Hanging and unhooking method of unmanned aerial vehicle ejection system
By assembling detachable hooks and rotating parts on the drone, the risk of hook falling off during drone recycling is solved, safe suspension and efficient recycling of hooks are achieved, and the risk of manual operation is reduced.
Patent Information
- Application Number
- CN202411466837.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-21
- Publication Date
- 2025-01-17
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the drone recycling process, the safety hook may fall off in the unlocked state, resulting in increased risk.
Using hooks and rotary parts that can be detachably assembled on the drone body, by controlling the drone to fly to a designated position, the hook opening is facing the suspension part, the rotary part deflects the opening toward the inner side, guides the crossbar into the hook, and is suspended. During the lifting process, it is closed with the rotating member to avoid disengagement; during recycling, it is pulled to rotate the rotating member again by pulling the sling, which drives the hook to disengage from the crossbar to achieve decoupling.
It effectively avoids the risk of hooks being separated during suspension and recycling, reduces the dangers during manual recycling, and improves operational safety.
Smart Images
Figure CN119319928A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of suspension devices, and in particular to a suspension and unhooking method for an unmanned aerial vehicle ejection system. Background Art
[0002] The current power transportation system often requires high-altitude operations. The use of drones to hang safety ropes replaces the traditional manual hanging by operators, thereby completing the suspension more safely.
[0003] In conjunction with publication number CN112587823B, publication date 2024-04-09, a fall prevention device based on drone suspension and its suspension method are disclosed, including a drone, a universal joint, a connecting rod, and a safety hook. One end of the universal joint is connected to the bottom end of the drone, and the other end is connected to the connecting rod. The end of the connecting rod forms a curved hook shape, which can hook the safety hook. The drone is also provided with a camera module; the safety hook includes a hook body, the hook body is a non-closed structure with an opening, one end of the opening of the hook body is hinged to the locking plate, and an elastic sheet is connected between the end of the hook body and the locking plate, and a locking mechanism is installed at the other end of the opening of the hook body. The locking plate can be limited by the locking mechanism to make the safety hook form a closed structure, and the locking mechanism can also release the limit on the locking plate to make the safety hook form an open structure, and the elastic sheet presses the locking plate toward the locking mechanism.
[0004] However, in the prior art including the above-mentioned patent, during the recovery process, the drone uses a connecting rod to hook the safety hook with the assistance of a camera module; the remote-controlled drone rises to detach the safety hook from the crossbar. At this time, the safety hook is in an unlocked state and may fall off when the drone uses the connecting rod to hook it, causing risks. Summary of the invention
[0005] The purpose of the present invention is to provide a suspension and unhooking method for a UAV ejection system to solve the above-mentioned problems.
[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solution: a method for hanging and unhooking a UAV ejection system, comprising a sling used for hanging, which is a hook detachably mounted on the UAV body, a rotating member rotatably arranged on the hook and having an opening, and a sling, comprising the following steps:
[0007] Step 1: Control the drone to fly to a designated position so that the opening of the hook faces the crossbar of the hanging part;
[0008] Step 2: The rotating member is moved closer to the position of the cross bar, the rotating member is driven to rotate and the opening is deflected from facing the outside to facing the inside of the hook, and the cross bar is guided into the hook;
[0009] Step 3: The hook and the rotating member are completely closed, the unmanned aerial vehicle body is decoupled from the hook, and the unmanned aerial vehicle body is controlled to return;
[0010] Step 4: When recovering the hook, pull the sling to make the rotating part rotate again, then control the drone body to fly above the hook to engage, pull the sling again, the rotating part rotates and makes the hook disengage from the cross bar, achieving uncoupling, and recovering the drone body and the hook.
[0011] Preferably, a clamping piece for locking on the drone body is slidably provided on the hook;
[0012] The rotating member includes a rotating rod and a limiting handle which are arranged approximately vertically, and the angle between the rotating rod and the limiting handle is an opening, and the opening switches between two states of facing the outside and the inside of the hook;
[0013] It also includes a stopper fixedly arranged on the rotating rod. When the rotating member opening faces the inner side of the hook, the stopper pushes the locking member to unlock the drone body.
[0014] Preferably, a fixing seat is fixedly provided on the drone body via a telescopic assembly.
[0015] Preferably, a stopper is provided on the rotating rod for relative sliding movement, and when the opening is facing the outside of the hook, the stopper extends to both sides of the rotating rod and abuts against the hook.
[0016] Preferably, a trigger block slidably matched with the stopper is slidably provided on the rotating rod, and the end face of the trigger block is consistent with the opening direction.
[0017] Preferably, the sling is divided into bundle A and bundle B, and the connection between bundle A and bundle B passes through the limiting handle.
[0018] Preferably, a bird's beak hook for limiting the limit handle is slidably provided on the hook.
[0019] Preferably, a sliding piece for fixing the bird's beak hook is slidably provided on the hook, and when the opening is facing the inner side of the hook, the sliding piece is pushed by the limiting handle to be offset from the bird's beak hook.
[0020] Preferably, a locking tongue is rotatably provided on the bird's beak hook, and a sliding block for limiting the rotation angle of the locking tongue is slidably provided on the bird's beak hook.
[0021] Preferably, an electromagnet for attracting the slider is fixedly provided on the bird's beak hook.
[0022] In the above technical scheme, the present invention provides a method for suspending and unhooking a UAV ejection system, which has the following beneficial effects: the hook is suspended by the UAV body, and then the rotating part cooperates with the cross bar during the suspension process, so that the hook and the rotating part are closed on the outside of the cross bar to prevent the hook from being detached, and then the hook is recovered by snap-fitting and assembling the UAV body and the hook, avoiding the risks and problems existing in the manual recovery of the hook. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0024] Figure 1 An overall three-dimensional schematic diagram provided for an embodiment of the present invention;
[0025] Figure 2 A schematic diagram of the structure of the clamp, the fixing seat and the hook provided in the embodiment of the present invention;
[0026] Figure 3 A schematic diagram of the trigger key and the rotating rod structure provided by an embodiment of the present invention;
[0027] Figure 4 A schematic diagram of the structure of a hook and a transmission rod provided in an embodiment of the present invention;
[0028] Figure 5 A schematic diagram of a bird's beak hook and a sling structure provided in an embodiment of the present invention;
[0029] Figure 6 A schematic diagram of a sling structure provided by an embodiment of the present invention;
[0030] Figure 7 The embodiment of the present invention provides Figure 6 A is an enlarged schematic diagram.
[0031] Description of reference numerals:
[0032] 1. UAV body; 11. Fixed seat; 2. Hook; 21. Card; 22. First spring; 23. Limiting handle; 231. Fixed block; 24. Trigger block; 241. Slide; 25. Rotating rod; 251. Stopper; 27. First torsion spring; 28. Transmission rod; 29. Second spring; 3. Bird's beak hook; 31. Lock tongue; 311. Second torsion spring; 32. Third spring; 33. Sliding piece; 34. Limiting piece; 36. Sliding block; 37. Electromagnet; 4. Sling; 41. A bundle; 42. B bundle. DETAILED DESCRIPTION
[0033] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.
[0034] like Figure 1-7 As shown, a method for hanging and unhooking a UAV ejection system, wherein the hanging device used for hanging is a hook 2 detachably mounted on a UAV body 1, a rotating member rotatably arranged on the hook 2 and having an opening, and a sling 4, comprising the following steps:
[0035] Step 1: Control the drone body 1 to fly to a designated position so that the opening of the hook 2 faces the crossbar of the hanging part;
[0036] Step 2: Move the rotating member closer to the position of the cross bar, the rotating member is driven to rotate and deflect the opening from facing the outside to facing the inside of the hook 2, and guide the cross bar into the hook 2;
[0037] Step 3: The hook 2 and the rotating member are completely closed, the drone body 1 is decoupled from the hook 2, and the drone body 1 is controlled to return;
[0038] Step 4: When recovering the hook 2, pull the sling 4 to make the rotating part rotate again, then control the drone body 1 to fly above the hook 2 to engage, pull the sling 4 again, the rotating part rotates and makes the hook 2 disengage from the cross bar, achieving uncoupling, and recovering the drone body 1 and the hook 2.
[0039] Specifically, the hook 2 is suspended at a specified position by remotely controlling the drone body 1, and the hook 2 is fixed to the cross bar of the hanging part by deflecting and closing the rotating part. Then, the drone body 1 and the hook 2 are snap-fitted and assembled, and the rotating part is deflected by pulling the sling 4, thereby driving the cross bar to detach and recover the hook 2, thereby avoiding the risks and problems existing in the process of manually recovering the hook 2.
[0040] In the above technology, the hook 2 is suspended by the unmanned aerial vehicle body 1, and the rotating member cooperates with the cross bar during the suspension process, so that the hook 2 and the rotating member are closed on the outside of the cross bar to prevent the hook 2 from being detached. Subsequently, the unmanned aerial vehicle body 1 and the hook 2 are snap-fitted and assembled to recover the hook 2, thereby avoiding the risks and problems existing in the process of manually recovering the hook 2.
[0041] As an embodiment further provided by the present invention, a clamp 21 for locking on the drone body 1 is slidably provided on the hook 2;
[0042] The rotating member includes a rotating rod 25 and a limiting handle 23 which are arranged approximately vertically, and the angle between the rotating rod 25 and the limiting handle 23 is an opening, and the opening switches between two states of facing the outside and the inside of the hook 2;
[0043] The stopper 251 is fixedly arranged on the rotating rod 25 . When the rotating member opening faces the inner side of the hook 2 , the stopper 251 pushes the locking member 21 to unlock the drone body 1 .
[0044] Specifically, a first spring 22 is provided between the two clamps 21 to keep them in close contact with each other, so that the two clamps 21 are elastically pulled by the springs and are assembled with the drone body 1. At this time, the clamp 21 is against the hook 2, and the opening formed between the rotating rod 25 and the limiting handle 23 is facing the outside of the hook 2 in the default state. In step 2, the hook 2 approaches the cross bar and allows the cross bar to enter the opening. The cross bar supports the rotating rod 25 to rotate inwardly toward the hook 2, so that the opening of the rotating member is switched to a state facing the inside of the hook 2. At this time, the rotating member and the hook 2 are completely closed outside the cross bar. The two clamping members 21 are pushed against the blocking block 251 so that the two clamping members 21 overcome the elastic force of the first spring 22 and move away from each other, thereby no longer being locked on the drone body 1 and being unlocked. At this time, the drone body 1 is disengaged from the hook 2, so that the drone body 1 can be unlocked and disengaged only after the hook 2 is completely hung on the cross bar, thus avoiding the problem of unstable suspension of the hook 2 caused by the premature disengagement of the drone body 1. At the same time, the cooperation of the cross bar and the rotating member can reduce the risk of the hook 2 being unhooked.
[0045] As an embodiment further provided by the present invention, a fixing seat 11 is fixedly provided on the drone body 1 via a telescopic assembly.
[0046] Specifically, the telescopic assembly drives the fixing seat 11 to move up and down in the vertical direction. When the hook 2 is assembled, the drone body 1 is located above the hook 2, and then the fixing seat 11 is extended downward. The fixing seat 11 and the inclined surface on the clamp 21 are slidingly matched. In the process of extending downward, the fixing seat 11 first pushes the two clamps 21 away from each other, and the first spring 22 is stretched to store force. Then, the two clamps 21 are no longer pushed above the fixing seat 11, and the elastic potential energy of the first spring 22 is released. The two clamps 21 approach each other and are locked with the fixing seat 11.
[0047] Furthermore, the telescopic assembly may be an electric telescopic rod or a hydraulic cylinder, or other telescopic mechanisms known to those skilled in the art.
[0048] As another embodiment further provided by the present invention, a stopper 251 is relatively slidably provided on the rotating rod 25 , and when the opening faces the outside of the hook 2 , the stopper 251 extends to both sides of the rotating rod 25 and abuts against the hook 2 .
[0049] Specifically, the rotating member is provided with a first torsion spring 27 that drives the opening toward the inside of the hook 2. Before hanging, the opening of the rotating member is firstly directed toward the outside of the hook 2. At this time, the first torsion spring 27 is in a deformed state, and a second spring 29 is provided between the two transmission rods 28, so that the two transmission rods 28 extend to both sides of the rotating rod 25 and abut against the hook 2. The friction between the transmission rod 28 and the hook 2 is greater than the rotational force of the first torsion spring 27 on the rotating member, so that the opening of the rotating member is kept toward the outside of the hook 2. In the process of the hook 2 approaching the cross bar, the cross bar pushes the rotating rod 25 to deflect, so that the rotating rod 25 and the hook 2 are no longer abutted. At this time, the deformation potential of the first torsion spring 27 The limit handle 23 is then deflected to the opening of the hook 2 to prevent the cross bar from being detached.
[0050] As another embodiment further provided by the present invention, a trigger block 24 is slidably provided on the rotating rod 25 and slidably cooperates with the stopper 251, and the end surface of the trigger block 24 is consistent with the opening direction.
[0051] Specifically, the trigger block 24 is provided with a slide groove 241 that slidably cooperates with the transmission rod 28, and the hook 2 is provided with a slot for accommodating the transmission rod 28. Figure 4 As shown, when the rotating member opens toward the outside of the hook 2, the transmission rod 28 is plugged into the slot. When the hook 2 approaches the cross bar, the cross bar first contacts and pushes the trigger block 24. The trigger block 24 slides and drives the two transmission rods 28 to approach each other through the slide groove 241. The transmission rod 28 is offset from the slot and is no longer plugged in.
[0052] As another embodiment further provided by the present invention, the sling 4 is divided into a bundle A 41 and a bundle B 42 , and the connection between the bundle A 41 and the bundle B 42 passes through the limiting handle 23 .
[0053] Specifically, a fixed block 231 for limiting the position of the sling 4 is provided on the end of the limit handle 23. Since the limit handle 23 is an arc-shaped structure, when the sling 4 is in a relaxed state, the A bundle 41 and the B bundle 42 are close to the limit handle 23 and are also arc-shaped. When the sling 4 is pulled, the A bundle 41 and the B bundle 42 are both tightened, and the limit handle 23 is pulled upward by the sling 4, thereby driving the opening of the rotating part toward the outside of the hook 2 and pushing the internal cross bar out of the hook 2 to achieve unhooking.
[0054] As another embodiment further provided by the present invention, a bird's beak hook 3 for limiting the limit handle 23 is slidably provided on the hook 2.
[0055] Specifically, when the opening of the rotating member is toward the inside of the hook 2, the limiting handle 23 is at the same height as the bird's beak hook 3. At this time, the connection between the A bundle 41 and the B bundle 42 enters the inside of the bird's beak hook 3, and the sling 4 is pulled by the bird's beak hook 3, so that the limiting handle 23 is limited and deflected, so that the opening of the rotating member remains in a state facing the inside of the hook 2.
[0056] As another embodiment further provided by the present invention, a slide 33 for fixing the bird's beak hook 3 is slidably provided on the hook 2, and when the opening is facing the inner side of the hook 2, the slide 33 is pushed by the limiting handle 23 to stagger with the bird's beak hook 3.
[0057] Specifically, the bird's beak hook 3 is fixedly connected to the A bundle 41 or the B bundle 42, and a third spring 32 is provided on the bird's beak hook 3. When the rotating member opens toward the outside of the hook 2, the limiter 34 provided at the end of the slide 33 blocks the bird's beak hook 3 from extending along the axial direction. At this time, the third spring 32 is in a force storage state. When the limiter handle 23 rotates to the same height as the bird's beak hook 3, the limiter handle 23 pushes the slide 33 away from both sides, so that the limiter 34 is staggered from the bird's beak hook 3, and the elasticity of the third spring 32 is released, thereby driving the bird's beak hook 3 to extend along the axial direction and making A The connection between the bundle 41 and the bundle B 42 enters the bird's beak hook 3. Then, when the sling 4 bears the load, the bird's beak hook 3 will be pulled to move away from the limit handle 23. The bird's beak hook 3 will drive the connection to be straightened. At this time, a connection is formed between the bird's beak hook 3 and the connection, so that the sling 4 forms a ring structure through the bird's beak hook 3 in the hook 2. This structure is sleeved outside the cross bar, which further supports the sling 4. In addition, the greater the force on the sling 4, the greater the pulling force of the bird's beak hook 3 on the connection, thereby the stronger the limiting force on the limit handle 23, which can effectively prevent the cross bar from being unhooked.
[0058] As another embodiment further provided by the present invention, a locking tongue 31 is rotatably provided on the bird's beak hook 3 , and a sliding block 36 for limiting the rotation angle of the locking tongue 31 is slidably provided on the bird's beak hook 3 .
[0059] Specifically, an electromagnet 37 for attracting the slider 36 is fixedly provided on the bird's beak hook 3, and an elastic member is provided on the slider 36 so that the slider 36 is located on the rotation path of the lock tongue 31, and the slider 36 is made of iron. At this time, the lock tongue 31 can only flip toward the inside of the bird's beak hook 3 under the elastic action of the second torsion spring 311, so that the sling 4 can enter, and when the sling 4 is detached, the rotation of the lock tongue 31 is blocked by the slider 36 and cannot flip outward. When unhooking is required, the slider 36 is attracted by the remote control electromagnet 37 to overcome the elastic force of the elastic member and move downward. At this time, the flipping of the lock tongue 31 is no longer restricted, and by pulling a bundle of slings 4 that is not directly connected to the bird's beak hook 3, the limit handle 23 is deflected outward, thereby driving the connection between the A bundle 41 and the B bundle 42 to deflect synchronously and detach from the inner side of the bird's beak hook 3, the rotating member deflects as a whole and squeezes the cross bar out of the hook 2 to achieve unhooking.
[0060] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.
Claims
1. A method for suspending and unhooking a UAV ejection system, wherein the sling used for suspending comprises a hook (2) detachably mounted on a UAV body (1), a rotating member rotatably arranged on the hook (2) and having an opening, and a sling (4), characterized in that: The following steps are involved: Step 1: Control the drone body (1) to fly to a designated position so that the opening of the hook (2) faces the crossbar of the hanging part; Step 2: The rotating member is moved closer to the position of the cross bar, and the rotating member is driven to rotate so that the opening is deflected from facing the outside to facing the inside of the hook (2), and the cross bar is guided into the hook (2); Step 3: The hook (2) and the rotating member are completely closed, the unmanned aerial vehicle (1) is decoupled from the hook (2), and the unmanned aerial vehicle (1) is controlled to return; Step 4: When recovering the hook (2), the sling (4) is pulled to make the rotating part rotate again, and then the unmanned aerial vehicle (1) is controlled to fly above the hook (2) to engage, and the sling (4) is pulled again, so that the rotating part rotates and the hook (2) is separated from the cross bar, and the uncoupling is achieved, and the unmanned aerial vehicle (1) and the hook (2) are recovered.
2. The method for hanging and unhooking a UAV ejection system according to claim 1, characterized in that: The hook (2) is slidably provided with a clamp (21) for locking onto the drone body (1); The rotating member comprises a rotating rod (25) and a limiting handle (23) which are arranged approximately vertically, and the angle between the rotating rod (25) and the limiting handle (23) is an opening, and the opening switches between two states of facing the outside and the inside of the hook (2); It also includes a stopper (251) fixedly arranged on the rotating rod (25); when the rotating member opening is facing the inner side of the hook (2), the stopper (251) pushes the locking member (21) to unlock the drone body (1).
3. The method for hanging and unhooking a UAV ejection system according to claim 2, characterized in that: A fixing seat (11) is fixedly arranged on the unmanned aerial vehicle body (1) via a telescopic assembly.
4. The method for hanging and unhooking a UAV ejection system according to claim 2, characterized in that: A stopper (251) is relatively slidably arranged on the rotating rod (25), and when the opening is facing the outside of the hook (2), the stopper (251) extends to both sides of the rotating rod (25) and abuts against the hook (2).
5. The method for hanging and unhooking a UAV ejection system according to claim 4, characterized in that: A trigger block (24) that slidably cooperates with the stop block (251) is slidably arranged on the rotating rod (25), and the end surface of the trigger block (24) is consistent with the opening direction.
6. The method for hanging and unhooking a UAV ejection system according to claim 2, characterized in that: The sling (4) is divided into an A bundle (41) and a B bundle (42), and the connection between the A bundle (41) and the B bundle (42) passes through the limiting handle (23).
7. The method for hanging and unhooking a UAV ejection system according to claim 1, characterized in that: A bird's beak hook (3) for limiting the limiting handle (23) is slidably arranged on the hook (2).
8. The method for hanging and unhooking a UAV ejection system according to claim 7, characterized in that: A sliding piece (33) for fixing the bird's beak hook (3) is slidably arranged on the hook (2), and when the opening is facing the inner side of the hook (2), the sliding piece (33) is pushed by the limiting handle (23) to be offset from the bird's beak hook (3).
9. The method for hanging and unhooking a UAV ejection system according to claim 7, characterized in that: A locking tongue (31) is rotatably provided on the bird's beak hook (3), and a sliding block (36) for limiting the rotation angle of the locking tongue (31) is slidably provided on the bird's beak hook (3).
10. The method for hanging and unhooking a UAV ejection system according to claim 9, characterized in that: An electromagnet (37) for attracting a slider (36) is fixedly arranged on the bird's beak hook (3).