electric cylinder 405, the telescopic end of the electric cylinder 405 is rotationally connected with the inner side of the rotary circular frame 402, a plurality of locking columns 403 which are circumferentially arranged are slidingly inserted into the inner side of the annular groove 401, one end of each locking column 403 opposite to the outer side of the main shaft 5 is provided with an arc-shaped surface which is matched with the outer side of the main shaft 5, and the other end of each locking column 403 is rotationally connected with the outer side of the rotary circular frame 402 through a locking push rod 404;
When the lifting box 8 carries goods and rises to the highest point, the brake mechanism can lock the main shaft 5 connected with the driving end of the lifting motor 4, so that the lifting box 8 and the goods are prevented from falling downwards when the unmanned aerial vehicle body 1 conveys the goods, and the stability is improved.
Working principle: before the logistics unmanned aerial vehicle takes off, the lifting box 8 is pulled downwards, the goods to be loaded are placed on the inner side of the lifting box 8, at the moment, the spiral spring 106 of the energy recovery mechanism releases elasticity to apply reverse thrust to the moving plate 105, then through sliding fit between the sliding pin 110 and the spiral chute 109, the sliding groove column 108 can be driven to reversely rotate when the moving plate 105 reversely moves, so that the transmission shaft 102 is driven to reversely rotate, the transmission shaft 102 drives the large gear 104 to reversely rotate, the large gear 104 drives the small gear 101 to reversely rotate, the small gear 101 drives the corresponding main shaft 5 to reversely rotate, so that the four rope winding discs 6 reversely rotate to wind the four pull ropes 7 on the inner sides of rope grooves in the inner parts, the lifting box 8 can be lifted upwards, the lifting box 8 is moved to the inner sides of the loading frame 3, and the goods can be sealed on the inner sides of the lifting box 8 and the loading frame 3, and reliable protection is provided for the goods;
At this time, the telescopic end of the electric cylinder 405 of the brake mechanism stretches out to drive the rotary circular frame 402 to rotate anticlockwise by a certain angle (as shown in fig. 8), when the rotary circular frame 402 rotates, the locking columns 403 at corresponding positions are pushed to move towards the positions of the main shafts 5 by the plurality of locking push rods 404, so that the arc surface at one end of each locking column 403 is attached to the outer side of the main shaft 5, thereby locking the main shaft 5, and simultaneously locking the other main shaft 5, thereby locking the four rope winding disks 6 and preventing rotation, ensuring that the lifting box 8 and goods at the inner side thereof are always positioned at the inner side of the loading frame 3, improving the stability when the goods are transported, ensuring the height of the lifting box 8 without applying torsion moment to the main shaft 5 by the lifting motor 4, and further reducing the energy consumption of the logistics unmanned aerial vehicle in a stopped state when the lifting motor 4 is in transportation;
when the goods are delivered to the destination, the goods need to be unloaded, at this time, the brake mechanism is controlled to release the main shafts 5, so that the two main shafts 5 can freely rotate, thereby enabling the four rope winding discs 6 to rotate and release the four pull ropes 7, thereby enabling the lifting box 8 and the goods on the inner side thereof to naturally fall, the four rope winding discs 6 and the two main shafts 5 rotate, at the same time, one main shaft 5 drives the pinion 101 of the energy recovery mechanism to rotate, the pinion 101 drives the large gear 104 to rotate through the teeth, the large gear 104 drives the transmission shaft 102 to rotate, the transmission shaft 102 drives the chute column 108 of the transmission mechanism on the outer side thereof to rotate, due to the spiral chute 109 arranged on the outer side of the chute column 108, when the chute column 108 and the spiral chute 109 rotate, the sliding fit between the sliding pin 110 and the spiral chute 109 can apply the pulling force which coincides with the axis direction of the chute column 108 to the moving plate 105 through the sliding pin 110, thereby driving the moving plate 105 to move along the inner side of the cylinder 103 and compress the spiral spring 106, thereby realizing the gradual compression of the spiral spring 106 while the lifting box 8 and the goods move downwards, converting part of gravitational potential energy of the lifting box 8 and the goods into elastic potential energy of the spiral spring 106 for temporary storage, when a receiver takes down the goods on the inner side of the lifting box 8, the lifting motor 4 applies a certain rotating moment to the corresponding main shaft 5, drives the main shaft 5 to rotate, thereby driving the rope reel 6 to rotate to wind the pull rope 7, driving the lifting box 8 to move upwards for resetting, and in addition, the weight of the lifting box 8 after the goods are unloaded is smaller than the total weight of the lifting box 8 and the goods before, therefore, the spiral spring 106 of the energy recovery mechanism releases elasticity and stretches, applies thrust in the opposite direction to the moving plate 105, and then through sliding fit between the sliding pin 110 and the spiral chute 109, when the moving plate 105 moves reversely, the sliding groove column 108 can be driven to rotate reversely, so as to drive the transmission shaft 102 to rotate reversely, the transmission shaft 102 drives the large gear 104 to rotate reversely, the large gear 104 drives the small gear 101 to rotate reversely, the small gear 101 drives the corresponding main shaft 5 to rotate reversely, so that the load of the take-off and landing motor 4 can be reduced, the power consumption of the take-off and landing motor 4 is reduced, the endurance of the unmanned aerial vehicle body 1 is improved, when four rope reels 6 rotate reversely, the four rope reels 7 are wound on the inner sides of the rope grooves, the lifting box 8 can be lifted upwards, the lifting box 8 returns to the inner side of the loading frame 3 again, and the energy recovery mechanism in the lifting device is used for recovering energy, under the condition that the unmanned aerial vehicle body 1 does not land on the ground, cargoes can be sent to the position away from the ground in the air, the descending and ascending processes of the unmanned aerial vehicle body 1 are omitted, the posture and landing position adjusting processes during the landing of the unmanned aerial vehicle body 1 are omitted, accordingly, the electricity consumption of the unmanned aerial vehicle body 1 in the unloading process is reduced, the cruising ability of the unmanned aerial vehicle body 1 is improved, meanwhile, during unloading, the energy recovery mechanism can reduce the rotation speeds of the main shaft 5 and the rope winding disc 6, the falling speeds of the lifting box 8 and cargoes are reduced, accidents are prevented from being caused due to the fact that the lifting box 8 and the cargoes fall freely, and the stability of the unmanned aerial vehicle body 1 and the cargoes during unloading is guaranteed;
When the goods fall, if the rotation speed of the main shaft 5 is too high due to the overweight goods, namely, the falling speed of the goods is too high, one of the main shafts 5 rotates at high speed to drive the centrifugal constant speed mechanism at one end of the main shaft 5 to rotate at high speed, so as to drive the plurality of balancing weights 205 in the main shaft to rotate around the main shaft 5 at high speed, the plurality of balancing weights 205 rotate at high speed to respectively drive the first connecting rod 203 and the second connecting rod 204 at two ends to rotate under the action of centrifugal force, so that the angles of the first connecting rod 203 and the second connecting rod 204 are gradually parallel to the axial lead of the main shaft 5, thereby pushing the movable disc 202 to move towards the outer side of the loading frame 3, the movable disc 202 drives the friction plate 207 to move through the soft rubber sleeve 206, the friction plate 207 is pressed on the outer side of the loading frame 3, and meanwhile, the soft rubber sleeve 206 can be compressed and deformed, so that the friction plate 207 can be subjected to continuous pressure, the friction force generated between the friction plate 207 and the outer side surface of the loading frame 3 due to the pressure is increased along with the increase of the rotation speed of the main shaft 5, the rotation speed of the friction plate 207 can be reduced by the friction force between the friction plate 207 and the outer side surface of the loading frame 3, so that the rotation speed of the whole centrifugal constant speed mechanism is reduced, the rotation speed of the main shaft 5 is further reduced, the descending speed of the lifting box 8 and the goods is further reduced, once the speed of the main shaft 5 is reduced, the centrifugal force of the plurality of balancing weights 205 is reduced, the friction force between the friction plate 207 and the loading frame 3 is reduced, so that the speed of the main shaft 5 is accelerated again, and the main shaft 5 can be always kept in a proper rotation speed range to prevent the too slow and too fast rotation speed of the main shaft 5, and also can prevent the main shaft 5 from having larger positive and negative accelerations, so that the lifting box 8 and the goods are descended at proper speeds, the lifting box 8 and cargoes are prevented from having larger positive and negative acceleration when falling, the stability of the unloading process is improved, meanwhile, the generation of the positive and negative acceleration is reduced, and the influence on the hovering gesture of the unmanned aerial vehicle body 1 can be reduced, so that the electric energy consumed by the unmanned aerial vehicle body 1 for adjusting the hovering gesture is reduced, and the effect of improving the endurance is further played;
when four stay cords 7 drive lift box 8 and goods whereabouts, four winding disc 6 and two main shafts 5 reverse rotation, the transmission shaft 102 in the main shaft 5 drive energy recovery mechanism rotates, the both ends of transmission shaft 102 are provided with the adjustable distance mechanism, consequently, transmission shaft 102 can drive two threaded rods 301 of adjustable distance mechanism and rotate, because the external screw thread opposite direction in the outside of two threaded rods 301, consequently, two threaded rods 301 become inclination by original vertical angle gradually, two slider 303 reverse movement at both ends can be driven, two slider 303 drive four locating pin 304 reverse movement, when stay cord 7 releases from the rope groove of winding disc 6, two threaded rods 301 can drive two slider 303 to the middle section position and remove, two slider 303 drive four winding disc 6 through four locating pin 304 to the middle section position, along with stay cord 7 constantly by release, the upper end of four winding disc 6 can drive four stay cords 7 is inclined to the middle section position, make four angle of stay cord 7 become inclination by original vertical angle gradually, like figure 9 shows, when lift box 8 and lift box 8 have produced the electrical energy consumption by the parallel body when the lift body has improved, the stability of unmanned aerial vehicle further has been improved, the stability is further improved, the unmanned aerial vehicle has no need to have more greatly improved the lift box 1, the stability is further, the landing body has been reduced, the landing can be more stable, and the unmanned aerial vehicle has been more stable, the landing vehicle has been in the lift box 1.
The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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| CN107187614A (en) * | 2017-04-07 | 2017-09-22 | 西北工业大学 | A kind of utilization flywheel energy storage and the moonlet On-orbit release and retracting device recycled |
| CN112072851A (en) * | 2020-08-24 | 2020-12-11 | 东北电力大学 | energy recovery device |
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| ITTO20060874A1 (en) * | 2006-12-11 | 2008-06-12 | Modelway S R L | AUTOMATIC FLIGHT CONTROL ACTUATION SYSTEM FOR POWER WING PROFILES |
| US11772815B2 (en) * | 2021-07-01 | 2023-10-03 | Insitu, Inc. (A Subsidiary Of The Boeing Company) | Methods and apparatus to recover unmanned aerial vehicles with kites |
| CN115432194B (en) * | 2022-08-09 | 2024-08-13 | 国家电网有限公司 | Unmanned aerial vehicle haulage rope discharges recovery unit for sag detection |
| CN116692063A (en) * | 2023-07-18 | 2023-09-05 | 深圳深海创新技术有限公司 | Unmanned aerial vehicle drive mechanism and unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107187614A (en) * | 2017-04-07 | 2017-09-22 | 西北工业大学 | A kind of utilization flywheel energy storage and the moonlet On-orbit release and retracting device recycled |
| CN112072851A (en) * | 2020-08-24 | 2020-12-11 | 东北电力大学 | energy recovery device |
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