CN117228500A - Unmanned aerial vehicle lifting system and lifting method thereof - Google Patents
Unmanned aerial vehicle lifting system and lifting method thereof Download PDFInfo
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Abstract
The invention relates to the field of aircraft manufacturing, in particular to an unmanned aerial vehicle lifting system and a lifting method thereof, comprising a triangular lifting frame, wherein lifting points are arranged at the upper end of the triangular lifting frame to lift the triangular lifting frame, a plurality of connecting points are arranged at the bottom of the triangular lifting frame, the connecting points are connected with corresponding sling components, lifting products to be connected are connected through the sling components, so that the lifting products and the triangular lifting frame can be integrated, when the triangular lifting frame ascends, the lifting products can be suspended and lifted.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle lifting system and a lifting method thereof.
Background
With the rapid development of scientific technology, unmanned aerial vehicle flight technology has greatly promoted. Unmanned aerial vehicles have been widely used in various fields in recent years with their excellent performance. Especially in the civil field, unmanned aerial vehicles bear the operation work under a plurality of special environments, and the national society also invests huge financial resources to the related research of unmanned aerial vehicles. The unmanned aerial vehicle can replace people to work in dangerous and extreme environments, so that the personnel loss can be reduced to the greatest extent, and the personnel utilization cost is reduced, so that the unmanned aerial vehicle can develop rapidly. The method is widely applied to military reconnaissance, remote sensing mapping, anti-disaster relief, pipeline inspection, video aerial photography and the like.
In the manufacturing process of the unmanned aerial vehicle, a large amount of data measurement and test verification are required to be carried out on the aircraft, wherein in the test in the measurement of the power system, the aircraft is required to be switched from a horizontal state to a state that the thrust line is vertical to the ground, and meanwhile, the aircraft is required to be in a suspended state. The center of gravity of the whole aircraft in the air posture transformation process is always changed, and the safety and reliability of the aircraft in the posture change process are required to be ensured.
Disclosure of Invention
The invention aims at: aiming at the problems in the prior art, the unmanned aerial vehicle lifting system and the lifting method thereof are provided, so that the transformation of the aerial posture of the unmanned aerial vehicle is realized, the relevant measurement and test of the unmanned aerial vehicle are ensured, and the safety of the aerial posture transformation is ensured.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an unmanned aerial vehicle lifting system, its wherein includes triangle-shaped lifts by crane the frame, its triangle-shaped lifts by crane the frame upper end and factory building driving link to each other, be used for with triangle-shaped lifts by crane the frame pull the bottom of triangle-shaped lifts by crane the frame is provided with a plurality of tie points and is used for connecting below and lifts by crane the product, the below of tie point is equipped with the hoist cable part that corresponds respectively, hoist cable part one end is connected with lifting by crane the product, and the other end is connected with the tie point, will lift by crane the product and hang.
Therefore, the invention relates to an unmanned aerial vehicle lifting system, which is characterized in that the triangular lifting frame is arranged, three connection points are arranged below the triangular lifting frame to connect lifting products, and compared with a traditional lifting device in a lifting method, the triangular lifting frame is overweight in manufacturing aspect, complex in structure assembly and high in manufacturing cost, and the device can realize aerial attitude transformation of an unmanned aerial vehicle in a common environment in a factory building.
The invention uses the triangle lifting frame upper end to connect the factory building crane, uses the connection point set at the triangle lifting frame lower end to connect several sling components, to make the triangle lifting frame and the lifting product form a whole by sling components, finally uses the factory building crane to lift the triangle lifting frame to suspend the lifting product, uses the shrinkage to lengthen the first sling component, the second sling component and the third sling component to control the lifting product to rotate square in the air to change the gesture, compared with the prior airplane manufacturing, the invention generally uses hanging lifting, uses the double lifting hooks of the factory building crane to firstly lift the airplane horizontally, and then uses the double lifting hooks to switch the horizontal to the vertical state.
In a preferred embodiment of the present invention, the sling members are a first sling member, a second sling member, and a third sling member, respectively.
In a preferred embodiment of the present invention, the sling component body is a manual hoist and a sling, so that the length of the sling can be controlled by the manual hoist to realize the posture change when the posture of the unmanned aerial vehicle is changed.
As the preferable scheme of the invention, the length of the hand hoist on the first sling component, the second sling component and the third sling component can be adjusted, so that the lifting body can more conveniently change the posture.
As a preferable scheme of the invention, a lifting point A is arranged on the triangular lifting frame, a connecting point B connected with a first sling component, a connecting point C connected with a second sling component and a connecting point D connected with a third sling component are arranged at the lower end of the triangular lifting frame, the connecting point B and the connecting point C are both positioned on the same side of the lower end of the triangular lifting frame, and the connecting point D is positioned on the other side of the bottom of the triangular lifting frame, so that a lifted product can keep balance when the posture of the lifted product is changed.
As a preferable scheme of the invention, the first sling component, the second sling component and the third sling component can be selectively assembled with the triangular lifting frame, the first lifting joint and the second lifting joint, so that the lifting body can change the posture when being suspended.
As a preferable scheme of the invention, the lifting body is provided with a first lifting joint and a second lifting joint which are used for being connected with a sling component, the sling component is connected with the second lifting joint through the first lifting joint, and a lifting product and a triangular lifting frame are connected into a whole.
As a preferable scheme of the invention, the sling component comprises a first sling component, a second sling component and a third sling component, wherein the first sling component is connected with a first lifting joint on the lifting product, and the second sling component is connected with the second lifting joint, so that the nose of the lifting product can be completely vertically and downwards converted.
The invention relates to an unmanned aerial vehicle lifting method, which comprises the following steps:
1. the length of the first sling component and the second sling component can be adjusted through the hand hoist, so that the triangular lifting frame and the lifting product connected below the triangular lifting frame through the sling component are lifted, and the lifting product can be hung and placed.
2. When the lifting product hangs in the air, the length of the first sling component can be adjusted through the hand hoist, so that the length of the first sling component is prolonged, at this time, the aircraft nose of the lifting product can rotate downwards until the length of the first sling component is stopped being adjusted when the second sling component is not stressed, and at this time, the aerial posture of the unmanned aerial vehicle starts to change.
3. And after the lifting product is subjected to the second step, the first sling component is removed, and when the first sling component is removed, only the second sling component is stressed, and at the moment, the axis of the second sling component is coincident with the gravity center of the lifting product.
4. And the third sling component is connected with the thrust cone at the lower end of the lifting product, and the third sling component is not stressed after the connection, because the axis of the second sling component is coincident with the gravity center of the lifting product.
5. And then the length of the third sling part is contracted through the manual hoist, and the length of the second sling part is simultaneously lengthened, so that the lifting product continues to rotate until the second sling part is not stressed and only the third sling part is stressed, and at the moment, the aerial posture of the lifting product continues to change.
6. And removing the second sling component to finish the attitude transformation of the lifted product in the air.
As the preferable scheme of the invention, a straight line formed by connecting the horizontal hoisting time point 1 and the gravity center point of the hoisting product in the step 1 is positioned between the point 2 and the point 3, and the unstressed state of the second sling component in the step 2 is that the point 1, the point 3 and the gravity center of the hoisting product are positioned on the same straight line; in the step 3, the unstressed state of the second sling component is that the point 1 and the point 4 are in the same straight line with the gravity center of the lifted product.
As a preferable scheme of the invention, in the step 3, the first sling component is removed, only the second sling component is stressed after the removal, at this time, the axis of the second sling component coincides with the gravity center of the lifted product, and the judgment that only the second sling component is stressed is determined manually, and the first sling component naturally sags due to the fact that the length of the first sling component is lengthened by the hand hoist.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. the invention relates to an unmanned aerial vehicle lifting system and a lifting method thereof, wherein the lifting device is simple, light and low in cost, and the triangular lifting frame is short in manufacturing period, so that unmanned aerial vehicle posture conversion can be performed in various occasions.
2. The invention relates to an unmanned aerial vehicle lifting system and a lifting method thereof, wherein the length of a sling component is regulated by a hand hoist to change the aerial posture of an unmanned aerial vehicle, wherein a first sling component and a second sling component control the posture change process of the unmanned aerial vehicle from horizontal to machine head vertically downwards, and a third sling component controls the change of the unmanned aerial vehicle with a change angle larger than 90 degrees.
3. The invention relates to an unmanned aerial vehicle lifting system and a lifting method thereof, which realize the transformation of the aerial posture of an unmanned aerial vehicle, ensure the relevant measurement and test of the unmanned aerial vehicle and ensure the safety of the aerial posture transformation.
4. The invention relates to an unmanned aerial vehicle lifting system and a lifting method thereof, which realize the transformation of the aerial posture of an unmanned aerial vehicle in a common environment in a factory building
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic illustration of the present invention in state 8.1;
FIG. 3 is a schematic illustration of the present invention in the state 8.2;
FIG. 4 is a schematic illustration of the present invention in the state 8.3;
FIG. 5 is a schematic illustration of the present invention in the state 8.4;
FIG. 6 is a schematic illustration of the present invention in the 8.5 state;
FIG. 7 is a schematic illustration of the present invention in a state 8.6;
FIG. 8 is a schematic view of the structure of the triangular lifting frame of the present invention;
fig. 9 is a flow chart of the method of the present invention.
Icon: 1-a lifting point A; 2-connection point a; 3-connection point b; a 4-connection point c; 001-triangular lifting frames; 002-a # one sling component; 003-second sling component; 004-third sling component; 005-lifting joint; 006-second hoisting joint; 007-hoisting product.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The invention relates to an unmanned aerial vehicle lifting system, which mainly comprises a triangular lifting frame 001, wherein the upper end of the triangular lifting frame 001 is provided with a lifting point A1, so that a factory crane can lift the triangular lifting frame 001, the lower end of the triangular lifting frame 001 is provided with a plurality of connecting points, the lower ends of the connecting points are respectively provided with a sling component, the triangular lifting frame 001 and a lifting product 007 are connected into a whole through the sling component, and the factory crane can suspend the lifting product 007 when lifting the triangular lifting frame 001, as shown in figure 1.
The sling components include a sling component 002, a second sling component 003 and a third sling component 004, wherein the first sling component 002 is connected with the first lifting connector 005, the second sling component 003 is connected with the second lifting connector 006, as shown in fig. 3
The sling component body is a manual hoist and a sling, so that the sling component can be conveniently contracted and stretched by the manual hoist when the gesture of the lifting product 007 is changed.
The length of the hand hoist of the first sling component 002, the second sling component 003 and the third sling component 004 can be adjusted, and the unmanned aerial vehicle posture transformation can be studied more quickly and conveniently.
The triangle lifting frame 001 is provided with a lifting point A1 for connecting a factory building crane, the lower end of the triangle lifting frame 001 is provided with a connecting point C3 connected with a first sling part 002 and a connecting point D4 connected with a second sling part 003, the change of the unmanned aerial vehicle posture in the state can be adjusted through the adjustment of the length of the hand hoist, the connecting point B2 and the connecting point C3 are both positioned at the bottom of the triangle lifting frame 001 and are positioned at one end of the bottom, and the connecting point D4 is positioned at the other end of the bottom of the triangle lifting frame 001, so that the posture change of each state of the unmanned aerial vehicle can be adjusted, as shown in fig. 8.
The lifting body 007 is provided with a lifting joint 005 and a lifting joint 006 respectively, and the lifting joint 005 and the lifting joint 006 are connected into a whole through the sling component to the lifting product 007 and the triangular lifting frame 001, as shown in fig. 3.
The sling component 002, the sling component 003, the three-hand hoist and the sling 004 can rotate with the triangular lifting frame 001, the lifting joint 005 and the lifting joint 006, so that the unmanned aerial vehicle gesture conversion operation is more convenient.
Therefore, the lifting point A1 for connecting a factory crane is arranged on the triangular lifting frame 001, one side of the lower end of the triangular lifting frame 001 is respectively provided with a connecting point B2 and a connecting point C3, the connecting points B2 and C3 are transversely juxtaposed, the other side of the lower end of the triangular lifting frame 001 is provided with a connecting point D4, the lower ends of the connecting points B2, C3 and D4 are respectively correspondingly provided with the first sling component 002, the second sling component 003 and the third sling component 004, the first sling component 003 and the third sling component 004 are respectively used for hanging a lifted product 007, the upper end of the lifted product 007 is provided with a first connecting point 005 and a second connecting point 006, the first connecting point 005 and the second connecting point 006 are respectively correspondingly connected with the first manual hoist, the hanging strip 002, the second manual hoist and the hanging strip 003, the triangular lifting frame 001 is lifted through the lifted by the factory crane, and the lifted product of the triangular lifting frame 001 is correspondingly lifted, and the posture of the lifted product 007 is adjusted through the change of the length of the manual hoist.
Example 2
The invention relates to a lifting method of an unmanned aerial vehicle, which is shown in fig. 9:
a method of using the device of example 1 that has been installed;
step one, as shown in fig. 2, the length of the first sling component 002 and the second sling component 003 is adjusted by the hand hoist, so that the lifting body 007 is kept horizontal, and then the triangular lifting frame 001 and the lifting product 007 connected by the first sling component 002, the second sling component 003 and the third sling component 004 are lifted in the air horizontally by the factory crane and kept at a certain height, so that the normal flying posture of the lifting product 007 is simulated, and the subsequent posture transformation is conveniently studied.
Step two, as shown in fig. 3, the first sling component 002 is removed after the lifted product 007 is horizontally stationary, only the second sling component 003 is stressed after the first sling component 002 is removed, and the head of the lifted product 007 is downward, at this time, the axis of the second sling component 003 coincides with the center of gravity of the lifted product 007.
Step three, as shown in fig. 4, after the lifting device 007 is lifted to the air, the length of the first sling component 002 is adjusted by the manual hoist, so that the length of the first sling component 002 is lengthened, the tip of the lifting product 007 can rotate downwards until the second sling component 003 is not stressed, the length of the first sling component 002 is stopped being adjusted, the lifting product 007 is changed in posture at the moment, and the first sling component 002 is removed, so that the force reaction can be generated by the first sling component 002 when the subsequent posture change is facilitated. .
Step four, as shown in fig. 5, after the above operation is performed, the third sling member 004 is connected to the thrust cone at the lower end of the lifted product 007, and the third sling member 004 is not stressed after the connection. Causing the attitude of the lifted product 007 to change to the next stage.
Step five, as shown in fig. 6, the length of the third sling component 004 is contracted by the hand hoist, and the length of the second sling component 003 is lengthened, so that the lifted product 007 continues to rotate until the second sling component 003 is not stressed and only the third sling component 004 is stressed, and the reaction of the force brought by the second sling component 003 is avoided, so that the conflict is generated on the posture change of the lifted product 007.
Step six, as shown in fig. 7, the second sling component 003 is removed, so as to complete the aerial posture transformation of the lifted product 007.
The straight line formed by connecting the lifting point A1 and the gravity center of the lifted product 007 during horizontal lifting in the first step is located between the connection point a2 and the connection point b3, so that the lifted product 007 is kept stable, the unstressed state of the second sling component 003 in the second step is that the lifting point A1 and the connection point b3 are in the same straight line with the gravity center of the lifted product 007, and the unstressed state of the second sling component 003 in the third step is that the lifting point A1 and the connection point c4 are in the same straight line with the gravity center of the lifted product 007.
In the third step, the first sling component 002 is removed, only the second sling component 003 is stressed after the removal, at this time, the axis of the second sling component 003 coincides with the gravity center of the lifted product 007, it is judged that only the second sling component 003 is stressed through manual judgment, and the length of the first sling component 002 is lengthened through the hand hoist, so that the first sling component 002 naturally sags.
In summary, according to the present invention, the lengths of the first sling component 002 and the second sling component 003 are adjusted by the hand hoist, then the triangular lifting frame 001 and the lifting product 007 are lifted to be half-empty by the factory crane, the posture of the lifting body 007 is changed by removing the first sling component 002 until the second sling component 003 is not stressed, then the third sling component 004 is connected with the thrust cone at the lower end of the lifting product 007, so that the third sling component 004 is not stressed, then the length of the third sling component 004 is contracted by the hand hoist, and the length of the second sling component 003 is lengthened, so that the lifting product 007 continues to maintain the rotating state until the third sling component 004 is stressed and the second sling component 003 is not stressed, and finally the posture of the lifting product 007 in the re-air is changed by removing the second sling component 003, as shown in fig. 9.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle hoisting system, its characterized in that, including triangle-shaped hoisting frame (001), triangle-shaped hoisting frame (001) upper end connection hoisting point A, triangle-shaped hoisting frame (001) bottom is equipped with a plurality of tie points, triangle-shaped hoisting frame (001) tie point is connected with the hoist cable part that is used for lifting by crane respectively.
2. The unmanned aerial vehicle lifting system of claim 1, wherein the sling components include a sling component (002), a sling component No. two (003), a sling component No. three (004).
3. The unmanned aerial vehicle lifting system according to claim 2, wherein the first sling part (002), the second sling part (003) and the third sling part (004) are both a hand hoist and a sling.
4. A unmanned aerial vehicle lifting system according to claim 3, wherein the length of the hand hoist in the first sling part (002), the second sling part (003) and the third sling part (004) is adjustable.
5. The unmanned aerial vehicle lifting system according to claim 4, wherein the triangular lifting frame (001) is provided with a lifting point a (1), the lower end of the triangular lifting frame is provided with a connecting point a (2) for connecting the first sling component (002), a connecting point b (3) for connecting the second sling component (003) and a connecting point (4) for connecting the third sling component (004), the connecting point a (2) and the connecting point b (3) are both positioned on one side of the bottom of the triangular lifting frame (001), and the connecting point c (4) is positioned on the other side of the bottom of the triangular lifting frame (001).
6. A unmanned aerial vehicle lifting system according to any of claims 2 to 5, wherein the first sling part (002), the second sling part (003), and the third sling part (004) are each rotatably connected to the triangular lifting frame (001).
7. The unmanned aerial vehicle lifting system according to claim 6, wherein the lifting body (007) is respectively connected with two lifting joints (005) and one lifting joint (006), and the two lifting joints (005) and one lifting joint (006) are respectively in rotational connection with the sling component (002), the sling component (003) and the sling component (004) of the triangular lifting frame (001).
8. A method of lifting a unmanned aerial vehicle lifting system according to any of claims 1 to 7, wherein the method steps of lifting the unmanned aerial vehicle are:
8.1, the lengths of the first sling component (002) and the second sling component (003) are adjusted, and then the triangular lifting frame (001) is lifted in the air to keep a certain height;
8.2 adjusting the length of the first sling part (002) to lengthen the length of the first sling part (002);
8.3 re-removing the first sling portion (002);
8.4 connecting the third sling component (004) with the lower thrust cone of the lifted product (007);
8.5 simultaneously lengthening the length of the second sling part (003) by contracting the length of the third sling part (004);
8.6 removing the second sling component (003) to finish the attitude transformation of the lifted product (007) in the air.
9. The unmanned aerial vehicle lifting method according to claim 8, wherein a straight line formed by connecting the lifting point a (1) and the gravity center of the lifted product (007) in the horizontal lifting in the step 8.1 is located between the connection point a (2) and the connection point b (3), and the unstressed state of the second sling component (003) in the step 7.2 is that the lifting point a (1), the connection point b (3) and the gravity center of the lifted product (007) are on the same straight line; in the step 7.3, the unstressed state of the second sling component (003) is that the lifting point A (1), the connecting point c (4) and the gravity center of the lifting product (007) are in the same straight line.
10. The unmanned aerial vehicle lifting method according to claim 7, wherein in the step 8.3, the first sling part (002) is removed, only the second sling part (003) is stressed after the removal, at this time, the axis of the second sling part (003) coincides with the gravity center of the lifted product (007), and only the second sling part (003) is judged to be stressed by manual judgment, and the first sling part (002) is naturally drooping by continuously lengthening the first sling part (002) through a manual hoist.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311177642.4A CN117228500A (en) | 2023-09-13 | 2023-09-13 | Unmanned aerial vehicle lifting system and lifting method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311177642.4A CN117228500A (en) | 2023-09-13 | 2023-09-13 | Unmanned aerial vehicle lifting system and lifting method thereof |
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| CN117228500A true CN117228500A (en) | 2023-12-15 |
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| CN202311177642.4A Pending CN117228500A (en) | 2023-09-13 | 2023-09-13 | Unmanned aerial vehicle lifting system and lifting method thereof |
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| CN218809928U (en) * | 2022-11-26 | 2023-04-07 | 成都飞机工业（集团）有限责任公司 | Rocket boosting launching unmanned aerial vehicle turning device |
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2023
- 2023-09-13 CN CN202311177642.4A patent/CN117228500A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006219265A (en) * | 2005-02-10 | 2006-08-24 | Toyota Motor Corp | Automatic aligning suspender and suspending method using this suspender |
| CN202098976U (en) * | 2011-05-10 | 2012-01-04 | 中交第二航务工程局有限公司 | Device capable of freely adjusting sling length and overhead transverse posture of part |
| CN104044992A (en) * | 2014-05-27 | 2014-09-17 | 北京航天发射技术研究所 | Cable-stayed sling type vertical-lifting lifting appliance having large-stiffness frame structure and assembled lifting appliance |
| CN105329767A (en) * | 2015-11-26 | 2016-02-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft hoisting appliance |
| CN111410114A (en) * | 2020-03-31 | 2020-07-14 | 成都飞机工业（集团）有限责任公司 | Aircraft wing gravity center self-adaptation hoisting accessory |
| CN218809928U (en) * | 2022-11-26 | 2023-04-07 | 成都飞机工业（集团）有限责任公司 | Rocket boosting launching unmanned aerial vehicle turning device |
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