Rope hook structure and aerial operation system

Abstract

The embodiment of the invention is suitable for the technical field of high-altitude operation, and provides a rope hook structure and an aerial operation system.The rope hook structure comprises a hanging module and a hook module; the top end of the suspension module is used for being connected to an aircraft, and the bottom end of the suspension module is magnetically connected with the hook module. The hook module comprises a body support, an elastic connecting assembly, a rotating piece, a rotating piece limiting assembly and a rope friction driving assembly. The support body is provided with a hanging groove used for containing a high-altitude to-be-hung part, and the hanging part is provided with a groove opening. The rotating piece is movably connected to the support body, and the rotating piece has a buckling state and an opening state matched with the notch; the rotating part limiting assembly is used for limiting the movement interval of the rotating part to prevent the rotating part from rotating to the opening state when the rotating part is close to the buckling state or is in the buckling state. According to the rope hook structure, hanging and locking at the high-altitude to-be-hung part can be achieved when the hook module in the rope hook structure is transported to the position near the high-altitude to-be-hung part by the aircraft.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 2025204070276, titled "Rope Hook Structure and Aerial Operation System", filed with the Chinese Patent Office on March 10, 2025, the entire content of which is incorporated herein by reference. Technical Field

[0002] This application belongs to the technical field of high-altitude operations, and particularly relates to a rope hook structure and an aerial operation system. Background Art

[0003] Rope hooks are mainly used for hanging and detaching ropes in aerial operations. For example, maintenance personnel often need to manually climb high-voltage transmission towers to maintain high-voltage transmission lines. To ensure the safety of maintenance personnel, a safety rope needs to be hung when they climb the tower. With the development of aircraft (such as drones) technology, an aircraft can be used to carry and transport a rope hook to the top of a high-voltage transmission tower and hang the rope hook on the top of the high-voltage transmission tower. If the rope hook cannot be stably hung on the top of the high-voltage transmission tower, the safety of maintenance personnel cannot be ensured.

[0004] However, when the currently used rope hook is hung on the top of a high-voltage transmission tower, the locking and buckling state of the locking part on the rope hook may be accidentally touched before the rope hook is successfully hung, so that the rope hook cannot enter the locked and buckled state. If the rope hook cannot be accurately switched back to the locked and buckled state, it cannot be stably hung on the top of the high-voltage transmission tower and poses a great safety hazard. Summary of the Invention

[0005] In view of this, the embodiments of this application provide a rope hook structure and an aerial operation system to solve the problem that the currently used rope hook cannot maintain the locked and buckled state after accidentally touching the locking and buckling state of the locking part on the rope hook, and thus cannot be stably hung on the top of the high-voltage transmission tower, posing a great safety hazard to high-altitude operation personnel.

[0006] In a first aspect, this application provides a rope hook structure, which includes a suspension module and a hook module; the top of the suspension module is used to be connected to an aircraft, and the bottom of the suspension module is magnetically connected to the hook module; the hook module includes a body bracket, an elastic connection component, a rotating member, a rotating member limiting component, and a rope friction driving component;

[0007] The bracket body is provided with a suspension groove for accommodating a high-altitude part to be hung, and the hanging part is provided with a notch;

[0008] The rotating member is movably connected to the bracket body, and the rotating member has a buckling state and an open state that cooperate with the notch;

[0009] The rotating member limiting assembly is used to limit the movement range of the rotating member when the rotating member is near the buckling state or already in the buckling state, so as to prevent the rotating member from rotating back to the open state.

[0010] Optionally, the hanging module includes a mechanical mounting interface, a first elastic member, a control box, and an electromagnet; the bottom end of the mechanical mounting interface is connected to the first end of the first elastic member; the top end of the control box is connected to the second end of the first elastic member; the electromagnet is fixedly arranged at the bottom end of the control box.

[0011] Optionally, a main control board, a communication module, and a power supply module are arranged in the control box; both the communication module and the power supply module are arranged on the main control board and are both connected to a controller on the main control board; the electromagnet is connected to the controller to control the on / off of the electromagnet by the controller.

[0012] Optionally, the bracket body includes a first horizontal portion, a first vertical portion, and a second vertical portion. The first vertical portion and the second vertical portion are respectively vertically arranged at both ends of the first horizontal portion, and the length of the second vertical portion is less than that of the first vertical portion; a rotating member limiting assembly accommodation groove is arranged inside one end of the first horizontal portion close to the first vertical portion, and an elastic connection assembly connection seat is further arranged at one end of the first horizontal portion close to the second vertical portion. The elastic connection assembly connection seat is movably connected to the bottom end of the elastic connection assembly; a first rope through hole is arranged at one end of the first vertical portion close to the first horizontal portion; a second rope through hole is arranged at one end of the second vertical portion close to the first horizontal portion and is opposite to the first rope through hole.

[0013] Optionally, the rotating member includes a rotating member body, a rotating shaft, a first limiting rod, and a driving assembly fixed shaft; the rotating member body is movably connected to one end of the second vertical portion far from the first horizontal portion through the rotating shaft; the first limiting rod is arranged at one end of the rotating member body, and when the rotating member is in a buckling state in cooperation with the notch, the first limiting rod is located above the first horizontal portion; the driving assembly fixed shaft is arranged below the rotating shaft and below the second vertical portion. One end of the driving assembly fixed shaft is fixedly connected to the inner wall of the rotating member body, and the other end penetrates through the rotating member body and is connected to the rope friction driving assembly.

[0014] Optionally, the rotating member body includes a first rotating member and a second rotating member; the first rotating member is connected to the second rotating member through a plurality of rotating member linkages; the distance between the inner walls of the first rotating member and the second rotating member is greater than the thickness of the body bracket; a first groove adapted to the movable pin provided at one end of the elastic connection assembly is provided at one end of the first rotating member close to the first limiting rod, and a second groove adapted to the movable pin provided at one end of the elastic connection assembly is provided at one end of the second rotating member close to the first limiting rod, and the second groove is directly opposite to the first groove.

[0015] Optionally, the elastic connection assembly includes a guide groove, a permanent magnet, a second elastic member, a movable connection member, and the movable pin; the guide groove is adapted to the electromagnet at the bottom end of the suspension module, and the permanent magnet is fixed in the guide groove; one end of the second elastic member is connected to the bottom end of the guide groove, the other end of the second elastic member is connected to one end of the movable connection member, the other end of the movable connection member is connected to the connection seat of the elastic connection assembly, and the movable pin is further provided at the other end of the movable connection member; when the rotating member and the notch are in a buckled state, the movable pin is clamped in the first groove and the second groove.

[0016] Optionally, the rotating member limiting assembly includes a push rod structure and an induction sensor; both the push rod structure and the induction sensor are arranged in the receiving groove of the rotating member limiting assembly, and when the induction sensor senses the first limiting rod on the rotating member, the push rod in the push rod structure is driven to extend to limit the first limiting rod.

[0017] Optionally, the rope friction drive assembly includes a drive motor, a driving wheel, a driven wheel, and a driven wheel mounting seat; the drive motor is fixedly connected to the fixed shaft of the drive assembly; the driving wheel is sleeved on the motor rotating shaft of the drive motor; the driven wheel mounting seat is fixedly arranged on the second rotating member close to the rotating shaft, and the driven wheel is rotatably connected to the driven wheel mounting seat and is directly opposite to the driving wheel.

[0018] In a second aspect, the present application further provides an aerial operation system, which includes the rope hook structure as described in the first aspect and any possible embodiments thereof above.

[0019] The beneficial effects of the rope hook structure and the aerial operation system provided by this application are as follows: Compared with the prior art, the rope hook structure of this application is provided with a suspension module and a hook module. The top of the suspension module is used to connect to the aircraft, and the bottom of the suspension module is magnetically connected to the hook module, which can realize the hanging and locking of the hook module at the high-altitude hanging part when the hook module is transported to near the high-altitude hanging part by the aircraft. The rotation member limiting component provided in this application can limit the movement range of the rotation member in the hook module to prevent the rotation member from rotating back to the open state when it is near the buckled state or already in the buckled state, so as to ensure the stable hanging of the hook module on the high-altitude hanging part. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art.

[0021] Figure 1 FIG. 9 is a schematic structural diagram of a rope hook structure provided by an embodiment of this application hanging on an aircraft;

[0022] Figure 2 FIG. 13 is a schematic structural diagram of a rope hook structure provided by an embodiment of this application hanging on a high-altitude hanging part through an aircraft;

[0023] Figure 3 FIG. 17 is a schematic block diagram of the structure of a control box in a rope hook structure provided by an embodiment of this application;

[0024] Figure 4 FIG. 21 is a first schematic structural diagram of a hook module in a rope hook structure provided by an embodiment of this application;

[0025] Figure 5 FIG. 25 is a second schematic structural diagram of a hook module in a rope hook structure provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In the following description, specific details such as specific system structures and technologies are proposed for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of this application. However, those skilled in the art should clearly understand that this application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of this application.

[0027] It should also be understood that the term "and / or" used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0029] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0030] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

[0031] The reference to "one embodiment" or "some embodiments" etc. in the description of the present application specification means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the statements "in some embodiments", "in some embodiments", "in other some embodiments", "in still other some embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Plurality" means two or more.

[0032] The technical solution of the present application will be described below through specific embodiments.

[0033] Please refer to Figure 1 、 Figure 2 、 Figure 4 and Figure 5 wherein Figure 1 is a schematic structural view of a rope hook structure provided by an embodiment of the present application suspended on an aircraft; Figure 2 is a schematic structural view of a rope hook structure provided by an embodiment of the present application suspended on a high-altitude hanging part through an aircraft (wherein, Figure 2 only shows a partial structure of the high-voltage tower in Figure 4 is a first schematic structural view of a hook module in a rope hook structure provided by an embodiment of the present application; Figure 5This is the second structural schematic diagram of the hook module in a rope hook structure provided by an embodiment of the present application. As Figure 1 , Figure 2 , Figure 4 and Figure 5 shown, the rope hook structure provided by the embodiment of the present application will be described. This rope hook structure is used to cooperate with an aircraft for high-altitude hanging operations. The rope hook structure includes: a suspension module 100 and a hook module 200; the top end of the suspension module 100 is used to be connected to the aircraft 10, and the bottom end of the suspension module 100 is magnetically connected to the hook module 200; the hook module 200 includes a body bracket 210, an elastic connection assembly 220, a rotating member 230, a rotating member limiting assembly 240, and a rope friction driving assembly 250;

[0034] The bracket body 210 is provided with a suspension groove 211 for accommodating a high-altitude part to be hung, and the suspension part 211 is provided with a notch 2111;

[0035] The rotating member 230 is movably connected to the bracket body 210, and the rotating member 230 has a buckling state and an open state that cooperate with the notch 2111;

[0036] The rotating member limiting assembly 240 is used to limit the movement range of the rotating member 230 to prevent the rotating member from rotating back to the open state when the rotating member 230 is approaching the buckling state or already in the buckling state.

[0037] In this embodiment, when specifically using the rope hook structure to cooperate with the aircraft for high-altitude hanging operations, the specific operation process is as follows:

[0038] 1) Connect the top end of the suspension module 100 to the aircraft 10, turn on the electromagnet provided in the bottom end of the suspension module 100, and magnetically connect the top end of the hook module 200; at this time, the rope can also be passed through the body bracket 210 of the hook module 200 and one end continues to pass through the rope friction driving assembly 250;

[0039] 2) Operate the aircraft 10 through the remote control of the aircraft 10 to carry the entire rope hook structure to move to a high-altitude part to be hung near the top of the high-voltage tower 20;

[0040] 3) The rotating member 230 starts to rotate after coming into contact with the high-altitude hanging part, gradually rotating from the initial open state to the buckled state that mates with the notch 2111. At this time, the possible situation is that the rotating member 230 is near the buckled state or already in the buckled state. Among them, the open state means that as long as the rotating member 230 does not completely close the notch 2111, it is regarded as the open state, but there are also differences in the degree of opening. When the rotating member 230 closes more than 90% of the part of the notch 2111, it is regarded as near the buckled state. When the rotating member 230 closes 50% of the part of the notch 2111, it is regarded as the semi-buckled state, etc. The buckled state means that the rotating member 230 completely closes the notch 2111.

[0041] 4) To ensure that the rotating member 230 does not rotate back to the open state, more specifically, at least to ensure that the notch 2111 is in the near-buckled state. At this time, the movement range of the rotating member 230 can be limited by driving the rotating member limiting component 240 to prevent the rotating member from rotating back to the open state.

[0042] 5) By starting the rope friction driving component 250, the rope passing through the rope friction driving component 250 can move to under the high-voltage power tower and can continue to move under manual pulling. Moreover, during the process of driving the rope, if the notch 2111 was in the near-buckled state before, the rotating member 230 will also rotate again under the drive of the rope and make the rotating member 230 be in the buckled state again, so that the rope hanging hook structure is stably hung on the high-altitude hanging part of the high-voltage power tower.

[0043] Of course, a hanging module remote controller that can be remotely communicated and controlled with the hanging module 100 can also be integrated or separately set on the remote controller of the aircraft 10. Through the remote communication between the hanging module remote controller and the hanging module 100, the power supply of the electromagnet can be controlled to be cut off / energized, so that the hanging module 100 is separated from / keeps connected with the hook module 200.

[0044] In some embodiments, as Figure 1 、 Figure 2 、 Figure 4 and Figure 5 shown, the hanging module 100 includes a mechanical installation interface 110, a first elastic member 120, a control box 130, and an electromagnet 140. The bottom end of the mechanical installation interface 110 is connected to the first end of the first elastic member 120. The top end of the control box 130 is connected to the second end of the first elastic member 120. The electromagnet 140 is fixedly arranged at the bottom end of the control box 130.

[0045] In this embodiment, in order to enable the suspension module 100 to be conveniently suspended on the aircraft 10, a mechanical mounting interface 110 such as a mother-child snap fastener structure can be adopted. The top end (i.e., the first end) of the first elastic member 120 (such as a spring) is connected to the bottom end of the mechanical mounting interface 110, and the bottom end (i.e., the second end) of the first elastic member 120 is connected to the top end of the control box 130. Among them, in order to achieve communication connection with the suspension module remote controller, the control box 130 also needs to be provided with a communication module (such as a wireless communication module, etc.) inside. The control box 130 receives control signals from the suspension module remote controller to control the on-off of the electromagnet 140.

[0046] In some embodiments, such as Figures 1 - 3 shown, the control box 130 is provided with a main control board 131, a communication module 132 and a power supply module 133; the communication module 132 and the power supply module 133 are both arranged on the main control board 131 and are both connected to the controller 131A on the main control board 131; the electromagnet 140 is connected to the controller 131A to control the on-off of the electromagnet 140 by the controller 131A.

[0047] In this embodiment, the core components provided on the main control board 131 in the control box 130 are the controller 131A and the communication module 132, and the functional module is the power supply module 133. The communication module 132 can receive control signals from the suspension module remote controller, and based on this control signal, the controller 131A specifically controls the on-off of the electromagnet 140. For example, when the aircraft 10 has carried the rope hook structure and moved to the high-altitude hanging part at the top of the high-voltage tower, and the rope hook structure has been suspended on the high-altitude hanging part and is in a buckled state, a power-off control signal can be sent from the suspension module remote controller to the communication module 132, and the controller 131A controls the power-off of the electromagnet 140 based on this power-off signal, so that its connection with the hook module 200 is disconnected.

[0048] In some embodiments, such as Figure 1 、 Figure 2 、 Figure 4 and Figure 5As shown, the bracket body 210 includes a first horizontal portion 212, a first vertical portion 213, and a second vertical portion 214. The first vertical portion 213 and the second vertical portion 214 are respectively and perpendicularly provided at both ends of the first horizontal portion 212, and the length of the second vertical portion 214 is less than the length of the first vertical portion 213. Inside one end of the first horizontal portion 212 close to the first vertical portion 213, there is a receiving groove 2121 for the rotating member limiting assembly. At one end of the first horizontal portion 212 close to the second vertical portion 213, there is also provided an elastic connection assembly connecting seat 2122, and the elastic connection assembly connecting seat 2122 is movably connected to the bottom end of the elastic connection assembly 220. At one end of the first vertical portion 213 close to the first horizontal portion 212, there is a first rope through hole 2131. At one end of the second vertical portion 214 close to the first horizontal portion, there is a second rope through hole 2141 which is opposite to the first rope through hole 2131.

[0049] In this embodiment, after the bracket body 210 is set to the above structure, the first horizontal portion 212, the first vertical portion 213, and the second vertical portion 214 do not enclose the entire bracket body 210 to form a closed structure, but form a hanging groove 211 for accommodating the high-altitude portion to be hung. The notch 2111 of the hanging groove 211 is located between the bottom end of the first vertical portion 213 (i.e., the end far from the first horizontal portion 212) and the bottom end of the second vertical portion 214 (i.e., the end far from the first horizontal portion 212).

[0050] Moreover, setting the length of the second vertical portion 214 to be less than the length of the first vertical portion 213 is to reserve the installation and movement space for the rotating member 230. Inside one end of the first horizontal portion 212 close to the first vertical portion 213, there is a receiving groove 2121 for the rotating member limiting assembly, which is for installing the rotating member limiting assembly 240 to adapt to the limitation of the rotating member 230. At one end of the first horizontal portion 212 close to the second vertical portion 213, there is provided an elastic connection assembly connecting seat 2122, which can be connected to the elastic connection assembly 220. At one end of the first vertical portion 213 close to the first horizontal portion 212, there is a first rope through hole 2131, and at one end of the second vertical portion 214 close to the first horizontal portion, there is a second rope through hole 2141. The provided first rope through hole 2131 and second rope through hole 2141 facilitate the rope to pass through the bracket body 210.

[0051] In some embodiments, such as Figure 1 、 Figure 2 、 Figure 4 and Figure 5As shown, the rotating member 230 includes a rotating member body 231, a rotating shaft 232, a first limiting rod 233 and a driving component fixed shaft 234; the rotating member body 231 is movably connected to an end of the second vertical portion 214 away from the first horizontal portion 212 through the rotating shaft 232; the first limiting rod 233 is arranged at one end of the rotating member body 231, and when the rotating member 230 is engaged with the slot 2111 in a snap-fit ​​state, the first limiting rod 233 is located above the first horizontal portion 212; the driving component fixed shaft 234 is arranged below the rotating shaft 232 and below the second vertical portion 214, one end of the driving component fixed shaft 234 is fixedly connected to the inner wall of the rotating member body 231 and the other end passes through the rotating member body 231 and is connected to the rope friction driving assembly 250.

[0052] In this embodiment, in order to realize that the rotating member body 231 can be flexibly rotated on the bracket body 210, the rotating member body 231 can be movably connected to the end of the second vertical part 214 away from the first horizontal part 212 through the rotating shaft 232. The rotating member body 231 is under the action of its own gravity in the initial state, and its opening is vertically downward and does not form a closed structure with the bracket body 210 to be suspended on the high-altitude waiting hanging part. When the aircraft carries the rope hook structure and moves as a whole to the high-altitude waiting hanging part near the top of the high-voltage tower, the rotating member body 231 first contacts the high-altitude waiting hanging part. Afterwards, as the aircraft continues to move downward with the rope hook structure and further contacts the high-altitude waiting hanging part, the high-altitude waiting hanging part applies force to the rotating member body 231 so that it rotates along the rotating shaft 232, and gradually moves to form a closed structure with the bracket body 210 to enter a buckling state. Of course, the rotating member body 231 may be stuck and unable to completely form a closed structure with the bracket body 210 to enter the buckled state under the force applied by the high-altitude hanging part, and it is close to the buckled state at this time. In order to prevent the rotating member body 231 from rotating back and being in an open vertical downward state, the rotating member limiting assembly 240 may extend the push rod in the rotating member limiting assembly 240 when it detects that the first limiting rod 233 passes through the first transverse part 212 and moves to the top of the first transverse part 212, so that the push rod prevents the first limiting rod 233 from moving to the bottom of the first transverse part 212 again, and realizes the movement range limit of the rotating member 230 to prevent the rotating member from rotating back to the open state.

[0053] The driving assembly fixing shaft 234 is arranged below the rotating shaft 232 and below the second vertical portion 214 in order to stagger the position with the rotating shaft 232 and provide a fixing position for the rope friction driving assembly 250. When the rotating member body 231 rotates, the rope friction driving assembly 250 can also be driven to rotate synchronously.

[0054] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 shown, the rotating member body 231 includes a first rotating member 2311 and a second rotating member 2312; the first rotating member 231 is connected to the second rotating member 2312 by a plurality of rotating member linkages 231A; the distance between the inner walls of the first rotating member 2311 and the second rotating member 2312 is greater than the thickness of the body bracket 210; a first groove 2311A adapted to the movable pin provided at one end of the elastic connection assembly 220 is provided at one end of the first rotating member 2311 close to the first limiting rod 233, and a second groove 2312A adapted to the movable pin provided at one end of the elastic connection assembly 220 is provided at one end of the second rotating member 2312 close to the first limiting rod 230, and the second groove 2312A is opposite to the first groove 2311A.

[0055] In this embodiment, the distance between the inner walls of the first rotating member 2311 and the second rotating member 2312 is greater than the thickness of the body bracket 210 to ensure that when the rotating member body 231 rotates along the rotating shaft 232, it will not be stuck by the body bracket 210 and thus achieve flexible rotation. Moreover, when the first groove 2311A and the second groove 2312A are located below the elastic connection assembly 220 as the rotating member body 231 moves, at this time, the movable pin in the elastic connection assembly 220 can be snapped into the first groove 2311A and the second groove 2312A. Before this, that is, when the movable pin in the elastic connection assembly 220 is close to the state of being snapped into the first groove 2311A and the second groove 2312A, the push rod in the rotating member limiting assembly 240 has already extended and prevented the first limiting rod 233 from moving to below the first horizontal portion 212 again. Through the double limiting of the rotating member limiting assembly 240 and the movable pin, the movement range of the rotating member 230 is limited to prevent the rotating member 230 from rotating back to the open state.

[0056] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the elastic connection component 220 includes a guide groove 221, a permanent magnet 222, a second elastic member 223, a movable connection member 224, and the movable pin 225; the guide groove 221 is adapted to the electromagnet 140 at the bottom end of the suspension module 100, and the permanent magnet 222 is fixedly arranged in the guide groove 221; one end of the second elastic member 223 is connected to the bottom end of the guide groove 221, the other end of the second elastic member 223 is connected to one end of the movable connection member 224, the other end of the movable connection member 224 is connected to the elastic connection component connection seat 2122, and the movable pin 225 is further arranged at the other end of the movable connection member 224; when the rotating member 230 and the notch 2111 are in a buckled state, the movable pin 225 is clamped in the first groove 2311A and the second groove 2312A.

[0057] In this embodiment, when the guide groove 221 is adapted to the electromagnet 140 at the bottom end of the suspension module 100 and the permanent magnet 222 is fixedly arranged in the guide groove 221, the electromagnet 140 will move along the guide groove 221 and magnetically attract the permanent magnet 222 at the bottom of the guide groove 221 when it is in the energized state. Moreover, the use of the second elastic member 223 (such as a spring) can ensure the movement flexibility of the elastic connection component 220 and replace the rigid structure with a flexible structure. The movable pin 225 arranged on the movable connection member 224 can be flexibly adapted to the first groove 2311A and the second groove 2312A, so as to realize the limit of the rotating member 230.

[0058] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the rotating member limiting component 240 includes a push rod structure 241 and an induction sensor (not shown); the push rod structure 241 and the induction sensor are both arranged in the rotating member limiting component receiving groove 2121, and when the induction sensor senses the first limiting rod 233 on the rotating member 230, it drives the push rod in the push rod structure 231 to extend to limit the first limiting rod 233.

[0059] In this embodiment, the rotating member limiting component 240 uses the induction sensor as a detection element. Specifically, when detecting whether the first limiting rod 233 on the rotating member 230 passes through the induction sensor (more specifically, whether it passes through the induction sensor and moves above the first transverse portion 212), when it is detected that the first limiting rod 233 passes through and moves above the first transverse portion 212, the push rod in the push rod structure 231 is immediately driven to extend to limit the first limiting rod.

[0060] In some embodiments, such as Figure 1 , Figure 2 , Figure 4 and Figure 5 shown, the rope friction drive assembly 250 includes a drive motor 251, a driving wheel 252, a driven wheel 253 and a driven wheel mounting seat 254; the drive motor 251 is fixedly connected to the drive assembly fixed shaft 234; the driving wheel 252 is sleeved on the motor rotating shaft of the drive motor; the driven wheel mounting seat 254 is fixedly arranged on the second rotating member 2312 near the rotating shaft 232, and the driven wheel 253 is rotatably connected to the driven wheel mounting seat 254 and faces the driving wheel 252.

[0061] In this embodiment, when the rotating member 230 starts to rotate after contacting the high-altitude hanging part, it gradually rotates from the initial open state to the buckling state matching the notch 2111. At this time, it is possible that the rotating member 230 is near the buckling state or already in the buckling state. At this time, the drive motor 251 can be started first, so that the rope passing through the first rope through hole 2131, the second rope through hole 2141 and the space between the driving wheel 252 and the driven wheel 254 starts to move. If the rotating member body 231 may be stuck due to the force exerted by the high-altitude hanging part and cannot completely form a closed structure with the bracket body 210 to enter the buckling state, the movement of the rope will drive the rotating member body 231 to continue to move due to friction until the movable pin in the elastic connection assembly 220 is clamped in the first groove 2311A and the second groove 2312A to complete the limit. After that, the drive motor 251 will continue to drive the rope to move until the user remotely controls the drive motor 251 to stop. It can be seen that through the rope friction drive assembly with the above structure, the movement process of the rope can be controlled more precisely.

[0062] This application also provides an aerial work system, which includes the rope hook structure described in any of the foregoing embodiments.

[0063] In this embodiment, in addition to including the rope hook structure described in any of the foregoing embodiments, the aerial work system further includes an aircraft. Hanging the rope hook structure on the aircraft through the suspension module can quickly form an aerial work system. Please refer to such as Figure 1 , Figure 2 , Figure 4 and Figure 5 , the specific operation process of the aerial work system is as follows:

[0064] 11) Connect the top end of the suspension module 100 to the aircraft 10, turn on the electromagnet provided at the bottom end of the suspension module 100, and magnetically connect to the top end of the hook module 200; at this time, the rope can also pass through the body bracket 210 of the hook module 200 and continue to pass through the rope friction drive assembly 250 at one end.

[0065] 12) Operate the aircraft 10 through the remote control of the aircraft 10 to carry the overall rope and hook structure to the high-altitude waiting-to-be-hung part near the top of the high-voltage tower.

[0066] 13) The rotating member 230 starts to rotate after contacting the high-altitude waiting-to-be-hung part, and gradually rotates from the initial open state to the buckled state that cooperates with the notch 2111. At this time, the possible situation is that the rotating member 230 is near the buckled state or already in the buckled state; among them, the open state means that as long as the rotating member 230 does not completely close the notch 2111, it is regarded as the open state, but there are also differences in the degree of opening in the open state. When the rotating member 230 closes more than 90% of the part of the notch 2111, it is regarded as near the buckled state. When the rotating member 230 closes 50% of the part of the notch 2111, it is regarded as the semi-buckled state, etc.; the buckled state means that the rotating member 230 completely closes the notch 2111.

[0067] 14) In order to ensure that the rotating member 230 does not rotate back to the open state, more specifically, at least ensure that the notch 2111 is in the near-buckled state. At this time, the movement range of the rotating member 230 can be limited by the driving rotating member limit assembly 240 to prevent the rotating member from rotating back to the open state.

[0068] 15) By starting the rope friction drive assembly 250, the rope passing through the rope friction drive assembly 250 can move to below the high-voltage tower and can continue to move under manual pulling; moreover, during the process of driving the rope above, if the notch 2111 was in the near-buckled state before, the rotating member 230 will also rotate again under the drive of the rope and make the rotating member 230 be in the buckled state again, so that the rope and hook structure is stably suspended on the high-altitude waiting-to-be-hung part of the high-voltage tower.

[0069] In summary, the rope and hook structure of the present application is provided with a suspension module and a hook module. The top end of the suspension module is used to connect to the aircraft, and the bottom end of the suspension module is magnetically connected to the hook module, which can realize the hanging and locking of the hook module at the high-altitude waiting-to-be-hung part when the hook module of the rope and hook structure is transported to near the high-altitude waiting-to-be-hung part by the aircraft. The present application also provides a rotating member limit assembly that can limit the movement range of the rotating member in the hook module to prevent the rotating member from rotating back to the open state when it is near the buckled state or already in the buckled state, so as to ensure that the hook module is firmly suspended on the high-altitude waiting-to-be-hung part.

[0070] The foregoing embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included within the protection scope of the present application.

Claims

1. A rope hook structure, characterized in that: It includes a suspension module and a hook module; the top end of the suspension module is used to connect to the aircraft, and the bottom end of the suspension module is magnetically connected to the hook module; the hook module includes a body bracket, an elastic connection component, a rotating part, a rotating part limiting component and a rope friction drive component; The bracket body is provided with a hanging groove for accommodating the high-altitude hanging part, and the hanging part is provided with a notch; The rotating member is movably connected to the bracket body, and the rotating member has a snap-on state and an open state matched with the notch; The rotating member limiting assembly is used to limit the movement range of the rotating member when the rotating member is close to the engaged state or has been in the engaged state to prevent the rotating member from rotating back to the open state.

2. The rope hook structure according to claim 1, characterized in that: The suspension module includes a mechanical mounting interface, a first elastic member, a control box and an electromagnet; the bottom end of the mechanical mounting interface is connected to the first end of the first elastic member; the top end of the control box is connected to the second end of the first elastic member; the electromagnet is fixed to the bottom end of the control box.

3. The rope hook structure according to claim 2, characterized in that: The control box is provided with a main control board, a communication module and a power supply module; the communication module and the power supply module are both arranged on the main control board and are both connected to the controller on the main control board; the electromagnet is connected to the controller so that the controller can control the on and off of the electromagnet.

4. The rope hook structure according to claim 1, characterized in that: The bracket body includes a first transverse portion, a first vertical portion and a second vertical portion, the first vertical portion and the second vertical portion are respectively perpendicularly arranged at two ends of the first transverse portion, and the length of the second vertical portion is smaller than the length of the first vertical portion; a rotating member limiting assembly accommodating groove is provided inside an end of the first transverse portion close to the first vertical portion, and an elastic connection assembly connecting seat is also provided at an end of the first transverse portion close to the second vertical portion, and the elastic connection assembly connecting seat is movably connected to the bottom end of the elastic connection assembly; a first rope through hole is provided at an end of the first vertical portion close to the first transverse portion; a second rope through hole is provided at an end of the second vertical portion close to the first transverse portion and is directly opposite to the first rope through hole.

5. The rope hook structure according to claim 4, characterized in that: The rotating member includes a rotating member body, a rotating shaft, a first limiting rod and a driving assembly fixed shaft; the rotating member body is movably connected to an end of the second vertical part away from the first horizontal part through the rotating shaft; the first limiting rod is arranged at one end of the rotating member body, and when the rotating member and the slot are in a snap-fit ​​state, the first limiting rod is located above the first horizontal part; the driving assembly fixed shaft is arranged below the rotating shaft and below the second vertical part, one end of the driving assembly fixed shaft is fixedly connected to the inner wall of the rotating member body and the other end passes through the rotating member body and is connected to the rope friction driving assembly.

6. The rope hook structure according to claim 5, characterized in that: The rotating member body includes a first rotating member and a second rotating member; the first rotating member is connected to the second rotating member through a plurality of rotating member connecting rods; the distance between the inner wall of the first rotating member and the inner wall of the second rotating member is greater than the thickness of the main body bracket; a first groove is provided on the end of the first rotating member close to the first limiting rod, which is compatible with the movable pin set on one end of the elastic connection component, and a second groove is provided on the end of the second rotating member close to the first limiting rod, which is compatible with the movable pin set on one end of the elastic connection component, and the second groove is opposite to the first groove.

7. The rope hook structure according to claim 6, characterized in that: The elastic connection component includes a guide groove, a permanent magnet, a second elastic member, a movable connection member and the movable pin; the guide groove is adapted to the electromagnet on the bottom end of the suspension module, and the permanent magnet is fixed in the guide groove; one end of the second elastic member is connected to the bottom end of the guide groove, the other end of the second elastic member is connected to one end of the movable connection member, the other end of the movable connection member is connected to the elastic connection component connection seat, and the movable pin is also provided on the other end of the movable connection member; when the rotating member and the notch are in a snap-fit ​​state, the movable pin is clamped in the first groove and the second groove.

8. The rope hook structure according to claim 5, characterized in that: The rotating member limiting assembly includes a push rod structure and an inductive sensor; the push rod structure and the inductive sensor are both arranged in the accommodating groove of the rotating member limiting assembly, and when the inductive sensor senses the first limiting rod on the rotating member, the push rod in the push rod structure is driven to extend to limit the first limiting rod.

9. The rope hook structure according to claim 6, characterized in that: The rope friction drive assembly includes a driving motor, a driving wheel, a driven wheel and a driven wheel mounting seat; the driving motor is fixedly connected to the fixed shaft of the driving assembly; the driving wheel is sleeved on the motor rotating shaft of the driving motor; the driven wheel mounting seat is fixedly arranged on the second rotating member near the rotating shaft, and the driven wheel is rotatably connected to the driven wheel mounting seat and is opposite to the driving wheel.

10. An aerial work system, characterized in that: It comprises the rope hook structure as described in any one of claims 1-9.

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