Onboard rack umbrella rib-shaped claw mechanism

Abstract

The invention discloses a machine-mounted rack umbrella rib-shaped hook claw mechanism, belongs to the field of electric power facilities, solves the problem that a hook claw mechanism in the prior art is inconvenient and unreliable to use, and adopts the technical scheme that a driving shaft can reciprocate up and down in a sleeve along the axial direction under the action of driving force; the clamping jaws are evenly distributed in an umbrella shape in the circumferential direction of the sleeve, the roots of the clamping jaws are hinged to the driving shaft, one end of each supporting connecting rod is hinged to the sleeve, the other end of each supporting connecting rod is hinged to the position, away from the root of the corresponding clamping jaw, of the corresponding clamping jaw, and when the driving shaft moves upwards, the supporting connecting rods drive the clamping jaws to rotate downwards so as to embrace the driving shaft to be in a closed state. When the driving shaft moves upwards, the clamping jaws are driven by the supporting connecting rods to be unfolded downwards to be in an open state, and the open state of the clamping jaws at least comprises a first position where the upper surfaces of the clamping jaws are horizontal or inclined upwards and a second position where the upper surfaces of the clamping jaws are inclined downwards from the roots to the free ends. The claw mechanism is more convenient to use and more reliable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power facilities, in particular to an airborne hanger umbrella-shaped claw mechanism. BACKGROUND

[0002] With the rapid development of unmanned technology, large-load aircrafts show broad application prospects in the fields of construction, emergency rescue, power inspection, logistics transportation, etc. They have the advantages of high efficiency, flexibility, remote control, etc., and can adapt to complex and changeable working environments, significantly improving work efficiency and safety. In practical applications, aircrafts usually realize the grabbing and dropping of target objects through airborne hangers and claw mechanisms. However, the traditional claw mechanisms mostly adopt rotary or scissor-type structures, which need to rely on a large lateral movement space during operation. For example, the rotary claw has a protruding outer contour in the closed state, and at least 20 cm of unobstructed lateral space needs to be reserved when passing through the object. Once there are obstacles in the working environment, such as when the rotary claw passes through a narrow channel, it is easy to be unable to pass through due to the protruding outer contour of the rotary claw, and the protruding outer contour of the rotary claw is easy to interfere or rub with the surrounding structures, which may cause wear or deformation after long-term use. At the same time, due to the uneven stress caused by the structural design, stress concentration may occur at some connecting rods and hinge parts, which may cause fatigue damage, affecting the overall reliability and service life of the system. SUMMARY

[0003] The purpose of the present application is to provide an airborne hanger umbrella-shaped claw mechanism, which solves the problems of inconvenience and unreliability of the prior art claw mechanism, and makes the claw mechanism more convenient and reliable to use.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme: an airborne hanger umbrella-shaped claw mechanism, comprising a sleeve, a driving shaft, at least two clamping jaws and at least two supporting connecting rods, the driving shaft can reciprocate up and down in the sleeve under the action of driving force, the clamping jaws are uniformly distributed in the circumferential direction of the sleeve in the shape of an umbrella, the root of the clamping jaw is hinged to the driving shaft, one end of each supporting connecting rod is hinged to the sleeve, and the other end is hinged to a position away from the root of the clamping jaw, when the driving shaft moves downward, each clamping jaw is driven by the supporting connecting rod to rotate upward to embrace the driving shaft to be in a closed state, when the driving shaft moves upward, each clamping jaw is driven by the supporting connecting rod to unfold downward to be in an open state, the open state of the clamping jaw at least includes a first position where the upper surface of the clamping jaw is horizontal or upwardly inclined, and a second position where the clamping jaw is downwardly inclined from the root to the free end.

[0005] The application has the following advantages: the structure of the driving shaft driving the umbrella-shaped clamping jaw to open and close in the axial direction significantly improves the adaptability of operation in narrow space, reduces the dependence on lateral movement space, and reduces the risk of movement obstruction caused by environmental obstacles; the clamping jaw holds the driving shaft when it is closed, so that the overall profile is more compact, which is conducive to passing through narrow passages for operation, effectively reducing the interference and friction with the surrounding structure, and helping to improve the durability of the mechanism; the symmetrical support link realizes balanced force transmission, alleviates the stress concentration phenomenon at the hinged part, improves the stress uniformity, and is conducive to prolonging the fatigue life of the part; the clamping jaw is coordinated to expand under the driving of the driving shaft, and the movement is stable, which can form multi-point support and enhance the stability of the grabbing process; at the same time, when the driving shaft moves upward, the clamping jaw expands downward, and the expansion direction of the clamping jaw is consistent with the downward trend of the aircraft, which can effectively avoid the top obstacles inside the target object and avoid the jamming phenomenon caused by the upward or lateral expansion of the traditional hook claw; when the driving shaft moves downward, the clamping jaw rotates upward and is closed to the sleeve, realizing rapid closing, which is naturally coordinated with the disengagement action of the aircraft, so that the aircraft quickly enters a compact state after disengaging from the target, reducing the exposed profile in the air and reducing the risk of scratching or collision with the structure above. In addition, the clamping jaw has a first expansion position with a horizontal or upward inclined upper surface, and a second expansion position with a downward inclination from the root to the free end, which can flexibly adapt to the delivery requirements under different sag angles of the power transmission line, further expanding the application ability of the aircraft in complex working conditions.

[0006] Further, a notch is formed in the clamping jaw, and the support link is at least partially accommodated in the notch during movement.

[0007] The connection structure between the support link and the clamping jaw is more compact, effectively reducing the radial size of the overall mechanism and further improving the profile integration in the closed state; at the same time, the notch plays a certain guiding and limiting role for the support link, which helps to constrain the movement trajectory, reduce swinging or deviation, and improve the stability of the opening and closing action; in addition, this design can reduce the risk of interference between the exposed part of the support link and the external structure, especially when entering narrow space or approaching obstacles, which can reduce the possibility of scratching or jamming and improve the safety of operation.

[0008] Further, the support link and the clamping jaw are hinged at the middle position, and the notch extends from the hinge point of the support link and the clamping jaw to the free end of the clamping jaw along the length direction of the clamping jaw.

[0009] The support connecting rod is more fully accommodated in the gap during movement, effectively improving the space utilization efficiency between the connecting rod and the clamping jaw, and in the closed state, the support connecting rod is smoothly folded along the gap, significantly reducing the radial protrusion amount and improving the overall compactness; in the opening process, the hinge point is located in the middle position to cooperate with the long gap design, so that the clamping jaw can achieve a larger opening angle and a more stable support posture, especially when adapting to different camber angles or uneven target surfaces, better adhesion and operation reliability are exhibited.

[0010] Further, the free end of the clamping jaw is provided with a roller.

[0011] The aforementioned technical solution enables the clamping jaw to change from sliding friction to rolling friction when contacting the target object or support surface, significantly reducing the relative movement resistance, helping the clamping jaw to smoothly adhere to or separate from the target surface during the opening or closing process, and reducing the risk of jamming between the free end of the clamping jaw and obstacles, especially when entering narrow spaces or moving along uneven surfaces, effectively avoiding scratching or sudden blockage.

[0012] Further, at least part of the upper surface of the support connecting rod is an inwardly recessed arc-shaped area, when the clamping jaw is in the closed state, the roller is at least partially located in the recessed arc-shaped area, and when the clamping jaw is in the open state, the recessed arc-shaped area surface of the support connecting rod and the upper surface of the clamping jaw together form a support surface.

[0013] Through the above technical solution, when the clamping jaw is in the closed state, the roller is at least partially located in the recessed arc-shaped area, realizing the structural fitting of the roller and the support connecting rod, further improving the space integration in the closed state, reducing the overall profile, and reducing the interference risk of exposed components during transportation or recycling; when the clamping jaw is in the open state, the recessed arc-shaped area surface of the support connecting rod and the upper surface of the clamping jaw smoothly transition and together form a continuous support surface, effectively expanding the contact area with the target object, improving the load uniformity and support stability, especially when lifting arc-shaped or irregular surface workpieces, better profile adhesion can be achieved to prevent stress concentration or slipping.

[0014] Further, the roller is arranged in the gap, the upper part of the roller does not exceed the upper surface of the clamping jaw, and the lower part of the roller protrudes from the lower surface of the clamping jaw.

[0015] Through the above technical solution, the roller is arranged in the gap, and the upper part of the roller does not exceed the upper surface of the clamping jaw, so that the roller does not increase the radial profile of the clamping jaw in the closed state, maintains the compact structure, and avoids interference with the sleeve or other components as much as possible, and the lower part of the roller protrudes from the lower surface of the clamping jaw, ensuring sufficient contact with the target support surface as much as possible, playing a rolling guiding and drag reduction role, so that the clamping jaw can smoothly move along the contact surface during the opening process, reducing the friction resistance and jamming tendency.

[0016] Further, the sleeve is provided with a limiting block above the root of the clamping jaw and used for limiting the downward unfolding angle of the clamping jaw.

[0017] Through the above technical solution, when the clamping jaw is unfolded downward, the limiting block provides rigid stop for the root of the clamping jaw, effectively controls the maximum unfolding angle, prevents the opening angle from entering the negative degree range due to excessive downward inclination as much as possible, causes motion failure or structural jam, ensures that the opening and closing of the clamping jaw is always in the controllable positive angle working interval, and guarantees the stability and reliability of the mechanism operation. Since the limiting block is arranged above, it is timely limited during the unfolding process of the clamping jaw, and does not interfere with the clamping jaw during the closing process, which is beneficial to the smooth folding of the clamping jaw upward and the complete adhesion to the sleeve, and realizes compact closing. At the same time, this arrangement makes the limiting block away from the lower working area, avoids contact with the target object, the ground or obstacles as much as possible, reduces the risk of scratching and collision, improves the safety in the process of flight and operation, and is especially suitable for complex working conditions with bottom obstacles or limited space.

[0018] Further, the lower surface of the clamping jaw is provided with a buffer pad.

[0019] Through the above technical solution, when the umbrella-shaped clamping jaw moves downward along the sleeve into the taken object area during the closing process, if the clamping jaw contacts with the surrounding structure due to complex environment or positioning deviation, the buffer pad can first contact with the obstacle, play a buffering and damping role, effectively absorb the impact force generated by the collision, and avoid the clamping jaw body bearing excessive instantaneous load as much as possible, so as to prevent structural deformation or damage of the hinged parts as much as possible. At the same time, the buffer pad is made of rubber, polyurethane and other materials with high elasticity and wear resistance, which can continuously provide protection in multiple operations, reduce direct friction and wear between metal parts, and prolong the service life of the mechanism.

[0020] Further, the sleeve is provided with a plurality of first fixing parts for hinging with the support link, and the projections of the plurality of first fixing parts on the cross section of the sleeve are arranged in X shape.

[0021] Through the above technical solution, the support link is arranged in symmetrical cross layout in the circumferential direction, which effectively improves the structural stability of the mechanism and the balance of force transmission.

[0022] Further, the drive shaft is provided with a plurality of second fixing parts hinged with the clamping jaw, and the second fixing parts are aligned with the first fixing parts in the circumferential position.

[0023] By the technical scheme, the support connecting rod connected with the same gripper and the driving shaft hinge point are located in the same radial plane, effectively ensuring the movement coordination between the gripper, the support connecting rod and the driving shaft; the alignment arrangement makes the force transmission path pass through the same plane, reduces the torsional load and lateral bending moment caused by the offset hinge, significantly improves the stress state of the hinge part; at the same time, the consistent geometric relationship of the gripper and the support connecting rod in the circumferential direction improves the precision of the synchronous opening and closing of the multiple grippers, avoids the jamming or vibration caused by the phase deviation as much as possible, and also enhances the symmetry and rigidity of the overall structure, which is beneficial to maintaining the stability and reliability of the mechanism movement under complex working conditions, and provides strong support for realizing the high-precision and high-stability grabbing and dropping operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] The application will be further described below with reference to the drawings:

[0025] Figure 1 Fig. 1 is a structural schematic view of the airborne suspension rack umbrella-shaped hook claw mechanism in a closed state according to the present application;

[0026] Figure 2 Fig. 2 is another view of the structural schematic view of the airborne suspension rack umbrella-shaped hook claw mechanism in a closed state according to the present application;

[0027] Figure 3 Fig. 3 is a structural schematic view of the airborne suspension rack umbrella-shaped hook claw mechanism in an open state according to the present application;

[0028] Figure 4 Fig. 4 is another view of the structural schematic view of the airborne suspension rack umbrella-shaped hook claw mechanism in an open state according to the present application;

[0029] Figure 5 Fig. 5 is a bottom view of the structural schematic view of the airborne suspension rack umbrella-shaped hook claw mechanism in an open state according to the present application;

[0030] In the figure, 1 is a sleeve, 2 is a driving shaft, 3 is a gripper, 31 is a root, 32 is a free end, 33 is a notch, 34 is an upper surface, 35 is a lower surface, 4 is a support connecting rod, 41 is an arc-shaped area, 5 is a roller, 6 is a limiting block, 7 is a first fixed part, 8 is a second fixed part, 9 is a groove, 10 is a fixed pin shaft, 11 is a C-shaped clamp spring, and 12 is a stop head. DETAILED DESCRIPTION

[0031] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0032] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, and above-mentioned drawings, if any, are used to distinguish between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of the terms so

[0033] It should be understood that, in various embodiments of the present application, the size of the serial number as related to each process does not mean the order of execution, the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0034] It should be understood that in the present application, "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] It should be understood that in the present application, "a plurality of" means two or more. "And / or" is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, X and / or Y can represent three cases: X alone, X and Y exist at the same time, and Y alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship. "Including X, Y and Z", "including X, Y, Z" means that X, Y and Z are all included, "including X, Y or Z" means that one of X, Y and Z is included, "including X, Y and / or Z" means that any one or any two or three of X, Y and Z is included.

[0036] The technical solutions of the present application will be described in detail below with specific embodiments. The following specific embodiments can be combined or replaced according to actual conditions, and the same or similar concepts or processes may not be described in some embodiments.

[0037] As Figures 1 to 5The application discloses an airborne type of rack umbrella-shaped claw mechanism, which comprises a sleeve 1, a driving shaft 2, at least two clamping claws 3 and at least two supporting links 4. The driving shaft 2 can reciprocate up and down in the sleeve 1 under the action of driving force. The clamping claws 3 are uniformly distributed in the circumferential direction of the sleeve 1 in an umbrella shape. The root 31 of the clamping claw 3 is hinged to the driving shaft 2. One end of each supporting link 4 is hinged to the sleeve 1, and the other end is hinged to the position away from the root 31 of the clamping claw 3. When the driving shaft 2 moves downward, each clamping claw 3 is driven to rotate upward by the supporting link 4 to embrace the driving shaft 2 and be in a closed state. When the driving shaft 2 moves upward, each clamping claw 3 is driven to unfold downward by the supporting link 4 and be in an open state. The open state of the clamping claw 3 at least includes a first position in which the upper surface 34 of the clamping claw 3 is horizontal or upwardly inclined, and a second position in which the clamping claw 3 is downwardly inclined from the root 31 to the free end 32.

[0038] By adopting the structure that the driving shaft 2 drives the clamping claw 3 to open and close like an umbrella rib, the operation adaptability in a narrow space is improved, the dependence on lateral movement space is reduced, the risk of movement obstruction caused by environmental obstacles is reduced, and in actual tests, only a vertical spacing of 5 cm is needed to complete the unfolding action of the clamping claw 3. When the clamping claw 3 is closed, it embraces the driving shaft 2, the overall profile is compact, which is beneficial to the operation through a narrow channel, effectively reduces the interference and friction with the surrounding structure, and helps to improve the durability of the mechanism. The symmetrical supporting links 4 balance the force transmission, relieve the stress concentration phenomenon at the hinge position, improve the stress uniformity, and help to prolong the fatigue life of the components. The clamping claw 3 unfolds coordinately under the driving of the driving shaft 2, moves stably, can form multi-point support, and enhances the stability of the grabbing process. The sleeve 1 is a hollow structure, which not only effectively reduces the overall weight, but also provides a stable movement space for the internal driving shaft 2. When the driving shaft 2 moves upward, the clamping claw 3 unfolds downward, the unfolding direction of the clamping claw 3 is consistent with the downward trend of the aircraft, which can effectively avoid the top obstacles inside the target object, and avoid the jamming phenomenon caused by the upward or lateral unfolding of the traditional claw. When the driving shaft 2 moves upward, the clamping claw 3 rotates upward and is folded to fit the sleeve 1, realizing rapid closing. The process is naturally coordinated with the aircraft rising and separating action, so that the aircraft quickly enters a compact state after separating from the target, reduces the exposed profile in the air, and reduces the risk of scratching or collision with the structure above. In addition, the clamping claw 3 has a first unfolding position in which the upper surface 34 is horizontal or upwardly inclined, and a second unfolding position in which the clamping claw 3 is downwardly inclined from the root 31 to the free end 32, which can flexibly adapt to the dropping demand of the power transmission line under different sag inclination angles, and further expand the application ability of the aircraft in complex working conditions.

[0039] It should be noted that when the gripper 3 is in the closed state, the angle between the center line of the extension of the gripper 3 along its length and the axis of the drive shaft 2 is no greater than 20°. At this time, the gripper 3 tends to fit against the outer circumference of the drive shaft 2 along the axial direction, and the extension direction of each gripper 3 is approximately parallel to the axis of the drive shaft 2, so that the overall hook and claw mechanism has high axial alignment and radial compactness in the closed state.

[0040] It should be noted that the top of the drive shaft 2 is equipped with fixing screw holes, which can be quickly and easily assembled onto other different types of airborne devices, such as drones, according to actual needs, demonstrating good versatility and flexibility. The drive shaft 2 can be controlled by a stepper motor to extend and retract. The stepper motor can precisely rotate the corresponding angle according to the set step angle, thereby accurately driving the gripper 3 to open or close, meeting the needs of adjusting the position of the gripper 3 under different working conditions. After the equipment is lifted and suspended in the air, the gripper 3 can be stably maintained in the current state, ensuring the stability of the suspended device as much as possible during the lifting process, preventing accidental fall, and ensuring the safe and reliable operation of the lifting operation. The stepper motor is connected to the drive shaft 2 via a gear assembly. The gear assembly is housed in a sealed transmission cavity, which is formed by the sleeve 1 and the protective cover. This effectively isolates the gear assembly from external moisture, rain, or liquid intrusion, significantly reducing the risk of corrosion caused by environmental factors such as humidity and splashing water. This ensures that the transmission system can operate stably for a long time under complex outdoor conditions. At the same time, the sealed environment helps maintain internal lubrication, reduces wear, and further improves the reliability, durability, and environmental adaptability of the gear transmission and the overall mechanism.

[0041] The hook mechanism is also equipped with a hook sensor, which can sense the position of the gripper 3 in real time. The hook sensor can be an angle sensor or a displacement sensor, installed at the hinge of the drive shaft 2, the gripper 3, or inside the sleeve 1, to detect the opening and closing angle of the gripper 3 or the axial displacement of the drive shaft 2 in real time. Through sensor signal feedback, it can accurately determine whether the gripper 3 is in an open, closed, or intermediate transition state, realizing real-time monitoring and closed-loop control of the gripper 3 position. This allows operators or flight control systems to grasp the actual working status of the mechanism in a timely manner, facilitating precise control or automatic interlocking protection in complex operations, and improving the intelligence level, operational safety, and ease of operation of the hoisting system.

[0042] To improve structural stability and strength, the sleeve 1 is provided with multiple first fixing parts 7 for hinged connection with the support rod 4. The projections of the multiple first fixing parts 7 on the cross-section of the sleeve 1 are arranged in an X-shape. This makes the support rod 4 symmetrically cross-shaped in the circumferential direction, effectively improving the structural stability and force transmission balance of the mechanism. Since the support rod 4 bears a large load during the movement of the gripper 3, the first fixing parts 7 also need to bear a large load. To ensure that the first fixing parts 7 can operate stably for a long time and are not easily deformed or damaged, in this application, the first fixing parts 7 are made of 304 stainless steel. 304 stainless steel has excellent corrosion resistance and high strength, and can maintain good performance in complex working environments. The first fixing parts 7 have a groove 9, and pin holes are provided at both ends of the groove 9. The end of the support rod 4 that is hinged to the sleeve 1 extends into the groove 9. The support rod 4 also has a pin hole, and the fixing pin 10 is... The pin passes through the first fixing part 7 and the pin hole of the support link 4 to connect the support link 4 to the first fixing part 7. In order to prevent the support link 4 from moving axially during the movement as much as possible, one end of the fixing pin 10 is provided with a stop head 12, and the other end is limited by a C-type snap ring 11. The C-type snap ring 11 locks the support link 4, and the support link 4 is limited between the stop head 12 of the fixing pin 10 and the C-type snap ring 11. It can only rotate around the fixing pin 10 and cannot move axially, which effectively restricts the range of motion of the support link 4 and ensures that it moves smoothly and reliably within the predetermined range as much as possible.

[0043] Furthermore, the drive shaft 2 is provided with multiple second fixing parts 8 that are hinged to the grippers 3. The second fixing parts 8 are aligned with the first fixing parts 7 in the circumferential position, and the hinge points of all grippers 3 and support rods 4 are fixed, so that the hinge points of all grippers 3 connected to support rods 4 and drive shaft 2 are located in the same radial plane, effectively ensuring the motion coordination between grippers 3, support rods 4 and drive shaft 2. This aligned arrangement makes the force transmission path run through the same plane, reducing torsional loads and lateral bending moments caused by offset hinges, significantly improving the stress state of the hinged parts, thereby maintaining the attitude stability of the UAV during flight. At the same time, the consistent geometric relationship of each gripper 3 and its support rod 4 in the circumferential direction improves the accuracy of the synchronous unfolding and closing of multiple grippers 3, avoids jamming or vibration caused by phase deviation as much as possible, and also enhances the symmetry and rigidity of the overall structure, which is conducive to maintaining the stability and reliability of the mechanism's motion under complex working conditions, providing strong support for achieving high-precision and high-stability gripping and delivery operations. The free end 32 of the gripper 3 is also provided with a groove 9. The inner wall of the second fixing part 8 and the groove 9 are both provided with pin holes. The gripper 3 and the second fixing part 8 are also connected by a fixing pin 10.

[0044] Preferably, there are four of each of the first fixing part 7, the second fixing part 8, the gripper 3, and the support link 4, which are evenly distributed along the circumference of the sleeve 1 to form a symmetrical umbrella-shaped structure. This ensures that the four grippers 3 are subjected to balanced forces during opening and closing, resulting in better motion synchronization. It effectively avoids uneven loading or torsion caused by structural asymmetry. When unfolded, it can form a stable umbrella-shaped support surface, creating a three-dimensional wrap-around gripping structure and improving the adaptability to targets of different shapes.

[0045] It should be noted that in other embodiments, the gripper 3 can also be set to a suitable number of two, three, five, six, seven, eight, etc. The dynamic adjustability of the number of gripper 3 supports is directly related to the force balance: the more gripper 3 supports, the more uniform the three-dimensional force field distribution of the gripping interface becomes, which can effectively reduce the risk of stress concentration at a single point and improve the gripping stability and structural durability in extreme environments, such as strong winds and bumps.

[0046] To make the structure more compact, a notch 33 is provided on the gripper 3. During movement, the support link 4 is at least partially accommodated within the notch 33, making the connection structure between the support link 4 and the gripper 3 more compact. This effectively reduces the radial dimension of the overall mechanism and further improves the contour integration in the closed state. At the same time, the notch 33 plays a certain guiding and limiting role for the support link 4, which helps to constrain its movement trajectory, reduce swaying or deviation, and improve the stability of the opening and closing action. In addition, this design can reduce the risk of interference between the exposed part of the support link 4 and the external structure. Especially when entering narrow spaces or approaching obstacles, it can reduce the possibility of scratching or jamming and improve operational safety.

[0047] The support link 4 and the gripper 3 are hinged at the middle position. A notch 33 extends along the length of the gripper 3 from the hinge point to the free end 32. This allows the support link 4 to be more fully accommodated within the notch 33 during movement, effectively improving the space utilization efficiency between the link and the gripper 3. In the closed state, the support link 4 smoothly retracts along the notch 33, significantly reducing radial protrusion and improving overall compactness. During opening, the hinge point is located in the middle position, and the long notch 33 design allows the gripper 3 to achieve a larger unfolding angle and a more stable support posture. This provides better fit and operational reliability, especially when adapting to different sag angles or uneven target surfaces. Both the gripper 3 and the support link 4 are equipped with pins, which are connected by a fixing pin 10.

[0048] To ensure smooth opening and closing of the gripper 3, a roller 5 is provided at the free end 32 of the gripper 3. The roller 5 is also connected to the free end 32 of the gripper 3 via a fixed pin 10. This minimizes the possibility of the roller 5 becoming loose or shifting during operation, allowing the gripper 3 to change from sliding friction to rolling friction when contacting the target object or support surface. This significantly reduces relative motion resistance and helps the gripper 3 smoothly and steadily adhere to or detach from the target surface during unfolding or closing. It also reduces the risk of jamming between the free end 32 of the gripper 3 and obstacles. Especially when entering narrow spaces or moving along uneven surfaces, the gripper 3 can adaptively slide along the obstacle surface with a maximum tilt angle of ±45° during unfolding, effectively avoiding scratches or sudden blockages and greatly expanding the applicability of the aircraft's operating environment.

[0049] The addition of roller 5 increases the volume of gripper 3. When gripper 3 is stored, roller 5 rotates upward and contacts support rod 4 first, resulting in an increased volume after storage. To address this, in this application, at least part of the upper surface 34 of support rod 4 is an inwardly concave arc-shaped region 41. When gripper 3 is in the closed state, roller 5 is at least partially located in the concave arc-shaped region 41, achieving structural fitting between roller 5 and support rod 4. This further improves the spatial integration in the closed state, reduces the overall profile, and lowers the risk of interference from exposed parts during transportation or recycling. When gripper 3 is in the open state, the surface of the concave arc-shaped region 41 of support rod 4 smoothly transitions with the upper surface 34 of gripper 3 and together forms a continuous support surface. This effectively expands the contact area with the target object, improves load uniformity and support stability, and especially when lifting workpieces with arc or irregular surfaces, it can better fit the profile and prevent stress concentration or slippage.

[0050] The roller 5 is located within the notch 33. The upper part of the roller 5 does not extend beyond the upper surface 34 of the gripper 3, so that the roller 5 does not increase the upper profile of the gripper 3 when closed, maintaining a compact structure and minimizing interference with the sleeve 1 or other components. The lower part of the roller 5 protrudes beyond the lower surface 35 of the gripper 3, ensuring full contact with the target support surface as much as possible, playing a role in rolling guidance and drag reduction, so that the gripper 3 can move smoothly along the contact surface during unfolding, reducing frictional resistance and jamming tendency.

[0051] Since the umbrella-shaped gripper 3 will no longer be able to open when the opening angle reaches a negative degree, which may cause the equipment to malfunction or fail to work properly, in order to avoid this situation as much as possible, in this application, the sleeve 1 is provided with a limiting block 6 located above the root 31 of the gripper 3 and used to limit the downward unfolding angle of the gripper 3. When the gripper 3 extends downwards, the limiting block 6 provides a rigid stop to the root 31 of the gripper 3, effectively controlling its maximum extension angle. This prevents the opening angle from entering a negative range due to excessive downward tilt, which could lead to motion failure or structural jamming. It ensures that the opening and closing of the gripper 3 is always within a controllable positive angle working range, guaranteeing the stability and reliability of the mechanism's operation. Since the limiting block 6 is located at the top, it provides timely limiting during the extension of the gripper 3, and does not interfere with the gripper 3 during the closing process. This facilitates the gripper 3 to retract smoothly upwards and fully fit against the sleeve 1, achieving a tight closure. At the same time, this arrangement keeps the limiting block 6 away from the working area below, minimizing contact with target objects, the ground, or obstacles, reducing the risk of scratches and collisions, and improving safety during flight and operation. It is especially suitable for complex working conditions with bottom obstacles or limited space.

[0052] In the actual operation of the umbrella-shaped hook mechanism, when the umbrella-shaped gripper 3 closes and enters the object to be picked up, due to the complexity and uncertainty of the working environment, it may interfere or rub against other structures. This not only affects the normal operation of the umbrella-shaped hook mechanism but may also damage the equipment. To effectively solve this problem, in this application, the lower surface 35 of the gripper 3 is provided with a buffer pad. When the umbrella-shaped gripper 3 moves downward along the sleeve 1 into the object to be picked up during the closing process, if the gripper 3 comes into contact with the surrounding structure due to environmental complexity or positioning deviation, the buffer pad can first contact the obstacle, playing a buffering and shock-absorbing role, effectively absorbing the impact force generated by the collision, and avoiding excessive instantaneous load on the gripper 3 body as much as possible, thereby preventing structural deformation or damage to the hinged parts as much as possible; at the same time, the buffer pad is made of rubber, polyurethane and other materials with high elasticity and wear resistance, which can continuously provide protection in multiple operations, reduce direct friction and wear between metal parts, and extend the service life of the mechanism.

[0053] In addition to the preferred embodiments described above, the present invention has other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection claimed by the present invention.

Claims

1. An airborne hanging rack umbrella-shaped hook mechanism, characterized in that, The device includes a sleeve, a drive shaft, at least two grippers, and at least two support rods. The drive shaft can reciprocate up and down within the sleeve along the axial direction under the action of a driving force. The grippers are evenly distributed in an umbrella shape along the circumference of the sleeve. The root of each gripper is hinged to the drive shaft. One end of each support rod is hinged to the sleeve, and the other end is hinged to a gripper away from its root. When the drive shaft moves downward, it drives each gripper to rotate upward through the support rods to hug the drive shaft and be in a closed state. When the drive shaft moves upward, it drives each gripper to unfold downward through the support rods and be in an open state. The open state of the grippers includes at least a first position where the upper surface of the gripper is horizontal or inclined upward, and a second position where it is inclined downward from the root to the free end.

2. The airborne hanging rack umbrella-shaped hook mechanism according to claim 1, characterized in that, The gripper has a notch, and the support link is at least partially accommodated within the notch during movement.

3. The airborne hanging rack umbrella-shaped hook mechanism according to claim 2, characterized in that, The support link is hinged to the middle position of the gripper, and the notch extends along the length of the gripper from the hinge point of the support link and the gripper to the free end of the gripper.

4. The airborne hanging rack umbrella-shaped hook mechanism according to claim 2, characterized in that, The free end of the gripper is equipped with a roller.

5. The airborne hanging rack umbrella-shaped hook mechanism according to claim 4, characterized in that, At least a portion of the upper surface of the support link is an inwardly concave arc-shaped region. When the gripper is in the closed state, at least a portion of the roller is located in the concave arc-shaped region. When the gripper is in the open state, the surface of the concave arc-shaped region of the support link and the upper surface of the gripper together form a support surface.

6. The airborne hanging rack umbrella-shaped hook mechanism according to claim 4, characterized in that, The roller is disposed within the notch, with the upper part of the roller not extending beyond the upper surface of the gripper, and the lower part of the roller protruding beyond the lower surface of the gripper.

7. The airborne hanging rack umbrella-shaped hook mechanism according to claim 1, characterized in that, The sleeve is provided with a limiting block located above the root of the gripper and used to limit the downward unfolding angle of the gripper.

8. The airborne hanging rack umbrella-shaped hook mechanism according to claim 1, characterized in that, The lower surface of the gripper is provided with a buffer pad.

9. The airborne hanging rack umbrella-shaped hook mechanism according to claim 1, characterized in that, The sleeve is provided with a plurality of first fixing parts for hinge connection with the support link, and the projections of the plurality of first fixing parts on the cross-section of the sleeve are arranged in an X shape.

10. The airborne hanging rack umbrella-shaped hook mechanism according to claim 1, characterized in that, The drive shaft is provided with a plurality of second fixing parts that are hinged to the grippers, and the second fixing parts are aligned with the first fixing parts in the circumferential position.

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