CN112173113B

CN112173113B - Damping device of high-altitude rescue unmanned aerial vehicle and using method

Info

Publication number: CN112173113B
Application number: CN202011260611.1A
Authority: CN
Inventors: 李昭; 陈贵瑜; 李文美
Original assignee: Individual
Current assignee: Li Zhao
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2022-01-21
Anticipated expiration: 2040-11-12
Also published as: CN112173113A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a damping device of a high-altitude rescue unmanned aerial vehicle, which comprises a rotary base, a movable arm assembly, a damping structure and a buffering structure, wherein the rotary base is arranged at the bottom of the unmanned aerial vehicle; the movable arm assembly comprises a first movable arm, a second movable arm and a third movable arm; the damping device can adjust the ground contact position before falling to the ground, ensures that the high-altitude rescue unmanned aerial vehicle stably and reliably falls to the ground, adopts the buffer structure and the damping structure to perform damping treatment twice, has obvious damping effect, and is suitable for the high-altitude rescue unmanned aerial vehicle under the condition of high load. The invention also provides a using method of the damping device, which comprises the steps of installation of the damping device, horizontal position adjustment, posture adjustment and buffering of the damping device, terrain adaptation and the like.

Description

Damping device of high-altitude rescue unmanned aerial vehicle and using method

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a damping device of a high-altitude rescue unmanned aerial vehicle and a using method of the damping device.

Background

Unmanned aerial vehicles have matured from a technical point of view after decades of development processes. The system has the advantages of low cost and high flexibility, and can carry some important equipment to complete special tasks such as aerial detection, aerial monitoring, aerial communication, aerial propaganda, emergency rescue and the like; when a special task is executed, casualties are generally not caused, the survival capability is strong, the maneuverability is good, the practicability and the convenience are realized, and the important function can be played in the aspects of processing natural disasters, accident disasters, social security events and the like.

However, in order to make the unmanned aerial vehicle more intelligent, reduce its use degree of difficulty, improve its work efficiency, more and more sensor and processing chip are carried on unmanned aerial vehicle to make its function more perfect, accomplish special task more intelligently. The unmanned aerial vehicle carries the camera sensor, and the development in the aspects of computer vision theory and engineering application provides high-altitude rescue for the intellectualization of the unmanned aerial vehicle, so that the high-altitude rescue work is always a social problem puzzling countries in the world.

For example, when an aerial dangerous accident such as a floor explosion or a fire occurs, the accident is often sudden and the risk continues to increase, and therefore, people on the fire floor or the floor above the fire floor are often trapped in the floor and cannot be transferred to the safe floor below. In this situation, in the prior art, the trapped people usually can only hide in a relatively closed space to be away from the fire, or escape to the balcony to wait for rescue, however, when the stairs cannot pass through or the balcony floors cannot pass through, the trapped people can only be trapped in place, and cannot save themselves through other channels, thereby gaining time for waiting for rescue and safe escape.

For example, when a person jumps from a building or falls from a high place, the ground conditions are mostly unable to place the buffer air cushion, or even if the buffer air cushion is placed, the person falls from the high place and still has great life risk.

For example, when the unmanned aerial vehicle lands on the ground with irregular outdoor rescue, the unmanned aerial vehicle is easy to turn over to cause secondary accidents.

The patent with publication number CN110901918A discloses a high-altitude rescue device of a large-load unmanned aerial vehicle, which comprises a supporting plate, an air cushion bed, a supporting rod, a lifesaving net and an electric push rod, wherein the supporting plate is fixedly connected with the body of the unmanned aerial vehicle through a screw rod and is positioned above the unmanned aerial vehicle; the air cushion bed is positioned above the supporting plate and used for bearing rescued people; electric putter, one end is connected on the unmanned aerial vehicle horn, and one end is connected on the bracing piece in addition for the motion of control bracing piece, thereby reach the effect of opening, closed lifesaving net, like this, close under the condition of not using, whole area is littleer, convenient transportation utilizes this high altitude rescue device and big load unmanned aerial vehicle to cooperate, can break through the restriction of special place and complex environment, quick response high altitude rescue demand will be transported to ground by the person of saving one by one, has improved the efficiency of rescue work widely. However, the following problems still exist:

1. the existing damping device of the rescue unmanned aerial vehicle cannot stably and reliably land on uneven ground;

2. the damping device of the existing unmanned aerial vehicle is not suitable for the high-altitude rescue unmanned aerial vehicle under the condition of high load, and the damping effect is not ideal under the condition of high load.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a damping device of a high-altitude rescue unmanned aerial vehicle, which is used for solving the problems that the damping device of the existing rescue unmanned aerial vehicle cannot stably and reliably land on uneven ground, the damping device of the existing unmanned aerial vehicle is not suitable for the high-altitude rescue unmanned aerial vehicle under the condition of high load, the damping effect is not ideal under the condition of high load and the like.

In order to solve the technical problems, the invention adopts the following technical scheme:

a damping device of a high-altitude rescue unmanned aerial vehicle comprises a rotary base, a movable arm assembly, a damping structure and a buffering structure, wherein the rotary base is installed at the bottom of the unmanned aerial vehicle;

the movable arm assembly comprises a first movable arm, a second movable arm and a third movable arm, the rear end of the first movable arm is movably connected with the rotating seat, two ends of the second movable arm are respectively movably connected with the front end of the first movable arm and the rear end of the third movable arm, the third movable arm is movably connected with the front end of the second movable arm, the upper end of the third movable arm is provided with an air injection structure, and the buffer structure is arranged at the lower end of the third movable arm and is fixedly connected with the lower end of the third movable arm;

shock-absorbing structure includes cylinder body, inner chamber, coupling assembling and piston, be equipped with the cylinder on the cylinder body, the piston is arranged in inside and rather than sliding connection of cylinder, the piston with the cylinder constitutes sealed inner chamber, the coupling assembling middle part with cylinder body swing joint, coupling assembling one end with piston swing joint, the coupling assembling other end passes through second fixing base and second digging arm swing joint, the cylinder body pass through the third fixing base with first digging arm swing joint.

The rotating seat rotates to drive the movable arm assembly, the shock absorption structure and the buffer structure to rotate in the horizontal direction, meanwhile, the angle between the rotating seat and the first movable arm in the vertical direction can be adjusted within the range of 135 degrees to 180 degrees, the angle between the first movable arm and the second movable arm in the vertical direction can be adjusted within the range of 135 degrees to 180 degrees, the angle between the second movable arm and the third movable arm in the vertical direction can be adjusted within the range of 90 degrees to 180 degrees, so that the buffer structure is always kept in a horizontal posture to be in contact with the ground, and the buffer structure has a buffer effect;

the air injection structure is installed at the upper end of the third movable arm through an air injection installation plate, when the high-altitude rescue unmanned aerial vehicle is 10-20 cm away from the ground, the air injection structure on one or more damping devices is controlled to be opened according to ground condition information of the ground, the air injection structure injects high-pressure air out of the nozzle, and the high-altitude rescue unmanned aerial vehicle is pushed to horizontally move in the opposite direction of the nozzle through the reactive force of rapid movement of the high-pressure air;

when the impact force is too large after falling to the ground, the rear end of the second movable arm rotates around the front end of the first movable arm, the included angle between the first movable arm and the second movable arm is enlarged, the piston is driven to move towards the outside of the cylinder through the connecting assembly, the size of the inner cavity is increased, the air pressure in the inner cavity is smaller than the external atmospheric pressure, the piston is limited to move, the gravitational potential energy of the unmanned aerial vehicle is converted into the internal energy of the air in the inner cavity, and the damping effect is achieved.

Furthermore, the first movable arm comprises a first movable arm middle section, a first movable arm rear section and a first movable arm front section, two ends of the first movable arm middle section are respectively and fixedly connected with the first movable arm rear section and the first movable arm front section, the first movable arm is Z-shaped, an included angle between the first movable arm middle section and the first movable arm rear section is an obtuse angle, and an included angle between the first movable arm middle section and the first movable arm front section is an obtuse angle;

the second digging arm includes second digging arm middle section, second digging arm back end, second digging arm anterior segment, second motor and third motor, second digging arm middle section both ends respectively with second digging arm back end with second digging arm anterior segment fixed connection, the second digging arm back end passes through the second motor with first digging arm anterior segment swing joint, the second digging arm anterior segment passes through third motor and third digging arm swing joint, the second digging arm is "C" font, the second digging arm middle section with the contained angle of second digging arm back end is the obtuse angle, the second digging arm middle section with the contained angle of second digging arm anterior segment is the obtuse angle.

The included angle between the middle section of the first movable arm and the rear section of the first movable arm is 110-160 degrees, and the included angle between the middle section of the first movable arm and the front section of the first movable arm is 110-160 degrees, so that the first movable arm between the included angles can be well adapted to a damping structure, and the sufficient strength and rigidity can be ensured; the second digging arm middle section with the contained angle of second digging arm back end is between 110 degrees to 160 degrees, two digging arm middle sections with the contained angle of second digging arm anterior segment is between 110 degrees to 160 degrees, between this angle the second digging arm can be under the prerequisite of guaranteeing self intensity and rigidity, outwards extend as far as possible, enlarge the distance between several evenly distributed's damping device landing point, improve the stability of this device.

The damping structure further comprises an air ring, an air inlet channel, an air inlet valve, an air pump, an air outlet channel and an air outlet valve, wherein the air ring is arranged at the top of the piston, the air pump is communicated with the top of the cylinder through the air inlet channel, the air inlet valve is arranged on the air inlet channel, and the air outlet valve is communicated with the top of the cylinder through the air outlet channel;

coupling assembling includes first fixing base, first connecting rod, second connecting rod, third connecting rod and piston seat, first connecting rod one end is passed through first fixing base and cylinder body swing joint, the first connecting rod other end with second connecting rod one end swing joint, the second connecting rod other end passes through second fixing base and second digging arm swing joint, third connecting rod one end with second connecting rod one end fixed connection and contained angle are the obtuse angle, the third connecting rod other end passes through piston seat and piston bottom swing joint.

The air pump passes through the air inlet and inhales the air from the inner chamber outside, the air pump fills the air into the inner chamber, discharge valve discharges the air of inner chamber from the gas vent, the admission valve with when discharge valve closes simultaneously, the inner chamber is airtight space, through air pump and discharge valve's coordination, adjusts the gaseous pressure in inner chamber to adjust the absorbing rigidity of cylinder, improve the practicality and the adaptability of this device.

In the coupling assembling, whole coupling assembling is equivalent to the lever, first fixing base is equivalent to coupling assembling's fulcrum, the free end of second connecting rod is equivalent to the pressure point, the piston seat is equivalent to the stress point, second connecting rod length is greater than the length of third connecting rod, and according to lever principle, this structure can increase the power of piston seat department increases the motion stroke of piston, makes the energy of vibrations more easily by the air absorption of inner chamber improves the shock attenuation effect.

Furthermore, buffer structure includes upper junction plate, lower connecting plate, several fan-shaped spring leaf, two first spacing posts, the spacing post of second and blotter, two first spacing post is installed respectively upper junction plate lower extreme and rather than swing joint, two spacing holes have been seted up at lower connecting plate both ends, two first spacing post lower extreme pass respectively two spacing holes with connecting plate sliding connection down, two are arranged in to the spacing post of second between the first spacing post, just the spacing post lower extreme of second with connecting plate fixed connection down, several fan-shaped spring leaf overlaps respectively and is established two first spacing post with on the spacing post of second and rather than sliding connection, the upper junction plate upper end is fixed at third digging arm lower extreme, the blotter is installed the connecting plate lower extreme down.

When the high-altitude rescue unmanned aerial vehicle lands on the ground, the cushion pad is in contact with the ground, according to the ground condition of the ground, when the ground is high on the left side and low on the right side, the distance between the upper connecting plate and the left side of the lower connecting plate is compressed, the fan-shaped spring pieces on the first limiting column on the left side are synchronously compressed to generate buffering elastic force, the fan-shaped spring pieces on the second limiting column are stressed to generate buffering force, the distance between the upper connecting plate and the right side of the lower connecting plate is enlarged, and the fan-shaped spring pieces on the first limiting column on the right side are not stressed; when the ground is low at the left and high at the right, the reverse is true; when the ground is a plane, the upper connecting plate and the lower connecting plate are uniformly stressed, and the two sides are compressed simultaneously; the blotter adopts soft wear-resisting materials such as rubber, and this structure can adapt to unevenness's topography, can play the absorbing effect of buffering again, has increased the practicality.

Further, the roating seat includes base, mounting panel, rotating electrical machines, rotation axis and fixed knot construct, it has rotatory hole to open in the middle of the base, the rotating electrical machines is installed in the middle of the mounting panel, rotation axis one end is in the rotation axis, the rotation axis other end with the output shaft of rotating electrical machines, fixed knot constructs to install the mounting panel side, first digging arm back end passes through fixed knot construct with mounting panel swing joint, the pedestal mounting is in unmanned aerial vehicle bottom.

The rotating motor drives the movable arm assembly, the damping structure and the buffering structure to rotate in the horizontal direction, the fixing structure controls the first movable arm to move and fix, and the first movable arm is small in number of parts, not prone to damage, convenient to maintain and convenient to operate.

Further, fixed knot constructs including fixed plate, reinforcing strip, first motor and locking dish, the fixed plate passes through the reinforcing strip is fixed at the mounting panel side, first motor is installed on the fixed plate, just first motor output shaft passes through locking dish with first digging arm back end is connected.

Through first motor adjustment the roating seat with the ascending angle of the vertical side of first digging arm, only the locking disc can lock fixed knot structure and first digging arm after angle modulation accomplishes, prevents that the two from taking place to rotate, has improved the security of this structure, prevents simultaneously to rock wearing and tearing, has improved life.

Further, the shock-absorbing structure still includes oil ring, oil duct and oil pump, the oil ring is installed at the piston top, just the oil ring is at the gas ring rear, the oil pump passes through oil duct and cylinder side wall through connection.

Lubricating oil is injected into from the oil filler point and is preserved in the oil pump, opens the oil pump after working for a certain time, passes through the oil duct with lubricating oil and injects into the cylinder in, reduces the friction of cylinder and piston, increases life, prevents gas leakage, guarantees the shock attenuation effect.

Furthermore, a plurality of first lightening holes are formed in the first movable arm, and a plurality of second lightening holes are formed in the second movable arm.

On the premise of not influencing the structural strength of the first movable arm and the second movable arm, the first lightening holes and the second lightening holes are formed, so that the mass of the first movable arm and the mass of the second movable arm can be reduced, the device is time-saving and labor-saving in assembly and maintenance, and the processing and manufacturing cost is saved.

Furthermore, the number of the movable arm assemblies is two, the two movable arm assemblies are connected through a plurality of connecting rods, and the two movable arm assemblies move synchronously.

Use two the movable arm subassembly can further increase structural strength, prevents the movable arm subassembly damages, improves shock attenuation effect and life.

The use method of the damping device of the high-altitude rescue unmanned aerial vehicle comprises the following steps:

s1, installing a plurality of uniformly distributed damping devices at the bottom of the high-altitude rescue unmanned aerial vehicle, wherein the uniformly distributed damping devices are a group of damping devices, and the damping devices are used in units of groups;

s2, adjusting the horizontal position, controlling the air injection structures on one or more damping devices to be opened according to ground condition information of the ground when the high-altitude rescue unmanned aerial vehicle is 10-20 cm away from the ground, and ejecting high-pressure air from a nozzle by the air injection structures to push the high-altitude rescue unmanned aerial vehicle to horizontally move in the opposite direction of the nozzle through the reaction force of the rapid movement of the high-pressure air;

s3, adjusting the posture of the damping device, driving a movable arm assembly, a damping structure and a damping structure to rotate in the horizontal direction through the rotating motor, adjusting the angle of the rotating seat in the vertical direction with the first movable arm through the first motor, adjusting the angle of the first movable arm in the vertical direction with the second movable arm through the second motor, and adjusting the angle of the second movable arm in the vertical direction with the third movable arm through the third motor;

s4, buffering and terrain adaptation, wherein when the high-altitude rescue unmanned aerial vehicle lands, the buffering cushion contacts the ground, according to the ground conditions of the ground, the distance between the upper connecting plate and the left side of the lower connecting plate is compressed, the fan-shaped spring pieces on the first limiting column on the left side are synchronously compressed to generate buffering elastic force, the fan-shaped spring pieces on the second limiting column are stressed to generate buffering force, the distance between the upper connecting plate and the right side of the lower connecting plate is expanded, and the fan-shaped spring pieces on the first limiting column on the right side are not stressed; when the ground is low at the left and high at the right, the reverse is true; when the ground is a plane, the upper connecting plate and the lower connecting plate are uniformly stressed, and the two sides are compressed simultaneously;

s5, damping by the aid of the cylinder, when impact force is too large after the shock absorber falls to the ground, the rear end of the second movable arm rotates around the front end of the first movable arm, an included angle between the first movable arm and the second movable arm is enlarged, the piston is driven to move towards the outside of the cylinder through the connecting assembly, the size of the inner cavity is enlarged, air pressure in the inner cavity is smaller than external atmospheric pressure, the piston is limited to move, and damping is achieved;

s6, adjusting damping parameters of the air cylinder, inflating the air pump into the inner cavity, and discharging air in the inner cavity through the exhaust valve, so that the pressure of air in the inner cavity is adjusted, and the damping rigidity of the air cylinder is adjusted;

and S7, lubricating the damping structure, and injecting lubricating oil into the cylinder through the oil pump.

The method is convenient to operate, simple and understandable, and operators can be skillfully mastered through simple training; meanwhile, the problems that the high-altitude rescue unmanned aerial vehicle is turned over due to uneven ground when the high-altitude rescue unmanned aerial vehicle descends in the field can be solved, the high-altitude rescue unmanned aerial vehicle can stably and reliably descend to the ground, the rescue workers are prevented from being injured, and articles and the unmanned aerial vehicle are damaged.

Compared with the prior art, the invention has the following beneficial effects:

the damping device can adjust the ground contact position before falling to the ground, find a smooth and reliable supporting point to land, ensure that the high-altitude rescue unmanned aerial vehicle stably and reliably lands on the ground, and simultaneously adopt the buffer structure and the damping structure to perform damping treatment twice, so that the damping effect is obvious, and the damping device is suitable for the high-altitude rescue unmanned aerial vehicle under the condition of high load.

Drawings

Fig. 1 is a schematic perspective view of a group of damping devices in an embodiment of a damping device of an aerial rescue unmanned aerial vehicle according to the invention;

FIG. 2 is a schematic perspective view of an embodiment of a damping device of an aerial rescue unmanned aerial vehicle according to the present invention;

FIG. 3 is a schematic side view of a shock absorbing device of an aerial rescue unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic top view of a shock absorbing device of an aerial rescue unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of a swivel base in an embodiment of a damping device of an aerial rescue unmanned aerial vehicle according to the present invention;

FIG. 6 is a schematic perspective view of a shock absorbing structure in an embodiment of the shock absorbing device of the high altitude rescue unmanned aerial vehicle according to the present invention;

FIG. 7 is a schematic sectional view of a shock absorbing structure in an embodiment of the shock absorbing device of the high altitude rescue unmanned aerial vehicle according to the present invention;

FIG. 8 is a schematic perspective view of a buffering structure in an embodiment of a damping device of a high altitude rescue unmanned aerial vehicle according to the present invention;

fig. 9 is a schematic sectional structure view of a buffering structure in an embodiment of a damping device of a high altitude rescue unmanned aerial vehicle according to the present invention.

Reference numerals in the drawings of the specification include:

the rotary seat 1, the base 11, the rotary hole 111, the mounting plate 12, the rotary motor 13, the rotary shaft 131, the fixed structure 14, the fixed plate 141, the reinforcing bar 142, the first motor 143, the locking plate 144, the movable arm assembly 2, the first movable arm 21, the first movable arm middle section 211, the first movable arm rear section 212, the first movable arm front section 213, the first lightening hole 214, the second movable arm 22, the second movable arm middle section 221, the second movable arm rear section 222, the second movable arm front section 223, the second lightening hole 224, the second motor 225, the third motor 226, the third movable arm 23, the air injection mounting plate 231, the air injection structure 232, the nozzle 233, the shock-absorbing structure 3, the cylinder body 31, the inner cavity 311, the connecting assembly 32, the first fixing seat 321, the first connecting rod 322, the second connecting rod 323, the third connecting rod 324, the piston seat 325, the piston 33, the air ring 331, the oil ring 332, the air inlet passage 341, the air inlet valve 342, the air pump 343, the air inlet valve 343, the air pump 343, the air inlet valve 343, the air pump 331, the air pump 32, the air pump, The air inlet 344, the exhaust channel 351, the exhaust valve 352, the exhaust port 353, the oil channel 361, the oil pump 362, the oil filling hole 363, the second fixing seat 37, the third fixing seat 38, the buffer structure 4, the upper connecting plate 41, the lower connecting plate 42, the fan-shaped spring piece 431, the first limiting column 432, the second limiting column 433, the cushion pad 44 and the connecting rod 5.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described in conjunction with the accompanying drawings and examples:

example one

As shown in fig. 1-9, a shock absorption device of a high-altitude rescue unmanned aerial vehicle comprises a rotary base 1, a movable arm assembly 2, a shock absorption structure 3 and a buffer structure 4, wherein the rotary base 1 is installed at the bottom of the unmanned aerial vehicle;

the movable arm assembly 2 comprises a first movable arm 21, a second movable arm 22 and a third movable arm 23, the rear end of the first movable arm 21 is movably connected with the rotating base 1, two ends of the second movable arm 22 are respectively movably connected with the front end of the first movable arm 21 and the rear end of the third movable arm 23, the third movable arm 23 is movably connected with the front end of the second movable arm 22, the upper end of the third movable arm 23 is provided with an air injection structure 232, and the buffer structure 4 is arranged at the lower end of the third movable arm 23 and is fixedly connected with the lower end of the third movable arm 23;

damping structure 3 includes cylinder body 31, inner chamber 311, coupling assembling 32 and piston 33, be equipped with the cylinder on the cylinder body 31, piston 33 is arranged in inside and rather than sliding connection of cylinder, piston 33 constitutes sealed inner chamber 311 with the cylinder, coupling assembling 32 middle part and cylinder body 31 swing joint, coupling assembling 32 one end and piston 33 swing joint, the coupling assembling 32 other end passes through second fixing base 37 and second digging arm 22 swing joint, cylinder body 31 passes through third fixing base 38 and first digging arm 21 swing joint.

The movable arm assembly 2, the damping structure 3 and the buffer structure 4 can be driven to rotate in the horizontal direction through rotation of the rotary seat 1, meanwhile, the angle between the rotary seat 1 and the first movable arm 21 in the vertical direction can be adjusted within the range of 135 degrees to 180 degrees, the angle between the first movable arm 21 and the second movable arm 22 in the vertical direction can be adjusted within the range of 135 degrees to 180 degrees, the angle between the second movable arm 22 and the third movable arm 23 in the vertical direction can be adjusted within the range of 90 degrees to 180 degrees, so that the buffer structure 4 always keeps a horizontal posture to be in contact with the ground, and the buffer structure 4 has a buffer effect;

the air injection structure 232 is mounted at the upper end of the third movable arm 23 through the air injection mounting plate 231, when the high-altitude rescue unmanned aerial vehicle is 10 cm to 20 cm away from the ground, the air injection structure 232 on one or more damping devices is controlled to be opened according to ground condition information of the ground, the air injection structure 232 injects high-pressure air out of the nozzle 233, and the high-altitude rescue unmanned aerial vehicle is pushed to horizontally move in the opposite direction of the nozzle 233 through the reaction force of rapid movement of the high-pressure air;

when the impact force is too large after the unmanned aerial vehicle falls to the ground, the rear end of the second movable arm 22 rotates around the front end of the first movable arm 21, the included angle between the first movable arm 21 and the second movable arm 22 is enlarged, the piston 33 is driven to move towards the outside of the cylinder through the connecting assembly 32, the size of the inner cavity 311 is increased, the air pressure in the inner cavity 311 is smaller than the external atmospheric pressure, the movement of the piston 33 is limited, the gravitational potential energy of the unmanned aerial vehicle is converted into the internal energy of the air in the inner cavity 311, and the damping effect is achieved.

As a preferred scheme, the first movable arm 21 includes a first movable arm middle section 211, a first movable arm rear section 212 and a first movable arm front section 213, two ends of the first movable arm middle section 211 are respectively and fixedly connected with the first movable arm rear section 212 and the first movable arm front section 213, the first movable arm 21 is in a "Z" shape, an included angle between the first movable arm middle section 211 and the first movable arm rear section 212 is an obtuse angle, and an included angle between the first movable arm middle section 211 and the first movable arm front section 213 is an obtuse angle;

the second movable arm 22 includes a second movable arm middle section 221, a second movable arm rear section 222, a second movable arm front section 223, a second motor 225 and a third motor 226, two ends of the second movable arm middle section 221 are respectively fixedly connected with the second movable arm rear section 222 and the second movable arm front section 223, the second movable arm rear section 222 is movably connected with the first movable arm front section 213 through the second motor 225, the second movable arm front section 223 is movably connected with the third movable arm 23 through the third motor 226, the second movable arm 22 is in a shape of "C", an included angle between the second movable arm middle section 221 and the second movable arm rear section 222 is an obtuse angle, and an included angle between the second movable arm middle section 221 and the second movable arm front section 223 is an obtuse angle.

The included angle between the first movable arm middle section 211 and the first movable arm rear section 212 is 110 degrees to 160 degrees, and the included angle between the first movable arm middle section 211 and the first movable arm front section 213 is 110 degrees to 160 degrees, so that the first movable arm 21 between the included angles can be well adapted to the damping structure 3, and enough strength and rigidity can be ensured; the included angle between the second movable arm middle section 221 and the second movable arm rear section 222 is 110 degrees to 160 degrees, the included angle between the second movable arm middle section 221 and the second movable arm front section 223 is 110 degrees to 160 degrees, and the second movable arm 22 between the included angles can extend outwards as far as possible on the premise of ensuring the strength and the rigidity of the second movable arm, so that the distance between the grounding points of the damping devices uniformly distributed is enlarged, and the stability of the device is improved.

Preferably, the damping structure 3 further includes an air ring 331, an air inlet passage 341, an air inlet valve 342, an air pump 343, an air outlet passage 351 and an air outlet valve 352, the air ring 331 is mounted on the top of the piston 33, the air pump 343 is connected to the top of the cylinder through the air inlet passage 341, the air inlet valve 342 is mounted on the air inlet passage 341, and the air outlet valve 352 is connected to the top of the cylinder through the air outlet passage 351;

the connecting assembly 32 includes a first fixing seat 321, a first connecting rod 322, a second connecting rod 323, a third connecting rod 324 and a piston seat 325, one end of the first connecting rod 322 is movably connected with the cylinder 31 through the first fixing seat 321, the other end of the first connecting rod 322 is movably connected with one end of the second connecting rod 323, the other end of the second connecting rod 323 is movably connected with the second movable arm 22 through a second fixing seat 37, one end of the third connecting rod 324 is fixedly connected with one end of the second connecting rod 323, and an included angle is an obtuse angle, and the other end of the third connecting rod 324 is movably connected with the bottom of the piston 33 through the piston seat 325.

The air pump 343 sucks air from the outside of the inner cavity 311 through the air inlet 344, the air pump 343 fills the air into the inner cavity 311, the exhaust valve 352 discharges the air in the inner cavity 311 from the air outlet 353, when the air inlet valve 342 and the exhaust valve 352 are closed simultaneously, the inner cavity 311 is a closed space, the pressure of the air in the inner cavity 311 is adjusted through the coordination of the air pump 343 and the exhaust valve 352, the damping rigidity of the air cylinder is adjusted, and the practicability and the adaptability of the device are improved.

In the connecting assembly 32, the whole connecting assembly 32 is equivalent to a lever, the first fixing seat 321 is equivalent to a fulcrum of the connecting assembly 32, the free end of the second connecting rod 323 is equivalent to a pressure point, the piston seat 325 is equivalent to a force point, and the length of the second connecting rod 323 is greater than that of the third connecting rod 324.

Preferably, the buffer structure 4 includes an upper connection plate 41, a lower connection plate 42, a plurality of fan-shaped spring leaves 431, two first limiting posts 432, a second limiting post 433, and a buffer pad 44, the two first limiting posts 432 are respectively installed at the lower end of the upper connection plate 41 and movably connected therewith, two limiting holes are opened at both ends of the lower connection plate 42, the lower ends of the two first limiting posts 432 respectively penetrate through the two limiting holes and are slidably connected with the lower connection plate 42, the second limiting post 433 is disposed between the two first limiting posts 432, the lower end of the second limiting post 433 is fixedly connected with the lower connection plate 42, the plurality of fan-shaped spring leaves 431 are respectively sleeved on the two first limiting posts 432 and the second limiting post 433 and are slidably connected therewith, the upper end of the upper connection plate 41 is fixed at the lower end of the third movable arm 23, and the buffer pad 44 is installed at the lower end of the lower connection plate 42.

When the high-altitude rescue unmanned aerial vehicle falls to the ground, the cushion pad 44 contacts the ground, according to the ground condition of the ground, when the ground is high on the left side and low on the right side, the distance between the upper connecting plate 41 and the left side of the lower connecting plate 42 is compressed, the plurality of fan-shaped spring pieces 431 on the first limiting column 432 on the left side are synchronously compressed to generate buffering elastic force, the plurality of fan-shaped spring pieces 431 on the second limiting column 433 are stressed to generate buffering force, the distance between the upper connecting plate 41 and the right side of the lower connecting plate 42 is expanded, and the plurality of fan-shaped spring pieces 431 on the first limiting column 432 on the right side are not stressed; when the ground is low at the left and high at the right, the reverse is true; when the ground is a plane, the upper connecting plate 41 and the lower connecting plate 42 are uniformly stressed, and the two sides are compressed simultaneously; the buffering cushion 44 is made of soft wear-resistant materials such as rubber, and the structure can adapt to uneven terrains and play a role in buffering and damping, so that the practicability is improved.

Preferably, the rotating base 1 includes a base 11, a mounting plate 12, a rotating electrical machine 13, a rotating shaft 131 and a fixing structure 14, the base 11 has a rotating hole 111 in the middle, the rotating electrical machine 13 is mounted in the middle of the mounting plate 12, one end of the rotating shaft 131 is in the rotating hole 111, the other end of the rotating shaft 131 is connected to an output shaft of the rotating electrical machine 13, the fixing structure 14 is mounted on the side of the mounting plate 12, the first movable arm rear section 212 is movably connected to the mounting plate 12 through the fixing structure 14, and the base 11 is mounted at the bottom of the unmanned aerial vehicle.

The rotating motor 13 drives the movable arm assembly 2, the damping structure 3 and the buffering structure 4 to rotate in the horizontal direction, the fixed structure 14 controls the first movable arm 21 to move and fix, the number of parts is small, the parts are not prone to damage, and the electric shock absorber is convenient to maintain and operate.

Example two

As a further improvement of the previous embodiment, as shown in fig. 1 to 9, the shock absorption device for the high-altitude rescue unmanned aerial vehicle comprises a rotary base 1, a movable arm assembly 2, a shock absorption structure 3 and a buffer structure 4, wherein the rotary base 1 is installed at the bottom of the unmanned aerial vehicle;

Preferably, the fixing structure 14 includes a fixing plate 141, a reinforcing bar 142, a first motor 143, and a locking plate 144, the fixing plate 141 is fixed to the side of the mounting plate 12 by the reinforcing bar 142, the first motor 143 is mounted on the fixing plate 141, and an output shaft of the first motor 143 is connected to the first movable arm rear section 212 by the locking plate 144.

Through the ascending angle of first motor 143 adjustment roating seat 1 and the vertical direction of first digging arm 21, only lock dish 144 can lock fixed knot structure 14 and first digging arm 21 after angle modulation accomplishes, prevents that the two from taking place to rotate, has improved the security of this structure, prevents simultaneously to rock wearing and tearing, has improved life.

Preferably, the damping structure 3 further includes an oil ring 332, an oil passage 361 and an oil pump 362, the oil ring 332 is mounted on the top of the piston 33, the oil ring 332 is behind the gas ring 331, and the oil pump 362 is connected with the cylinder sidewall through the oil passage 361.

Lubricating oil is injected into the oil pump 362 from the oil injection hole 363 for storage, the oil pump 362 is started after working for a certain time, the lubricating oil is injected into the cylinder through the oil passage 361, friction between the cylinder and the piston 33 is reduced, the service life is prolonged, gas leakage is prevented, and the damping effect is ensured.

Preferably, the first movable arm 21 is provided with a plurality of first lightening holes 214, and the second movable arm 22 is provided with a plurality of second lightening holes 224.

On the premise of not influencing the structural strength of the first movable arm 21 and the second movable arm 22, the plurality of first lightening holes 214 and the plurality of second lightening holes 224 are formed, so that the mass of the first movable arm 21 and the mass of the second movable arm 22 can be reduced, the device is time-saving and labor-saving in assembly and maintenance, and the processing and manufacturing cost is saved.

Preferably, the number of the movable arm assemblies 2 is two, the two movable arm assemblies 2 are connected through a plurality of connecting rods 5, and the two movable arm assemblies 2 move synchronously.

Use two movable arm subassemblies 2 can further increase structural strength, prevent that movable arm subassembly 2 from damaging, improve shock attenuation effect and life.

The advantages of the second embodiment over the first embodiment are:

the safety of the structure is improved, shaking abrasion is prevented, and the service life is prolonged; the friction between the cylinder and the piston 33 is reduced, the service life is prolonged, gas leakage is prevented, and the damping effect is ensured; the device is time-saving and labor-saving in assembly and maintenance, and the processing and manufacturing cost is saved; further increase structural strength, prevent that the digging arm subassembly 2 from damaging, improve shock attenuation effect and life.

s2, adjusting the horizontal position, controlling the air injection structure 232 on one or more damping devices to be opened according to ground condition information of the ground when the high-altitude rescue unmanned aerial vehicle is 10-20 cm away from the ground, and injecting high-pressure air from the nozzle 233 by the air injection structure 232 to push the high-altitude rescue unmanned aerial vehicle to horizontally move in the opposite direction of the nozzle 233 through the reaction force of the high-pressure air in rapid motion;

s3, adjusting the posture of the damping device, driving the movable arm assembly 2, the damping structure 3 and the damping structure 4 to rotate in the horizontal direction through the rotating motor 13, adjusting the angle of the rotating base 1 and the first movable arm 21 in the vertical direction through the first motor 143, adjusting the angle of the first movable arm 21 and the second movable arm 22 in the vertical direction through the second motor 225, and adjusting the angle of the second movable arm 22 and the third movable arm 23 in the vertical direction through the third motor 226;

s4, buffering and terrain adaptation are performed, when the high-altitude rescue unmanned aerial vehicle lands, the buffering cushion 44 contacts the ground, according to the ground conditions of the ground, the distance between the upper connecting plate 41 and the left side of the lower connecting plate 42 is compressed, the plurality of fan-shaped spring pieces 431 on the first limiting column 432 on the left side are synchronously compressed to generate buffering elastic force, the plurality of fan-shaped spring pieces 431 on the second limiting column 433 are stressed to generate buffering force, the distance between the upper connecting plate 41 and the right side of the lower connecting plate 42 is expanded, and the plurality of fan-shaped spring pieces 431 on the first limiting column 432 on the right side are not stressed; when the ground is low at the left and high at the right, the reverse is true; when the ground is a plane, the upper connecting plate 41 and the lower connecting plate 42 are uniformly stressed, and the two sides are compressed simultaneously;

s5, damping by the cylinder, when the impact force is too large after the floor is fallen, the rear end of the second movable arm 22 rotates around the front end of the first movable arm 21, the included angle between the first movable arm 21 and the second movable arm 22 is enlarged, the piston 33 is driven by the connecting assembly 32 to move towards the outside of the cylinder, the volume of the inner cavity 311 is enlarged, the air pressure in the inner cavity 311 is smaller than the external atmospheric pressure, the movement of the piston 33 is limited, and damping is achieved;

s6, adjusting damping parameters of the cylinder, inflating the inner cavity 311 through the air pump 343, and discharging air in the inner cavity 311 through the exhaust valve 352, so as to adjust the pressure of the air in the inner cavity 311, thereby adjusting the damping rigidity of the cylinder;

s7, lubrication of the damper structure 3, and injection of lubricating oil into the cylinder by the oil pump 362.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.

Claims

1. The utility model provides a high altitude rescue unmanned aerial vehicle's damping device which characterized in that: the unmanned aerial vehicle is characterized by comprising a rotating base (1), a movable arm assembly (2), a damping structure (3) and a buffering structure (4), wherein the rotating base (1) is installed at the bottom of the unmanned aerial vehicle;

the movable arm assembly (2) comprises a first movable arm (21), a second movable arm (22) and a third movable arm (23), the rear end of the first movable arm (21) is movably connected with the rotating base (1), two ends of the second movable arm (22) are respectively movably connected with the front end of the first movable arm (21) and the rear end of the third movable arm (23), the third movable arm (23) is movably connected with the front end of the second movable arm (22), an air injection structure (232) is installed at the upper end of the third movable arm (23), and the buffer structure (4) is installed at the lower end of the third movable arm (23) and is fixedly connected with the lower end of the third movable arm (23);

the damping structure (3) comprises a cylinder body (31), an inner cavity (311), a connecting assembly (32) and a piston (33), wherein a cylinder is arranged on the cylinder body (31), the piston (33) is arranged in the cylinder and is in sliding connection with the cylinder, the piston (33) and the cylinder form a sealed inner cavity (311), the middle of the connecting assembly (32) is movably connected with the cylinder body (31), one end of the connecting assembly (32) is movably connected with the piston (33), the other end of the connecting assembly (32) is movably connected with a second movable arm (22) through a second fixing seat (37), and the cylinder body (31) is movably connected with the first movable arm (21) through a third fixing seat (38);

the first movable arm (21) comprises a first movable arm middle section (211), a first movable arm rear section (212) and a first movable arm front section (213), two ends of the first movable arm middle section (211) are respectively and fixedly connected with the first movable arm rear section (212) and the first movable arm front section (213), the first movable arm (21) is Z-shaped, an included angle between the first movable arm middle section (211) and the first movable arm rear section (212) is an obtuse angle, and an included angle between the first movable arm middle section (211) and the first movable arm front section (213) is an obtuse angle;

the second movable arm (22) comprises a second movable arm middle section (221), a second movable arm rear section (222), a second movable arm front section (223), a second motor (225) and a third motor (226), two ends of the second movable arm middle section (221) are respectively and fixedly connected with the second movable arm rear section (222) and the second movable arm front section (223), the second movable arm rear section (222) is movably connected with the first movable arm front section (213) through the second motor (225), the front section (223) of the second movable arm is movably connected with the third movable arm (23) through the third motor (226), the second movable arm (22) is C-shaped, the included angle between the middle section (221) of the second movable arm and the rear section (222) of the second movable arm is an obtuse angle, and the included angle between the second movable arm middle section (221) and the second movable arm front section (223) is an obtuse angle.

2. The high altitude rescue unmanned aerial vehicle damping device of claim 1, characterized in that: the damping structure (3) further comprises an air ring (331), an air inlet channel (341), an air inlet valve (342), an air pump (343), an air outlet channel (351) and an air outlet valve (352), wherein the air ring (331) is installed at the top of the piston (33), the air pump (343) is in through connection with the top of the cylinder through the air inlet channel (341), the air inlet valve (342) is installed on the air inlet channel (341), and the air outlet valve (352) is in through connection with the top of the cylinder through the air outlet channel (351);

coupling assembling (32) include first fixing base (321), first connecting rod (322), second connecting rod (323), third connecting rod (324) and piston seat (325), first connecting rod (322) one end is passed through first fixing base (321) and cylinder body (31) swing joint, first connecting rod (322) the other end with second connecting rod (323) one end swing joint, second connecting rod (323) the other end passes through second fixing base (37) and second digging arm (22) swing joint, third connecting rod (324) one end with second connecting rod (323) one end fixed connection and contained angle are the obtuse angle, third connecting rod (324) the other end passes through piston seat (325) and piston (33) bottom swing joint.

3. The high altitude rescue unmanned aerial vehicle damping device of claim 2, characterized in that: the buffer structure (4) comprises an upper connecting plate (41), a lower connecting plate (42), a plurality of fan-shaped spring pieces (431), two first limiting columns (432), a second limiting column (433) and a buffer pad (44), wherein the two first limiting columns (432) are respectively installed at the lower end of the upper connecting plate (41) and movably connected with the upper connecting plate, two limiting holes are formed at two ends of the lower connecting plate (42), the lower ends of the two first limiting columns (432) respectively penetrate through the two limiting holes to be slidably connected with the lower connecting plate (42), the second limiting column (433) is arranged between the two first limiting columns (432), the lower end of the second limiting column (433) is fixedly connected with the lower connecting plate (42), and the plurality of fan-shaped spring pieces (431) are respectively sleeved on the two first limiting columns (432) and the second limiting columns (433) and slidably connected with the first limiting columns, the upper end of the upper connecting plate (41) is fixed at the lower end of the third movable arm (23), and the buffer pad (44) is installed at the lower end of the lower connecting plate (42).

4. The high altitude rescue unmanned aerial vehicle damping device of claim 3, characterized in that: roating seat (1) includes base (11), mounting panel (12), rotating electrical machines (13), rotation axis (131) and fixed knot construct (14), it has rotatory hole (111) to open in the middle of base (11), rotating electrical machines (13) are installed in the middle of mounting panel (12), rotation axis (131) one end is in rotatory hole (111), rotation axis (131) other end with the output shaft of rotating electrical machines (13), fixed knot construct (14) and install mounting panel (12) side, first digging arm back end (212) pass through fixed knot construct (14) with mounting panel (12) swing joint, base (11) are installed in the unmanned aerial vehicle bottom.

5. The high altitude rescue unmanned aerial vehicle damping device of claim 4, characterized in that: fixed knot constructs (14) including fixed plate (141), reinforcement strip (142), first motor (143) and locking dish (144), fixed plate (141) pass through reinforcement strip (142) are fixed at mounting panel (12) side, first motor (143) are installed on fixed plate (141), just first motor (143) output shaft passes through locking dish (144) with first movable arm back end (212) are connected.

6. The high altitude rescue unmanned aerial vehicle damping device of claim 5, characterized in that: the damping structure (3) further comprises an oil ring (332), an oil passage (361) and an oil pump (362), the oil ring (332) is mounted at the top of the piston (33), the oil ring (332) is behind the gas ring (331), and the oil pump (362) is in through connection with the side wall of the cylinder through the oil passage (361).

7. The high altitude rescue unmanned aerial vehicle damping device of claim 6, characterized in that: the first movable arm (21) is provided with a plurality of first lightening holes (214), and the second movable arm (22) is provided with a plurality of second lightening holes (224).

8. The high altitude rescue unmanned aerial vehicle damping device of claim 7, characterized in that: the two movable arm assemblies (2) are connected through a plurality of connecting rods (5), and the two movable arm assemblies (2) move synchronously.

9. The use method of the shock absorption device of the high altitude rescue unmanned aerial vehicle as claimed in claim 8, characterized by comprising the following steps:

s2, adjusting the horizontal position, controlling the air injection structures (232) on one or more damping devices to be opened according to ground condition information of the ground when the high-altitude rescue unmanned aerial vehicle is 10-20 cm away from the ground, wherein the air injection structures (232) inject high-pressure air from the nozzles (233), and the high-altitude rescue unmanned aerial vehicle is pushed to horizontally move in the opposite direction of the nozzles (233) through the reaction force of the high-pressure air in rapid movement;

s3, adjusting the posture of a damping device, driving the movable arm assembly (2), the damping structure (3) and the buffer structure (4) to rotate in the horizontal direction through the rotating motor (13), adjusting the angle of the rotating base (1) and the first movable arm (21) in the vertical direction through the first motor (143), adjusting the angle of the first movable arm (21) and the second movable arm (22) in the vertical direction through the second motor (225), and adjusting the angle of the second movable arm (22) and the third movable arm (23) in the vertical direction through the third motor (226);

s4, buffering and terrain adaptation are performed, when the high-altitude rescue unmanned aerial vehicle lands on the ground, the buffering cushion (44) contacts the ground, according to the ground conditions of the ground, the distance between the upper connecting plate (41) and the left side of the lower connecting plate (42) is compressed, the fan-shaped spring pieces (431) on the first limiting column (432) on the left side are synchronously compressed to generate buffering elastic force, the fan-shaped spring pieces (431) on the second limiting column (433) are stressed to generate buffering force, the distance between the upper connecting plate (41) and the right side of the lower connecting plate (42) is enlarged, and the fan-shaped spring pieces (431) on the first limiting column (432) on the right side are not stressed; when the ground is low at the left and high at the right, the reverse is true; when the ground is a plane, the upper connecting plate (41) and the lower connecting plate (42) are uniformly stressed, and the two sides are compressed simultaneously;

s5, damping by the aid of an air cylinder, when impact force is too large after the air cylinder falls to the ground, the rear end of the second movable arm (22) rotates around the front end of the first movable arm (21), an included angle between the first movable arm (21) and the second movable arm (22) is enlarged, the piston (33) is driven by the connecting assembly (32) to move towards the outside of the air cylinder, the size of the inner cavity (311) is enlarged, air pressure in the inner cavity (311) is smaller than external atmospheric pressure, the piston (33) is limited to move, and damping is achieved;

s6, adjusting cylinder damping parameters, inflating the inner cavity (311) through the air pump (343), and exhausting air in the inner cavity (311) through the exhaust valve (352), so as to adjust the pressure of air in the inner cavity (311), thereby adjusting the rigidity of cylinder damping;

and S7, lubricating the damping structure (3), and injecting lubricating oil into the cylinder through the oil pump (362).