Search

CN-121973977-A - Many rotor unmanned aerial vehicle with intelligence is thrown function

CN121973977ACN 121973977 ACN121973977 ACN 121973977ACN-121973977-A

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle with an intelligent throwing function, which relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle comprises a weight-following speed change mechanism, a pushing mechanism, a grabbing mechanism and an auxiliary mechanism, wherein the pushing mechanism, the grabbing mechanism and the auxiliary mechanism are in fastening connection with the weight-following speed change mechanism. The speed changing component is cooperated with the inertia component through the magnetic control and transmission system to provide power transmission and speed changing functions. The transmission position of the speed changing component is adjusted by magnetic force, so that self-adaptive mechanical transmission control is realized. The grabbing mechanism is combined with the sucker through the electric clamping jaw, and is provided with a flexible buffer structure to absorb collision impact energy, so that safety and fault tolerance are improved. The pushing mechanism actively compensates gravity center change through the cooperative work of the counterweight electric rail, ensures stable flight and prevents the machine body from overturning, thereby realizing the active compensation of gravity center change, ensuring moment balance, and preventing the machine body from overturning and self-adaptive speed change control.

Inventors

  • CHEN HONGSHENG

Assignees

  • 南京海汇装备科技有限公司

Dates

Publication Date
20260505
Application Date
20260324

Claims (8)

  1. 1. The multi-rotor unmanned aerial vehicle with the intelligent throwing function is characterized by comprising a weight-following speed change mechanism (1), a pushing mechanism (2), a grabbing mechanism (3) and an auxiliary mechanism (4), wherein the pushing mechanism (2), the grabbing mechanism (3) and the auxiliary mechanism (4) are connected with the weight-following speed change mechanism (1); the weight-following speed change mechanism (1) comprises a frame (11), a speed change assembly (12), a control assembly (13) and an inertia assembly (14), wherein the speed change assembly (12) is in sliding connection with the frame (11), the control assembly (13) and the speed change assembly (12) are in magnetic pole attraction transmission, the control assembly (13) is connected with the frame (11), and the speed change assembly (12) is in transmission connection with the inertia assembly (14); The speed change assembly (12) comprises a speed change motor (121), a speed change bevel gear (122), a transmission gear (123), a sliding rod (124), a sliding plate (125) and a control magnetic block (126), wherein the speed change motor (121) is in transmission connection with the speed change bevel gear (122), the speed change bevel gear (122) is in transmission connection with the transmission gear (123), the transmission gear (123) is connected with the sliding rod (124), the sliding rod (124) is connected with the sliding plate (125), and the control magnetic block (126) is connected with the sliding plate (125); The sliding plate (125) is in sliding connection with the frame (11), the sliding rod (124) is in transmission connection with the inertia component (14), the magnetic poles of the control magnetic block (126) and the control component (13) are in attraction transmission, and the grabbing mechanism (3) is connected with the sliding plate (125).
  2. 2. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 1, wherein the control assembly (13) comprises a control electromagnetic block (131), a reset elastic piece (132) and a guide rod (133), wherein the reset elastic piece (132) is connected with the control electromagnetic block (131), and the guide rod (133) is connected with the control electromagnetic block (131); The magnetic pole attraction transmission device is characterized in that the magnetic poles of the control electromagnetic block (131) and the control magnetic block (126) are attracted to each other, the sliding plate (125) is in sliding connection with the guide rod (133), the reset elastic piece (132) is connected with the control magnetic block (126), the reset elastic piece (132), the control electromagnetic block (131) and the control magnetic block (126) are all provided with two groups, and the reset elastic piece (132), the control electromagnetic block (131) and the control magnetic block (126) are respectively located at the upper end and the lower end of the sliding plate (125).
  3. 3. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 2, wherein the inertial component (14) comprises a weight-following paddle (141), an inertial shaft block (142) and an inertial roller (143), the inertial roller (143) is abutted against the inertial shaft block (142), the inertial roller (143) is abutted against the weight-following paddle (141), and the weight-following paddle (141) is rotationally connected with the inertial shaft block (142); the sliding rod (124) is in transmission connection with the inertia shaft block (142), and the inertia shaft block (142) and the weight-following paddle wings (141) are both in rotary connection with the frame (11).
  4. 4. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 3, wherein the inertia shaft block (142) is provided with an inertia groove (1421), the section of the inertia groove (1421) is in a right trapezoid shape, the weight-following paddle wings (141) are provided with abutting grooves (1411), the inertia rollers (143) are in rolling connection with the inertia groove (1421), and the inertia rollers (143) are in abutting connection with the abutting grooves (1411).
  5. 5. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 4, wherein the grabbing mechanism (3) comprises an electric clamping jaw (31), a sucker (32), a shrinkage elastic piece (33) and a shrinkage abutting block (34), the sucker (32) is connected with a sliding plate (125), the electric clamping jaw (31) is connected with the shrinkage abutting block (34), the shrinkage abutting block (34) is in sliding connection with the frame (11), and the shrinkage abutting block (34) is abutted with the sliding plate (125).
  6. 6. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 5, wherein the pushing mechanism (2) comprises a counterweight assembly (21), a pushing motor (22) and a pushing plate (23), the pushing motor (22) is connected with the counterweight assembly (21), and the pushing motor (22) is in transmission connection with the pushing plate (23).
  7. 7. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 6, wherein the counterweight assembly (21) comprises a lifting electric cylinder (211), a counterweight (212) and a counterweight electric rail (213), the lifting electric cylinder (211) is connected with the frame (11), the lifting electric cylinder (211) is in transmission connection with the counterweight electric rail (213), and the counterweight electric rail (213) is in transmission connection with the counterweight (212).
  8. 8. The multi-rotor unmanned aerial vehicle with intelligent throwing function according to claim 7, wherein the auxiliary mechanism (4) comprises auxiliary paddles (41), a folding frame (42), a folding motor (43), a rotating motor (44), auxiliary arms (45) and a rotating motor (46), the folding frame (42) is rotationally connected with the frame (11), the folding motor (43) is in transmission connection with the folding frame (42), the rotating motor (44) is connected with the auxiliary arms (45), the rotating motor (44) is in transmission connection with the auxiliary paddles (41), the rotating motor (46) is connected with the folding frame (42), and the rotating motor (46) is in transmission connection with the auxiliary arms (45).

Description

Many rotor unmanned aerial vehicle with intelligence is thrown function Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle with an intelligent throwing function. Background Along with the rapid development of unmanned aerial vehicle technology, the application field of the unmanned aerial vehicle is expanded from the initial aerial mapping to complex scenes such as logistics distribution, aerial operation, emergency rescue and the like. Particularly, the unmanned aerial vehicle with the functions of grabbing in the air and throwing in fixed points can finish high-difficulty material transfer and contact type operation, so that the unmanned aerial vehicle becomes a research hot spot in the current low-altitude economic field. Modern logistics unmanned aerial vehicle is evolving towards multifunctional and intelligent directions, the demand of the market for unmanned aerial vehicles capable of stably executing grabbing, carrying and accurately throwing tasks in complex environments is increasingly urgent, and unmanned aerial vehicles are required to have excellent flight performance and high integrated mechanical operation capability. The existing operation type unmanned aerial vehicle generally adopts a traditional mechanical connection mode in the design of power transmission and operation mechanisms. In the aspect of power transmission, a fixed gear meshing or direct driving mode is adopted, and the angle or the rotating speed of the blade is regulated through a servo motor. In the aspect of grabbing operation, the conventional design mostly uses a rigidly connected electric clamping jaw or a simple electromagnetic chuck, and an object is clamped by directly driving the opening and closing through a motor. In the material delivery link, the common pushing mechanism usually only comprises a simple linear module or push rod, is simply responsible for pushing the goods out of the cabin, and is not provided with an additional auxiliary balance system. However, the above prior art has significant drawbacks in practical applications. Firstly, the traditional rigid gear transmission lacks overload protection and self-adaptation capability, has large mechanical abrasion, can not automatically adjust the transmission state according to the rotation speed inertia, and has poor control flexibility. Secondly, the existing rigid grabbing mechanism lacks a flexible buffering design, and severe hard impact is easy to generate at the moment of grabbing a target, so that the fragile grabbing target can be damaged, and the impact force is transmitted to the machine body to damage the stability of the flying attitude, so that the operation is failed. Finally, when the existing pushing mechanism pushes heavy goods, the whole gravity center of the unmanned aerial vehicle can deviate along with the movement of the goods position, and due to the lack of an active gravity center compensation mechanism, the inclination unbalance of the machine body is very easy to cause, and the carrying capacity and the operation safety of the unmanned aerial vehicle are limited, so that a person skilled in the art provides a multi-rotor unmanned aerial vehicle with an intelligent throwing function, and the problem in the background is solved. Disclosure of Invention The invention aims to provide a multi-rotor unmanned aerial vehicle with an intelligent throwing function, so as to solve the problem that in the prior art, the center of gravity is deviated in the throwing process. In order to achieve the above purpose, the present invention provides the following technical solutions: the unmanned aerial vehicle comprises a weight-following speed change mechanism, a pushing mechanism, a grabbing mechanism and an auxiliary mechanism, wherein the pushing mechanism, the grabbing mechanism and the auxiliary mechanism are all in fastening connection with the weight-following speed change mechanism; Through adopting above-mentioned technical scheme, with heavy speed change mechanism as the core carrier provides power transmission and speed change function, pushing mechanism installs the level propelling movement task that is used for carrying out the material on it, snatch the mechanism and be used for carrying out accurate picking up and fixed to the target object, auxiliary mechanism then provides extra flight gesture adjustment and structure folding function for unmanned aerial vehicle, with heavy speed change mechanism, pushing mechanism, snatch mechanism and auxiliary mechanism mutually support, realized unmanned aerial vehicle collection power variable speed, material handling, target snatch and supplementary flight in the multi-functional collaborative operation effect of an organic whole. The weight-following speed change mechanism comprises a frame, a speed change assembly, a control assembly and an inertia assembly, wherein the speed change assembly is