Lifting unmanned aerial vehicle capable of automatically hooking and unhooking

Abstract

The utility model discloses a lifting unmanned aerial vehicle capable of automatically hooking and unhooking. The lifting unmanned aerial vehicle comprises an unmanned aerial vehicle main body and a hooking device, the hook device comprises two crossed hanging arms, a lifting rope and an opening and closing control mechanism; the intersection of the two hanging arms is connected through a hinged shaft, the two hanging arms are provided with limiting parts which abut against each other and are located on the lower side of the hinged shaft, and hanging rods which extend obliquely upwards and can swing within a certain range are hinged to the opposite inner sides of the lower ends of the two hanging arms; one end of the lifting rope is fixed to the lower side of the unmanned aerial vehicle body, and the other end of the lifting rope is divided into two connectors which are connected to the positions, located on the upper sides of the hinged shafts, of the two hanging arms correspondingly. The opening and closing control mechanism comprises a gravity pressing block, a traction mechanism and a traction rope, the gravity pressing block is pressed at the upper ends of the two hanging arms, the traction mechanism is installed on the lower side of the lifting unmanned aerial vehicle, and the traction rope is connected between the gravity pressing block and the traction mechanism. According to the utility model, automatic hooking and unhooking can be realized in the lifting process, manual operation is not needed, and the safety of operating personnel is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely relates to a kind of hoisting unmanned plane of automatic hooking and unhooking. BACKGROUND

[0002] Hoisting unmanned plane is a kind of equipment using unmanned plane technology to realize material hoisting, and is widely applied in the field such as agricultural production, logistics distribution.

[0003] At present, the hoisting unmanned plane on market generally includes unmanned plane main body and hook device connected below unmanned plane main body by lifting rope, and when hoisting material, material can be placed in basket and hook device is connected with basket.

[0004] However, in the process of unmanned plane hoisting, hooking and unhooking of hook device need to be completed manually, and the situation of unmanned plane hurting people occasionally occurs. UTILITY MODEL CONTENTS

[0005] In view of the defects in prior art, the utility model provides a kind of hoisting unmanned plane of automatic hooking and unhooking, to make it can automatically hook and unhook in the process of hoisting, without manual operation, ensure the safety of operating personnel.

[0006] The utility model provides a kind of hoisting unmanned plane of automatic hooking and unhooking, including unmanned plane main body and hook device, the hook device includes:

[0007] Two cross arrangement's hanging arms, the intersection of two the hanging arms is connected by hinged axle, and the lower side of two hanging arms located hinged axle is equipped with the abutment of each other's limiting portion, the opposite inner side of two the hanging arms lower end is hinged with the hanging rod that can swing in a certain range and extends to oblique upper side, when two hanging rods swing to minimum horizontal angle, they are crossed each other and form the card hooking position on the upper side of intersection area, and two hanging rods swing upward can make them separate;

[0008] Lifting rope, one end of the lifting rope is fixed on the lower side of unmanned plane main body, and the other end of the lifting rope is divided into two joints and connected to the position of two hanging arms on the upper side of hinged axle;

[0009] And opening and closing control mechanism, the opening and closing control mechanism includes gravity pressure block, traction mechanism and traction rope, the gravity pressure block is pressed on the upper end of two the hanging arms, the traction mechanism is installed on the lower side of the hoisting unmanned plane, the traction rope is connected between the gravity pressure block and traction mechanism, and traction mechanism is used to lift and lower traction rope.

[0010] Further, the lower part of the unmanned plane main body is equipped with landing gear on both sides, landing gear is equipped between both sides, the lifting rope is fixed on support frame, the traction mechanism is winch fixed on support frame, and the winch is powered by the power supply of unmanned plane main body.

[0011] Further, the lower ends of the two hanging arms are provided with guide portions extending obliquely downward to the opposite outer sides.

[0012] Further, the inner sides of the hanging arms close to the lower ends are provided with limiting grooves, and one end of each of the hanging rods is hingedly connected to the corresponding limiting groove, and the hanging rod abuts against the groove wall of the lower part of the limiting groove when the hanging rod swings to the minimum horizontal angle.

[0013] Further, the hinged connection of the hanging rod is provided with a torsion spring for providing a downward swinging elastic force to the hanging rod.

[0014] Further, the upper side of the intersection area of the two hanging rods is provided with a positioning groove.

[0015] Further, the lower side of the gravity pressing block is provided with a mounting groove, and the intersection of the two hanging arms is mounted in the mounting groove through a hinge shaft, and the top of the mounting groove is provided with a flat surface abutting against the upper ends of the two hanging arms.

[0016] Further, the groove walls on the front and rear sides of the mounting groove are provided with sliding grooves in the vertical direction, and the two ends of the hinge shaft connecting the two hanging arms are respectively slidably fitted in the corresponding sliding grooves.

[0017] The beneficial effects of the utility model lie in:

[0018] The application is suitable for automatic hooking and unhooking of a hanging ring of a hanging basket. When hooking, the hanging ring of the hanging basket is erected, a worker controls a UAV to fly above the hanging basket, the area between the two hanging arms is aligned with the hanging ring of the hanging basket, the UAV is controlled to vertically descend, the hanging ring of the hanging basket pushes the two hanging rods to swing upward until the hanging ring passes between the two hanging rods, after the passing, the two hanging rods swing downward to reset, the UAV is controlled to ascend, the hanging ring is clamped into the clamping position formed by the intersection area of the two hanging rods, and the hooking between the hooking device and the hanging basket is realized. When the UAV needs to be unhooked after the hanging basket is lowered, the traction mechanism is controlled to lower the traction rope, the gravity pressing block moves downward and is pressed on the upper ends of the two hanging arms, the lower parts of the two hanging arms swing outward, the two hanging rods are separated to form an opening, and then the UAV is controlled to ascend, and the unhooking between the hooking device and the hanging basket is realized.

[0019] Through the above scheme, automatic hooking and unhooking can be realized during hoisting, manual operation is not needed, and the safety of the worker is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings used in the specific embodiments or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference signs. In the drawings, the elements or parts are not necessarily drawn according to the actual proportions.

[0021] Figure 1 Structure schematic view when the hook of the embodiment of the present application is hooked;

[0022] Figure 2 Structure schematic view when the hook of the embodiment of the present application is unhooked.

[0023] In the drawings, 100 - unmanned aerial vehicle main body; 110 - landing gear; 120 - support frame; 200 - hook device; 210 - hook arm; 211 - limiting part; 212 - hook rod; 2121 - positioning groove; 213 - guide part; 214 - limiting groove; 215 - torsional spring; 220 - lifting rope; 230 - gravity pressure block; 231 - mounting groove; 232 - sliding groove; 240 - traction mechanism; 250 - traction rope; 300 - hanging basket; 310 - hanging ring. DETAILED DESCRIPTION

[0024] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0025] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present application should be the usual meanings understood by the technical personnel in the field to which the present application belongs.

[0026] As shown in Figure 1 and Figure 2 The embodiment of the present application provides a kind of automatic hooking and unhooking hoisting unmanned aerial vehicle, including unmanned aerial vehicle main body 100 and hook device 200.

[0027] Hook device 200 includes two cross hook arms 210, lifting rope 220 and opening and closing control mechanism.

[0028] The intersection of two hook arms 210 is connected by hinge shaft, and the lower side of two hook arms 210 located in hinge shaft is provided with limiting part 211 that abuts each other, the opposite inner side of the lower end of two hook arms 210 is hinged with hook rod 212 that extends to oblique upper side and can swing within a certain range, when two hook rods 212 swing to minimum horizontal angle, they cross each other and form card hooking position on the upper side of intersection area, two hook rods 212 swing upward can make them separate;

[0029] One end of the suspension rope 220 is fixed to the lower side of the drone body 100, and the other end of the suspension rope 220 has two connectors that are respectively connected to the two hanging arms 210 located on the upper side of the hinge axis.

[0030] The opening and closing control mechanism includes a gravity block 230, a traction mechanism 240, and a traction rope 250. The gravity block 230 presses on the upper end of the two hanging arms 210. The traction mechanism 240 is installed on the lower side of the hoisting drone. The traction rope 250 is connected between the gravity block 230 and the traction mechanism 240. The traction mechanism 240 is used to lift and lower the traction rope 250.

[0031] This application applies to the automatic hooking and unhooking of the hanging ring 310 and the suspended platform 300, such as Figure 1 As shown, when hooking, the hanging ring 310 on the suspended platform 300 is erected. The operator controls a drone to fly above the suspended platform 300, aligning the area between the two hanging arms 210 with the hanging ring 310 on the suspended platform 300. Then, the drone is controlled to descend vertically. During the descent, the hanging ring 310 on the suspended platform 300 pushes the two hanging rods 212 upwards until the hanging ring 310 passes between the two hanging rods 212. After passing through, the two hanging rods 212 swing downwards back to their original position. Then, the drone is controlled to rise, causing the hanging ring 310 to engage with the hooking position formed by the intersection of the two hanging rods 212. This achieves hooking between the hooking device 200 and the suspended platform 300. Figure 2 As shown, when the drone needs to detach the basket 300 after lowering it, first control the traction mechanism 240 to lower the traction rope 250, and the gravity block 230 moves downward and presses on the upper end of the two hanging arms 210, causing the lower part of the two hanging arms 210 to swing outward, and the two hanging rods 212 to separate to form a gap. Then control the drone to rise, so as to detach the hook device 200 from the basket 300.

[0032] The above solution enables automatic hooking and unhooking during hoisting without human intervention, ensuring the safety of workers.

[0033] In some embodiments, in order to accommodate the installation of the sling and traction mechanism 240, landing gear 110 is provided on both sides of the lower part of the UAV body 100, and a support frame 120 is provided between the two landing gear 110. The sling 220 is fixed on the support frame 120, and the traction mechanism 240 is a winch fixed on the support frame 120. The winch is powered by the power supply of the UAV body 100.

[0034] In some embodiments, the lower ends of the two hanging arms 210 are provided with guide portions 213 extending obliquely downward to the opposite side, which can increase the guide opening at the bottom of the hook device 200 and reduce the difficulty of aligning with the lifting ring on the basket 300 during the hooking process.

[0035] In some embodiments, the hanging arms 210 are provided with limiting grooves 214 on the inner side near the lower end, and one end of each hanging rod 212 is hingedly connected to the corresponding limiting groove 214, and the hanging rod 212 abuts against the groove wall of the lower part of the limiting groove 214 when it swings to the minimum horizontal angle, thereby limiting the hanging rod 212 to the minimum horizontal angle.

[0036] Further, in order to further ensure that the two hanging rods 212 can be automatically returned after being pried open, the hinged part of the hanging rod 212 is provided with a torsion spring 215 for providing a downward swinging elastic force to the hanging rod 212.

[0037] In some embodiments, the upper side of the intersection area of the two hanging rods 212 is provided with a positioning groove 2121, so that the hooks can further limit the lifting eyes on the hanging basket 300, and reduce the swinging between the hooking devices 200 of the hanging basket 300.

[0038] In some embodiments, the lower side of the gravity pressing block 230 is provided with a mounting groove 231, and the intersection of the two hanging arms 210 is mounted in the mounting groove 231 through a hinge shaft, and the top of the mounting groove 231 is provided with a flat surface abutting against the upper end of the two hanging arms 210, so that the structure of the lower hanging arm 210 can be combined with the gravity pressing block 230, and the structure is more reasonable.

[0039] Further, the groove walls on the front and rear sides of the mounting groove 231 are provided with sliding grooves 232 in the vertical direction, and the two ends of the hinge shaft connecting the two hanging arms 210 are respectively slidably fitted in the corresponding sliding grooves 232, so that the structure of the hanging arm 210 can be more stably combined with the gravity pressing block 230, and the relative movement between the hanging arm 210 and the gravity pressing block 230 is not affected.

[0040] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the description of the present application.

Claims

1. An automatic hooking and unhooking crane drone, comprising a drone main body and a hooking device, characterized in that, The hook device comprises: Two cross-arranged hanging arms, the intersection of the two hanging arms is connected by a hinge shaft, and the lower side of the hinge shaft is provided with a limiting portion abutting each other, the opposite inner sides of the lower ends of the two hanging arms are hingedly connected with a hanging rod extending obliquely upward and capable of swinging within a certain range, when the two hanging rods swing to the minimum horizontal angle, they cross each other and form a hooking position on the upper side of the intersection area, and the upward swinging of the two hanging rods can separate them; A lifting rope, one end of the lifting rope is fixed to the lower side of the unmanned aerial vehicle body, and the other end of the lifting rope is divided into two joints respectively connected to the positions of the two hanging arms on the upper side of the hinge shaft; And an opening and closing control mechanism, the opening and closing control mechanism comprises a gravity pressing block, a traction mechanism and a traction rope, the gravity pressing block is pressed on the upper end of the two hanging arms, the traction mechanism is installed on the lower side of the lifting unmanned aerial vehicle, and the traction rope is connected between the gravity pressing block and the traction mechanism, and the traction mechanism is used for lifting and lowering the traction rope.

2. The automatic hooking and unhooking lifting unmanned aerial vehicle according to claim 1, wherein landing gears are arranged on both sides of the lower part of the unmanned aerial vehicle body, a support frame is arranged between the landing gears on both sides, the lifting rope is fixed to the support frame, the traction mechanism is a winch fixed to the support frame, and the winch is powered by the power supply of the unmanned aerial vehicle body.

3. The automatic hooking and unhooking lifting unmanned aerial vehicle according to claim 1, wherein the lower ends of the two hanging arms are provided with guide portions extending obliquely downward to the opposite outer sides.

4. The automatic hooking and unhooking lifting unmanned aerial vehicle according to claim 1, wherein the inner sides of the hanging arms close to the lower ends are provided with limiting grooves, one end of each of the hanging rods is hingedly connected in the corresponding limiting groove, and the hanging rod abuts against the groove wall of the lower part of the limiting groove when the hanging rod swings to the minimum horizontal angle. A torsional spring is arranged at the hinge connection of the hanging rod to provide a downward swinging elastic force for the hanging rod.

6. The automatic hooking and unhooking lifting unmanned aerial vehicle according to claim 1, wherein the upper side of the intersection area of the two hanging rods is provided with a positioning groove.

7. The automatic hooking and unhooking lifting unmanned aerial vehicle according to claim 1, wherein the lower side of the gravity pressing block is provided with a mounting groove, the intersection of the two hanging arms is mounted in the mounting groove through a hinge shaft, and the top of the mounting groove is provided with a flat surface abutting against the upper ends of the two hanging arms.

5. The self-hitching, hitching unattended crane of claim 4, wherein, 8. The automatic hooking and unhooking lifting unmanned aerial vehicle according to claim 7, wherein vertical sliding grooves are arranged on the groove walls of the front and rear sides of the mounting groove, and the two ends of the hinge shaft connecting the two hanging arms are respectively slidably fitted in the corresponding sliding grooves. ​ ​ ​ ​ ​ ​

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