CN114030625A - Method for hanging article on unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Method for hanging article on unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN114030625A CN114030625A CN202111445218.4A CN202111445218A CN114030625A CN 114030625 A CN114030625 A CN 114030625A CN 202111445218 A CN202111445218 A CN 202111445218A CN 114030625 A CN114030625 A CN 114030625A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000005484 gravity Effects 0.000 claims abstract description 45
- 238000011068 loading method Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 3
- 230000008093 supporting effect Effects 0.000 description 40
- 238000012360 testing method Methods 0.000 description 16
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- 238000007906 compression Methods 0.000 description 9
- 229920002379 silicone rubber Polymers 0.000 description 6
- 239000004945 silicone rubber Substances 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
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- 230000008569 process Effects 0.000 description 4
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- 241001391944 Commicarpus scandens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 239000000725 suspension Substances 0.000 description 2
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- 238000011056 performance test Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- KHDSWONFYIAAPE-UHFFFAOYSA-N silicon sulfide Chemical compound S=[Si]=S KHDSWONFYIAAPE-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Supports For Pipes And Cables (AREA)
Abstract
The invention relates to a method for hanging objects on an unmanned aerial vehicle and the unmanned aerial vehicle, belongs to the technical field of equipment hanging and solves the problems that the center of gravity is unstable and the adjustment is inconvenient after the objects are hung in the prior art. The present invention proceeds to step S1: obtaining the gravity center of the unmanned aerial vehicle; s2: hanging the hanging rack on an unmanned aerial vehicle; s3: and (4) mounting the mounted article, carrying out X, Y and Z-direction adjustment on the mounted article, and mounting the article on the unmanned aerial vehicle. According to the unmanned aerial vehicle, X, Y, Z gravity center leveling in three directions after the unmanned aerial vehicle carries the articles is realized, so that the unmanned aerial vehicle with the articles carried at two sides and different weights and gravity center positions flies stably and is not easy to damage, and the inspection effect is good.
Description
Technical Field
The invention relates to the technical field of equipment hanging, in particular to a method for hanging an article on an unmanned aerial vehicle and the unmanned aerial vehicle.
Background
Unmanned aerial vehicle replaces the manual work to realize the work of patrolling and examining of special environment such as dangerous environment, difficult arrival environment because of its small and exquisite, the simple operation wide application of structure in various work of patrolling and examining, and unmanned aerial vehicle is patrolling and examining the use in the field of patrolling and examining and has improved work efficiency, operational reliability and artificial security, has increased the scope that can patrol and examine.
In order to realize the different work of patrolling and examining, unmanned aerial vehicle often need change, carry on the different equipment of patrolling and examining, still can be in order to accomplish the multiple task of patrolling and examining simultaneously and carry a plurality of different equipment of patrolling and examining, unmanned aerial vehicle and patrol and examine and use the stores pylon between the equipment to connect fixedly the two usually. The stores pylon among the prior art carries different equipment of patrolling and examining or when changing equipment of patrolling and examining simultaneously, can't obtain stable focus according to actual conditions, leads to carrying the whole unmanned aerial vehicle focus that equipment of patrolling and examining later unstable and influence the security of equipment when patrolling and examining. In addition, because of the flight action of the unmanned aerial vehicle, the inspection work of the inspection equipment and the influence of the natural environment in the inspection process, the hanging rack in the prior art is very easy to break and damage due to the vibration generated by the carried inspection equipment and the unmanned aerial vehicle in flight and the influence of the natural environment (such as wind, snow and the like), and meanwhile, the hanging rack can also fall and be damaged in the process of executing tasks, so that the safety and reliability of the hanging rack and the inspection equipment are not facilitated, and the equipment cost is increased.
Disclosure of Invention
In view of the foregoing analysis, embodiments of the present invention provide a method for loading an article on an unmanned aerial vehicle and an unmanned aerial vehicle, so as to solve the problems of unstable gravity center and inconvenience in adjustment of the existing loading method.
On one hand, the invention provides a method for loading articles on an unmanned aerial vehicle, wherein the articles to be loaded are loaded on the unmanned aerial vehicle through a hanging frame, and the method comprises the following steps:
s1: obtaining the gravity center of the unmanned aerial vehicle;
s2: hanging the hanging rack on an unmanned aerial vehicle;
s3: the article to be mounted is mounted, and X, Y and Z-direction adjustment are performed on the article to be mounted.
Preferably, in the step S2, the hanger connector (9) of the hanger is connected to the hanger of the unmanned aerial vehicle, and then the pipe hoop (10) of the hanger is respectively and fixedly connected to the lower longitudinal beam of the unmanned aerial vehicle, and the heading direction is the X direction.
Preferably, in step S2, the Y-position of the pylon is adjusted to the deepest position relative to the drone.
Preferably, in step S2, an integrated center of gravity of the unmanned aerial vehicle after being mounted on the pylon is determined, and the adjustment is performed based on the integrated center of gravity.
Preferably, the stores pylon is provided with two, the symmetry set up in the both sides of unmanned aerial vehicle's fuselage bottom.
Preferably, in step S3, the center of gravity and the mass of the mounted object to be mounted on both sides of the unmanned aerial vehicle body are obtained, and the mass of the mounted object on both sides is M1And M2Wherein M is1＜M2(ii) a So that the center of gravity of the mounted article is aligned with the integrated center of gravity in the X direction, and then the mounted article is fixedly connected with the hanging rack.
Preferably, in step S3, the mass is adjusted to M1The Z-direction angle of the side hanging rack enables the gravity center and the mass of the side hanging rack to be M2The centers of gravity of the lateral articles to be mounted are aligned in the Z direction.
Preferably, in the step S3, the rack of the hanger has an adjustable length lmm and a measured mass M1The distance between the center of gravity of the article to be mounted on the side and the integrated center of gravity in the Y direction is L1mm, measured mass M2The distance between the center of gravity of the article to be mounted on the side and the integrated center of gravity in the Y direction is L2mm, by the formula: m1×(L1+l1)＝M2×(L2) To find out l1(ii) a To mass M1The distance of the article to be mounted on the side is adjusted by an amount of l1mm; make by carry article balanced in Y on the fuselage both sides of unmanned aerial vehicle.
On the other hand, the invention also provides the unmanned aerial vehicle, and the method for hanging the object on the unmanned aerial vehicle comprises a body, a hanging lug and a lower longitudinal beam.
Preferably, the suspension loops are located above the side sills.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
(1) the installation method adopted by the invention is simple and easy to operate, is convenient for temporary replacement and center-of-gravity readjustment of the field device, and saves time cost;
(2) the hanging rack can adjust the hung articles in X, Y, Z three directions, so that the gravity center of the unmanned aerial vehicle can still be kept stable after the hanging rack is used for hanging the articles, and the stability of the flying and routing inspection process is facilitated;
(3) the hanging rack with the preset space in the specific shape formed by bending the high-strength space bent pipe increases the structural strength of the rack body structure at the contact point, reduces the probability of fracture and damage of the contact point, improves the safety and reliability of the hanging rack and inspection equipment, and reduces the equipment cost;
(4) the anti-swing bracket adopted by the invention enables the compressed compression nut to obtain better pretightening force and simultaneously prevent the structure from being easily damaged in a vibrating environment due to too tight compression.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic structural view of a hanger according to an embodiment;
FIG. 2 is a left side view of a hanger according to an exemplary embodiment;
FIG. 3 is a right side view of a hanger according to an exemplary embodiment;
FIG. 4 is a schematic structural view of an anti-sway brace of an exemplary embodiment;
FIG. 5 is a schematic view of an embodiment of an anti-sway brace deployed;
FIG. 6 is a schematic structural diagram of a hoop according to an embodiment;
FIG. 7 is a schematic diagram of a second embodiment of Z-direction adjustment of a first connection tip according to the first embodiment;
FIG. 8 is a schematic view of the tip of a straight tube section of a second embodiment with Z-direction adjustment of the first connection tip of the embodiment;
FIG. 9 is a schematic view of a second embodiment of a first connection tip with Z-direction adjustment of the first connection tip;
FIG. 10 is a partial cross-sectional view of a second embodiment of Z-direction adjustment of a first connection tip of the exemplary embodiment;
fig. 11 is a schematic structural view of a third embodiment of Z-direction adjustment of the first connection tip according to the embodiment;
FIG. 12 is a schematic view of the straight tube section ends of a third embodiment with Z-direction adjustment of the first connection ends;
fig. 13 is a schematic view of a third embodiment of a Z-direction adjustment of a first connection tip of the embodiment;
FIG. 14 is a cross-sectional view of a third embodiment of Z-direction adjustment of a first connection tip of the embodiments.
Reference numerals:
1-space bending; 2-long straight pipe; 3-arc pipe; 4-rectangular sheet body; 5, routing inspection equipment; 6-L-shaped brackets; 7-a stent fixing tube; 8-anti-swing support; 9-a lug connector; 10-a pipe clamp; 11-a first tab; 12-u shaped pieces; 13-a second tab; 14-passing through the slot; 15-connecting pipe; 16-a support disk; 17-a first support plate; 18-a second support plate; 19-a limiting plate;
101-a first straight tube section; 102-a second straight tube section; 103-a third straight tube section; 104-a fourth straight tube section; 105-a fifth straight tube section; 106-a first arc segment; 107-second arc segment; 108-third arc segment.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
In the description of the embodiments of the present invention, it should be noted that the term "connected" is to be understood broadly, and may be, for example, fixed, detachable, or integrally connected, and may be mechanically or electrically connected, and may be directly or indirectly connected through an intermediate medium, unless otherwise specifically stated or limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
As shown in fig. 1-3, the present invention discloses an adjustable hanging rack, which comprises a space bent pipe 1 and a long straight pipe 2, wherein the space bent pipe 1 is bent to form a preset space, and the long straight pipe 2 is fixedly arranged in the preset space of the space bent pipe 1; the space elbow 1 is provided with a first connecting end, the long straight pipe 2 is provided with a second connecting end, and the space elbow is connected with the mounting main body through the first connecting end and the second connecting end. Preferably, the mounting main body is an unmanned aerial vehicle.
Optionally, the space elbow 1 sequentially comprises a first straight pipe section 101, a fifth straight pipe section 105, a second straight pipe section 102, a third straight pipe section 103 and a fourth straight pipe section 104; the first straight pipe section 101 and the fifth straight pipe section 105 are both located on a first longitudinal plane, the second straight pipe section 102 is located on the first plane, the first longitudinal plane is perpendicular to the first plane, the projection of the axis of the first straight pipe section 101 on the first plane is perpendicular to the axis of the second straight pipe section 102, the projection of the axis of the fifth straight pipe section 105 on the first plane is perpendicular to the axis of the second straight pipe section 102, and the fifth straight pipe section 105 and the second straight pipe section 102 are in smooth transition connection through a first arc section 106 at the connecting end; the axis of the first straight pipe section 101 and the axis of the fifth straight pipe section 105 are arranged at an angle alpha on a first longitudinal plane, preferably, alpha is more than or equal to 125 degrees and less than or equal to 135 degrees; the axis of the fifth straight pipe section 105 is arranged at an angle tau with the first plane, preferably, tau is more than or equal to 25 degrees and less than or equal to 35 degrees;
the third straight pipe section 103 is located on a second plane, the second plane is located below the first plane, and the first plane and the second plane are horizontal; the projection of the axis of the third straight pipe section 103 on the first plane is parallel to the axis of the second straight pipe section 102, and a certain distance is reserved between the projection of the axis of the third straight pipe section 103 on the first plane and the axis of the second straight pipe section 102; the second straight pipe section 102 and the third straight pipe section 103 are in smooth transition connection through a second circular arc section 107 at the connecting end; the fourth straight pipe section 104 is located on a second longitudinal plane, the first longitudinal plane is parallel to the second longitudinal plane, the second longitudinal plane is perpendicular to the first plane, and the projection of the axis of the fourth straight pipe section 104 on the first plane is perpendicular to the axis of the second straight pipe section 102; the third straight pipe section 103 and the fourth straight pipe section 104 are in smooth transition connection through a third arc section 108 at the connecting end; a virtual line formed by extending from the intersection point of the axis of the third straight pipe section 103 and the extension line of the axis of the fourth straight pipe section 104 to the second straight pipe section 102 and intersecting the second straight pipe section 102 forms an angle gamma with the first plane, and preferably, gamma is more than or equal to 25 degrees and less than or equal to 35 degrees; the imaginary line lies in a second longitudinal plane on which the imaginary line and the axis of the fourth straight tube section 104 lie at an angle β, preferably 125 ° ≦ β ≦ 135 °.
Furthermore, two first connecting ends are arranged and are respectively arranged at the end of the first straight pipe section 101 and the end of the fourth straight pipe section 104; the two first connecting ends are equal in distance from the second straight pipe section 102, the two first connecting ends are located on the same third plane, and the third plane is located below the second plane; the third plane is parallel to the second plane. It can be understood that the direction in which the axis of the second straight pipe section 102 extends is the X direction, and according to the right-hand screw rule, the first straight pipe section 101, the fourth straight pipe section 104, the fifth straight pipe section 105 and the long straight pipe 2 extend in the-Y direction, and the first connecting end and the second connecting end can be adjusted in position in the ± Z direction.
The first straight pipe section 101 is arranged at the rearmost end of the pylon in the X direction, the axis of the second straight pipe section 102 extends forwards in the X direction along the first straight pipe section 101, and furthermore, one end of the second circular arc section 107 connected with the third straight pipe section 103 is bent towards the direction of the first straight pipe section 101.
Optionally, the first straight pipe section 101, the fifth straight pipe section 105, the first circular arc section 106, the second straight pipe section 102, the second circular arc section 107, the third straight pipe section 103, the third circular arc section 108 and the fourth straight pipe section 104 are integrally formed by a pipe material, and the pipe material is preferably a high-strength light material.
Optionally, one end of the long straight pipe 2 is fixedly connected to the second straight pipe section 102, and the second connecting end is arranged at the other end of the long straight pipe 2; the long straight pipe 2 is positioned on a third longitudinal plane, the first longitudinal plane, the second longitudinal plane and the third longitudinal plane are parallel to each other, the third longitudinal plane is vertical to the first plane, and the axis of the long straight pipe 2 is vertical to the axis of the second straight pipe section 102; the axis of the long straight tube 2 is disposed at an angle theta to the first plane, preferably, the angle theta is 0 degree.
Preferably, the third longitudinal plane passes through the geometric center of the pre-space formed by bending the space bent pipe 1.
Optionally, the device further comprises an arc tube 3, two ends of the arc tube 3 are respectively fixed on the first straight tube section 101 and the fourth straight tube section 104, the long straight tube 2 is connected with the tube body of the arc tube 3, and preferably, two ends of the arc tube 3 are respectively fixedly connected at the junction of the first straight tube section 101 and the fifth straight tube section 105 and at the junction of the fourth straight tube section 104 and the third arc section 108; a reinforcing pipe is arranged between the second straight pipe section 102 and the third straight pipe section 103; the circular arc tube 3 and the reinforcing tube can make the whole hanger structure more stable.
Optionally, a rectangular parallelepiped body 4 is fixedly arranged below the second straight tube section 102, the axis of the rectangular parallelepiped body 4 is horizontal to the axis of the second straight tube section 102, and a plurality of pin holes are arranged at equal intervals along the axis direction of the rectangular parallelepiped body 4; the rectangular sheet body 4 is arranged close to one end of the second arc segment 107; the L-shaped supports 6 are fixedly arranged on the mounted object, the L-shaped supports 6 are arranged along the axis of the mounted object, the distance between each pair of L-shaped supports 6 is the same as the width of the rectangular sheet body 4, and the rectangular sheet body 4 can be inserted between the L-shaped supports 6. Preferably, the mounted object is an inspection device 5, and further, the inspection device 5 is a long cylinder. Through locknut with rectangular lamellar body 4 and L shape support 6 fixed connection, and then will be carried article and stores pylon fixed connection.
Further, bracket fixing pipes 7 are respectively arranged at the positions of the second straight pipe section 102 at the two ends of the rectangular sheet body 4; the bracket fixing pipe 7 is vertical to the second straight pipe section 102, the bracket fixing pipe 7 is positioned on a fourth longitudinal plane, and the first longitudinal plane, the second longitudinal plane, the third longitudinal plane and the fourth longitudinal plane are parallel to each other; preferably, in order to facilitate the fixed mounting with the mounted object more firmly, the support fixing tube 7 is shaped like a special shape and can be attached to the appearance of the mounted object mounting point, further, the support fixing tube 7 is shaped like a circular arc, and the circular arc of the support fixing tube 7 can be attached to the inspection device 5 with a long cylinder shape.
Further, the middle position of the bracket fixing pipe 7 is connected with the second straight pipe section 102; screw holes are formed in two ends of the support fixing tube 7, the support fixing tube further comprises an anti-swing support 8, the anti-swing support 8 is in an omega shape, the anti-swing support 8 and the fixing tube 7 are fixedly arranged on a mounted object through screws, and the mounted object is fixedly connected with a mounting; the bottom of the anti-swing bracket 8 is provided with a silicon sulfide rubber pad, preferably bonded to the bottom of the anti-swing bracket 8. Further, the arc-shaped distance formed between the second straight pipe section 102 and the third straight pipe section 103 is larger than half of the length of the bracket fixing pipe 7.
Further, the omega-shaped anti-swing bracket 8 is formed by integrally connecting a first lug 11, a u-shaped lug 12 and a second lug 13 in sequence, wherein the width of the first lug 11 is smaller than that of the u-shaped lug 12, the width of the second lug 13 is smaller than that of the u-shaped lug 12, and the width of the first lug 11 is equal to that of the second lug 13; the two side walls of the u-shaped piece 12 are respectively bent into an angle of 90 degrees at the contact surface with the hung article, and then are respectively bent into an angle of 180 degrees at one end close to the first lug piece 11 and the second lug piece 13; a through groove 14 is formed at the 90-degree angle bending part, the first lug plate 11 and the second lug plate 13 are bent to form an arch bridge shape, and then the first lug plate and the second lug plate are inserted into the corresponding through grooves 14 and penetrate out of the through grooves 14; first auricle 11 and second auricle 13 are provided with a plurality of spine with the one side of vulcanite rubber pad contact, the one end that first auricle and second auricle inserted through the groove is provided with a plurality of spine, when screwing up the operation to the moment of torsion that gland nut applyed, during a plurality of spine can prick vulcanite rubber pad. The anti-swing support 8 of omega shape prevents the pendulum nature in the time of can improving the vibration, has increased the locking of stores pylon part and has prevented cracked performance.
Optionally, one end of the second connecting end is provided with an internal thread, the other end of the second connecting end is provided with a ring groove, the end of the long straight pipe 2 is provided with a ring-shaped guide rail, the ring groove and the ring-shaped guide rail are mutually clamped and relatively rotated, and the Y-direction adjustment can be performed on the mounted object; the anti-theft device is further provided with a hanging lug connector 9, an external threaded pipe is arranged at one end of the hanging lug connector 9 and can be in threaded connection with the internal thread of the second connecting end, an external limiting table is arranged at the opening end of the external threaded pipe, an internal limiting table is arranged at the outermost end of the internal thread of the second connecting end, the external limiting table and the internal limiting table can be limited and clamped, and the second connecting end is prevented from being accidentally separated from the hanging lug connector 9 when reaching the limit of the rotating position; the other end of the hanging lug connector 9 is hinged with a hanging point on a hung article and is used for adjusting the hung article in the Z direction.
First embodiment of Z-direction adjustment of the first connection end:
referring to fig. 1-3 and 6, in the hanger described above, one end of the first connecting end is provided with an external thread, the other end of the first connecting end is provided with a ring groove, the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are provided with ring guide rails, and the ring groove and the ring guide rails are mutually clamped and relatively rotated, so that the Y-direction adjustment of the articles to be hung can be performed; still include ferrule 10, ferrule 10 one end is provided with the internal thread pipe, can carry out threaded connection with the external screw thread of first connection end, the open end of internal thread pipe is provided with interior spacing platform, the outermost end of first connection end external screw thread is provided with outer spacing platform, interior spacing platform and outer spacing platform can spacing card with, prevent that first connection end from breaking away from with the accident of ferrule 10 when reaching the limit of rotational position.
Furthermore, the other end of the pipe hoop 10 is a hoop, and the Z-direction position of the first connecting end is adjusted by adjusting the angle between the hoop and the mounting bracket of the mounting main body, so that the Z-direction position of the gravity center of the mounted object is adjusted; in order to prevent sliding, an anti-slip rubber cushion is arranged between the hoop and the mounting bracket.
Second embodiment of Z-direction adjustment of the first connection end:
referring to fig. 7-10, the hanger described above further comprises a pipe hoop 10, wherein one end of the pipe hoop 10 is provided with an internal threaded pipe, in order to obtain better anti-slip effect, the other end of the pipe hoop 10 is fixedly connected with the mounting bracket, preferably, the end of the pipe hoop 10 is provided with a screw hole, a corresponding position of the mounting bracket is provided with a screw hole, and the pipe hoop 10 is detachably and fixedly connected with the mounting bracket by using a screw.
Further, the first connecting end comprises a connecting pipe 15, a supporting disk 16 and a first supporting plate 17, and the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are provided with a second supporting plate 18; a telescopic clamp and an assembly are respectively arranged between the first connecting end and the end of the first straight pipe section 101 and between the first connecting end and the end of the fourth straight pipe section 104; an external thread is arranged at one end of the connecting pipe 15, an annular groove is arranged at the other end of the connecting pipe 15, an annular guide rail is arranged on one end face of the supporting plate 16, and the annular groove and the annular guide rail are mutually clamped and relatively rotated to adjust the Y direction of the hung article; the internal thread pipe of ferrule 10 carries out threaded connection with the external screw thread of connecting pipe 15, the open end of internal thread pipe is provided with interior spacing platform, the one end outermost end that connecting pipe 15 was provided with the external screw thread is provided with outer spacing platform, interior spacing platform and outer spacing platform can spacing card with, prevent that the connecting pipe from breaking away from with ferrule 10 accident when reaching the limit of rotational position.
Furthermore, two first supporting plates 17 are symmetrically arranged on the other end surface of the supporting plate 16; two second support plates 18 are symmetrically arranged on the ends of the first straight pipe section 101 and the fourth straight pipe section 104 and are clamped and connected with the corresponding first support plates 17; the first supporting plate 17 is provided with a shaft hole, the outer side of the second supporting plate 18 is provided with a shaft, and the shaft penetrates through the shaft hole so as to clamp the first supporting plate on the outer side of the second supporting plate; the outer side surface of the second supporting plate 18 is provided with a plurality of positioning pins, a plurality of circumferential pin holes are formed in positions, corresponding to the positioning pins, of the first supporting plate and the second supporting plate, the position of the first connecting end is adjusted by adjusting the positions, inserted into the circumferential pin holes, of the positioning pins, and then the position of the center of gravity of the hung article in the Z direction is adjusted.
Further, the telescopic clamp and the assembly comprise two sliding chutes, two springs, a supporting column, two sliding blocks, an oval cam and an adjusting handle, wherein the two sliding chutes are radially and symmetrically arranged on the end surfaces of the ends of the first straight pipe section 101 and the fourth straight pipe section 104; a spring and a sliding block are arranged in the sliding groove, one end of the spring is fixedly connected to the innermost end of the sliding groove, the other end of the spring is fixedly connected with the sliding block, the sliding block is slidably arranged in the sliding groove, a clamping rail is arranged on the inner wall of the sliding groove at the opposite side, a clamping groove is arranged on the side face of the sliding block at the opposite side, and the clamping groove is clamped in the clamping rail; the second supporting plate is fixedly connected with the sliding block and can move along the radial direction of the connecting pipe under the driving of the sliding block; the support column is arranged at the circle center position of one side surface of the support disc between the two first support plates, a placing hole is formed in the position where the support column is flush with the shaft hole, the oval cam is connected with the adjusting handle through the placing hole, and the oval cam is further rotated by rotating the adjusting handle; the inner side of the adjusting handle is connected with a rotating shaft, and the rotating shaft is arranged in the center of one side of the oval cam and penetrates through the placing hole; arc-shaped grooves matched with the long edge of the elliptical cam are formed in the end faces of the ends of the first straight pipe section 101 and the fourth straight pipe section 104, the inner end face of the supporting plate and the inner side face of the second supporting plate, so that the elliptical cam can rotate and limit conveniently; the supporting column is provided with a limiting piece used for limiting the rotation of the adjusting handle when the elliptical cam rotates to the position.
Furthermore, a plurality of raised lines are arranged on the outer side edges of the two first support plates, and a plurality of grooves corresponding to the raised lines one by one are arranged on the end faces of the ends of the first straight pipe section 101 and the fourth straight pipe section 104, which are positioned on the outer sides of the two second support plates, so that the first straight pipe section 101, the fourth straight pipe section 104 and the first connecting end can be further prevented from sliding.
When the position of the center of gravity Z of the hung article needs to be adjusted, the elliptic cam is adjusted to be parallel to the end face of the connecting pipe by the rotary adjusting handle, at the moment, the two springs retract, the two second supporting plates are simultaneously drawn close to the middle, the positioning pin is separated from the circumferential pin hole, the second supporting plates are rotated to adjust the position of the positioning pin, the elliptic cam is adjusted to be parallel to the end face of the connecting pipe by the rotary adjusting handle after adjustment, at the moment, the two springs are reset to be stretched, the second supporting plates are outwards pushed open, and the positioning pin is inserted into the circumferential pin hole to be clamped and positioned.
Third embodiment of Z-direction adjustment of the first connection end:
referring to fig. 11-14, the hanger described above further includes a pipe clamp 10, one end of the pipe clamp 10 is provided with an internally threaded pipe, in order to obtain better anti-slip effect, the other end of the pipe clamp 10 is fixedly connected with the mounting bracket, preferably, the end of the pipe clamp 10 is provided with a screw hole, a corresponding position of the mounting bracket is provided with a screw hole, and the pipe clamp 10 is detachably and fixedly connected with the mounting bracket by using a screw.
Further, the first connecting end comprises a connecting pipe 15, a supporting disk 16, a first supporting plate 17 and a limiting plate 19, and the ends of the first straight pipe section 101 and the fourth straight pipe section 104 are provided with a second supporting plate 18; the first supporting plate and the second supporting plate are connected through pin holes, pins and shafts; one end of the connecting pipe is provided with an external thread, the other end of the connecting pipe is provided with a ring groove, one end face of the supporting disk is provided with a ring-shaped guide rail, the ring groove and the ring-shaped guide rail are mutually clamped and relatively rotated, and Y-direction adjustment can be carried out on the mounted object; the internal thread pipe of ferrule 10 carries out threaded connection with the external screw thread of connecting pipe, the open end of internal thread pipe is provided with interior spacing platform, the one end outermost end that the connecting pipe was provided with the external screw thread is provided with outer spacing platform, interior spacing platform and outer spacing platform can spacing card with, prevent that the connecting pipe from breaking away from with the accident of ferrule 10 when reaching the limit of rotational position.
Furthermore, the first supporting plate is provided with two supporting plates which are symmetrically arranged on the other end surface of the supporting plate; two second support plates are symmetrically arranged on the ends of the first straight pipe section 101 and the fourth straight pipe section 104 and are connected with the corresponding first support plate cards; the first supporting plate is provided with a shaft hole, the inner side of the second supporting plate is provided with a shaft, and the shaft penetrates through the shaft hole so as to clamp the second supporting plate on the outer side of the first supporting plate; the first backup pad with it is provided with a plurality of pinholes to correspond in the second backup pad, and is a plurality of the pinhole sets up around shaft hole and axle circumference respectively, still includes a plurality of pins, when needs adjustment by carry article focus Z to the position, takes off the pin and to first backup pad and second backup pad relative rotation, adjusts the angle after, will insert and carry out fixed position in the pinhole in first backup pad and the second backup pad.
Furthermore, the top ends of the two first supporting plates are connected through a connecting plate, a plurality of raised lines are arranged on the outer side face of the connecting plate, a plurality of grooves which are in one-to-one correspondence with the raised lines are arranged on the end faces, located on the inner sides of the two second supporting plates, of the ends of the first straight pipe section 101 and the fourth straight pipe section 104, and sliding between the first straight pipe section 101 and the first connecting end and the fourth straight pipe section 104 can be further prevented.
One end of the limiting plate is arranged on the supporting disc, and the other end of the limiting plate is suspended in the air and is separated from the end faces of the ends of the corresponding first straight pipe section 101 and the corresponding fourth straight pipe section 104 by a certain distance; the limiting plate is parallel to the axis of the connecting pipe, and the flat plate surface of the limiting plate is parallel to the axis of the shaft; the limiting plate is arranged on one side or two sides of the two first supporting plates, and when the first connecting end head is inclined to the maximum position after Z-direction adjustment, auxiliary supporting force can be provided. Optionally, a limiting plate with the same structure is also arranged in the second embodiment of Z-direction adjustment of the first connection end.
Compared with the prior art, the stores pylon that this embodiment provided can make and carry out position control by the carry article in X, Y, Z three directions, accommodation process convenient and practical, and simultaneously, the preset space that the space return bend of the special shape of stores pylon, angle formed has increased the bulk strength of support body structure and at the structural strength of contact point, tie point, can reduce the probability that the contact point fracture damaged and become flexible, has improved the stores pylon and has been carried the fail safe nature of article, has reduced equipment cost.
Testing the performance of the hanging rack:
1. test objects:
selecting 100 degrees, 110 degrees, 125 degrees and 135 degrees as the values of the angles alpha and beta, correspondingly selecting 5 degrees, 10 degrees, 25 degrees and 35 degrees as the values of the angles tau and gamma, and bending and molding the hanging rack.
2. Test items, test methods and test results:
2.1. a universal test chamber vibration table (such as a vibration exciter) is used for clamping the tested hanging rack through a clamp so as to test the tested hanging rackWhether the hanger can withstand the vibration conditions in the life cycle and normally work is taken as an identification test. The method comprises the following steps that a mounting main body is used as an excitation point, vibration load is transmitted to a tested hanging rack and a mounted object, and the combined rigid body modal frequency of the mounting main body, the tested hanging rack and the mounted object is between 5Hz and 20 Hz; at X, Y, Z, the vibration is sinusoidally vibrated at vibration frequencies of 10 Hz-500 Hz-10 Hz, and the acceleration is 2g, wherein g is 9.8m/s2The fracture damage test is carried out by adopting a vibration method, the vibration is carried out for 0-4 hours in each direction, and in order to improve the comparison efficiency, the vibration operation sequence is as follows: and (3) respectively vibrating for 0-2 hours in the X, Y, Z direction, and if the qualified conditions are met, respectively vibrating for 0-2 hours in the X, Y, Z direction, and judging again. According to the standard, the test rack is vibrated for 0-2 hours in the direction X, Y, Z, and if the vibration time in any one of the three directions is less than 2 hours, the test rack is broken, namely, the test rack is judged to be invalid; respectively vibrating for 0-2 hours in the direction X, Y, Z, if the vibration time of each vibration direction in the three directions is more than or equal to 2 hours, the tested hanging rack is not broken, respectively vibrating for 0-2 hours in the direction X, Y, Z again, and if the vibration time of any vibration direction in the three directions is less than 2 hours, the tested hanging rack is broken, namely, the tested hanging rack is judged to be qualified; and respectively vibrating for 0-2 hours in the direction X, Y, Z, if the vibration time of each of the three directions is greater than or equal to 2 hours, judging that the tested hanging rack is not broken, respectively vibrating for 0-2 hours in the direction X, Y, Z again, and if the vibration time of each of the three directions is greater than or equal to 2 hours, judging that the tested hanging rack is not broken, namely judging that the tested hanging rack is excellent.
2.2. Test results
The angles alpha and beta are 100 degrees, when the angles tau and gamma are 5 degrees, 10 tested pieces are respectively used for testing, the vibration time is two hours in the X direction and the Y direction on average, when the vibration time is half hour in the Z direction for the first time, the connection part of the arc-shaped pipe 3 and the first straight pipe section 101 and the connection part of the arc-shaped pipe 104 are broken, and the failure is judged;
the angles alpha and beta are 110 degrees, when the angles tau and gamma are 10 degrees, 10 tested pieces are adopted for respective testing, the vibration time is averagely two hours in the X direction and the Y direction, when the first vibration is carried out for one hour in the Z direction, the connection part of the arc-shaped pipe 3 and the first straight pipe section 101 and the connection part of the arc-shaped pipe 104 are broken, and the failure is judged;
the angles alpha and beta are 125 degrees, when the angles tau and gamma are 25 degrees, 10 tested pieces are respectively used for testing, the vibration time is averagely passed through in the X direction and the Y direction for four hours, when the first vibration in the Z direction is two hours, the connection part of the arc-shaped pipe 3 and the first straight pipe section 101 and the fourth straight pipe section 104 is not broken, when the second vibration in the Z direction is one hour, the fracture tendency of the connection part of the arc-shaped pipe 3 and the first straight pipe section 101 and the fourth straight pipe section 104 is measured, and the qualification is judged;
when the angles alpha and beta are 135 degrees and the angles tau and gamma are 35 degrees, 10 tested pieces are respectively used for testing, the vibration time is four hours in the X, Y and Z directions on average, the connection part of the arc-shaped pipe 3 and the first straight pipe section 101 and the fourth straight pipe section 104 is still free of fracture tendency, and the judgment is excellent.
As can be seen from product performance tests, the angles alpha, beta, tau and gamma adopted by the hanging rack have the advantages that the whole space structure of the hanging rack is more compact, the structural strength of the hanging rack can be increased, the hanging rack is not easy to break, the equipment reliability is improved, and the equipment cost is reduced.
The utility model provides an unmanned aerial vehicle, includes fuselage, hangers and longeron down, and the equal symmetry of hangers and longeron down sets up in the both sides of unmanned aerial vehicle fuselage bottom, and hangers and longeron down are connected with the hangers connector 9 and the ferrule 10 of aforementioned stores pylon respectively.
Preferably, the number of the suspension loops and the number of the lower longitudinal beams are two; the number of the hanging racks is two, and the hanging racks are the same as the hanging racks; the two hangers are symmetrically mounted on the corresponding hangers and the lower longitudinal beam in a mirror image mode.
Preferably, the axial direction of the lower longitudinal beam is set towards the heading of the unmanned aerial vehicle; and setting the course of the unmanned aerial vehicle as the X direction.
Preferably, the hangers are located above the lower longitudinal beams, and the hangers are aligned with the center of gravity of the unmanned aerial vehicle in the X direction.
Preferably, the hanging lug is hinged with the hanging lug connector 9 and can rotate by an angle along with the Z-direction adjustment of the first connecting end.
A method for hanging articles on an unmanned aerial vehicle is based on the hanging rack and the unmanned aerial vehicle, and comprises the following steps:
s1: and obtaining the gravity center of the unmanned aerial vehicle.
S2: the hanger is hung on the unmanned aerial vehicle.
Connecting a hanger connector 9 with a hanger, and then fixedly connecting pipe hoops 10 of a first straight pipe section 101 and a fourth straight pipe section 104 with the lower longitudinal beam respectively; the heading direction is X direction, the pipe hoop 10 of the first straight pipe section 101 is positioned at the rear part of the side sill, and the pipe hoop 10 of the fourth straight pipe section 104 is positioned at the front part of the side sill.
Screwing the external thread of the first connecting end or the connecting pipe of the hanger and the internal thread of the pipe hoop 10 to the deepest position; the internal thread of the second connecting end of the long straight pipe 2 is screwed with the external thread of the hanger connecting head 9 to the deepest position.
Get the integration focus behind the unmanned aerial vehicle mounted stores pylon to this integration focus adjusts as the benchmark.
S3: the article to be mounted is mounted, and X, Y and Z-direction adjustment are performed on the article to be mounted.
Obtaining the gravity center and the mass of the mounted object to be mounted on two sides of the unmanned aerial vehicle body, wherein the mass of the mounted object on the two sides is M1And M2(kg) of which M1＜M2(ii) a Adjusting the fixing position of the L-shaped bracket 6 of the mounted object relative to the rectangular sheet body 4 by taking the integrated gravity center as a reference, so that the gravity center of the mounted object is aligned with the integrated gravity center in the X direction; the cuboid 4 and the L-shaped bracket 6 are fixedly connected through the locknut, and then the articles to be hung are fixedly connected with the hanging rack.
The torque wrench is used for rotating the compression nut, so that the compression nut is fastened with the screw rod, and the support fixing tube 7 and the anti-swing support 8 are fixed on the carried object, and a stable supporting effect is obtained. When the torque wrench rotates the compression nut, the vulcanized silicone rubber pad is compressed and deformed with the binding surface of the mounted object, and when the ratio of the compression thickness h (mm) of the vulcanized silicone rubber pad to the original thickness H (mm) of the vulcanized silicone rubber pad is 10-30%, preferably 20%, the tightening is stopped. When the torque T (N.m) applied to the compression nut by the torque wrench and the compression thickness h (mm) of the vulcanized silicone rubber gasket accord with the following formula: when T is 7700 Xh/1000 +106, the screw tightening stopping device prompts an operator to stop screwing, is convenient for timely and accurately stopping operation of the worker, avoids operation depending on an empirical mode, and improves accuracy in part fixing.
It can be understood that, as proved by comparison tests of product part loosening and deformation performance by adopting a vibration method, the swing-proof support 8 and the proportion of the compression thickness h (mm) of the adopted vulcanized silicone rubber gasket to the original thickness H (mm) of the vulcanized silicone rubber gasket are under the same condition, parts of the hanging rack are not easy to loosen and deform, and the hanging rack is not easy to loosen and deform.
Adjusting the mass to M1The Z-direction angle of the first connecting end on the side ensures that the gravity center and the mass of the first connecting end are M2The centers of gravity of the lateral articles to be mounted are aligned in the Z direction.
The distance of the mounted articles mounted on two sides of the unmanned aerial vehicle body in the Y direction is adjusted. The length between the first connecting end and the pipe hoop 10 can be adjusted to l (mm) and the mass is M1The distance between the center of gravity of the article to be mounted on the side and the integrated center of gravity in the Y direction is L1(mm) mass M2The distance between the center of gravity of the article to be mounted on the side and the integrated center of gravity in the Y direction is L2(mm), by the formula: m1×(L1+l1)＝M2×(L2) To find out l1(mm) in which l1Is of mass M1Y-direction adjustment distance, l, of lateral articles to be mounted1L; to mass M1The distance between the first connection end of the article to be hung on the side and the pipe hoop 10 is adjusted by an amount l1(mm), at this moment, the article carried is balanced in Y upwards in unmanned aerial vehicle fuselage both sides.
Form the focus of X, Y, Z three directions from this and make level for the whole flight of unmanned aerial vehicle behind the carried article of both sides carried different weight and focus position is steady, and is not fragile, patrols and examines effectually.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a method of loading article in unmanned aerial vehicle, will be carried article and carry in unmanned aerial vehicle through the stores pylon, its characterized in that includes following step:
s1: obtaining the gravity center of the unmanned aerial vehicle;
s2: hanging the hanging rack on an unmanned aerial vehicle;
s3: the article to be mounted is mounted, and X, Y and Z-direction adjustment are performed on the article to be mounted.
2. The method for hanging an article on an unmanned aerial vehicle according to claim 1, wherein in step S2, the hanger connector (9) of the hanger is connected to the hanger of the unmanned aerial vehicle, and then the pipe hoops (10) of the hanger are respectively and fixedly connected to the lower longitudinal beam of the unmanned aerial vehicle, and the heading direction is X direction.
3. The method of claim 2, wherein in step S2, the Y position of the pylon is adjusted to a deepest position relative to the drone.
4. The method according to claim 3, wherein in step S2, an integrated center of gravity of the unmanned aerial vehicle after being mounted on the pylon is determined, and the adjustment is performed based on the integrated center of gravity.
5. The method of claim 1, wherein the hanging rack is provided with two hanging racks symmetrically arranged at two sides of the bottom of the unmanned aerial vehicle body.
6. The method for hanging an article on an unmanned aerial vehicle according to claim 5, wherein in step S3, the center of gravity and the mass of the article to be hung on the two sides of the unmanned aerial vehicle body are obtained,the mass of the article to be mounted on both sides is M1And M2Wherein M is1＜M2(ii) a So that the center of gravity of the mounted article is aligned with the integrated center of gravity in the X direction, and then the mounted article is fixedly connected with the hanging rack.
7. Method for hanging items on unmanned aerial vehicle according to claim 6, wherein in step S3, the mass is adjusted to M1The Z-direction angle of the side hanging rack enables the gravity center and the mass of the side hanging rack to be M2The centers of gravity of the lateral articles to be mounted are aligned in the Z direction.
8. The method of claim 7, wherein in step S3, the rack is adjustable to a length lmm and a measured mass M1The distance between the center of gravity of the article to be mounted on the side and the integrated center of gravity in the Y direction is L1mm, measured mass M2The distance between the center of gravity of the article to be mounted on the side and the integrated center of gravity in the Y direction is L2mm, by the formula: m1×(L1+l1)＝M2×(L2) To find out l1(ii) a To mass M1The distance of the article to be mounted on the side is adjusted by an amount of l1mm; make by carry article balanced in Y on the fuselage both sides of unmanned aerial vehicle.
9. A drone for carrying out the method of hanging an item on a drone of any one of claims 1 to 8, characterised by comprising a fuselage, lugs and stringers.
10. The drone of claim 9, wherein the hangers are located above the side sills.
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| JP2020029258A (en) * | 2019-11-28 | 2020-02-27 | 株式会社エアロネクスト | Rotorcraft |
| CN113232829A (en) * | 2021-06-11 | 2021-08-10 | 王陆峰 | Unmanned aerial vehicle frame of adjustable focus |
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| RU2012152591A (en) * | 2012-12-07 | 2014-06-20 | Закрытое акционерное общество "Гражданские самолеты Сухого" | ENGINE MOUNT POWER MOUNT HANGED ASSEMBLY ASSEMBLY WITH WING CASSON |
| CN104981403A (en) * | 2014-08-08 | 2015-10-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle base station and battery change device therefor |
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| CN114030625B (en) | 2023-11-07 |
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