JP7660788B1 - Winch hanging hook for aircraft - Google Patents

Abstract

[Problem] In recent years, the number of jobs using drones to transport goods has increased, and there are more and more cases where drones are equipped with winches to lift and lower shipping boxes, creating a need for efficient lifting and unloading of cargo.
[Solution] The shape of the lifting hook is approximately elliptical when viewed from three sides, and its shape and structure make it easy to detach the lifting hook from the lifting hardware when unloading the load, and easy to store in the lifting hook storage port of the drone when lifting the load.
[Selected figure] Figure 3

Description

The present invention relates to a transport device for transporting cargo that is equipped with a winch for lifting and lowering cargo on a multicopter or a fixed-wing aircraft (hereinafter referred to as a drone) that flies by attaching three or more propellers facing upward or downward, or that has added the functions of a multicopter.

Conventional drones were equipped with winches that allowed them to fly with a load dangling from them, then reeled the load in and lowered it at designated locations to allow the drone to unload it.

US11,794,901

In recent years, the number of jobs using drones to transport goods has increased, and drones are increasingly being equipped with winches to lower the cargo without landing. This has the advantage that the drone can maintain its altitude, making it easier for control radio signals to reach, making long-distance deliveries possible, and even on rough ground. However, there is a problem in that flying a drone while hanging from a winch causes the cargo to swing from side to side, causing the drone's center of gravity to constantly change, making the flight unstable and making it impossible to fly at high speeds.

In order to solve the above problem, the invention of claim 1 is an object transport device using an aircraft, comprising a winch attached to the bottom of the aircraft, a control unit built into the winch, a lifting hook for hooking an object to be transported having a lifting device attached, and a storage case for storing the lifting hook provided on the winch case, wherein the top, front, and both side surfaces of the lifting hook have an approximately elliptical shape, and the opening of the storage section entrance for the lifting hook in the storage case is approximately larger than the approximately elliptical shape of the top surface of the lifting hook, so that the lifting hook with the object hooked can be easily stored in the storage case through the opening of the storage section entrance.
By providing alternately left and right downward grooves at a constant angle with their starting points straddling the major axis of the approximately elliptical shape on both sides of the hanging hook, the hanging hook is encouraged to rotate when the major axis of the approximately elliptical shape of the hanging hook and the minor axis of the approximately elliptical opening of the storage port form a right angle when the hanging hook is being stored, and the frictional force at that time is reduced, allowing the hanging hook to be stored smoothly into the storage case through the approximately elliptical opening.
In the invention of claim 2, the approximate ellipse shape of the storage entrance is divided into four equal parts by the straight and short axes of the approximately elliptical opening, and each of the quarter elliptical shapes has a shape with a different ratio of the short axis to the long axis, so that the hanging hook can rotate and be stored easily. When the hanging hook enters the storage entrance opening at a right angle, it comes into contact with a slight step that occurs at the contact point with the shape with the changed ratio of the short axis to the long axis, which promotes rotation and makes it easier to enter the storage entrance opening, and the approximate elliptical shape of the storage entrance opening can be maintained without being significantly distorted.
In the invention of claim 3, the opening at the entrance to the storage section of the storage case for the hanging hook has a mountain-like protruding shape centered on the short axis of the approximately elliptical shape, so that when the hanging hook enters the opening at a right angle, the arc around the opening is inclined in the direction of the long diameter, which encourages rotation of the hanging hook.
The sling is composed of a pair of plate-like members, each of which has an opening for hooking with a sling hook, and which is L-shaped at the end of the plate that is attached to the transport box and at a predetermined length from the end, ensuring the position of the transport box during transport.
If the lifting hook gets stuck at the closing of the storage compartment entrance, the control unit will loosen the winch and lift it again repeatedly, controlling the operation so that the lifting hook can enter the opening of the storage compartment entrance. By doing this, the position of the lifting hook will change slightly when the winch is loosened, making it easier to enter the opening of the storage compartment entrance.
Similarly, in claim 4, grooves are provided alternately on the left and right, starting across the short axis of the opening at the entrance to the approximately elliptical storage section of the storage case provided on the winch, and at a certain angle from the short axis side to the long axis side toward the inside of the winch case storage case. This promotes rotation of the hanging hook and reduces the frictional force at that time, making it easier for the hanging hook to enter the opening at the entrance to the storage section.
In Figure 4, the attachment position of the wire of the suspending hook is slightly off-centered from the center. Due to this eccentricity, the suspending hook comes into contact with the opening of the storage compartment entrance, and when further pulling force is applied, the suspending hook tilts, changing the position of the contact point with the opening of the storage compartment entrance and promoting rotation, making it easier to enter the approximately elliptical opening of the storage compartment entrance.
In the invention of claim 5, convex parts are provided on both sides of the hanging hook, centered on the approximate major axis of the elliptical shape, on the left and right sides of the center of the upper part of the hanging hook. The convex parts may be provided around the entire circumference, or only on the upper half circumference. This convex part reduces the frictional force of the hanging hook when the major axis of the elliptical shape of the hanging hook and the minor axis of the opening of the elliptical shape of the storage port are at right angles when the hanging hook is stored, thereby allowing the hanging hook to be stored smoothly in the storage case through the opening of the elliptical shape.
In the invention of claim 6, a pair of position regulating members for the hanging hook are provided at the edge of the approximately elliptical opening of the entrance of the storage section of the storage case, straddling the minor axis of the approximately elliptical opening, in point symmetry with the center of the approximately elliptical opening. The position regulating members for the hanging hook have a slightly curved surface that is higher on one side and lower toward the other side. The inclined surface of the convex portion and the opposite side centered on the apex are also inclined. When the hanging hook is stored, when the major axis of the approximately elliptical shape of the hanging hook and the minor axis of the approximately elliptical opening of the storage port are particularly perpendicular, the hanging hook rides on the inclined surface of the position regulating member, encouraging the hanging hook to rotate, and the hanging hook can be smoothly stored in the storage case through the approximately elliptical opening.

As described above, in the device for transporting objects using an aircraft according to the present invention, the hanging hook that hooks the object to be transported is stored in a stable state in the storage case through the opening at the entrance to the storage section, and the posture of the object to be transported during transportation is stabilized, stabilizing the center of gravity of the multicopter and enabling high-speed flight.

Lifting hook Top view Lifting hook Front view Lifting hook Side view Lifting hook Diagram of lifting wire installed off-center Hanging bracket front view Hanging bracket side view Plan view of the winch case hanging hook storage section opening plate (viewed from C direction) A plan view of an example in which the winch case hanging hook storage port plate protrudes in a mountain shape at the A-A portion (viewed from the C direction) A cross-sectional view of the winch case with the hanging hook storage plate protruding in a mountain shape at the A-A part along the line B-B. Plan view of the winch case hanging hook storage plate (viewed from direction C) (when the ratio of the 1/4 ellipse is changed) Cross-sectional view of the winch case's hanging hook storage case opening (A-A cross-section) Side view of the grooved lifting hook Plan view of the grooved storage opening of the winch case hanging hook storage plate (viewed from the C direction) Top view of the hanging hook with a protrusion Front view of the hanging hook with a protrusion Side view of the hanging hook with a protrusion Plan view of the winch case hanging hook storage section opening plate (viewed from C direction) Winch case hanging hook storage section opening B-B arrow view An example of attaching a winch to a drone (the hanging hook is stored in the winch case) Example of attaching a winch to a drone (hanging the lifting hook) The transport box is on the ground and the lifting hook is released.

1 to 16 show examples of an object transport system using an aircraft according to the present invention.
1, 2 and 3 are diagrams showing the shape of a hanging hook.
The hanging hook has an approximately elliptical shape or a shape that is an elongated horizontal center line of an ellipse when viewed from any direction.
The shape of the hoisting hook 1 attached to the end of the winch wire is approximately elliptical when viewed from above, the front, and both sides. The lower part of this hoisting hook 1 is hollowed out to hook onto a hoisting bracket 4 made of a pair of plate-like members attached to a transport box (such as a cardboard box) to be used for lifting the cargo.
The lower part of the hanging hook is shaped like a recessed hook so that the hook 1 does not interfere with the hanging hook storage case when it is stored.
The wire attachment part of the hanging hook in Figure 4 is offset from the center to encourage rotation when storing. When it comes off the hanging metal fitting, it tilts so that it does not get caught on the hanging metal fitting when it is wound up.

5 and 6 show the shape of the hanging fittings attached to the cardboard box (transport box).
The hanging hardware is made of a pair of plate-like members (e.g., aluminum), with an opening at one end of each plate-like member for hooking with a hanging hook, and the tip of the other end and a certain length from the tip are bent twice into an L shape and attached by penetrating the top lid of a cardboard box (transport box). The L-shaped bent part at the tip penetrates the top lid of the cardboard box (transport box) to prevent it from falling off.
7, 8, 9, 10 and 11 show shapes of the winch case hanging hook storage plate.
This shape diagram shows the winch hoisting hook storage plate when viewed from below (in the direction C) as shown in FIG.
The winch case hoisting hook storage plate shown in Figure 7 has an opening slightly larger than the approximate elliptical shape of the hoisting hook as viewed from above, and has a radius or taper around the periphery. When the hoisting hook comes into contact with the radius or taper, it rotates in the direction in which the major axis diameter of the opening, which has the same shape as the major axis diameter of the approximate elliptical shape of the hoisting hook as viewed from above, matches.
FIG. 8 shows a plan view of an example in which the opening of the winch case hanging hook storage plate protrudes in a mountain shape at the AA portion.
9 shows a longitudinal cross-sectional view of the B-B part of an example in which the opening of the winch case hanging hook storage plate is protruded in a mountain shape at the A-A part. The radius around the opening is inclined in the direction of the long axis, which serves to encourage the long axis of the hanging hook to rotate in the direction of the long axis of the opening.
Figure 10 shows an opening with an approximately elliptical shape, but it is divided into four equal parts by its center line, and each of the 1/4 ellipse has a different ratio of the minor axis diameter to the major axis diameter. When the major axis diameter of the approximately elliptical shape seen from above the hanging hook enters from a direction perpendicular to the straight axis diameter of the opening, it comes into contact with a step that occurs at the contact point where the ratio of the minor axis diameter to the major axis diameter is changed, urging it to rotate.
FIG. 11 shows a cross section taken along line AA of FIGS.
In Figure 12, grooves 10 are carved into the side of the long side of the hanging hook at a certain angle, starting from the major axis line of an approximately elliptical shape and facing downwards alternately to the left and right. The grooves reduce friction with the opening of the winch case hanging hook storage plate, and serve to encourage rotation in the direction in which the major axis diameter matches at that angle.
Figure 13 shows an approximately elliptical opening in a winch case hanging hook storage plate. The periphery of the opening is rounded or tapered, and grooves 10 are carved alternately on the left and right, starting from the short axis of the approximately elliptical opening, toward the inside of the winch storage case, at a certain angle from the short axis side to the long axis side. The grooves reduce friction with the opening of the winch case hanging hook storage plate, and promote rotation in the direction where the long axis diameter matches at that angle.
Figure 19 shows the state where the winch is attached to the drone and the transport box is lifted to the upper limit. The direction of the transport box is determined by storing the lifting hook to the upper limit in the lifting hook storage case. It can also be semi-fixed by the spring attached to the winch case.

FIG. 20 shows the state in which the transport box is in the middle of being suspended, and FIG. 21 shows the state after the transport box has been suspended and has landed on the ground.
After the transport box touches the ground, the lifting hook is further lowered so that the top of the lifting hardware comes into contact with the central inclined section of the lifting hook, slides down along the inclined section and automatically detaches. After detachment, the lifting hook tilts due to the eccentricity of the lifting wire attachment section, so that it does not get caught on the lifting hardware again when lifted.
As shown in Fig. 20, when a transport box (such as a cardboard box) is lifted, the lifting hook 1 is structured to be stored in the lifting hook storage case 22 at the bottom of the multicopter as shown in Fig. 19, but as shown in Fig. 7 and Fig. 8, an opening for the winch case lifting hook storage opening 7 is opened at the entrance to the storage section of the winch case lifting hook storage plate 6, which has a slightly larger opening and has the same approximate elliptical shape as the lifting hook 1 when viewed from above. When the lifting hook is stored in this opening, the direction of the cargo can be determined based on the difference in the shape of the major axis diameter and minor axis diameter of the approximately elliptical shape of the lifting hook.
When the hoisting hook 1 is hung by a wire and attempts to enter from the center of the winch case hoisting hook storage opening 7 opened in the winch case hoisting hook storage plate 6 on the underside of the winch case 14, the long axis portion of the approximately elliptical shape of the upper part of the hoisting hook 1 comes into contact with the rounded portion around the opening of the winch case hoisting hook storage opening 7. If the hoisting hook 1 is not located on the long axis of the opening of the winch case hoisting hook storage opening 7, it will not enter the opening, so it will rotate to the side closer to the long axis and attempt to enter the opening. If the hoisting hook 1 is pulled up as it is, the approximately elliptical shaped hoisting hook 1 will be stored in the approximately elliptical opening. At this time, it is the frictional force of the contacting portion that prevents the rotation, and if the frictional force is strong, it will get caught at the opening entrance.
In this embodiment, as shown in FIG. 12, the side of the long axis of the approximately elliptical shaped hanging hook 1 is characterized in that grooves 10 are carved at a certain angle downward alternately on the left and right sides, with their starting points straddling the long axis line of the approximately elliptical shape.
This has the function of promoting rotation so that the hanging hook 1 can easily enter the opening and also the function of reducing the frictional force at that time, since when the hanging hook 1 is stored, the long axis of the approximately elliptical shape of the hanging hook 1 and the short axis of the opening of the winch case hanging hook storage port 7 become perpendicular to each other, and therefore the hanging hook 1 cannot enter the opening.
In this embodiment, the approximately elliptical opening of the winch case hanging hook storage opening 7 is divided into four equal parts by its center line so that the hanging hook 1 can be easily rotated and stored, and each of the 1/4 approximately elliptical shapes has a shape with a different ratio of the minor axis to the major axis. When the hanging hook 1 enters the opening at a right angle, it comes into contact with a slight step that occurs at the contact point with the shape with the changed ratio of the minor axis to the major axis, which promotes rotation and makes it easier to enter the opening, and the approximately elliptical shape of the opening can be maintained without being significantly distorted.
In this embodiment, as shown in Figure 8, the winch case hanging hook storage entrance 7 of the winch case hanging hook storage plate 6 of the storage case 22 has a mountain-shaped protruding shape centered on the center line in the long axis direction, and when the hanging hook 1 enters the opening of the winch case hanging hook storage entrance 7 with the minor axis diameter of the hole and the major axis diameter of the hanging hook at right angles to each other, the radius around the opening is inclined in the long diameter direction, which encourages the hanging hook 1 to rotate in the long diameter direction.
In this embodiment, as shown in Figures 5 and 6, the hanging fittings (4, 5) are made of a pair of plate-like members, and at one end of each, a hanging fitting opening (4b, 5b) for hooking the hanging hook 1 is provided. Tabs extend to the left and right of the ring, and the lower side of the tabs is the other end of the hanging fitting opening (4b, 5b) that penetrates the top plate of the transport box (corrugated cardboard box, etc.), and is bent horizontally to the left and right in an L shape at a certain distance from the other end, and this part is secured with tape to support the load of the transport box (corrugated cardboard box, etc.). In addition, the tip of the other end is bent again in an L shape, and is turned up and penetrates the lid of the transport box (corrugated cardboard box, etc.) as a safety measure to prevent it from falling off. The hanging fittings can also be made of a different material such as plastic, and 4 and 5 can be made into one unit.
If the hoisting hook 1 gets stuck at the entrance of the opening, in this embodiment, the control unit built into the winch operates by loosening the hoisting wire once and then lifting it again, repeatedly operating to control the hoisting hook 1 to enter the opening. By doing this, the position of the hoisting hook 1 changes slightly when the hoisting wire is loosened, making it easier to enter the opening.
Similarly, in this embodiment, as shown in Figure 13, a groove 10 is carved at a certain angle from the minor axis side to the major axis side toward the inside of the winch storage case in the rounded portion around the opening, with the winch case hanging hook storage plate attached alternately to the left and right with the starting point straddling the minor axis of the approximately elliptical opening of the winch case hanging hook storage inlet 7 of the winch case hanging hook storage plate 6. The effect is that when the hanging hook 1 is stored, if the major axis of the approximately elliptical shape of the hanging hook 1 and the minor axis of the opening of the winch case hanging hook storage inlet 7 are particularly perpendicular, the hanging hook 1 will not be able to enter the opening, so this groove has the role of promoting rotation so that it can easily enter the opening and the role of reducing friction at that time.
In this embodiment, as shown in Fig. 4, the position of the hanging wire attachment part 11 of the hanging hook 1 is slightly eccentric from the center. If it is eccentric, when the hanging hook 1 is stored in the opening of the winch case hanging hook storage entrance 7, the major axis diameter of the hanging hook 1 first hits the round part around the opening, but if it hits and is pulled up and gets caught and does not move, if the hanging hook 1 is pulled up with a load applied, a force is applied to tilt the hanging hook 1, and the tilt changes the position of the contact part, promoting rotation and making it easier to enter the approximately elliptical opening. Also, when the transport box (cardboard box, etc.) is grounded during hanging, and the hanging wire of the hanging hook 1 becomes loose, the hanging hook inclined part 1a in the center of the hanging hook 1 hits the upper part (4a, 5a) of the hanging hardware due to the weight of the hanging hook 1, and slides off from the opening (4b, 5b) of the hanging hardware (4, 5), and the hanging hook 1 automatically tilts so that the hanging hook 1 does not get caught on the hanging hardware (4, 5) again.
In a second embodiment,
In Figures 14, 15, and 16, the protrusions on both sides of the hoisting hook are provided from the upper center to the left and right near the central axis, centered on the approximately long axis of the approximately elliptical shape. When the hoisting hook enters the storage opening, the protrusions come into contact with the periphery of the opening first, so the frictional force is small and it is easy to encourage rotation. As shown in Figures 17 and 18, a pair of position control members for the hoisting hook are provided at the edge of the approximately elliptical opening at the entrance to the storage section of the winch case, straddling the short axis of the approximately elliptical opening, in point symmetry with the center of the approximately elliptical opening. One side of the position control members for the hoisting hook is higher and inclined toward the other side, and the inclined surface is slightly curved. The inclined surface of the protrusion and the opposite side centered on the top are also inclined.
When the hanging hook is stored, and the long axis of the approximately elliptical shape of the hanging hook and the short axis of the approximately elliptical opening of the storage port are particularly perpendicular, the hanging hook rides up onto the inclined surface of the position regulating member, encouraging the hanging hook to rotate, so that the hanging hook can be smoothly stored in the storage case through the approximately elliptical opening.

1 Lifting hook 1a Lifting hook inclined portion 2 Hook portion of lifting hook 4 Lifting bracket 1 (right)
5 Hanging bracket 2 (left)
4a, 5a Upper part of the hoisting fitting 4b, 5b Opening of the hoisting fitting 6 Winch case hoisting hook storage opening plate 7 Winch case hoisting hook storage opening 8 Hoisting wire 9 Transport box (cardboard box, etc.)
10 Groove 11 Lifting wire attachment portion 12 Winch 14 Winch case 16 Drone body 17 Motor 18 Propeller 19 Box holding spring 20 Drone legs 21 Slit of winch case lifting hook storage opening 22 Lifting hook storage case 23 Lifting hook protrusion 24 Position regulating member protrusion of winch case lifting hook storage opening 25 Inclined surface of position regulating member of winch case lifting hook storage opening 26 Inclined surface opposite to the curved inclined surface of the winch case lifting hook storage opening

Claims (6)

An object transport device using an aircraft comprising: a winch attached to the bottom of the aircraft, a control unit built into the winch, a lifting hook for hooking an object to be transported having a lifting device attached, and a storage case for housing the lifting hook provided on the winch, wherein the lifting hook has an approximately elliptical shape on its top, front, and both side surfaces, the opening of the storage section entrance for the lifting hook of the storage case is approximately larger than the approximately elliptical shape of the top surface so as to accommodate the lifting hook in an approximately vertical position, and grooves are provided alternately on the left and right sides of the lifting hook, each groove having a constant angle and starting across approximately the major axis of the approximately elliptical shape. 1. An object transport device using an aircraft with a lifting hook storage opening, comprising: a winch attached to the bottom of the aircraft, a control unit built into the winch, a lifting hook for hooking an object to be transported having a lifting device attached, and a storage case for storing the lifting hook provided on the winch, wherein the lifting hook has an approximately elliptical shape on its top, front and both sides, the opening of the storage section entrance for the lifting hook of the storage case is approximately larger than the approximately elliptical shape of the top surface for storing the lifting hook in an approximately vertical position, the approximately elliptical opening of the storage section entrance of the storage case is divided into four equal parts by its straight axis and short axis, and each of the approximately elliptical shapes has a shape with a different ratio of the short axis to the long axis. An object transport device using an aircraft comprising a winch attached to the bottom of the aircraft, a control unit built into the winch, a lifting hook for hooking an object to be transported having a lifting device attached, and a storage case for storing the lifting hook provided on the winch, wherein the lifting hook has an approximately elliptical shape on its top, front, and both sides, the opening of the storage case's storage section entrance for the lifting hook is approximately larger than the approximately elliptical shape of the top surface for storing the lifting hook in an approximately vertical position, and the opening of the storage case's storage section entrance for the lifting hook has a mountain-shaped protruding shape centered on the short axis of the approximately elliptical shape. 1. An object transport device using an aircraft comprising: a winch attached to the bottom of the aircraft, a control unit built into the winch, a lifting hook for hooking an object to be transported having a lifting device attached, and a storage case for storing the lifting hook provided on the winch, wherein the lifting hook has an approximately elliptical shape on its top, front and both sides, the opening of the storage case's storage section entrance for the lifting hook is approximately larger than the approximately elliptical shape of the top surface for storing the lifting hook in an approximately vertical position, and grooves are carved alternately on the left and right having their starting point straddling the short axis of the approximately elliptical shape of the opening of the storage section entrance for the approximately elliptical shape of the lifting hook, running toward the inside of the winch case storage case and at a certain angle from the short axis side to the long axis side. An object transport device using an aircraft, comprising: a winch attached to the bottom of the aircraft, a control unit built into the winch, a lifting hook for hooking an object to be transported having a lifting device attached, and a storage case for storing the lifting hook on the winch, wherein the lifting hook has an approximately elliptical shape on its top, front, and both side surfaces, the opening of the storage case's storage section entrance for the lifting hook is approximately larger than the approximately elliptical shape of the top surface so as to store the lifting hook in an approximately vertical position, and convex portions centered on approximately the major axis of the approximately elliptical shape on both sides of the lifting hook are provided on both left and right sides of the upper center of the lifting hook. 1. An object transport device using an aircraft comprising: a winch attached to the bottom of the aircraft; a control unit built into the winch; a lifting hook for hooking an object to be transported having a lifting device attached; and a storage case for housing the lifting hook provided on the winch, wherein the lifting hook has an approximately elliptical shape on its top, front and both sides; the opening of the storage case at the entrance to the storage section for the lifting hook is approximately larger than the approximately elliptical shape of the top surface so as to accommodate the lifting hook in a substantially vertical position; and a pair of position control members for the lifting hook are provided at the edge of the approximately elliptical opening of the storage section entrance of the storage case, straddling the minor axis of the approximately elliptical opening, in point symmetry with respect to the center of the approximately elliptical opening.

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