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CN-121987981-A - Rope hook and aerial operation system

CN121987981ACN 121987981 ACN121987981 ACN 121987981ACN-121987981-A

Abstract

The application provides a rope hook and an aerial operation system, wherein the rope hook comprises a body bracket, a rotating piece, a first to-be-clamped piece, a locking piece and an anti-idle locking piece, the locking piece is connected with the first to-be-clamped piece, the locking piece can enter a clamping groove to prevent the rotating piece from entering and/or leaving a buckling state in a condensed state of the body bracket and the first to-be-clamped piece, when the anti-idle locking piece is in the first state, the anti-idle locking piece can limit the first to-be-clamped piece to slide to the condensed state to prevent the locking piece from entering the clamping groove of the rotating piece, and when the anti-idle locking piece is in the second state, the anti-idle locking piece releases the sliding limitation of the first to-be-clamped piece so that the locking piece can enter the clamping groove of the rotating piece. The rope hook can be used for preventing the rope hook from triggering the locking state by mistake before the hanging is successful in the high-altitude hanging operation process, thereby improving and ensuring the normal running of hanging.

Inventors

  • ZHANG RUNZHI
  • Miao Kuizong
  • HUANG HONGFEI
  • QIAN ZHONGFENG
  • CHEN XIULIN
  • FANG SIHAN

Assignees

  • 万勋科技(深圳)有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (14)

  1. 1. A rope hitch for use in conjunction with an aircraft for overhead hanging operations, the rope hitch comprising: The body support is provided with a hanging groove for accommodating the part to be hung, the hanging groove is provided with a notch, and the body support is provided with a safety rope connecting part; The rotating piece is hinged to the body support, a clamping groove is formed in the rotating piece, and the rotating piece is in a buckling state and an opening state which are matched with the notch; The actuator of the aircraft can clamp the first to-be-clamped piece to operate, the first to-be-clamped piece is connected with the body support in a sliding mode, and the body support and the first to-be-clamped piece are in a condensed state and an extended state; the locking piece is connected with the first clamping piece, and can enter the clamping groove under the condensed state of the body bracket and the first clamping piece so as to prevent the rotating piece from entering and/or leaving the buckling state; The anti-idle locking piece is used for preventing the locking state of the locking piece from being triggered by mistake before the hanging operation is successful in the high-altitude hanging operation process, so that the rotating piece cannot enter a buckling state, the hanging operation cannot be completed, the anti-idle locking piece is arranged on the body support, when the anti-idle locking piece is in a first state, the anti-idle locking piece can limit the sliding of the first clamping piece to a condensed state so as to prevent the locking piece from entering a clamping groove of the rotating piece, when the anti-idle locking piece is in a second state, the anti-idle locking piece releases the sliding limit of the first clamping piece so that the locking piece can enter the clamping groove of the rotating piece, and when the rotating piece enters the state close to the buckling state, the second state is triggered, and under the condition that the locking piece is not needed to be locked, the anti-idle locking piece is in the first state, so that the false triggering is prevented.
  2. 2. The rope hanger of claim 1, wherein the body bracket is provided with a first guide hole and a first guide groove, and the air lock comprises: The first sliding rod and the second sliding rod are fixedly connected, the first sliding rod penetrates through the first guide hole, and the second sliding rod can slide along the first guide groove; When the anti-empty locking piece is in the first state, the first sliding rod abuts against the lower end of the first clamping piece to limit the first sliding rod to descend, and when the anti-empty locking piece is in the second state, the first sliding rod leaves the lower end of the first clamping piece.
  3. 3. The rope hanger of claim 2, wherein the rotating member includes an abutment portion, and the abutment portion abuts against the second slide bar when the rotating member enters the approaching state before the fastening state, so as to drive the first slide bar to separate from the lower end of the first to-be-fastened member, so that the anti-empty locking member triggers the second state.
  4. 4. A rope hitch as claimed in claim 2 or 3, in which the air lock further comprises: The first elastic piece, the one end of first elastic piece with body leg joint, the other end of first elastic piece with the second slide bar is connected, the elastic deformation of first elastic piece is less than when leaving when first slide bar presses against the lower extreme of first folder, so that first slide bar presses against the lower extreme of first folder.
  5. 5. Rope hitch according to claim 1, characterized in that the body bracket is provided with a second to-be-clamped piece, The second to-be-clamped piece can be clamped by an actuator connected with the aircraft, so that the rope hook can be driven by the aircraft to carry out hanging operation, the second to-be-clamped piece is provided with a first through hole, the first to-be-clamped piece is provided with a clamping rod, the clamping rod penetrates through the first through hole, and the clamping rod and the first through hole are provided with a gap, and the gap is larger than the travel of the locking piece separated from the clamping groove; Or the body support is provided with a second to-be-clamped piece, the second to-be-clamped piece can be clamped by an actuator connected with the aircraft, so that the rope hook can be driven by the aircraft to carry out hanging operation, and the first to-be-clamped piece is arranged on the outer side of the second to-be-clamped piece.
  6. 6. A rope hitch as claimed in claim 5, in which the second clamp to be clamped comprises a first sub-handle and a second sub-handle which are hingedly connected, the first sub-handle and the second sub-handle forming the first through-hole when brought into abutment, the first sub-handle and the second sub-handle being separable under the action of gravity after being disengaged from the actuator, so that the clamping lever of the first clamp to be clamped is located outside the first sub-handle and the second sub-handle.
  7. 7. Rope hitch, according to claim 1, characterized in that, The body support includes: the device comprises a push rod, a first side rod and a second side rod, wherein the first side rod and the second side rod are respectively connected with two ends of the push rod, the first side rod and the second side rod extend downwards in the same plane, and the push rod, the first side rod and the second side rod are enclosed to form a hanging groove; The first side rod is hinged with the rotating piece through a rotating shaft, and the safety rope connecting part is arranged on the second side rod; The rotating member includes: The groove sealing rod and the supporting rod are respectively connected with two ends of the middle rod, the groove sealing rod and the supporting rod extend to the same side from the same plane of the middle rod, the middle rod is hinged with the first side rod through the rotating shaft, the clamping groove is formed in the supporting rod, the length shape of the groove sealing rod and the angle between the middle rod accord with the closing condition of the groove sealing, and the tail end of the supporting rod is provided with a first limiting rod; The rotating piece tends to rotate towards an open state under the action of a slotting force, when the rotating piece is in the open state, the first limiting rod abuts against the outer side of the second side rod to prevent the rotating piece from rotating so as to keep the rotating piece in the open state, the first end of the slot sealing rod is positioned on the outer side of the outline line of the notch of the hanging slot, the second end of the slot sealing rod abuts against the third end of the first side rod, the first end is the end, connected with the middle rod, of the slot sealing rod, the second end is the opposite end of the first end, and the third end is the end, far away from the ejector rod, of the first side rod; when the rotating piece is in a buckling state, the groove sealing rod is transverse to the notch, and the groove sealing rod is connected with the second side rod to seal the notch.
  8. 8. The rope hitch of claim 7, wherein the first side bar includes a first vertical section and a first lead-in section, the second side bar includes a second vertical section and a second lead-in section, the first lead-in section and the second lead-in section being such that the slot is a flared slot.
  9. 9. A rope hitch as claimed in claim 7 or 8, in which said rope hitch further comprises: the limiting piece is used for preventing the rotating piece from accidentally leaving the buckling state to leave the successful hanging state in the high-altitude hanging operation process, the limiting piece is arranged on the body support and is used for limiting the rotating piece to rotate along the first direction in a non-active operation mode relative to the body support so as to prevent the rotating piece from accidentally leaving the buckling state, and the limiting piece does not limit the rotating piece to rotate along the opposite direction of the first direction relative to the body support, so that the rotating piece is not influenced to enter the buckling state; when the rope hook enters a hanging state, after the first to-be-clamped piece is separated from the clamping, the first to-be-clamped piece moves downwards relative to the body bracket so as to drive the locking piece to be clamped in the clamping groove of the rotating piece, so that the rotating piece is limited to rotate relative to the body bracket, the notch enters a buckling state, and the limiting piece is limited to rotate from the buckling state to an opening state; When the clamping device is in a hanging state, the first clamping piece moves upwards relative to the body bracket under the clamping of the actuator so as to drive the locking piece to be separated from the clamping groove, so that the rotating piece overcomes the resistance of the limiting piece and rotates relative to the body bracket, and the notch is in an open state; The limiting piece is used for limiting the non-active operation rotation of the rotating piece in a specific position area by providing unidirectional threshold resistance, the unidirectional threshold resistance jumps to a maximum value from a basic resistance value in an unlocking direction and then recovers the basic resistance value, the maximum value of the unidirectional threshold resistance occurs at a critical point of a sealing groove, the rotating piece rotates by an angle beta from the critical point of the sealing groove to reach a buckling state, beta is less than 10 degrees, the slotting force has correlation with the rotating angle of the rotating piece, the maximum value of the slotting force occurs at a slotting acceleration point, and the rotating piece rotates by an angle gamma from the slotting acceleration point to reach the buckling state, and gamma is more than 3 beta.
  10. 10. The rope hitch of claim 9, wherein said one-way threshold resistance is provided by a spring-loaded ball assembly, said body mount being provided with a mounting hole, said one-way spring-loaded ball assembly comprising: at least one collision bead which is convexly arranged in the mounting hole and is abutted against the rotating piece along the elastic force direction; The damping unidirectional matching surface is a sliding contact surface of the rotating piece and the collision bead, the unidirectional damping matching surface is a gentle slope inclined surface in the direction of the rotating piece entering a buckling state, and a jump contact surface and a threshold damping surface which are sequentially contacted with the collision bead are arranged in the direction of the rotating piece leaving the buckling state; The contact angle of the collision bead with the gentle slope inclined surface is a1, the contact angle of the collision bead with the threshold damping surface is a2, the contact angle of the collision bead with the jump contact surface is a3, the a1 is used as a positive angle, the a1 satisfies that the angle is 0 degree < a1<45 degrees, the angle of the a2 satisfies that the angle is more than or equal to 15 degrees and less than or equal to 15 degrees, and the angle of the a3 satisfies that the angle is more than or equal to 90 degrees and less than or equal to a3< -45 degrees.
  11. 11. A rope hanger as claimed in claim 1, wherein the rotating member is provided with at least one hanging state identification portion, position information of which can be detected by a sensor to confirm whether the locking member is locked in a locking groove of the rotating member and/or to confirm whether the notch is in a locked state.
  12. 12. An aerial work system for performing aerial work in conjunction with an aircraft, the aerial work system comprising: the flexible continuous body bending arm section is fixedly arranged on the aircraft, and an actuator is arranged at the tail end of the flexible continuous body bending arm section; A rope hitch as claimed in any one of claims 1 to 11, which is clampable by the actuator, the rope hitch being for suspending a connected rope to be hung on a portion to be hung; The flexible continuous body bending arm section has flexibility self-adaptability, and can adjust the conduction degree of the reverse acting force generated by the actuator in the operation direction on the aircraft so as to reduce disturbance of the reverse acting force generated by the actuator in the operation direction on the flight control of the aircraft; The flexible continuous body bending arm section can decouple the translation and rotation of the aircraft in the horizontal direction through active bending movement, so that the aircraft is kept in a stable state, and the actuator is driven by the flexible continuous body bending arm section to realize stable pose adjustment, thereby realizing stable operation of the aerial operation system.
  13. 13. The aerial work system of claim 12, wherein the flexible continuum bending arm segment comprises a drive control assembly and an operating assembly, the drive control assembly disposed on the aircraft; The operation assembly comprises a bending section, the rigidity of the bending section can be changed under the drive of the drive control assembly, and the operation assembly can drive the actuator to move to any position in an effective working space relative to the aircraft; the bending section comprises an omni-directional bending arm section comprising a first bending assembly comprising a first rigid member, a second rigid member, a first support member, a second support member, and at least three first folding structure artificial muscles; The first support piece is connected with the second support piece through a spherical hinge or a cross hinge, one end, far away from the second support piece, of the first support piece is fastened to the first rigid piece, one end, far away from the first support piece, of the second support piece is fastened to the second rigid piece, one end of the first folding structure artificial muscle is fastened to the first rigid piece, the other end of the first folding structure artificial muscle is fastened to the second rigid piece, and the first rigid piece, the second rigid piece and each first folding structure artificial muscle are all enclosed to form a cylindrical first cavity with a central axis; The driving and controlling assembly comprises an air pump, wherein the air pump is communicated with each first cavity, the air pump is used for injecting driving fluid into the first cavities, and the air pump is also used for pumping the driving fluid out of the first cavities so as to change the length and the hardness of the artificial muscle of the first folding structure, thereby controlling the bending direction and the rigidity of the first bending assembly; Or the bending section comprises a rotating arm joint and a unidirectional bending arm joint, wherein the rotating arm joint is used for driving the unidirectional bending arm joint to rotate; The unidirectional bending arm segment comprises a second bending assembly, wherein the second bending assembly comprises a third rigid piece, a fourth rigid piece, a third supporting piece, a fourth supporting piece and one or two second folding structure artificial muscles; The third support piece is connected with the fourth support piece through a one-way hinge, one end, far away from the fourth support piece, of the third support piece is fastened to the third rigid piece, one end, far away from the third support piece, of the fourth support piece is fastened to the fourth rigid piece, one end of the second folding structure artificial muscle is fastened to the third rigid piece, the other end of the second folding structure artificial muscle is fastened to the fourth rigid piece, and the third rigid piece, the fourth rigid piece and any one of the second folding structure artificial muscles are all enclosed to form a cylindrical second cavity with a central axis; The air pump is communicated with each second cavity, is used for injecting driving fluid into the second cavities, and is also used for pumping the driving fluid out of the second cavities so as to change the length and the hardness of the artificial muscles of the second folding structures, and therefore the bending direction and the rigidity of the second bending assemblies are controlled; The operation assembly further comprises a telescopic section, wherein the telescopic section comprises a third folding structure artificial muscle, a first end plate and a second end plate, the first end plate and the second end plate are respectively connected with two ends of the third folding structure artificial muscle, the first end plate is connected with the aircraft, and the second end plate is connected with the bending section; The third folding structure artificial muscle, the first end plate and the second end plate are enclosed to form a cylindrical third cavity with a central axis; The air pump is communicated with the third cavity, the air pump is used for injecting driving fluid into the third cavity, and the air pump is also used for pumping the driving fluid out of the third cavity so as to change the length and hardness of the artificial muscle of the third folding structure, thereby controlling the expansion degree of the expansion section and/or controlling the bearing capacity of the expansion section.
  14. 14. An aerial working system as claimed in claim 12 or 13, wherein the actuator comprises a connecting seat, a base, a driving assembly and two clamping members, wherein the connecting seat is connected with the base and is stacked above the base, the connecting seat is connected with the flexible continuous body bending arm section, the two clamping members are respectively and rotatably connected with side ends of the base, the end parts of the two clamping members far away from the base are mutually intersected, and in the direction far away from the base, the distance between the two clamping members is gradually reduced to form a long and narrow limiting space between the base and the two clamping members, the limiting space is used for accommodating part of the rope hook, and one clamping member is provided with a limiting structure which is used for abutting against the other clamping member to limit the intersection degree of the two clamping members; The driving assembly is arranged in the base, the two clamping pieces can rotate relative to the base in the direction away from the limiting space under the driving of the driving assembly, so that the end parts of the two clamping pieces away from the base are mutually separated, a notch communicated with the limiting space is formed between the end parts of the two clamping pieces away from the base, and the rope hook can enter the limiting space through the notch; Under the drive of the driving assembly, the two clamping pieces can rotate relative to the base in the direction close to the limiting space, so that the two clamping pieces are mutually intersected and used for clamping the rope hook, and the actuator can drive the rope hook to move under the drive of the aircraft and the flexible continuous body bending arm section.

Description

Rope hook and aerial operation system Technical Field The application belongs to the technical field of rope hooks, and particularly relates to a rope hook and an aerial operation system. Background The rope hook is mainly used for hanging and detaching ropes in aerial operation. For example, high voltage transmission lines often require maintenance personnel to manually climb high voltage towers to perform maintenance on the high voltage transmission lines. In order to ensure the safety of maintenance personnel, the safety rope is required to be hung when the maintenance personnel ascends the tower, and the rope hook is matched with the aircraft to realize the quick and safe hanging of the safety rope. In order to prevent the rope hook from unhooking, a locking piece can be arranged on the rope hook so as to lock the rope hook in a buckling state. However, before the rope hook is successfully hung, the locking state of the locking piece may be triggered by mistake, so that the rotating piece cannot enter the buckling state, and the hanging operation cannot be completed. Disclosure of Invention The embodiment of the application aims to provide a rope hook and an aerial operation system, which are used for solving the technical problem that the rope hook in the prior art is in a false triggering locking state. In order to achieve the above purpose, the application adopts the technical scheme that the rope hook is provided for being matched with an aircraft to carry out high-altitude hanging operation, and comprises the following components: the body support is provided with a hanging groove for accommodating the part to be hung, the hanging groove is provided with a notch, and the body support is provided with a safety rope connecting part; The rotating piece is hinged to the body bracket, a clamping groove is formed in the rotating piece, and the rotating piece is provided with a buckling state and an opening state which are matched with the notch; the actuator of the aircraft can clamp the first to-be-clamped piece to operate, the first to-be-clamped piece is connected with the body support in a sliding manner, and the body support and the first to-be-clamped piece are in a condensed state and an extended state; The locking piece is connected with the first clamping piece, and can enter the clamping groove under the condensed state of the body bracket and the first clamping piece so as to prevent the rotating piece from entering and/or leaving the buckling state; The anti-empty locking piece is used for preventing the locking state of the locking piece from being triggered by mistake before the hanging is successful in the high-altitude hanging operation process, so that the rotating piece cannot enter a buckling state, and the hanging operation cannot be completed; the anti-idle locking piece is arranged on the body support, when the anti-idle locking piece is in a first state, the anti-idle locking piece can limit the first to-be-locked piece to slide to a condensed state so as to prevent the locking piece from entering the clamping groove of the rotating piece, when the anti-idle locking piece is in a second state, the anti-idle locking piece releases the sliding limit of the first to-be-locked piece so that the locking piece can enter the clamping groove of the rotating piece, the second state is triggered in the adjacent state before the rotating piece enters the buckling state, and when the locking piece is not needed to be locked, the anti-idle locking piece is in the first state, so that false triggering is prevented. Optionally, the body support is equipped with first guiding hole and first guide way, and the air defense latch assembly includes: the first slide bar and the second slide bar are fixedly connected, the first slide bar penetrates through the first guide hole, and the second slide bar can slide along the first guide groove; When the anti-empty locking piece is in a first state, the first sliding rod is abutted to the lower end of the first clamping piece to limit the falling of the first sliding rod, and when the anti-empty locking piece is in a second state, the first sliding rod is separated from the lower end of the first clamping piece. Optionally, the rotating member includes an abutment portion, and when the rotating member enters a state close to the fastening state, the abutment portion abuts against the second sliding rod, so as to drive the first sliding rod to separate from the lower end of the first to-be-clamped member, so that the anti-idle locking member triggers the second state. Optionally, the air lock further comprises: And one end of the first elastic piece is connected with the body support, the other end of the first elastic piece is connected with the second slide bar, and the elastic deformation of the first elastic piece is smaller than that of the first slide bar when the first slide bar is pressed against the lower end of the first clamping piece and is separ