Unmanned aerial vehicle hoisting installation mechanism and method

Abstract

The application discloses a kind of unmanned plane hoisting installation mechanism and method, it is related to unmanned plane high-altitude installation operation technical field.The mechanism includes bearing body, lap support part and suspension connecting part.Lap support part is arranged in bearing body one side, for lap on the external fixed platform to form first fulcrum;Suspension connecting part is used to be connected with unmanned plane sling to form second fulcrum, so that hoisting system presents double-point force state, by setting displacement adjusting mechanism, can horizontally translate suspension connecting part, change the relative distance of suspension position and system gravity, transfer part load to external fixed platform, reduce the load bearing of unmanned plane;The method is completed in double-point force stable state Component docking, effectively reduce component swing, improve installation precision and construction safety, while reducing the load bearing of unmanned plane and power output.

Description

Technical Field

[0001] This invention relates to the field of drone high-altitude facility installation technology, and in particular to a drone hoisting and installation mechanism and method. Background Technology

[0002] With the rapid development of infrastructure construction such as power and communications, the demand for the installation of high-altitude facilities such as high-voltage transmission towers and communication towers is increasing. Traditional high-altitude facility installation mainly relies on manual climbing or large lifting machinery. However, in areas with complex terrain, inconvenient transportation, or sensitive environments, traditional construction methods face problems such as low efficiency, high cost, and high safety risks.

[0003] In recent years, drone technology has been widely used in fields such as power line inspection and material transportation. Using drones to lift equipment or components to high altitudes for installation has become a new construction method, offering advantages such as mobility, flexibility, minimal terrain limitations, and high construction efficiency. However, during actual lifting and installation, drones are affected by factors such as airflow disturbances, their own power fluctuations, and load swings, resulting in significant swaying and vibration.

[0004] Existing drone-based hoisting methods typically use simple slings or lifting devices to directly connect the drone to the component being installed, lacking effective stabilization measures. This hoisting structure has the following problems: the connection between the sling and the drone is usually flexible, and there are no auxiliary supports or limiting structures between the drone and the component. The entire hoisting system relies solely on the drone's own flight control to maintain its attitude. Due to the lack of auxiliary stabilizing structures, the swaying caused by the drone's position adjustment as it approaches the installation location is directly transmitted to the component being installed, causing the component to sway uncontrollably in the air and making accurate alignment difficult. However, in installation scenarios such as high-voltage transmission towers, the installation error must be controlled within the millimeter level, while the swaying amplitude generated by drone hoisting far exceeds this precision requirement, causing the component to fail to be positioned smoothly, seriously affecting installation efficiency and quality, and even potentially causing equipment damage or safety accidents due to collisions.

[0005] Although there is research on anti-sway technology for drone payloads, it mainly focuses on sway suppression during hoisting and does not address the issue of installation stability after hoisting into place, thus failing to meet the requirements for precision installation of high-altitude facilities. Summary of the Invention

[0006] This invention provides a drone hoisting and installation mechanism and method to address the issue of excessive component swaying after drone hoisting, which fails to meet the millimeter-level installation requirements of high-altitude facilities such as high-voltage transmission towers.

[0007] To achieve the above objectives, in one aspect, the present invention provides a drone hoisting and installation mechanism for docking the component to be installed to an external fixed platform, comprising: The support body is used to support the component to be installed; the overlapping support part is provided on one side of the support body, which is used to overlap the external fixed platform to form a first fulcrum; the suspension connection part is provided on the support body, which is used to connect with the lifting device of the UAV to form a second fulcrum.

[0008] By incorporating an overlapping support section, one end of the load-bearing body is overlapped with an external fixed platform during hoisting and installation, forming a first fulcrum. This allows the hoisting system to be supported jointly by the first fulcrum and a second fulcrum formed by the suspension tension of the drone, creating a dual-point load-bearing state. Compared to traditional solutions where the entire load is borne by the drone, this invention transfers part of the hoisting load to the external fixed platform through the first fulcrum, effectively reducing the load burden on the drone, minimizing component swaying, and improving installation accuracy and construction safety.

[0009] Furthermore, the hoisting and installation mechanism also includes a displacement adjustment mechanism disposed on the bearing body; the displacement adjustment mechanism includes a guide rail fixed to the bearing body, a movable end slidably connected to the guide rail, and a drive mechanism for driving the movable end to move.

[0010] Furthermore, the suspension connection includes a fixed suspension part disposed on the bearing body and a movable suspension part disposed on the moving end. The movable suspension part is located between the fixed suspension part and the overlapping support part, and the displacement adjustment mechanism drives the movable suspension part to move closer to or away from the fixed suspension part.

[0011] By driving the movable suspension part to translate along the guide rail through the displacement adjustment mechanism, the relative distance between the fixed suspension part and the movable suspension part can be dynamically adjusted, changing the horizontal position of the equivalent resultant force point of the suspension tension (the second fulcrum) and increasing the lever arm length of the second fulcrum relative to the first fulcrum. By utilizing the leverage effect, most of the hoisting load can be actively transferred to the external fixed platform, significantly reducing the load and power output of the UAV and reducing vibration interference caused by rotor power fluctuations.

[0012] Furthermore, the drive mechanism includes any one of a lead screw drive mechanism and a gear and rack drive mechanism, and its power output end is connected to the moving end for transmission.

[0013] Furthermore, the overlapping support includes any one of a gravity interference structure, a mechanical clamping structure, or a surface adsorption structure, and the overlapping support is configured to form the first fulcrum when overlapping, clamping, or adsorbing onto an external fixed platform.

[0014] Furthermore, the gravity interference structure includes a support rod, the lower surface of which has at least one downwardly protruding, triangular barb along its length.

[0015] Furthermore, the mechanical clamping structure includes mechanical grippers and a power source for driving the mechanical grippers to open and close, wherein the mechanical grippers are configured to grip the angle steel of the external fixed platform.

[0016] Furthermore, the supporting body is any one of a frame structure, a plate structure, or a cage structure, and the supporting body is provided with a limiting part for positioning the component to be installed.

[0017] On the other hand, the present invention also provides a method for hoisting and installing drones, which uses the above-mentioned drone hoisting and installation mechanism and includes the following steps: The drone lifts the hoisting and installation mechanism and transports it to the vicinity of the external fixed platform; the overlapping support is attached to the external fixed platform to establish a first fulcrum, so that the hoisting and installation mechanism is in a dual-point force state supported by the first fulcrum and a second fulcrum provided by the drone for suspension tension; in the dual-point force state, the docking of the component to be installed is completed.

[0018] The above hoisting method allows for direct component docking under dual-point stress, and accurate installation is achieved by utilizing the stable state after the load is shared by an external fixed platform, thus reducing the requirements for the attitude control accuracy of the UAV.

[0019] Furthermore, before completing the docking of the components to be installed, a load transfer step is included: while maintaining the contact of the first fulcrum, the second fulcrum is translated horizontally to change the relative distance between the second fulcrum and the center of gravity of the hoisting and installation mechanism; wherein, the translation of the second fulcrum is achieved by driving the movable suspension part to translate in a direction away from the first fulcrum to move closer to the fixed suspension part.

[0020] The beneficial effects of this invention are as follows: (1) Double-point support to suppress sway: By connecting the support part, a rigid first fulcrum is established on the external fixed platform, forming a double-point force system with the second fulcrum of the UAV suspension. The multi-degree-of-freedom pendulum swing of the single-point suspension is constrained into a small single-degree-of-freedom rotation around the first fulcrum, which greatly suppresses the swing amplitude of the component to be installed and provides a stable foundation for high-altitude precision alignment.

[0021] (2) Active load unloading: The movable suspension part is driven to move along the guide rail by the displacement adjustment mechanism, which can dynamically adjust the relative distance between the fixed suspension part and the movable suspension part, change the horizontal position of the equivalent resultant point of the suspension tension (the second fulcrum), and increase the lever arm length of the second fulcrum relative to the first fulcrum; by utilizing the leverage effect, most of the hoisting load can be actively transferred to the external fixed platform, significantly reducing the load and power output of the UAV, and reducing the vibration interference caused by rotor power fluctuations.

[0022] (3) Improved alignment accuracy: By establishing the first fulcrum and coordinating load unloading, the UAV can operate under low load, and the response sensitivity and control accuracy of attitude fine-tuning are significantly improved; with the stable constraint of dual-point support, the influence of airflow disturbance can be effectively offset, and the alignment error of the components to be installed can be controlled at the millimeter level, meeting the high-precision installation requirements of high-voltage transmission towers, communication base stations and other scenarios.

[0023] (4) High operational safety redundancy: After the load of the UAV is reduced, the heat generation of the power system is reduced and the battery life is extended, and the power redundancy is sufficient to cope with abnormal working conditions such as sudden strong winds; even if the UAV experiences a brief power fluctuation, the overall attitude of the system will not change drastically because the main load is borne by an external fixed platform, which greatly improves the safety and stability of high-altitude operations.

[0024] (5) Strong adaptability to different scenarios: The overlapping support provides various forms such as passive gravity interference, active mechanical clamping, and electromagnetic adsorption, which can be adapted to different types of high-altitude load-bearing structures such as angle steel, truss, and flat steel platform. No need to modify existing facilities, it can be widely used in high-altitude installation operations in multiple fields such as power, communication, and wind power. Attached Figure Description

[0025] Figure 1 This is an overall schematic diagram of the drone hoisting and installation mechanism provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal overall structure of the drone hoisting and installation mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the overlapping support portion using a gravity interference structure in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overlapping support portion using a mechanical clamping structure in an embodiment of the present invention; Figure 5 This is a schematic diagram of the overlapping support portion using a surface adsorption structure in an embodiment of the present invention; Explanation of reference numerals in the attached figures: 100. External fixed platform; 1. Supporting the main body; 2. Overlapping support; 21a. Support rod; 21b. Barb; 22a. Mechanical gripper; 22b. Power source; 23a. Electromagnetic adsorption assembly; 23b. Buffer pad; 23c. Connecting bracket; 3. Suspension connection part; 31. Fixed suspension part; 32. Movable suspension part; 4. Displacement adjustment mechanism; 41. Guide rail; 42. Moving end; 42a. Synchronous connection plate; 42b. Slider; 43. Drive mechanism. Detailed Implementation

[0026] The following will be combined with the appendix Figures 1-5 The embodiments of the technical solution of the present invention are described in detail below. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore merely examples and should not be used to limit the scope of protection of the present invention.

[0027] like Figure 1 As shown in the figure, this embodiment provides a drone hoisting and installation mechanism for docking the component to be installed to an external fixed platform 100. The hoisting and installation mechanism and the component to be installed together constitute a hoisting system. The mechanism mainly includes a load-bearing body 1, an overlapping support part 2, a suspension connection part 3, and a displacement adjustment mechanism 4.

[0028] The support body 1 is used to support the component to be installed. In this embodiment, a rectangular frame structure made of insulating material is adopted, which has both high structural rigidity and low self-weight characteristics, and can stably transmit support force and suspension load. The support body 1 is provided with a limiting part, which can optionally adopt an electromagnetic positioning pin structure. During hoisting, it is used to position and constrain the component to be installed, preventing the component from sliding or shifting relative to the support body 1. After alignment, it can be unlocked by ground remote control signal to realize the release and installation of the component. In practical applications, the support body 1 can also be replaced with a plate structure or a cage structure depending on the shape of the component to be installed: the plate structure is suitable for supporting panel-type and box-type components; the cage structure is suitable for loading small loose parts or irregularly shaped components, and the type can be flexibly selected according to the operation requirements.

[0029] The components to be installed include, but are not limited to, power fittings, communication equipment, pole-type components, box-type components, and small loose parts. Common components that our organization can adapt to include: conductor spacers, vibration dampers, suspension insulator strings, and line online monitoring terminals in the power field; base station panel antennas and feeder fixing clamps in the communication field; and aviation obstruction lights, lightning arresters, and small warning signs in the general maintenance field. Among them, pole-type and fitting components are adapted to frame-type load-bearing bodies, box-type and panel-type components are adapted to panel-type load-bearing bodies, and small loose parts are adapted to cage-type load-bearing bodies.

[0030] The overlapping support 2 is fixedly installed on one side of the bearing body 1 along its length, and is used to overlap or clamp onto the external fixed platform 100 to form a stable first fulcrum. The overlapping support 2 can adopt one of three implementation methods: gravity interference structure, mechanical clamping structure, and surface adsorption structure, to adapt to different working conditions as needed.

[0031] In one alternative embodiment, the overlapping support 2 adopts a gravity interference structure, such as... Figure 2 and 3As shown, this structure is a self-locking type, requiring no additional power input. The structure includes two parallel support rods 21a, which are detachably connected to both sides of the support body 1 and extend horizontally towards the first fulcrum. The detachable connection structure can be any of bolt connection, pin connection, or snap-fit ​​connection. Each support rod 21a has several downward-protruding triangular barbs 21b evenly distributed along its length on its lower surface. Optionally, the barbs 21b are right-angled triangles, with one corner fixed to the lower surface of the support rod 21a and the other corner extending vertically downwards, with the vertical surface facing one side of the support body 1. During operation, the lower surface of the support rod 21a overlaps the upper surface of the horizontal leg of the tower angle steel, and the barbs 21b engage with the outer edge of the horizontal leg of the angle steel or in the connecting hole. Relying on the weight of the hoisting system itself, the vertical surface of the barbs 21b and the edge of the angle steel form a wedge-locked position, i.e., gravity interference self-locking. When the load-bearing body 1 is subjected to an outward slippage horizontal force, the locking force increases synchronously with the increase of the load, which can effectively limit the horizontal slippage. This structure uses the overlap as a lever fulcrum to transfer part of the load of the hoisting point system to the external fixed platform 100 through the support rod 21a. The structure is simple and reliable, and is suitable for operation scenarios with small to medium loads and normal wind power.

[0032] In another alternative embodiment, the overlapping support 2 adopts a mechanical clamping structure, such as... Figure 4 As shown, this is an active clamping mechanism suitable for heavy loads or high wind conditions. The structure includes mechanical grippers 22a and a power source 22b that drives the grippers to open and close. The mechanical grippers 22a are a pair of symmetrically arranged L-shaped arms, adapted to the L-shaped cross-section of the angle steel. One end of each arm is connected to the side of the supporting body 1, and the other end is a free end that can be opened and closed. The inner side of the arms is provided with anti-slip teeth, allowing them to respectively conform to the upper surface of the horizontal leg and the outer surface of the vertical leg of the angle steel in the closed state, forming a circumferential clamping constraint. The mechanical grippers 22a can be adapted to the cross-section of the external fixed platform using one of the following: an arc-shaped round rod, a C-shaped steel, or a mating square tube. The power source 22b is an electric push rod, the main body of which is fixed to the connecting plate, with the push rod end hinged to one of the grippers. The power source 22b is powered by an onboard lithium battery and can be controlled to extend and retract via a ground-based wireless remote control signal, driving the opening and closing of the two grippers. Once clamped in place, the mechanical gripper 22a can simultaneously transmit vertical loads and restrict horizontal and torsional displacements, resulting in greater stability.

[0033] The third type is the surface adsorption structure, such as Figure 5As shown, this is an active adsorption method suitable for flat steel external fixed platforms 100. The structure includes at least one set of electromagnetic adsorption components 23a, which are horizontally extended and fixed to the side of the supporting body 1 via connecting brackets 23c. A buffer pad 23b is laid on the adsorption end face. The electromagnetic adsorption components 23a are powered by an onboard lithium battery and controlled by ground remote control. During operation, the supporting body moves the electromagnetic adsorption components 23a to adhere to the flat steel surface of the platform. After power is applied, the electromagnet generates a strong magnetic attraction, firmly adsorbing one end of the supporting body 1 onto the external fixed platform 100, forming the first fulcrum. The magnetic attraction can transfer vertical loads and restrict horizontal slippage. The attraction disappears immediately after power is cut off, facilitating rapid detachment. This structure has a high alignment tolerance and rapid adsorption and detachment actions, making it suitable for operation scenarios on flat steel bearing surfaces such as substation structural steel beams, steel platform panels, and wind turbine tower platforms.

[0034] Although the three types of overlapping support parts 2 have different working principles, they can all form a stable first fulcrum on the external fixed platform 100, realize the vertical load transfer and horizontal displacement restriction, and belong to the equivalent structures that are interchangeable in this field.

[0035] The suspension connection 3 is used to connect with the drone's lifting device. It includes a fixed suspension part 31 and a movable suspension part 32. The two suspension parts jointly bear the upward pulling force of the drone's lifting device, and their resultant force points constitute the second fulcrum on the suspension side. The fixed suspension part 31 is fixedly set at the end of the bearing body 1 away from the first fulcrum, serving as a spare lifting point and a travel limit structure. The movable suspension part 32 is set on the moving end 42 of the displacement adjustment mechanism 4. In the initial state, the movable suspension part 32 is located between the fixed suspension part 31 and the overlapping support part 2. The drone lifting device is connected to both the fixed suspension part 31 and the movable suspension part 32 simultaneously through the forked sling. The two suspension points jointly transmit the suspension pulling force. At this time, the equivalent second fulcrum is closer to the first fulcrum, and the lifting load is mainly borne by the drone. The first fulcrum only plays an auxiliary limiting and anti-sway role.

[0036] The displacement adjustment mechanism 4 is mounted on the bearing body 1 and is used to drive the movable suspension part 32 to move closer to or further away from the fixed suspension part 31 along the guide rail, changing the horizontal distance between the second support point and the first support point, thereby realizing the redistribution of the load between the two support points. Figure 2As shown, the displacement adjustment mechanism 4 includes a guide rail 41, a moving end 42, and a drive mechanism 43. Two guide rails 41 are symmetrically arranged on both sides of the length of the supporting body 1. Each guide rail 41 has a sliding block 42b. A synchronous connecting plate 42a is fixedly connected between the two sliding blocks 42b. The synchronous connecting plate 42a and the two sliding blocks 42b together constitute the moving end 42. The movable suspension part 32 is fixedly installed on the top of the moving end 42. The power output end of the drive mechanism 43 is connected to the synchronous connecting plate 42a, driving the moving end 42 to slide back and forth along the guide rail 41. The structure of the double-sided guide rails and the synchronous connecting plate 42a ensures balanced force during movement and smooth operation without off-center load.

[0037] From a mechanical perspective, in traditional single-point suspension methods, the suspended mechanism is equivalent to a three-dimensional pendulum with a single suspension point as its hinge, exhibiting three degrees of freedom: pitch, yaw, and torsion. However, by establishing a first fulcrum in this invention, the system constrains the original multi-degree-of-freedom pendulum motion into a single-degree-of-freedom rotation around the first fulcrum. The effective rotation radius is shortened from the length of the suspension rope to the distance from the first fulcrum to the system's center of gravity, significantly reducing the sway amplitude. Simultaneously, a torque balance equation is established with the first fulcrum as the axis of rotation: F×L2=G×L1 Where G is the total weight of the system, L1 is the horizontal distance from the system's center of gravity to the first fulcrum, F is the suspension force of the UAV, and L2 is the horizontal distance from the second fulcrum to the first fulcrum. Therefore, F = G × L1 / L2. When the displacement adjustment mechanism increases L2, the load decreases compared to L1 / L2, with most of the load borne by the external fixed platform. For example, if L2 = 3L1, the UAV only needs to bear about one-third of the system's weight.

[0038] When the drive mechanism 43 moves the movable suspension part 32 towards the fixed suspension part 31, the distance between the two suspension points decreases, effectively shifting the second fulcrum away from the first fulcrum, and increasing the horizontal lever arm of the two fulcrums. According to the lever balance principle, with the first fulcrum as the axis of rotation, the increased lever arm of the suspension force reduces the suspension force required to balance the total weight of the system, thereby transferring part of the lifting load to the external fixed platform 100 through the first fulcrum, achieving active load redistribution. After the load transfer, the power load of the UAV is significantly reduced, extending the flight time and reducing the transmission of power system vibration to the components to be installed. Combined with the attitude constraint of the dual-point support, this effectively improves the accuracy and stability of the installation alignment.

[0039] Drive mechanism 43 can be a lead screw drive mechanism or a rack and pinion drive mechanism. All drive types are equipped with an onboard lithium battery and a wireless remote control receiver module, allowing ground operators to remotely control the start, stop, and travel. Screw drive mechanism: The screw is mounted and rotates along the length of the guide rail 41. A nut seat is threaded onto the screw and fixedly connected to the synchronous connecting plate 42a. One end of the screw is connected to a drive motor, which drives the screw to rotate via a coupling, and then drives the moving end 42 to translate via the nut seat. The screw drive has a self-locking characteristic, and can automatically maintain the position of the moving end 42 after the drive stops, maintaining a stable load distribution state.

[0040] Gear and rack transmission mechanism: The rack is fixedly set along the length of the guide rail 41, and the drive motor is fixed on the synchronous connecting plate 42a. The output shaft of the motor is equipped with a gear that meshes with the rack. The motor drives the gear to rotate, which can drive the moving end 42 to roll and translate along the rack. It has a fast response speed and is suitable for scenarios that require rapid load adjustment.

[0041] When the overlapping support 2 overlaps with the external fixed platform 100 to form the first fulcrum, the hoisting system is in a dual-point force state: the first fulcrum provides an upward supporting reaction force, and the second fulcrum provides an upward suspension force. The two forces together balance the total weight of the hoisting system. During operation, the center of gravity of the hoisting system is always between the first and second fulcrums in the horizontal projection, avoiding overturning around the first fulcrum. When the drive mechanism 43 drives the movable suspension 32 to translate towards the fixed suspension 31, the second fulcrum moves away from the first fulcrum, and the horizontal distance between the two fulcrums increases. According to the lever balance principle, with the first fulcrum as the fulcrum, the lever arm of the suspension force increases, and the suspension force required to balance the weight of the system decreases accordingly. This transfers part of the hoisting load to the external fixed platform 100 through the first fulcrum, reducing the load on the UAV.

[0042] On the other hand, such as Figure 2 As shown, this embodiment also provides a hoisting and installation method using the UAV hoisting and installation mechanism described in this embodiment, specifically including the following steps: S1. Lifting and Flight: The component to be installed is fixed to the limiting part of the supporting body 1. The industrial drone is connected to the movable suspension part 32 through the lifting device, and lifts the entire lifting system to the vicinity of the external fixed platform 100. During this stage, the overlapping support part 2 is in a non-working state, and the entire load of the lifting system is borne by the suspension pull of the drone.

[0043] S2. Overlap Support Construction: The UAV-controlled hoisting system slowly approaches the external fixed platform 100, adjusts its attitude, and smoothly overlaps the support unit 2 at the designated installation position on the platform, establishing the first fulcrum. This puts the hoisting system into a dual-point force state, supported by the support reaction force of the first fulcrum and the suspension tension of the second fulcrum. In this state, the hoisting system eliminates the pendulum-like multi-degree-of-freedom swaying of single-point suspension, retaining only a small degree of rotational freedom around the first fulcrum, significantly improving stability. If a mechanical clamping type overlap support unit is used, after the overlap is in place, the mechanical gripper 22a needs to be remotely controlled from the ground to clamp the angle steel. Subsequent operations can only proceed after confirming reliable clamping.

[0044] S3. Load Transfer: Maintaining reliable contact between the first fulcrum and the external fixed platform 100, the ground operator remotely activates the displacement adjustment mechanism 4, driving the moving end 42 to move the movable suspension part 32 towards the fixed suspension part 31, increasing the horizontal distance between the second fulcrum and the first fulcrum. During this process, the UAV maintains a constant hovering position and sling length, while the load-bearing body 1 makes a small pitch rotation around the first fulcrum. Through the leverage effect, most of the lifting load is transferred to the external fixed platform 100, and the required suspension force of the UAV is correspondingly reduced. After the movable suspension part 32 moves to the target position, the drive mechanism 43 stops working, relying on the transmission self-locking characteristic to maintain the position, and the hoisting system enters a low-load stable operating state.

[0045] S4. Docking and Installation: Under stable conditions with dual-point force, the UAV fine-tunes its horizontal position and hovering height, causing the carrier body 1 and the component to be installed to slightly adjust their attitude around the first fulcrum, aligning with the installation position on the external fixed platform 100. Because the power load on the UAV is reduced and swaying is significantly suppressed after load transfer, high-precision installation and docking can be achieved. After alignment, the component to be installed is placed on the external fixed platform 100. After installation, the movable suspension part 32 is returned to its initial state. After the first fulcrum is no longer under force on the external fixed platform 100, the UAV slightly raises its height, causing the overlapping support part 2 to detach from the external fixed platform 100. If a mechanical clamping structure is used, the grippers must be remotely released before lifting. Finally, the UAV returns with the hoisting installation mechanism, completing the entire operation process.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drone hoisting and installation mechanism for docking components to be installed onto an external fixed platform (100), characterized in that, include: The supporting body (1) is used to support the component to be installed; An overlapping support (2) is provided on one side of the bearing body (1) for overlapping on the external fixed platform (100) to form a first fulcrum; The suspension connection (3) provided on the bearing body (1) is used to connect with the lifting device of the UAV to form a second fulcrum.

2. The UAV hoisting and installation mechanism according to claim 1, characterized in that, The hoisting and installation mechanism also includes a displacement adjustment mechanism (4) provided on the bearing body (1). The displacement adjustment mechanism (4) includes a guide rail (41) fixed on the bearing body (1), a moving end (42) slidably connected to the guide rail (41), and a drive mechanism (43) for driving the moving end (42) to move.

3. The UAV hoisting and installation mechanism according to claim 2, characterized in that, The suspension connection part (3) includes a fixed suspension part (31) provided on the bearing body (1) and a movable suspension part (32) provided on the moving end (42). The movable suspension part (32) is located between the fixed suspension part (31) and the overlapping support part (2). The displacement adjustment mechanism (4) drives the movable suspension part (32) to move closer to or away from the fixed suspension part (31).

4. The UAV hoisting and installation mechanism according to claim 2, characterized in that, The drive mechanism (43) includes any one of a lead screw drive mechanism and a gear and rack drive mechanism, and its power output end is connected to the moving end (42) for transmission.

5. The UAV hoisting and installation mechanism according to claim 1, characterized in that, The overlapping support (2) includes any one of a gravity interference structure, a mechanical clamping structure or a surface adsorption structure, and the overlapping support (2) is configured to form the first fulcrum when overlapping, clamping or adsorbing onto the external fixed platform (100).

6. The UAV hoisting and installation mechanism according to claim 5, characterized in that, The gravity interference structure includes a support rod (21a), and the lower surface of the support rod (21a) is provided with at least one downward protruding triangular barb (21b) along the length direction.

7. The UAV hoisting and installation mechanism according to claim 5, characterized in that, The mechanical clamping structure includes a mechanical gripper (22a) and a power source (22b) for driving the mechanical gripper (22a) to open and close. The mechanical gripper (22a) is configured to hold the angle steel of the external fixed platform (100).

8. The UAV hoisting and installation mechanism according to claim 1, characterized in that, The supporting body (1) is any one of a frame structure, a plate structure or a cage structure, and the supporting body (1) is provided with a limiting part for positioning the component to be installed.

9. A method for hoisting and installing a drone, characterized in that, The method of using the UAV hoisting and installation mechanism as described in any one of claims 1-8 includes the following steps: The drone lifts the hoisting and installation mechanism and transports it to the vicinity of the external fixed platform (100); The overlapping support part (2) is overlapped on the external fixed platform (100) to establish a first fulcrum, so that the hoisting and installation mechanism is in a dual-point force state supported by the first fulcrum and the second fulcrum provided by the UAV for suspension tension; Under the dual-point stress state, the connection of the components to be installed is completed.

10. The UAV hoisting and installation method according to claim 9, characterized in that, The UAV hoisting and installation mechanism is the mechanism as described in claim 3, and before the docking of the components to be installed is completed, it further includes a load transfer step: While maintaining contact with the first fulcrum, the second fulcrum is translated horizontally to change the relative distance between the second fulcrum and the center of gravity of the hoisting system; The second fulcrum is translated by driving the movable suspension part (32) to translate away from the first fulcrum, so as to move closer to the fixed suspension part (31).

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