CN108583903A - It is a kind of to launch mechanical hook and unmanned plane automatically - Google Patents
It is a kind of to launch mechanical hook and unmanned plane automatically Download PDFInfo
- Publication number
- CN108583903A CN108583903A CN201810661971.9A CN201810661971A CN108583903A CN 108583903 A CN108583903 A CN 108583903A CN 201810661971 A CN201810661971 A CN 201810661971A CN 108583903 A CN108583903 A CN 108583903A
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- China
- Prior art keywords
- arm
- hook
- swinging block
- left claw
- pawl arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000078 claw Anatomy 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000009471 action Effects 0.000 claims abstract description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 25
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000011068 loading method Methods 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 9
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 230000003872 anastomosis Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 230000005291 magnetic effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of dispensing mechanical hook and unmanned plane, including rack, executing agency, sealed and trigger mechanism automatically；Executing agency includes left claw arm, right pawl arm and hook spring；Sealed and trigger mechanism includes driving mechanism and swinging block；It is connected respectively by hook spring between left claw arm and rack left side wall, right pawl arm and rack right side wall；The rear end of swinging block is installed in rotation in rack, and the front end of swinging block has hook portion；When left claw arm and right pawl arm close up, driving mechanism drives swinging block that the hook portion of swinging block is made to hook the upper end of left claw arm or right pawl arm；When driving mechanism drives swinging block that the hook portion of swinging block is made to unclamp the upper end of left claw arm or right pawl arm, the left claw arm, right pawl arm open under the action of hook spring.Structure of the invention is compact, small, light-weight, easy to operate, and it is strong to bear load capacity.
Description
Technical field
The invention belongs to automatic control technology fields, more particularly to a kind of automatic dispensing mechanical hook and unmanned plane.
Background technology
With the development of unmanned air vehicle technique, four axis unmanned planes have been commonly used for loading, in terms of express delivery.So far, mostly
Number unmanned plane loadings are needed by artificial loading and unloading, to launching loading automatically in terms of device research it is less.
Application No. is 201711040445.2 applications for a patent for invention to disclose a kind of commodity distribution for e-commerce
Device, the device are provided with article tray, glove groove, through-hole, tray main body, fixed ring composition.At left and right sides of tray main body
It is mutually welded with fixed ring, glove groove is equipped in the middle part of tray main body, is equipped with through-hole in the middle part of glove groove, article tray is recessed by glove
Slot, through-hole and tray main body are integrated, and glove groove is rectangular parallelepiped structure with tray main body, and glove depression volume omits
Less than tray main body volume, through-hole is circular configuration.In use, commodity are placed in article tray upper end, fixed band passes through nobody
Commodity and article tray are fixed on immediately below unmanned plane shell by the fixed ring on mounting hole and article tray on machine shell,
The fixed velcro circle batt installed with both ends facilitates with velcro bristle layer to be fixed and dismantles.When the device launches article, need
To load and unload manually article, and the dispenser need unmanned plane to come to a complete stop after could operate.
Application No. is 201711344296.9 applications for a patent for invention to disclose a kind of jettison system of unmanned plane, including sets
It sets the motor on unmanned plane, the rope sheave being connect with the shaft of motor, the rope band on rope sheave, be fixedly connected on rope
The hook with wireless signal sending function of end of tape and what is be arranged on unmanned plane land information for detect package
Article detection apparatus.The jettison system executes following steps in launching encapsulation process：Step 1, unmanned plane, which reaches, launches ground
The range data on point overhead, range sensor detection and ground is simultaneously transferred to control system, and control system controls unmanned plane movement
It is less than the position of rope band length to height and keeps floating state；Step 2, control system control motor and are driving rope sheave just
Rope band is discharged to rotation, package of the hanging on hook is made to decline with certain speed；Step 3, during wrapping up decline, object
Product detection device detects package landing information with certain frequency and transfers data to control system, and control system is examined according to article
The data for surveying device judge whether package lands, if it is not, step 2 is then continued to execute, if so, control motor stops operating；
Step 4, addressee open hook, and hook transmits wireless signals to control system, and control system judges whether package is removed, if
It is no, then current state is kept, if so, executing step 5；Step 5, control system control motor drive rope sheave to rotate backward
Rope band is rolled, rope band is packed up rear unmanned plane and returned.This application realizes that the dispensing of article, article carry are hung using idler wheel and rope
On hook, but the jettison system still needs artificially by article carry on hook, it is also desirable to artificially remove article from hook.
Application No. is 201711318547.6 application for a patent for invention disclose it is a kind of for send express delivery have unloading work(
Can the high unmanned plane of safety coefficient, the unloading mechanism of the unmanned plane includes accommodating component and discharge assemblies, the accommodating component
It is sequentially connected with discharge assemblies, when unmanned plane, which carries express delivery, is transported to destination, accommodating component starts, accommodating component driving
Discharge assemblies rotate 90 degree so that discharge assemblies move to the side of package, and later, discharge assemblies start so that unloading plate pushes away
Dynamic package level movement, package is pushed from articles holding table.The unmanned plane realizes automatic unloading, but due to using unloading
The mode that plate pushes package from articles holding table, could operate after needing unmanned plane to come to a complete stop.
Application No. is 201711305790.4 applications for a patent for invention to disclose a kind of express delivery unmanned plane Load System, including
Unmanned plane and express delivery box；Uav bottom is equipped with loading stage by attachment device；Loading stage is equipped with ferromagnetic material；Express delivery box
It is interior to be equipped with electromagnet；Express delivery box is used cooperatively with loading stage.Cargo is placed on by the unmanned plane Load System when loading cargo
In express delivery box, based on the suction between the magnetisable material and electromagnet between express delivery box and loading stage, express delivery box is adsorbed on dress
Below microscope carrier, when unloading cargo, electromagnet power-off, express delivery box is fallen down from loading stage.Although the Load System realizes express delivery
The automatic loading of box and unloading, but due to being provided with electromagnet and power supply on express delivery box, cost is higher, needs to recycle, and can not keep away
Increase the complexity used with exempting from.
Invention content
In order to solve the problems existing in the prior art, the present invention provides a kind of automatic dispensing mechanical hook, utilizes hook carry
Article, after reaching appointed place, hook of the invention automatically opens, and launches article automatically, realizes the automatic unloading of article.
Automatic dispensing mechanical hook provided by the invention, including rack, executing agency, sealed and trigger mechanism；It is described to hold
Row mechanism includes left claw arm, right pawl arm and hook spring；Described sealed and trigger mechanism includes driving mechanism and swinging block；
The left claw arm, right pawl arm are installed in rotation in rack, the left claw arm, right pawl arm mounting portion be provided with
Flank profil, left and right pawl arm are engaged by flank profil；Between the left claw arm and rack left side wall, the right pawl arm and rack right side wall
It is connected respectively by hook spring；
The rear end of the swinging block is installed in rotation in rack, and the front end of the swinging block has hook portion, the driving machine
Structure is connect with swinging block；
When left claw arm and right pawl arm close up, the driving mechanism drive swinging block make the hook portion of swinging block hook left claw arm or
The upper end of right pawl arm；It is described when driving mechanism drives swinging block that the hook portion of swinging block is made to unclamp the upper end of left claw arm or right pawl arm
Left claw arm, right pawl arm open under the action of hook spring.
It is engaged by flank profil between two pawl arms, realizes the linkage of two pawl arms, it is only necessary to hook it using a swinging block
In a pawl arm, you can that realizes two pawl arms closes up fixation.The preferred involute profile of flank profil, involute profile can be protected
The continuous transmission of card, transmission ratio is accurate, transmission efficiency, the advantages such as long lifespan.When loading article, by article carry on hook,
Swinging block hooks pawl arm so that two pawl arms are in closed configuration, at this point, hook spring is in compressive state, reach designated position
Afterwards, swinging block unclamps the upper end of left claw arm or right pawl arm under the drive of driving mechanism, and the hook spring of compression acts on left claw
On arm, right pawl arm, two pawl arms separate, and article falls automatically.
The present invention provides automatic dispensing mechanical hook, including rack, executing agency, sealed and trigger mechanism；The execution
Mechanism includes left claw arm, right pawl arm and hook spring；Described sealed and trigger mechanism includes driving mechanism and swinging block；
One in the left claw arm, right pawl arm is installed in rotation in rack, another is fixed on the rack,
In, the pawl arm being installed in rotation in rack is connect with frame side wall by hook spring；
The rear end of the swinging block is installed in rotation in rack, and the front end of the swinging block has hook portion, the driving machine
Structure is connect with swinging block；
When left claw arm and right pawl arm close up, the driving mechanism drives swinging block that the hook portion of swinging block is hooked rotatably
The upper end of pawl arm；When driving mechanism drives swinging block that the hook portion of swinging block is made to unclamp the upper end of left claw arm or right pawl arm, rotatably
Pawl arm opened under the action of hook spring.
The present invention fixes one of pawl arm, another pawl arm rotation setting, in this way, without passing through between two pawl arms
Flank profil engages, and the technical problems to be solved by the invention equally may be implemented.
Automatic dispensing mechanical hook provided by the invention, including rack, executing agency, two sealed and trigger mechanisms；Institute
It includes left claw arm, right pawl arm and hook spring to state executing agency；Described sealed and trigger mechanism includes driving mechanism and shakes
Block；
The left claw arm, right pawl arm are installed in rotation in rack, the left claw arm and rack left side wall, the right pawl
It is connected respectively by hook spring between arm and rack right side wall；Two sealed and trigger mechanism corresponds to left claw arm, left claw respectively
Arm；
The rear end of the swinging block is installed in rotation in rack, and the front end of the swinging block has hook portion, the driving machine
Structure is connect with swinging block；
When left claw arm and right pawl arm close up, two sealed and trigger mechanism driving mechanisms drive swinging block to make swinging block
Hook portion hooks the upper end of left claw arm, right pawl arm respectively；When two sealed and trigger mechanism driving mechanisms drive swinging block to make respectively
The hook portion of swinging block when unclamping the upper end of left claw arm, right pawl arm, the left claw arm, right pawl arm are opened under the action of hook spring
It opens.
Two pawl arms can also be all rotatablely installed by the present invention, and it is not necessary that flank profil engagement is arranged, at this time, it may be necessary to set
Set two sealed and trigger mechanisms, two sealed and trigger mechanism controls one of pawl arm respectively, can also realize the present invention
Technical problem to be solved.
Cylinder or oil cylinder etc. may be used in driving mechanism of the present invention, and when needing to unclamp pawl arm upper end, cylinder pulling is shaken
Block rotates so that and the constraint that pawl arm is detached from swinging block can pull pawl arm manually when needing carry article, after pawl arm closes up,
Cylinder pushes swinging block to rotate and hook pawl arm.
For make the present invention more effectively work, driving mechanism of the present invention include electromagnetic component, lifting piece and
Padlock spring；The electromagnetic component is mounted in rack, is provided on electromagnetic component and is kept away for what the lifting piece moved up and down
Position hole；Be cased with padlock spring on the lifting piece, the both ends of the padlock spring bear against electromagnetic component bottom and
The lower end of lifting piece, the swinging block and lifting piece is connected by the connecting rod；After the electromagnetic component is powered, attracts and promoted
Component moves up.Electromagnet may be used in the electromagnetic component, and iron core or magnetic part may be used in the lifting piece.It is promoted
Component constitutes slider-crank mechanism with connecting rod, swinging block, pulls up lifting piece using electromagnetic component, lifting piece is driven by connecting rod
Swinging block rotates, and electromagnetic component mechanism is simple, at low cost, is easy to control, and need to only receive a moment high level, and electromagnetic component is powered
Suction is generated to lifting piece afterwards, a pulse moment pulls so that swinging block unclamps pawl arm.Electromagnetic component is to the upper of lifting piece
It draws so that padlock spring is compressed, and when moment high level disappears, when manually closing up pawl arm, compressed padlock spring is pulled up a horse
It rebounds, so that swinging block rotates and hooks pawl arm.
To make after swinging block unclamps pawl arm, pawl arm can be separated preferably, and the padlock spring is in compression shape always
State.
To make swinging block preferably rotate, it is faster more firm hook pawl arm, the hook spring is in compressive state always.
For convenience of the installation of hook spring, it is provided with for hook spring on the left claw arm, right pawl arm and frame side wall
The boss of socket.
The present invention also provides a kind of unmanned plane, the unmanned plane is equipped with automatic dispensing mechanical hook provided by the invention.
The invention has the advantages that：It is engaged by flank profil between (1) two pawl arm, realizes the connection of two pawl arms
It is dynamic, it is only necessary to hook one of pawl arm using a swinging block, you can two pawl arms of realization close up fixation.Flank profil is preferably gradually opened
Line flank profil, involute profile can ensure continuously to be driven, and transmission ratio is accurate, transmission efficiency, the advantages such as long lifespan.(2) pawl arm
Hook spring is set between frame side wall, once swinging block unclamps pawl arm, pawl arm opens automatically under the action of hook spring, real
The automatic dispensing of existing article.(3) the slider-crank mechanism control claw for using electromagnet and being made of iron core, connecting rod and swinging block
Arm, electromagnet structure is simple, at low cost, is easy to control, and need to only receive a moment high level, and electromagnet gives birth to iron core after being powered
Suction, a pulse moment pull so that swinging block unclamps pawl arm.Pull-up of the electromagnet to lifting piece so that padlock spring quilt
Compression, when moment high level disappears, electromagnet no longer has the suction to iron core, when manually closing up pawl arm, compressed button
Lock spring immediately rebounds, so that swinging block rotates and hooks pawl arm.(4) lock for utilizing padlock spring to realize swinging block to pawl arm
It closes, reduces the use of power source.(5) it when launching article, is landed without unmanned plane, it is only necessary to it hovers formulating position,
Electromagnet receives a moment high level and can launch article.Structure of the invention is compact, small, light-weight, easy to operate,
It is strong to bear load capacity.
Description of the drawings
Fig. 1 is executing agency's schematic diagram of the present invention；
Fig. 2 is padlock of the present invention and trigger mechanism schematic diagram；
Fig. 3 is the assembling schematic diagram of electromagnet of the present invention and iron core；
Fig. 4 is mainframe of the present invention and slave frame schematic diagram；
(slave frame is not shown) in Fig. 5 schematic structural views of the invention；
Fig. 6 is front view of the present invention (slave frame is not shown)；
Fig. 7 is explosive view of the present invention；
Fig. 8 is swinging block schematic diagram of the present invention；
Fig. 9 is mechanical hook of the present invention and unmanned plane scheme of installation；
Figure 10 is left claw arm of the present invention, right pawl arm passes through involute profile mesh schematic representation (part).
In figure：1, unmanned plane；2, mechanical hook；2-1, mainframe；2-2, slave frame；2-3, limited block；2-4, boss；2-
5, side wall；2-6, mounting bracket；3, executing agency；3-1, hook spring；3-2, left claw arm；3-3, right pawl arm；3-4, flank profil；3-
5, boss；3-6, shaft；3-7, step is fastened；4, padlock and trigger mechanism；4-1, electromagnet；4-2, iron core；4-3, padlock bullet
Spring；4-4, connecting rod；4-5, swinging block；4-6, a hole is kept away；4-7, connecting rod mounting hole；4-8, swinging block mounting hole；4-9, hook portion.
Specific implementation mode
As shown in Figure 5,6, automatic dispensing mechanical hook provided by the invention includes rack, executing agency 3, padlock and triggering
Mechanism 4.
As shown in Fig. 4,7,9, rack includes that mainframe 2-1, slave frame 2-2, mainframe 2-1 and slave frame 2-2 are plugged together simultaneously
It is fixed by screw.There are four limited block 2-3 for the top setting of mainframe 2-1, in the lower end of mainframe 2-1, two side walls 2-5
Inside be respectively arranged with boss 2-4, boss 2-4 can be designed to cylinder.After the mechanical hook of the present invention is completed, remove
Outside the part of cranking arm of left and right pawl arm lower end is exposed on the external, remaining part is encapsulated in rack.In the external setting of mainframe 2-6
There are mounting bracket 2-6, entire mechanical hook 2 to be mounted on unmanned plane 1 by mounting bracket 2-6, the installation of mechanical hook 2 should be kept away
Exempt to block unmanned aerial vehicle onboard camera sight and cannot with battery, motor driving plate, fly the hardware conflicts such as control plate.Rack should be by
The higher metal material of intensity and toughness is made, for mitigate own wt, consider scratch remove unnecessary portion, by internal stress compared with
Small part should use thin-walled.Rack selects that tension is strong, carbon steel (ZG310-570) with high hardness.
As shown in Fig. 1,5,6,7,10, executing agency 3 includes left claw arm 3-2, right pawl arm 3-3.Left claw arm 3-2, right pawl arm
3-3 is mounted on the lower end of mainframe 2-1 by shaft 3-6, and left claw arm 3-2, right pawl arm 3-3 can be rotated with 3-6 around the shaft, be passed through
The rotation of left claw arm, right pawl arm, the lower end separation or engagement of two pawl arms, realizes the opening and closing of executing agency 3.To ensure two
A pawl arm is rotated around respective central point simultaneously, and left claw arm 3-2, right pawl arm 3-3 are provided with flank profil 3-4, left claw arm and right pawl arm
It is engaged by flank profil, the present invention is engaged using involute profile, and involute profile can ensure continuously to be driven, transmission ratio essence
Really, transmission efficiency, the advantages such as long lifespan.To keep design easy, the tooth root garden of operative gear is merged with generating circle, such as Figure 10 institutes
Show, left claw arm 3-2, right pawl arm 3-3 are engaged by asymptote flank profil, radius rb=rf=9.395mm saves garden radius r=10mm,
Tooth top garden radius ra=10.54mm, pressure angle α=20 °, transmission ratio i=1.Since transmission ratio is 1, the two pawl arms in left and right can be with
Identical angle is opened or draws close with identical speed simultaneously.It is manual operation when drawing close, to the song of right pawl arm or left claw arm
Arm section, which applies one, makes the torque that two pawl arms close up.The bottom end of left claw arm 3-2, right pawl arm 3-3 bottom end have fasten step
The fastening step of 3-7, wherein left claw arm are L-shaped, and the fastening step of right pawl arm is at inverted L-shaped, when executing agency is closed, left claw arm,
The fastening step of right pawl arm closes up.
To ensure automatically discharge article after article is sent to destination, two pawl arms needs can open automatically, therefore need
Will be there are one the separated trend of two pawl arms, for such a trend of holding, consideration applies on two pawl arms outward respectively
Torque, due to needing to consider that integrally-built compactedness, this torque can be provided by two groups of springs, spring is on pawl arm
End.It is respectively arranged with boss 3-5 on the outside of left claw arm, right pawl arm upper end, boss 3-5 can be designed to cylinder, hook spring
The both ends of 3-1 are respectively fitted on boss 3-5 and boss 2-4.Two hook springs are in compressive state always, i.e., be at any time a left side,
Right pawl arm provides torque, and two pawl arms is made to have the tendency that opening at any time.Since the arm of force in pawl arm at spring contact point is than two songs
The arm of force of arm end is much smaller, then a small amount of compressional movement of spring can cause two openings cranked arm by a relatively large margin, facilitate
The smooth dispensing of hanging object.
When being artificially manually closed pawl arm, padlock and 4 automatic locking of trigger mechanism, two pawl arm are carried with reaching
The purpose of object, when unmanned plane reaches the overhead hovering for specifying anchor point, padlock and trigger mechanism 4 are received from winged control plate
Signal cancels to the sealed of two pawl arms, flicks two pawl arms under the action of hook spring, loading is put down.As Fig. 2,3,5,
6, shown in 7,8, padlock and trigger mechanism 4 include swinging block 4-5, connecting rod 4-4, iron core 4-2, electromagnet 4-1, padlock spring 4-3.
The rear end of swinging block 4-5 is installed in rotation on by swinging block mounting hole 4-8 on mainframe 2-1, and front end has hook
Portion 4-9.The lower end of connecting rod 4-4 is connected through the hinge with swinging block 4-5, and the connecting rod installation installed for hinge is provided on swinging block 4-5
The upper end of hole 4-7, connecting rod 4-4 are connect by hinge with iron core 4-2, one crank block slider structure of formation, in this structure, active force
From iron core 4-2 (sliding block), slave unit is swinging block 4-5 (crank).The present invention is by connecting rod control come sealed right pawl arm 3-
3, when sealed, hook portion 4-9 is plane contact with the right upper ends pawl arm 3-3, and one normal pressure F of right pawl arm is given at contact surface, this pressure
Power and the hook spring on right side act on the torque that right pawl arm generates and offset, and lead to right pawl arm Complete Bind, degree of freedom 0,
It can not open, due to the anastomosis of flank profil, left claw arm also Complete Bind can not open, which forms the locks of mechanical hook
It closes.When cancelling sealed, swinging block rotates clockwise an angle, and the plane of hook portion can overcome frictional force, with right pawl arm upper end
Planar separation, then right pawl arm lose constraint, sealed revocation.
Electromagnet 4-1 is fixed between the limited block 2-3 of mainframe 2-1, is provided on electromagnet for iron core 4-2 movements
A hole 4-6 is kept away, padlock spring 4-3 is cased on iron core 4-2, the both ends of padlock spring 4-3 are born against in iron core 4-2 and electromagnet
On 4-1, as seen from Figure 3, to make the end of padlock spring 4-3 be against on iron core 4-2, the end of iron core 4-2 is designed to
Bulb shape.Since the bottom of electromagnet is more than the diameter of iron core, to match the difference in size of two contact jaws, padlock spring is preferred
Volute spring.Iron core forms piston with electromagnet, is moved by the pull-up of its moment of magnet control, and transmitted power by connecting rod
To swinging block, control swinging block movement.Padlock spring is in compressive state at any time, and effect is to provide iron core downward pressure always, from
And provide swinging block one torque at any time, when two pawl arms are just closed, one end that swinging block has hook portion is made to move down, fitting is right
Transverse plane on pawl arm, sealed right pawl arm.
Electromagnet 4-1 is the trigger device of padlock and trigger mechanism, provides a pulling force to iron core moment, is triggered
Signal is the transient voltage of 5V, it is noted that electromagnet cannot continuously be powered, and otherwise burn Inside coil, to ensure to iron core
It can pull up successfully sealed to cancel, on the one hand, this moment pulling force is sufficiently large, and leads to larger 5V voltages, on the other hand, swinging block
Make lubrication appropriate with lubricant should be coated at the plane of right pawl arm contact, reduces frictional force when two planes are opposite to be slided, also
The extruding force generated when hook spring compression can be reduced come appropriate by changing left and right hook spring model, reduction is supported therewith
The power F to disappear, to reduce frictional force when two planes are opposite to be slided.
Hook spring can be always maintained at compressive state, can also only be compressed when two pawl arms close up, once swinging block
Pawl arm is unclamped, compressed hook spring is it is also possible that pawl arm is opened.Similarly, padlock spring can be always maintained at compression shape
State can also only be compressed after electromagnet is powered pull-up iron core, once two pawl arms are closed up manually, compressed padlock bullet
Spring makes swinging block rotate and hook right pawl arm.
The present invention use process is as follows：
After electromagnet moment is powered, the hook portion of swinging block is disengaged with right pawl arm, work of the left and right pawl arm in hook spring
With lower opening, under the action of without other external force, left and right pawl arm is in the open state always (although swinging block is by padlock spring
Effect, but due to right pawl arm upper end by hook spring act on and move so that the hook portion of swinging block is located at the outside A of right pawl arm
Portion, swinging block can not also catch on right pawl arm under the action of padlock spring).Loading pendant is placed in two pawl arms manually, manually will
Two pawl arms break conjunction, and when two pawl arms close up, since swinging block is by the torque from volute spring, hook portion is understood under appliance for releasing single, hook portion
It is moved along the outside portions A of right pawl arm, until clasping right pawl arm, to sealed two pawls arm, carry is completed.When unmanned plane arrival refers to
When positioning is set, electromagnet receives the transient voltage of a 5V, moment can suct iron core, and iron core pulls swinging block by connecting rod, shakes
Block overcomes torque to rotate backward, and leads to sealed revocation of the swinging block to right pawl arm, since left and right pawl arm is from the effect of torque of experiencing, two
Pawl arm opens, and loading is automatically fallen off.
It is preferred embodiments of the present invention above, undeniable to be, the present invention can also use following form：
Right pawl arm 3-3 is installed in rotation on mainframe 2-1, and left claw arm 3-2 is fixedly mounted on mainframe 2-1, left
It is no longer engaged by flank profil between pawl arm 3-2 and right pawl arm 3-3, at this point, bullet is linked up in the upper end of left claw arm without setting
Spring 3-1, right pawl arm 3-3 retain the setting of hook spring.Under locked state, left claw arm holds together mechanical hook 2 with right pawl arm rest
Together, it is powered when electromagnet moment, iron core is pulled upwardly, iron core drives swinging block to rotate by connecting rod, releases to right pawl arm
Sealed, right pawl arm rotates under the action of hook spring, so that two pawl arms detach, loading is automatically fallen off.
In the case of not being engaged by flank profil between left claw arm 3-2 and right pawl arm 3-3, can also by left claw arm,
Right pawl arm is all installed in rotation on mainframe, at this point, in addition to right pawl arm need to carry out using padlock and trigger mechanism it is sealed
Outside, left claw arm is also required to carry out using padlock and trigger mechanism sealed, when needing to discharge loading, padlock and trigger mechanism revocation pair
Left and right pawl arm it is sealed, left and right pawl arm opens under the action of hook spring, and loading is automatically fallen off.
Claims (10)
1. a kind of automatic dispensing mechanical hook, it is characterised in that：Including rack, executing agency, sealed and trigger mechanism；It is described to hold
Row mechanism includes left claw arm, right pawl arm and hook spring；Described sealed and trigger mechanism includes driving mechanism and swinging block；
The left claw arm, right pawl arm are installed in rotation in rack, and the left claw arm, the mounting portion setting of right pawl arm are with teeth
Exterior feature, left and right pawl arm are engaged by flank profil；Divide between the left claw arm and rack left side wall, the right pawl arm and rack right side wall
It is not connected by hook spring；
The rear end of the swinging block is installed in rotation in rack, and the front end of the swinging block has a hook portion, the driving mechanism with
Swinging block connects；
When left claw arm and right pawl arm close up, the driving mechanism drives swinging block that the hook portion of swinging block is made to hook left claw arm or right pawl
The upper end of arm；When driving mechanism drives swinging block that the hook portion of swinging block is made to unclamp the upper end of left claw arm or right pawl arm, the left claw
Arm, right pawl arm open under the action of hook spring.
2. automatic dispensing mechanical hook as described in claim 1, it is characterised in that：The flank profil is involute profile.
3. a kind of automatic dispensing mechanical hook, it is characterised in that：Including rack, executing agency, sealed and trigger mechanism；It is described to hold
Row mechanism includes left claw arm, right pawl arm and hook spring；Described sealed and trigger mechanism includes driving mechanism and swinging block；
One in the left claw arm, right pawl arm is installed in rotation in rack, another is fixed on the rack, wherein can
The pawl arm being rotatably mounted in rack is connect with frame side wall by hook spring；
The rear end of the swinging block is installed in rotation in rack, and the front end of the swinging block has a hook portion, the driving mechanism with
Swinging block connects；
When left claw arm and right pawl arm close up, the driving mechanism drives swinging block that the hook portion of swinging block is made to hook rotatable pawl arm
Upper end；When driving mechanism drives swinging block that the hook portion of swinging block is made to unclamp the upper end of left claw arm or right pawl arm, rotatable pawl
Arm opens under the action of hook spring.
4. a kind of automatic dispensing mechanical hook, it is characterised in that：Including rack, executing agency, two sealed and trigger mechanisms；Institute
It includes left claw arm, right pawl arm and hook spring to state executing agency；Described sealed and trigger mechanism includes driving mechanism and shakes
Block；
The left claw arm, right pawl arm are installed in rotation in rack, the left claw arm and rack left side wall, the right pawl arm with
It is connected respectively by hook spring between rack right side wall；Two sealed and trigger mechanism corresponds to left claw arm, left claw arm respectively；
The rear end of the swinging block is installed in rotation in rack, and the front end of the swinging block has a hook portion, the driving mechanism with
Swinging block connects；
When left claw arm and right pawl arm close up, two sealed and trigger mechanism driving mechanisms drive swinging blocks make the hook portion of swinging block
The upper end of left claw arm, right pawl arm is hooked respectively；When two sealed and trigger mechanism driving mechanisms drive swinging block to shake respectively
When the hook portion of block unclamps the upper end of left claw arm, right pawl arm, the left claw arm, right pawl arm open under the action of hook spring.
5. the automatic dispensing mechanical hook as described in claim 1,2,3 or 4, it is characterised in that：The driving mechanism includes electricity
Magnet assembly, lifting piece and padlock spring；The electromagnetic component is mounted in rack, is provided with described in confession and is carried on electromagnetic component
What ascending part part moved up and down keeps away a hole；Padlock spring is cased on the lifting piece, the both ends of the padlock spring are born against
The lower end of the bottom of electromagnetic component and lifting piece, the swinging block and lifting piece is connected by the connecting rod；The electromagnetism
After component is powered, lifting piece is attracted to move up.
6. automatic dispensing mechanical hook as claimed in claim 5, it is characterised in that：The electromagnetic component is electromagnet, described
Lifting piece is iron core.
7. automatic dispensing mechanical hook as claimed in claim 5, it is characterised in that：The padlock spring is in compression shape always
State.
8. the automatic dispensing mechanical hook as described in claim 1,2,3 or 4, it is characterised in that：The hook spring is located always
In compressive state.
9. the automatic dispensing mechanical hook as described in claim 1,2,3 or 4, it is characterised in that：The left claw arm, right pawl arm with
And the boss being socketed for hook spring is provided on frame side wall.
10. a kind of unmanned plane, it is characterised in that：The unmanned plane is equipped with the automatic dispensing described in claim 1,2,3,4 or 5
Mechanical hook.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810661971.9A CN108583903A (en) | 2018-06-25 | 2018-06-25 | It is a kind of to launch mechanical hook and unmanned plane automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810661971.9A CN108583903A (en) | 2018-06-25 | 2018-06-25 | It is a kind of to launch mechanical hook and unmanned plane automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583903A true CN108583903A (en) | 2018-09-28 |
Family
ID=63633697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810661971.9A Pending CN108583903A (en) | 2018-06-25 | 2018-06-25 | It is a kind of to launch mechanical hook and unmanned plane automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583903A (en) |
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| CN110155333A (en) * | 2019-05-30 | 2019-08-23 | 河北科技大学 | A kind of sealed-de- locking mechanism of inflatable of imitative Taraxacum mongolicum seeds |
| CN110304253A (en) * | 2019-06-04 | 2019-10-08 | 成都飞机工业集团电子科技有限公司 | It is a kind of for the linkage of airborne external hanging device, limit, automatically controlled throwing mechanism |
| CN110466769A (en) * | 2019-08-02 | 2019-11-19 | 辽宁力德航空科技有限公司 | A kind of unmanned plane delivery device |
| CN110654542A (en) * | 2019-10-29 | 2020-01-07 | 安徽方圆机电股份有限公司 | Bullet hanging device |
| CN110723291A (en) * | 2019-10-29 | 2020-01-24 | 航宇救生装备有限公司 | Rotary release mechanism for air drop |
| CN111361742A (en) * | 2020-03-30 | 2020-07-03 | 哈尔滨工业大学 | Electromagnetic drive's helicopter cargo hook device |
| WO2022147043A1 (en) * | 2020-12-29 | 2022-07-07 | United Parcel Service Of America, Inc. | Automatic release clamp |
| CN115384782A (en) * | 2022-10-27 | 2022-11-25 | 北京瀚科智翔科技发展有限公司 | Releasable unmanned aerial vehicle battery and control method thereof |
| CN116353822A (en) * | 2023-06-01 | 2023-06-30 | 北京瀚科智翔科技发展有限公司 | Unmanned aerial vehicle clamping and releasing mechanism and control method |
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| CN115384782B (en) * | 2022-10-27 | 2023-01-06 | 北京瀚科智翔科技发展有限公司 | Releasable unmanned aerial vehicle battery and control method thereof |
| CN115384782A (en) * | 2022-10-27 | 2022-11-25 | 北京瀚科智翔科技发展有限公司 | Releasable unmanned aerial vehicle battery and control method thereof |
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