A grabbing structure for an aircraft and the aircraft

Abstract

This invention belongs to the field of aircraft equipment technology, specifically a gripping structure and aircraft for an aircraft, including a grappling hook body, a grappling hook mounting frame, a hydraulic telescopic rod, and a hydraulic control cylinder. The grappling hook mounting frame is installed below the aircraft body, and the grappling hook body is rotatably mounted on the grappling hook mounting frame. Multiple grappling hook bodies are evenly arranged around the circumference of the grappling hook mounting frame. This invention, by setting an auxiliary mechanism on the grappling hook body, controls the unfolding range of the unfolding component according to the opening range of the grappling hook body in practical applications, ultimately forming a spherical cavity structure to facilitate the transportation of samples of various shapes. Furthermore, since the auxiliary mechanism is detachably fixedly installed on the grappling hook body, when improving existing aircraft gripping structures, it is only necessary to slot the grappling hook body of the existing aircraft gripping structure and assemble the auxiliary mechanism to improve the existing aircraft gripping mechanism to this invention.

Description

Technical Field

[0001] This invention belongs to the field of aircraft equipment technology, specifically a grasping structure for an aircraft and an aircraft. Background Technology

[0002] The grasping mechanism of an aircraft is a core functional component used to enable the aircraft to grasp, transport, or release target objects. It is usually integrated under or on the side of the aircraft fuselage. Through the coordinated operation of mechanical structure, drive device and control system, the grasping attitude can be adjusted according to the shape, weight and surface characteristics of the target object to ensure stable clamping and precise operation of the target. It is a key mechanism for aircraft to perform tasks such as material transportation and sample collection.

[0003] When using aircraft for sample collection, the diverse types of samples collected, primarily liquids, plants and herbs, solid particles, small living organisms, and fragile mineral specimens, present significantly different functional requirements for the gripping structure. Liquid samples require leak-proof, sealed gripping capabilities; plant and herb samples need to be protected from stem and leaf damage to maintain integrity; solid particle samples need to be prevented from scattering during transport; small living organism samples need to balance breathability and safety constraints; and fragile mineral specimens require a cushioning and shock-absorbing protective structure. Therefore, existing gripping structures often struggle to simultaneously meet the collection needs of multiple samples, exhibiting poor adaptability and insufficient operational precision. There is an urgent need for a multi-functional gripping structure capable of flexibly adjusting the gripping method for different sample types.

[0004] For example, a related technology discloses an eagle-inspired grasping system for aerial multirotor aircraft, application number CN2017105345308. This solution establishes a mapping relationship between eagle-like animal grasping and aerial operation of multirotor aircraft from the perspective of bionic motion planning, realizing dynamic grasping tasks of multirotor aircraft in high-speed motion, demonstrating the superiority of bionics in robotics. Simultaneously, through bionic methods, a structural model resembling an eagle's claw is established, ensuring effective completion of the grasping task. However, its practical effect is not ideal when sampling liquids, plants, and live animals.

[0005] In view of this, the present invention proposes a grabbing structure and an aircraft to solve the above-mentioned technical problems. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes a grabbing structure for an aircraft and an aircraft.

[0007] The technical solution adopted by the present invention to solve its technical problem is: the grabbing structure of the aircraft described in the present invention includes a claw body, a claw mounting frame, a hydraulic telescopic rod and a hydraulic control cylinder; The grappling hook mounting frame is installed below the aircraft body, the grappling hook body is rotatably mounted on the grappling hook mounting frame, and multiple grappling hook bodies are evenly arranged around the circumference of the grappling hook mounting frame. A hydraulic telescopic rod is installed between the hook mounting frame and the hook body. The hydraulic telescopic rod is rotatably connected to both the hook mounting frame and the hook body. The hydraulic telescopic rod is used to control the rotation of the hook body on the hook mounting frame. The hydraulic control cylinder is connected to the hydraulic telescopic rod via a control pipe, and the hydraulic control cylinder is used to control the extension and retraction of the hydraulic telescopic rod. It also includes an auxiliary mechanism, which is mounted on the hook body and is used to provide auxiliary functions for sample collection; The auxiliary mechanism includes an unfolding component and a connecting tube; The hook body has an installation groove, and the unfolding part is detachably and fixedly installed on the hook body through the installation groove. A connecting pipe is installed on the unfolding part, and the connecting pipe is detachably and fixedly connected to the hydraulic telescopic rod.

[0008] Preferably, the unfolding component includes an elastic frame, a folded fabric, a connector, and an arc-shaped telescopic rod; The elastic rod is made of spring steel, and a folded cloth is installed on multiple elastic rods. The shape of the elastic rod matches the shape of the hook body. Multiple elastic rods are evenly arranged on the folded fabric, and one of the elastic rods is equipped with a connector for detachably fixing the elastic rod in the mounting groove. An arc-shaped telescopic rod is installed on both ends of the elastic rod. The connecting pipe is fixedly installed on the arc-shaped telescopic rod. The arc-shaped telescopic rod is used to control the dispersion or convergence of multiple elastic rods.

[0009] Preferably, a closing plate is fixedly installed on the inner side of the bottom end of the hook body, and the top end of the closing plate extends to the outside of the mounting groove. When multiple hook bodies are closed, the closing plate surrounds a bowl-shaped structure, and the bottom ends of the unfolded parts are all located inside the bowl-shaped structure.

[0010] Preferably, the folded fabric is made of wear-resistant and waterproof material, and multiple breathable tubes are fixedly installed on the elastic rod. The breathable tubes penetrate the folded fabric, and a detachable plug is installed on the breathable tube.

[0011] Preferably, a sealing gasket layer is fixedly installed on the inner wall of the closed plate, and the sealing gasket layer is made of water-absorbing and expanding rubber material.

[0012] Preferably, sealing strips are fixedly installed on the two elastic rods at both ends, on the side away from each other. The sealing strips are hollow structures and are conductively connected to the arc-shaped telescopic rod.

[0013] Preferably, the inner side of the hook body is provided with an assembly groove, and the hook body is detachably and fixedly mounted with an elastic pad through the assembly groove.

[0014] Preferably, a cutting blade is fixedly installed on the inner side of each of the two elastic rods at both ends, and the cutting blades have an L-shaped cross-section.

[0015] Preferably, after two adjacent unfolding components are unfolded, the cutting blades are designed to be staggered and fitted together.

[0016] An aircraft, including a grasping structure for the aircraft; The aircraft also includes the aircraft body and a machine vision system installed on the aircraft body.

[0017] The beneficial effects of this invention are as follows: 1. The present invention discloses a grasping structure and aircraft for an aircraft. By setting an auxiliary mechanism on the grappling hook body, the unfolding range of the unfolding component is controlled according to the opening range of the grappling hook body in actual application, ultimately forming a spherical cavity structure to facilitate the transportation of samples of various shapes. At the same time, since the auxiliary mechanism is detachably fixedly installed on the grappling hook body, when improving the existing aircraft grasping structure, it is only necessary to slot the grappling hook body of the existing aircraft grasping structure and assemble the auxiliary mechanism to improve the existing aircraft grasping mechanism to the present invention. Moreover, the detachable fixed connection means that the aircraft grasping structure can be replaced with auxiliary mechanisms of different materials according to its use environment and scope in actual application, thereby enhancing the applicability of the aircraft grasping mechanism in diverse application environments.

[0018] 2. The grabbing structure and aircraft of the present invention, by means of a sealing strip and an arc-shaped telescopic rod being connected during the unfolding and splicing of the unfolding parts, causes some hydraulic oil to be squeezed into the sealing strip, thereby causing the sealing strip to expand. When two adjacent unfolding parts are spliced, the sealing strip is squeezed and deformed, thereby sealing the gap between the two adjacent unfolding parts. Combined with the bowl-shaped structure formed by the closing plate, it can effectively reduce the probability of samples detaching from the grabbing structure when collecting and transporting liquid, soil or loose particulate samples, and ensure the stability of the sample grabbing and transportation process. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1This is a schematic diagram of the grabbing structure in this invention unfolding on the aircraft; Figure 2 This is a schematic diagram of the grasping structure closing on the aircraft in this invention; Figure 3 It is a 3D image of the captured structure in its unfolded state; Figure 4 It captures a 3D image of a structure in a closed state; Figure 5 It is a three-dimensional assembly view of the hook body and the closing plate; Figure 6 It is a 3D view of the unfolded component being assembled with the hydraulic telescopic rod via connecting pipes; Figure 7 It is a cross-sectional view of the middle section of the unfolded part and the hook body; Figure 8 yes Figure 7 A magnified view of a section at point A in the middle; In the diagram: 1. Claw mounting frame; 11. Claw body; 12. Hydraulic telescopic rod; 13. Hydraulic control cylinder; 14. Control pipe; 15. Mounting slot; 2. Connecting pipe; 21. Elastic skeleton; 22. Folded fabric; 23. Connector; 24. Arc-shaped telescopic rod; 25. Closing plate; 26. Vent pipe; 27. Closing plug; 28. Sealing strip; 29. ​​Sealing gasket; 3. Assembly slot; 31. Elastic pad; 4. Cutting blade; 5. Machine vision system; 6. Aircraft body. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figures 1 to 8 As shown, the grabbing structure of an aircraft according to the present invention includes a claw body 11, a claw mounting frame 1, a hydraulic telescopic rod 12, and a hydraulic control cylinder 13. The grappling hook mounting frame 1 is installed below the aircraft body 6, and the grappling hook body 11 is rotatably mounted on the grappling hook mounting frame 1. Multiple grappling hook bodies 11 are evenly arranged around the circumference of the grappling hook mounting frame 1. A hydraulic telescopic rod 12 is installed between the hook mounting frame 1 and the hook body 11. The hydraulic telescopic rod 12 is rotatably connected to both the hook mounting frame 1 and the hook body 11. The hydraulic telescopic rod 12 is used to control the rotation of the hook body 11 on the hook mounting frame 1. The hydraulic control cylinder 13 and the hydraulic telescopic rod 12 are connected through a control pipe 14. The hydraulic control cylinder 13 is used to control the extension and retraction of the hydraulic telescopic rod 12. It also includes an auxiliary mechanism, which is mounted on the hook body 11 and is used to provide auxiliary functions for sample collection; The auxiliary mechanism includes an unfolding component and a connecting tube 2; The hook body 11 is provided with an installation groove 15. The unfolding part is detachably and fixedly installed on the hook body 11 through the installation groove 15. A connecting pipe 2 is installed on the unfolding part, and the connecting pipe 2 is detachably and fixedly connected to the hydraulic telescopic rod 12.

[0023] The unfolding component includes an elastic frame 21, a folded fabric 22, a connector 23, and an arc-shaped telescopic rod 24; The elastic rod 21 is made of spring steel, and a folded cloth 22 is installed on multiple elastic rods 21. The shape of the elastic rod 21 matches the shape of the hook body 11. Multiple elastic rods 21 are evenly arranged on the folded cloth 22, and a connector 23 is installed on one of the elastic rods 21. The connector 23 is used to detachably fix the elastic rod 21 in the mounting groove 15. The connector 23 is preferably a connecting bolt, a buckle or other connecting accessory. An arc-shaped telescopic rod 24 is installed on the two elastic rods 21 at both ends. The connecting pipe 2 is fixedly installed on the arc-shaped telescopic rod 24. The arc-shaped telescopic rod 24 is used to control the multiple elastic rods 21 to disperse or gather. After the multiple unfolding parts are fully unfolded, they are spliced ​​into a spherical structure.

[0024] When using aircraft for sampling operations, simple grappling hooks are not ideal for collecting and transporting fine soil samples, liquid samples, plant samples, live animal samples, etc. In practical applications, not only is the sampling and grasping effect poor, but they are also easily lost due to airflow impact during transportation. Therefore, this invention improves the grasping structure by setting up auxiliary mechanisms and improving the grasping structure, thereby enhancing the grasping and transportation effect of the grasping structure for samples of various shapes.

[0025] Specifically, when using an aircraft with a grasping structure for sample collection and transportation, the aircraft carries the grasping structure and machine vision system 5. When the aircraft reaches the sample, the grasping structure grasps the sample. During the grasping process, under the control of a pre-set program, the hydraulic control cylinder 13 is activated. The hydraulic control cylinder 13 pumps or extracts hydraulic oil into the hydraulic telescopic rod 12 through the control pipe 14 to control the extension and retraction of the hydraulic telescopic rod 12. When the hydraulic telescopic rod 12 retracts, the multiple claw bodies 11, which are initially in a converged state, gradually open. When the opening amplitude of the claw bodies 11 is greater than that of the sample, with the cooperation of the UAV, the claw bodies 11 surround the sample. Under the action of the hydraulic control cylinder 13, the hydraulic telescopic rod 12 is driven to extend, causing the multiple claw bodies 11 to gradually converge. During the closing process of the main body 11, the unfolding component is connected to the hydraulic telescopic rod 12 through the connecting pipe 2. Therefore, during the closing process of the hook body 11, the unfolding component gradually unfolds from a contracted state. The arc-shaped telescopic rod 24 extends and retracts synchronously with the hydraulic telescopic rod 12 during the connection process through the connecting pipe 2. As the arc-shaped telescopic rod 24 gradually extends, the two elastic bones 21 at the beginning and end gradually separate. During the separation process, the folded cloth 22 and the elastic bone 21 in the middle are pulled, which causes the unfolding component to gradually unfold in an arc shape. When the unfolding component is fully unfolded, its whole shape is arc-shaped, and the width at both ends is smaller than the width in the middle. At the same time, the unfolding component continues to follow the movement of the hook body 11 until the hook body 11 closes. At this time, the unfolding component surrounds the outside of the hook body 11 to form a spherical structure to achieve the grasping and fixation of the sample.

[0026] This invention provides an auxiliary mechanism on the hook body 11. In practical applications, the unfolding range of the unfolding component is controlled according to the opening range of the hook body 11, ultimately forming a spherical cavity structure to facilitate the transportation of samples of various shapes. Furthermore, since the auxiliary mechanism is detachably and fixedly installed on the hook body 11, when improving existing aircraft grasping structures, only slotting the hook body 11 and assembling the auxiliary mechanism is required to improve the existing aircraft grasping mechanism to this invention. The detachable and fixed connection method allows the aircraft grasping structure to be modified by replacing the auxiliary mechanism with one of different materials according to its usage environment and scope, thereby enhancing the applicability of the aircraft grasping mechanism in diverse application environments.

[0027] In a preferred embodiment of the present invention, a closing plate 25 is fixedly installed on the inner side of the bottom end of the hook body 11. The top end of the closing plate 25 extends to the outer side of the mounting groove 15. When multiple hook bodies 11 are closed, the closing plate 25 surrounds a bowl-shaped structure, and the bottom ends of the unfolded parts are all located inside the bowl-shaped structure.

[0028] Each of the two elastic rods 21 at both ends is fixedly equipped with a sealing strip 28 on a side away from each other. The sealing strip 28 is a hollow structure and is conductively connected to the arc-shaped telescopic rod 24.

[0029] To further enhance the protection of samples, in this invention, a closing plate 25 is fixedly installed on the outer side of the claw body 11, and the closing plate 25 extends to the outer side of the mounting groove 15. Therefore, the bottom of the unfolding piece is blocked by the closing plate 25. When multiple claw bodies 11 are closed, multiple closing plates 25 are spliced ​​into a bowl-shaped structure. The bowl-shaped structure cooperates with the spherical structure formed by the splicing of the unfolding pieces to block the bottom of the spherical structure formed by the splicing of the unfolding pieces. At the same time, when the unfolding pieces are unfolded and spliced, the sealing strip 28 is connected to the arc-shaped telescopic rod 24, so that some hydraulic oil is squeezed into the sealing strip 28, thereby causing the sealing strip 28 to expand. When two adjacent unfolding pieces are spliced, the sealing strip 28 is squeezed and deformed, thereby sealing the gap between the two adjacent unfolding pieces. The bowl-shaped structure formed by the closing plate 25 can effectively reduce the probability of the sample falling off the grasping structure when collecting and transporting liquid, soil or loose particulate samples, and ensure the stability of the sample grasping and transporting process.

[0030] In a preferred embodiment of the present invention, the folded fabric 22 is made of wear-resistant and waterproof fabric, and a plurality of breathable tubes 26 are fixedly installed on the elastic rod 21. The breathable tubes 26 penetrate the folded fabric 22, and a detachable plug 27 is installed on the breathable tubes 26.

[0031] To further enhance the gripping and transporting of liquid samples, the folded cloth 22 in this invention is made of waterproof fabric. When the unfolding component, in conjunction with the hook body 11, grips the liquid sample, the waterproof folded cloth 22, together with the closing plate 25, can seal the liquid sample, reducing the probability of the liquid sample seeping out through the folded cloth 22. Simultaneously, to further enhance the sealing effect between the closing plate 25 and the folded cloth 22, a sealing pad 29 made of water-swellable rubber material is fixedly installed on the side of the closing plate 25 near the folded cloth 22. The sealing pad 29 itself has elasticity and water-absorbing swelling properties, thus sealing the gap between the bowl-shaped structure and the folded cloth 22 during liquid transport. The vent pipe 26 installed on the elastic bone rod 21 is suitable for transporting live animal samples. The pre-opened vent pipe 26 allows for air circulation inside and outside the folded component, providing the necessary conditions for the survival of the live animal samples. In a preferred embodiment of the present invention, an assembly groove 3 is provided on the inner side of the hook body 11, and an elastic pad 31 is detachably and fixedly installed on the hook body 11 through the assembly groove 3.

[0032] In order to reduce the damage to the sample by the claw body 11 during transportation, the present invention provides an assembly groove 3 on the inner side of the claw body 11 and installs an elastic pad 31 through the assembly groove 3 so that the sample and the claw body 11 make elastic contact, thereby reducing the degree of damage to the sample due to impact and other factors during transportation.

[0033] In a preferred embodiment of the present invention, cutting blades 4 are fixedly installed on the inner sides of the two elastic rods 21 at both ends, and the cross-section of the cutting blades 4 is L-shaped.

[0034] After two adjacent unfolding components are unfolded, the cutting blade 4 is designed to be staggered and fitted.

[0035] When collecting samples, the cutting blade 4 can effectively cut the plant sample to separate the sample from the plant. It should be noted that the cutting blade 4 is detachably fixed on the elastic frame 21. Therefore, in sample handling activities where cutting is not required or needs to be avoided, the staff can remove the cutting blade 4 in advance to avoid damage to the sample.

[0036] An aircraft includes a grasping structure, the aircraft also includes an aircraft body 6 and a machine vision system 5 mounted on the aircraft body 6, the machine vision system 5 being able to provide good assistance for sample grasping.

[0037] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grabbing structure for an aircraft, characterized in that: It includes a hook body (11), a hook mounting bracket (1), a hydraulic telescopic rod (12), and a hydraulic control cylinder (13). The grappling hook mounting frame (1) is installed below the aircraft body (6), and the grappling hook body (11) is rotatably mounted on the grappling hook mounting frame (1). Multiple grappling hook bodies (11) are evenly arranged around the circumference of the grappling hook mounting frame (1). A hydraulic telescopic rod (12) is installed between the hook mounting frame (1) and the hook body (11). The hydraulic telescopic rod (12) is rotatably connected to both the hook mounting frame (1) and the hook body (11). The hydraulic telescopic rod (12) is used to control the hook body (11) to rotate on the hook mounting frame (1). The hydraulic control cylinder (13) and the hydraulic telescopic rod (12) are connected by a control pipe (14). The hydraulic control cylinder (13) is used to control the telescopic movement of the hydraulic telescopic rod (12). It also includes an auxiliary mechanism, which is mounted on the hook body (11) and is used to provide auxiliary functions for sample collection; The auxiliary mechanism includes an unfolding component and a connecting tube (2); The hook body (11) is provided with an installation groove (15). The unfolding part is detachably and fixedly installed on the hook body (11) through the installation groove (15). A connecting pipe (2) is installed on the unfolding part. The connecting pipe (2) is detachably and fixedly connected to the hydraulic telescopic rod (12).

2. The grabbing structure for an aircraft according to claim 1, characterized in that: The unfolding component includes an elastic skeleton (21), a folded fabric (22), a connector (23), and an arc-shaped telescopic rod (24). The elastic rod (21) is made of spring steel, and a folded cloth (22) is installed on multiple elastic rods (21). The shape of the elastic rod (21) matches the shape of the hook body (11). Multiple elastic rods (21) are evenly arranged on folded cloth (22), and a connector (23) is installed on one of the elastic rods (21). The connector (23) is used to detachably fix the elastic rod (21) in the mounting groove (15). An arc-shaped telescopic rod (24) is installed on the two elastic rods (21) at both ends. The connecting pipe (2) is fixedly installed on the arc-shaped telescopic rod (24). The arc-shaped telescopic rod (24) is used to control the multiple elastic rods (21) to disperse or converge.

3. The grabbing structure for an aircraft according to claim 2, characterized in that: A closing plate (25) is fixedly installed on the inner side of the bottom end of the hook body (11). The top of the closing plate (25) extends to the outside of the mounting groove (15). When multiple hook bodies (11) are closed, the closing plate (25) surrounds the bowl-shaped structure, and the bottom of the unfolded parts are all located inside the bowl-shaped structure.

4. The grabbing structure for an aircraft according to claim 3, characterized in that: A sealing gasket (29) is fixedly installed on the inner wall of the closed plate (25), and the sealing gasket (29) is made of water-absorbing and expanding rubber material.

5. The grabbing structure for an aircraft according to claim 2, characterized in that: The folded fabric (22) is made of wear-resistant and waterproof fabric. A breathable tube (26) is fixedly installed on the elastic rod (21). The breathable tube (26) passes through the folded fabric (22). A detachable plug (27) is installed on the breathable tube (26).

6. The grabbing structure for an aircraft according to claim 2, characterized in that: Two elastic rods (21) at both ends are fixedly installed with sealing strips (28) on opposite sides. The sealing strips (28) are hollow structures and are connected to the arc-shaped telescopic rods (24).

7. The grabbing structure for an aircraft according to claim 2, characterized in that: The hook body (11) has an assembly groove (3) on its inner side, and the hook body (11) is detachably fixed with an elastic pad (31) through the assembly groove (3).

8. The grabbing structure for an aircraft according to claim 2, characterized in that: Cutting blades (4) are fixedly installed on the inner sides of the two elastic rods (21) at both ends, and the cross-section of the cutting blades (4) is L-shaped.

9. The grabbing structure for an aircraft according to claim 8, characterized in that: After two adjacent unfolding parts are unfolded, the cutting blade (4) is designed to be staggered and fitted.

10. An aircraft, characterized in that: Includes the grabbing structure of the aircraft as described in any one of claims 1-9; The aircraft also includes an aircraft body (6) and a machine vision system (5) installed on the aircraft body (6).

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