Portable unmanned aerial vehicle lifting frame

Abstract

The utility model provides a portable unmanned aerial vehicle hoisting frame which comprises a central winch and N hoisting arms installed on the central winch in a circumferential array mode, the hoisting arms are detachably connected with the central winch, each hoisting arm is formed by detachably connecting M levels of connecting rods in series from inside to outside, N is an integer larger than or equal to 3, and M is an integer larger than or equal to 2; the top of the outer end of the suspension arm is provided with a suspension ring matched with the unmanned aerial vehicle for suspension; the bottom of the outer end of the suspension arm is connected with a winch shaft in the central winch through a stranded wire; a hoisting steel cable is installed at the bottom of the center winch, a horizontal bubble instrument and a six-axis sensor are installed on the center winch, and the six-axis sensor is in wireless connection with a ground control end. According to the portable unmanned aerial vehicle lifting frame, a plurality of unmanned aerial vehicles are combined to improve the lifting capacity of the unmanned aerial vehicles, and the portable unmanned aerial vehicle lifting frame has the advantages of being convenient to carry and assemble.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane hoisting equipment technical field, concretely is portable unmanned plane hoisting frame. BACKGROUND

[0002] With the development of science and technology and the improvement of industrial level, the application scene of unmanned plane is more and more rich, especially in the transportation operation field, plays more and more important role. But limited by the carrying capacity of unmanned plane, the existing mainstream hoisting unmanned plane cannot complete the hoisting task of large weight. The scene of unmanned plane hoisting is mostly in the area of poor road condition, if improving from the aspect of increasing the power of single unmanned plane, it is bound to greatly increase the volume and weight of the machine body, which is not conducive to the staff to carry in the area of poor road condition.

[0003] Based on the above problems, a hoisting frame is needed to combine multiple unmanned planes, which not only can improve the hoisting capacity of unmanned plane, but also can effectively overcome the problem of inconvenience of carrying in poor road condition. CONTENT OF THE UTILITY MODEL

[0004] The utility model provides portable unmanned plane hoisting frame, can combine multiple unmanned planes to improve the hoisting capacity of unmanned plane, has the characteristics of convenient carrying and convenient assembly.

[0005] In order to realize the above technical purpose, reach the above technical effect, the utility model solves the above problems through the following technical scheme:

[0006] Portable unmanned plane hoisting frame, including center winch and N hoisting arms installed in the center winch along the circumference array, the hoisting arm is detachably connected with the center winch, each hoisting arm is detachably connected by M grade connecting rods from inside to outside, wherein N is the integer greater than or equal to 3, M is the integer greater than or equal to 2;The outer end top of the hoisting arm is equipped with the lifting ring matched with the suspension of unmanned plane, and the outer end bottom of the hoisting arm is connected with the inner winch shaft of the center winch through the wire;The center winch bottom installs the hoisting steel cable, and the center winch is installed with horizontal bubble instrument and six-axis sensor, and the six-axis sensor is wirelessly connected with ground control end.

[0007] Further, the center winch comprises a shell and a winch shaft longitudinally rotatably installed in the shell, the winch shaft is in transmission connection with a winch handle on the top of the shell through a winch gear transmission mechanism; the winch shaft is assembled with a winch ratchet, a winch pawl matched with the winch ratchet is installed in the shell, the winch pawl is kept matched with the winch ratchet through a spring, the winch pawl is connected with a winch pawl pull rod outside the shell to overcome the elastic force of the spring; the winch shaft is provided with N winch winding ring grooves arranged longitudinally, each winch winding ring groove corresponds to a winch wire, one end of the winch wire is fixedly connected with a winch wire ring at the bottom of the outer end of the boom, and the other end of the winch wire is fixedly connected with the winch winding ring groove; the shell is provided with winch wire holes for the winch wire to pass through, each winch wire hole corresponds to a winch wire, and the winch wire hole is arranged directly below the installation position of the boom. The plurality of winch wire holes on the shell are located at the same longitudinal height, and a wire guide pulley is arranged on the inner wall of the shell to guide the winch wire into the winch wire hole.

[0008] Further, the shell of the center winch is a regular N-polygon structure, the outer edges of the shell are chamfered to form boom mounting surfaces matched with the booms, each boom mounting surface corresponds to a boom, and the boom is threadedly and detachably connected to a threaded hole formed in the boom mounting surface.

[0009] Further, the booms are formed by threadedly connecting M-stage connecting rods, and front and rear connecting rods are connected through a connecting rod thread sleeve; the connecting rod comprises a first sub-rod and a second sub-rod connected through a lateral shaft, first and second sleeve joints are arranged at the hinged ends of the first and second sub-rods respectively, and the first and second sleeve joints can be buckled when coaxial.

[0010] Further, the middle part of the boom is detachably provided with a stay cable mechanism, the stay cable mechanism comprises a cable shell, a plurality of cable tube clamps installed at the bottom of the cable shell and matched with the connecting rod for clamping, and a cable locking mechanism installed in the shell; the cable locking mechanism comprises a cable main shaft longitudinally rotatably installed in the cable shell, the cable main shaft is driven by a cable handle, the cable main shaft is assembled with a cable gear and a cable ratchet, a cable pawl matched with the cable ratchet is installed in the cable shell, the cable pawl is kept matched with the cable ratchet through a cable spring, and the cable pawl is connected with a cable pawl pull rod outside the cable shell to overcome the elastic force of the cable spring; the cable shell is connected with a cable rack through a steel wire rope, and the cable rack is matched with the cable gear of the next stay cable mechanism.

[0011] Further, the number of the booms 2 is 4≤N≤6; the boom 2 comprises 2-stage connecting rods, N=2, and the eye ring and the winch wire ring are respectively installed on the upper and lower sides of the outer end of the second-stage connecting rod.

[0012] Further, a pressure sensor is arranged between the object hoisting cable and the center winch, and the pressure sensor is wirelessly connected with a ground control end.

[0013] The utility model discloses the advantages and effects are:

[0014] The present scheme proposes portable unmanned plane hoisting frame, and multiple unmanned planes are connected together to jointly undertake hoisting task, and the problem that single unmanned plane cannot complete heavy hoisting task can be effectively overcome.

[0015] The present scheme is not simple center body and outer cantilever assembly structure, and the center winch is arranged at the center position, the center winch is connected with the outer end of each hoisting arm through the wire, the hoisting arm and the cable (the center winch, the wire) form the bow structure, the yield resistance of the cable is fully used, and the yield resistance of the pre-stressed reinforcing rod is improved. The load gravity borne by the center winch can be directly transmitted to the cantilever end through the wire, the middle part of the frame body is avoided from being subjected to excessive stress and shaking up and down in the transportation process, and the transportation stability can be improved.

[0016] The scheme further sets up the cable-stayed cable mechanism to connect the hoisting arms, further improves the overall rigidity of the hoisting frame, and improves the stability and load capacity of the device.

[0017] The present scheme can manufacture multiple specifications of products according to the performance of the operation machine, so as to adapt to different operation tasks and wide range of adaptation. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is overall structure schematic diagram of portable unmanned plane hoisting frame of the utility model;

[0019] Figure 2 It is first visual angle schematic diagram of center winch;

[0020] Figure 3 It is second visual angle schematic diagram of center winch;

[0021] Figure 4 It is hoisting arm structure schematic diagram;

[0022] Figure 5 It is Figure 4 It is the second stage connecting rod folding schematic diagram;

[0023] Figure 6 It is cable-stayed cable mechanism structure schematic diagram.

[0024] Figure number identification: 1, center winch, 11, winch shaft, 111, winch winding ring groove, 12, shell, 121, winch hole, 13, winch gear transmission mechanism, 14, winch handle, 15, winch ratchet, 16, winch pawl, 17, winch spring, 18, winch pawl pull rod, 19, wire pulley, 2, boom, 21, lifting ring, 22, winch ring, 23, first sub rod, 231, first sleeve joint, 24, second sub rod, 241, second sleeve joint, 25, side shaft, 26, ring connection buckle, 27, connecting rod threaded sleeve, 3, wire, 4, horizontal bubble instrument, 5, lifting steel cable, 6, six-axis sensor, 7, ground control end, 8, pressure sensor;

[0025] 9, cable mechanism, 91, cable shell, 92, cable tube clamp, 93, cable locking mechanism, 931, cable main shaft, 932, cable handle, 933, cable gear, 934, cable ratchet, 935, cable pawl, 936, cable spring, 937, cable pawl pull rod, 938, steel wire rope, 939, cable rack. DETAILED DESCRIPTION

[0026] The utility model will be further described below in combination with examples, but the utility model is not limited to these examples.

[0027] The portable unmanned aerial vehicle lifting frame described in this example, as shown in the accompanying Figure 1 , includes a center winch 1 and four booms 2 installed in a circumferential array on the center winch 1. The shell 12 of the center winch is a regular 4-prism structure, and the outer edges are chamfered to form a boom mounting surface that cooperates with the boom 2. The boom mounting surface is provided with a boom threaded sleeve that is detachably connected with the inner end of the boom 2 through screw threads. Each boom mounting surface is connected with one boom 2. The outer end top of the boom 2 is provided with a lifting ring 21 that cooperates with the unmanned aerial vehicle to suspend. The outer end bottom of the boom 2 is provided with a winch ring 22, and the winch ring 22 is connected with the winch shaft 11 in the center winch 1 through the wire 3. Each boom 2 is connected with one wire 3.

[0028] As shown in the accompanying Figure 2 , 3As shown, the center winch 1 includes a winch shaft 11, a housing 12, a winch gear transmission mechanism 13, a winch handle 14, a winch ratchet 15, a winch pawl 16, a winch spring 17, a winch pawl pull rod 18, and a wire pulley 19. The winch shaft 11 is longitudinally rotatably installed in the housing 12, the winch handle 14 is rotatably installed on the top of the housing 12, the winch handle 14 is connected with the winch shaft 11 through the winch gear transmission mechanism 13, the winch gear transmission mechanism 13 includes a driving gear coaxially connected with the winch handle 14 and a driven gear installed on the winch shaft 11 near the upper end, and the driving gear is in meshing transmission with the driven gear. The winch ratchet 15 is installed on the winch shaft 11 near the lower end and cooperates with the winch pawl 16 installed on the inner bottom surface of the housing 12 to enable the winch shaft 11 to rotate in one direction. The winch spring 17 is installed on the inner bottom surface of the housing 12 to keep the winch pawl 16 cooperating with the winch ratchet 15, the winch pawl pull rod 18 is arranged outside the housing 12 and connected with the winch pawl 16 through a pull rope, and the winch pawl pull rod 18 is provided to overcome the force of the winch spring 17 to enable the winch pawl 16 to disengage from the winch ratchet 15, so that the winch shaft 11 can rotate in both directions.

[0029] The winch shaft 11 is provided with four wire winding ring grooves 111 arranged longitudinally in the middle, and each wire winding ring groove 111 corresponds to one wire 3. One end of the wire 3 is connected to the wire ring 22 on the outer end of the boom 2 through a buckle, and the other end is fixedly connected to the wire winding ring groove 111. A wire hole 121 is formed in each boom mounting surface for one wire 3 to pass through, and the wire hole 121 is longitudinally corresponding to the mounting position of the boom. The wire holes 121 are installed at the same longitudinal height, and the wire pulley 19 is arranged on the inner wall of the housing 12 to guide the wire 3 into the wire hole 121.

[0030] The housing 12 of the center winch 1 is provided with a horizontal bubble instrument 4 in the middle of the top surface, and a six-axis sensor 6 is embedded in the bottom plate of the housing 12. The object lifting cable 5 is installed on the bottom of the housing 12, and a pressure sensor 8 is arranged between the object lifting cable 5 and the center winch 1. The six-axis sensor 6 and the pressure sensor 8 are wirelessly connected with the ground control end 7.

[0031] As shown in the accompanying drawings, Figure 4 , 5As shown, the boom 2 is formed by two levels of connecting rods from inside to outside in series through connecting rod threaded sleeves 27, and the lifting ring 21 and the wire ring 22 are respectively installed on the upper and lower sides of the outer end of the second level of connecting rods. Each level of connecting rods includes a first sub-rod 23, a second sub-rod 24, a lateral shaft 25, and a ring-shaped connecting buckle 26, wherein the first sub-rod 23 and the second sub-rod 24 are hingedly connected through the lateral shaft 25 arranged on one side of the rod body to realize the folding function. The hinged ends of the first sub-rod 23 and the second sub-rod 24 are respectively provided with a first sleeve joint 231 and a second sleeve joint 241, and the two sleeve joints can be buckled when coaxial. The outer wall of the first sleeve joint 231 and the second sleeve joint 241 is provided with an arc-shaped boss capable of being spliced into a ring-shaped positioning table. The ring-shaped connecting buckle 26 includes two hingedly connected semicircular rings and a lock buckle for buckling and fixing the two semicircular rings. The ring-shaped connecting buckle 26 is buckled on the matching position of the two sleeve joints and is positioned in cooperation with the ring-shaped positioning table, so as to realize the shaft fixing of the first sub-rod 23 and the second sub-rod 24.

[0032] In the embodiment, the length of each level of connecting rods is preferably 1.5 m, and the diameter is less than 0.1 mm; the first sub-rod 23 and the second sub-rod 24 are 0.75 m; and the center winch is 0.4 m long, 0.4 m wide, and 0.28 m high. Under the size limitation, a relatively stable and easy-to-assemble hoisting structure can be obtained.

[0033] As shown in the accompanying drawings, Figure 5 6 As shown, the two levels of connecting rods are detachably installed with the stay cable mechanism 9 in series, the stay cable mechanism 9 includes a cable shell 91, four cable pipe clamps 92 installed on the bottom of the cable shell 91 and matched with the connecting rods for clamping, and a cable locking mechanism 93 installed in the shell. The four cable pipe clamps 92 are distributed in pairs along the radial direction and are respectively clamped and fixed on the front and rear two levels of connecting rods. The cable pipe clamp 92 includes an upper clamp body and a lower clamp body, the upper clamp body is fixedly connected to the bottom of the cable shell 91, the upper and lower clamp bodies are hingedly connected at one end and are connected and locked at the other end through a locking member (screw and nut cooperation), and the upper and lower clamp bodies cooperatively form a through hole matched with the connecting rod for clamping.

[0034] The cable locking mechanism 93 includes a cable main shaft 931 longitudinally installed in the cable shell 91, the cable main shaft 931 is driven by a cable crank 932, the cable main shaft 931 is provided with a cable gear 933 and a cable ratchet 934, the cable shell 91 is provided with a cable pawl 935 matched with the cable ratchet 934, the cable pawl 935 is kept matched and locked with the cable ratchet 934 through a cable spring 936, and the cable pawl 935 is connected with a cable pawl pull rod 937 outside the cable shell 91 to overcome the elastic force of the cable spring 936.

[0035] ​The cable housing 91 is connected with a cable rack 939 through a steel wire rope 938, and the cable housing 91 is provided with a rack channel through which the cable rack 939 passes and engages with the cable gear 933. During installation, the cable rack 939 of the previous cable-stayed mechanism 9 is matched with the cable gear 933 of the next cable-stayed mechanism 9. The cable-stayed mechanisms 9 can be used to connect the middle parts of the respective suspension arms 2, disperse the load borne by the suspension arms, reduce the stress borne by a single suspension arm, improve the stability of the suspension arm structure, and prolong the service life of the device.

[0036] When the portable unmanned aerial vehicle hoisting frame is used, the connecting rods are connected in series to form the suspension arms 2, and the connected suspension arms 2 are threadedly installed on the center winch 1. The winch pawl 16 is unlocked from the winch ratchet 15 by pulling the winch pawl pull rod 18, the outer end of the wire 3 is hung on the wire ring 22 by pulling the wire 3, and the winch ratchet 15 is restored to one-way rotation by releasing the winch pawl pull rod 18. Then, the wire connection between the center winch 1 and the outer end of the suspension arm 2 is completed by rotating the winch handle 14 to drive the winch shaft 11 to rotate and tighten the wire 3.

[0037] Then, the cable-stayed mechanism 9 is installed on the suspension arm 2, the cable rack 939 is inserted into the cable housing 91 of the next cable-stayed mechanism 9 and engages with the cable gear 933, and the cable rack 939 and the cable gear 933 are alternately matched in sequence to form a closed loop structure. The cable main shaft 931 is rotated by rotating the cable handle 932, the cable gear 933 drives the cable rack 939 to pull the steel wire rope 938 forward, and the four cable-stayed mechanisms 9 are connected as a force whole. If it is necessary to remove the connection of the cable-stayed mechanism 9, the cable gear 933 can rotate bidirectionally by pulling the cable pawl pull rod 937, and the cable rack 939 can be pulled out. The portable unmanned aerial vehicle hoisting frame described in the embodiment can be carried and assembled by one person, and has good practicability.

[0038] During work, one unmanned aerial vehicle is connected to the outer end of each suspension arm 2, and the suspension arm 2 is hung below the unmanned aerial vehicle through the lifting eye 21. During flight, the six-axis sensor 6 transmits the flight attitude signal to the ground control end 7, and the ground control end 7 controls the unmanned aerial vehicle to fly according to the signal. The ground control end 7 can be in two control modes of cooperative remote control and cluster control: 1. Cooperative remote control requires setting a corresponding number of remote control devices and operators for the unmanned aerial vehicles, and the operators control the unmanned aerial vehicles to fly according to the attitude signal obtained by the signal receiving device; 2. Cluster control adopts an unmanned aerial vehicle cluster self-organizing flight system (which is prior art and will not be described here). The portable unmanned aerial vehicle hoisting frame described in the scheme can improve the carrying capacity of the unmanned aerial vehicle, complete the hoisting task of the unmanned aerial vehicle in different environments, expand the working range, and complete more tasks.

[0039] The embodiments of the present application are described in detail with reference to the drawings, but the present application is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and variations of the embodiments without departing from the principles and spirits of the present application still fall within the protection scope of the present application.

Claims

1. A portable drone lifting frame, characterized in that: It includes a central winch (1) and N booms (2) arranged in a circumferential array on the central winch (1). The booms (2) are detachably connected to the central winch (1). Each boom (2) is composed of M detachably connected links from the inside to the outside, where N is an integer greater than or equal to 3 and M is an integer greater than or equal to 2. The top of the outer end of the boom (2) is equipped with a hanging ring (21) that is used to suspend the UAV. The bottom of the outer end of the boom (2) is connected to the inner winch shaft (11) of the central winch (1) by a stranded wire (3). The central winch (1) is equipped with a hoisting cable (5) at its bottom. The central winch (1) is also equipped with a level bubble meter (4) and a six-axis sensor (6). The six-axis sensor (6) is wirelessly connected to the ground control terminal (7).

2. The portable drone lifting frame according to claim 1, characterized in that: The central winch (1) includes a housing (12) and a winch shaft (11) that is rotatably mounted in the housing (12). The winch shaft (11) is connected to the winch handle (14) on the top of the housing (12) via a winch gear transmission mechanism (13). The winch shaft (11) is equipped with a winch ratchet (15), and a winch pawl (16) that cooperates with the winch ratchet (15) is installed inside the housing (12). The winch pawl (16) is kept in cooperation with the winch ratchet (15) by a winch spring (17). The winch pawl (16) is connected to the winch pawl pull rod (18) outside the housing (12) to obtain the elastic force to overcome the spring. The winch shaft (11) is provided with N strand winding grooves (111) arranged longitudinally. Each strand winding groove (111) corresponds to a strand (3). One end of the strand (3) is fixed to the strand ring (22) at the bottom of the outer end of the boom (2), and the other end is fixed to the strand winding groove (111). The housing (12) has a strand hole (121) for the stranded wire (3) to pass through. Each stranded wire (3) corresponds to one strand hole (121), and the strand hole (121) is located directly below the boom installation position.

3. The portable drone lifting frame according to claim 2, characterized in that: The multiple stranding holes (121) on the housing (12) are located at the same longitudinal height, and the inner wall of the housing (12) is provided with a wire pulley (19) to guide the stranded wire (3) into the stranding hole (121).

4. The portable drone lifting frame according to claim 1, characterized in that: The housing (12) of the central winch (1) is a regular N-prism structure, and its outer edge is chamfered to form a boom mounting surface that cooperates with the boom (2). Each boom mounting surface corresponds to a boom (2), and the boom (2) is detachably threaded to the screw hole opened on the boom mounting surface.

5. The portable drone lifting frame according to claim 1, characterized in that: The boom (2) is formed by M-class connecting rods connected in series by threaded links, and the front and rear connecting rods are connected by connecting rod threaded sleeves (27); the connecting rods include a first sub-rod (23) and a second sub-rod (24) connected by a side hinge (25), and the hinge ends of the first sub-rod (23) and the second sub-rod (24) are respectively provided with a first sleeve joint (231) and a second sleeve joint (241), and the first sleeve joint (231) and the second sleeve joint (241) can be engaged when they are coaxial; the outer walls of the first sleeve joint (231) and the second sleeve joint (241) are provided with arc-shaped bosses that can be spliced ​​into an annular positioning platform, and also include an annular connecting buckle (26) that cooperates with the annular positioning platform for positioning.

6. The portable drone lifting frame according to claim 1, characterized in that: The boom (2) is detachably mounted with a cable-stayed mechanism (9) in the middle. The cable-stayed mechanism (9) includes a cable housing (91), multiple cable clamps (92) installed at the bottom of the cable housing (91) and clamped in cooperation with the connecting rod, and a cable locking mechanism (93) installed in the housing. The cable locking mechanism (93) includes a cable spindle (931) that is longitudinally rotatably installed in the cable housing (91). The cable spindle (931) is driven by the cable rocker (932). The cable spindle (931) is equipped with a cable gear (933) and a cable ratchet (934). A cable pawl (935) that cooperates with the cable ratchet (934) is installed in the cable housing (91). The cable pawl (935) is kept in cooperation with the cable ratchet (934) by a cable spring (936). The cable pawl (935) is connected to a cable pawl lever (937) outside the cable housing (91) to obtain the elastic force that overcomes the cable spring (936). The cable housing (91) is connected to a cable rack (939) via a wire rope (938), and the cable rack (939) engages with the cable gear (933) of the next inclined cable mechanism (9).

7. The portable drone lifting frame according to any one of claims 1 to 6, characterized in that: The number of booms (2) is 4≤N≤6; the boom (2) includes two-stage connecting rods, N=2, and lifting rings (21) and stranded rings (22) are respectively installed on the upper and lower sides of the outer end of the second-stage connecting rod.

8. The portable drone lifting frame according to any one of claims 1 to 6, characterized in that: A pressure sensor (8) is installed between the hoisting cable (5) and the central winch (1), and the pressure sensor (8) is wirelessly connected to the ground control terminal (7).

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