CN110127053A - Portable and collapsible flies-adsorbs patrol unmanned machine - Google Patents
Portable and collapsible flies-adsorbs patrol unmanned machine Download PDFInfo
- Publication number
- CN110127053A CN110127053A CN201910381637.2A CN201910381637A CN110127053A CN 110127053 A CN110127053 A CN 110127053A CN 201910381637 A CN201910381637 A CN 201910381637A CN 110127053 A CN110127053 A CN 110127053A
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- China
- Prior art keywords
- unmanned plane
- rope
- handgrip
- driving
- flies
- 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.)
- Granted
Links
- 239000003463 adsorbent Substances 0.000 claims abstract description 23
- 238000010521 absorption reaction Methods 0.000 claims description 17
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 16
- 239000000741 silica gel Substances 0.000 claims description 16
- 229910002027 silica gel Inorganic materials 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 17
- 238000001179 sorption measurement Methods 0.000 description 14
- 238000007689 inspection Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 230000002427 irreversible effect Effects 0.000 description 2
- 208000028804 PERCHING syndrome Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
Abstract
It flies-adsorbs patrol unmanned machine the invention discloses a kind of portable and collapsible, including unmanned plane body, be set to the electro-optical system and adsorbent equipment of the unmanned plane body；The electro-optical system includes the camera for being set to unmanned plane body and corresponding control module；The adsorbent equipment includes handgrip seat, flexible finger, driving rope and handgrip driving motor；The handgrip seat is set at the top of the machine human organism；Multiple flexible fingers are circumferentially uniformly distributed at the top of handgrip seat, and keep rounding state；The shaft of the handgrip driving motor can wind rope by driving wire spool and the flexible finger is pulled to be unfolded；The unmanned plane wing can realize auto-folder and opening by fold mechanism.This unmanned plane is easy to carry, by the adsorbable stop of adsorbent equipment, fundamentally solves the problems such as unmanned plane cruising ability is poor, operating efficiency is low.
Description
Technical field
The present invention relates to air vehicle technique fields, in particular to a kind of to have dynamic flying inspection and Static Adsorption monitoring two
Kind of work pattern, and wing can auto-folder and expansion patrol unmanned machine.
Background technique
The problems such as existing generally existing cruising ability of UAV system is low, can not stop fixed point monitoring, greatly affected
Operating efficiency and activity duration.To improve the cruising ability of unmanned plane and meeting the demands such as operation concealment, generally acknowledges compare at present
Feasible solution is exactly that unmanned plane can be stopped is attached, to maintain the ability of long-time effective operation.Document (A micro
Robot with the ability of fly and adhesion:Development and experiment) it proposes
Negative-pressure adsorption-type quadrotor drone falls the air in sucker by vacuum pump pumping and generates negative pressure cavity realization absorption, can produce
Raw biggish adsorption capacity.But the suction type is suitable only for the more smooth planar object in surface, and because of vacuum pump under adsorbed state
Continue working, there are biggish noises.Document (Landing, perching and taking off from vertical
Surfaces a kind of fixed-wing unmanned plane that band spine hooks) is devised.Unmanned plane can be when encountering barrier by horizontal flight appearance
State is automatically regulated to be vertical flight attitude, then by spine hook hook wall surface, thus realize stop it is attached.But the unmanned plane is only capable of soft
Property or thick wall surface realization stop it is attached.
For this purpose, developing easy to carry, adsorbable stop, adsorbing flight adaptable, applied widely-absorption nothing
Man-machine system can fundamentally solve the problems such as unmanned plane cruising ability is poor, operating efficiency is low, to promotion unmanned plane inspection energy
Power, operating efficiency have extremely important practical application value and meaning.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of towards the portable of the complex environments such as live inspection, post-disaster search and rescue
The foldable patrol unmanned machine of flight-absorption of formula, with two kinds of work patterns of dynamic flying inspection and Static Adsorption monitoring mode,
And both of which can free switching.The adsorbable object for stopping various shapes, size and surface characteristics, can be to unstructured ring
Border carries out long-time, approaches detection, scenario building, target identification, locating and tracking etc. on a large scale.
Portable and collapsible of the invention flies-adsorbs patrol unmanned machine, including unmanned plane body, be set to it is described nobody
The electro-optical system and adsorbent equipment of machine body；The electro-optical system includes the camera for being set to unmanned plane body and corresponding drive
Dynamic model block；The adsorbent equipment includes handgrip seat, flexible finger, rope and handgrip driving motor；The handgrip seat is set to institute
It states at the top of machine human organism；Multiple flexible fingers are circumferentially uniformly distributed at the top of handgrip seat, and keep rounding state；Institute
The shaft for stating handgrip driving motor can pull the flexible finger to be unfolded by winding rope.
Further, the unmanned plane body includes body shell, folding wing and wing-folding driving assembly；The folding
Stacked wing includes the rotor fixed frame for being articulated with the shell, is fixed on the model plane motor of rotor fixed frame outer end and consolidates
Rotor on the model plane machine shaft；The wing-folding driving assembly is vertically arranged at the shell including at least two
Intracorporal screw rod is set to the intracorporal drive disk of shell in a manner of being reciprocally moveable, and is articulated with the drive disk and fixes with wing
Strut between frame, and the folding driving motor for driving the screw rod to rotate synchronously；The drive disk is equipped with and institute
State the threaded hole of screw rod cooperation.
Further, pass through cushion between the handgrip seat and unmanned plane body top to connect.
Further, the flexible finger includes the silica gel matrix of strip, is embedded in the intracorporal elastic bar of silica gel base,
The Electrostatic Absorption film for being set to the rope end fixing buckle of silica gel matrix outer end, being set to the silica gel matrix medial surface,
And it is set to the rope limit hole of the silica gel matrix lateral surface.
Further, the handgrip seat is equipped with finger receptacle, guide wheel and rope limiting bracket；The handgrip driving motor setting
Below handgrip seat, output shaft is fixed with the wire spool for winding rope；The rope passes sequentially through the rope limit
Through-hole, guide wheel and the rope limit hole of bracket, and it is connected to the rope end fixing buckle.
The beneficial effects of the present invention are:
(1) deformable clad type electrostatic adsorption device
For unmanned plane when actually executing patrol task, surface and the shape feature for adsorbing object are indefinite, it may be possible to plane,
The diversified forms such as cambered surface, spherical surface and irregular surface, surface roughness are also not quite similar.To adapt to complex work environment and reaching
Reliable predetermined function effect, using the submissive fitting electrostatic adsorption device of deformable clad type.The design of clad type deformation mechanism can
It is bonded with realizing that the surface between adsorbent equipment and absorption object is submissive well, improves adsorbent equipment to different surfaces feature
Absorption object adsorption capacity.It can also better adapt to the suction of different size, different shape, different structure and surface characteristics
Attached object has advantage in versatility, tolerance and flexibility.
(2) adsorption process buffer structure designs
During patrol unmanned machine is switched to adsorbed state by regular flight condition, there are biggish inertia for body, with suction
Certain impact can be generated by generating between attached object.The impact and rebound generated in adsorption process can not only reduce adsorbent equipment
Success rate is adsorbed, irreversible damage can be generated to each component of body also to reduce patrol unmanned machine service life and workability
Energy.The job stability and service life of adsorbable patrol unmanned machine can be improved in adsorption-buffering structure.
(3) more work pattern free switchings
The adsorbable patrol unmanned machine of formula has dynamic flying inspection and Static Adsorption monitoring mode, and both of which can be free
Switching.In flight inspection state, adsorbent equipment does not work, and unmanned plane has good mobility；In adsorbed state, rotor
It can stop rotating, stop to be attached to the scenes such as branch, trunk, railing by adsorbent equipment, the activity duration of unmanned plane can be effectively improved
And operation concealment.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of wing-folding driving assembly of the invention；
Fig. 3 is the driving structure schematic diagram of flexible grips of the invention；
Fig. 4 is the structural schematic diagram of handgrip seat upper cover plate of the invention；
Fig. 5 is the structural schematic diagram of flexible finger of the invention；
Fig. 6 is the structural schematic diagram of cushion of the invention；
Fig. 7 is the structural schematic diagram of body shell of the invention；
Fig. 8 is the structural schematic diagram of drive disk of the invention；
Fig. 9 is the structural schematic diagram of the handgrip seat lower cover plate of invention；
Figure 10 is the structural schematic diagram of wire spool of the invention；
Figure 11 is the structural schematic diagram of motor fixing seat of the invention；
Figure 12 is the structural schematic diagram that (adsorbent equipment opening) is unfolded in unmanned plane wing of the invention；
Figure 13 is the structural schematic diagram that (adsorbent equipment closure) is unfolded in unmanned plane wing of the invention；
Figure 14 is the structural schematic diagram of unmanned plane wing-folding (adsorbent equipment opening) of the invention；
Figure 15 is the structural schematic diagram of unmanned plane wing-folding (adsorbent equipment closure) of the invention；
Figure 16 is unmanned plane during flying of the invention-adsorbed state handoff procedure schematic diagram.
Specific embodiment
Fig. 1 is overall structure diagram of the invention, as shown, the portable and collapsible flight-absorption of the present embodiment
Patrol unmanned machine including unmanned plane body, is set to the electro-optical system and adsorbent equipment of the unmanned plane body；
The electro-optical system includes being set to the camera 2 of unmanned plane body and being integrated in integrated control module 14
Electro-optical system drive module；Electro-optical system is used to carry out target inspection, tracking, positioning etc., and by information such as image, audios
In real time, efficiently, stablize passback.Electro-optical system can be using the realization of existing electrooptical device, specific structure and circuit connection knot
This will not be repeated here for structure.
The adsorbent equipment includes handgrip seat, flexible finger 8, driving rope 7 and handgrip driving motor 20；The handgrip seat
It is set at the top of the machine human organism；Four flexible fingers 8 are circumferentially uniformly distributed at the top of handgrip seat, and keep receiving
Hold together state；The shaft of the handgrip driving motor 20 can be drawn by driving the wire spool 21 being fixed on motor shaft to wind rope 7
The flexible finger 8 is moved to be unfolded；It is logical first when unmanned plane is needed when a certain position stops attached for a long time as shown in Figure 12,13,16
The object that electro-optical system identification positioning needs to adsorb is crossed, then drives wire spool to wind rope by handgrip driving motor, passes through
Rope pulls the expansion of each flexible finger, makes entire flexible grips in unfoldable shape, and then unmanned plane during flying is to making adsorbed target
And make the flexible grips close to attachment, then control handgrip driving motor 20 reversion, unclamp rope, each flexible grips restore to
Rounding state.As shown in Figure 14,15, unmanned plane can fold rack in adsorbed state, further decrease fuselage body
Product, improves the operation concealment of unmanned plane.
In the present embodiment, the unmanned plane body includes shell 12, folding wing and wing-folding driving assembly；It is described
Folding wing includes the rotor fixed frame 5 for being articulated with the shell 12, is fixed on the model plane electricity of 5 outer end of rotor fixed frame
Machine 4 and the rotor 3 being fixed in 4 shaft of model plane motor；
The wing-folding driving assembly includes at least two screw rods 18 being vertically arranged in the shell 12, with can be past
The mode moved again is set to the drive disk 17 in shell 12, the support being articulated between the drive disk 17 and rotor fixed frame 5
Bar 10, and the folding driving motor 15 for driving the screw rod 18 to rotate synchronously；The drive disk 17 be equipped with it is described
The threaded hole 17-1 that screw rod 18 cooperates.
As shown in Figure 1, shell 12 is cylindrical structure, the inner end of rotor fixed frame 5 is articulated with the top of shell 12；This implementation
The unmanned plane body of example is quadrotor drone, and after four rotor fixed frames 5 are unfolded, unmanned plane body can be with normal flight；
After unmanned plane body stops investing some attachment by flexible grips, four wings can inside folding.As shown in Fig. 2, shell
By two installations of screw rod fixing piece 19, there are two screw rods 18 in body 12, fix two foldings by two motor fixtures 16 and drive
The shaft of dynamic motor 15, two folding driving motors 15 is connected respectively to drive screw rod 18 to rotate with two screw rods 18；Such as Fig. 7 and Fig. 8
It is shown, it is set on drive disk 17 there are two threaded hole 17-1 and the mutual cooperation of screw rod 18, drive disk 17 is evenly distributed with four along annular
A 10 hinge hole 17-2 of strut is used for hinged four struts 10；The side wall of shell 12 is uniformly distributed there are four strip shape gob 12-3, is used
In make strut 10 from shell 12 stretch out；Be additionally provided in certain shell 12 integrated control module 14 and boost module 13 for controlling and
Drive adsorbent equipment, electro-optical system and wing-folding etc.；When screw rod 18 rotates, 17 vertical motion of drive disk, drive disk 17, strut
10 and wing fixed frame 5 slider-rocker mechanism is collectively formed, therefore, the vertical motion of drive disk 17 can drive wing fixed frame
5 swing the expansion or folding for realizing wing；In addition, due to screw rod 18 transmission have the characteristics that it is self-locking, can to avoid because power off
Or situations such as voltage instability, causes the out of control of folding system.
In the present embodiment, connected between the handgrip seat and unmanned plane body top by cushion 11；As shown in fig. 6,
Cushion 11 is cylindrical structure, and the production of rubber elastomeric material can be used；The top and bottom of cushion 11 are equipped with connection
The column 11-1 and card collar groove 11-2 for being set to connecting column 11-1 side wall；As shown in figure 3, the bottom plate 22 and shell 12 of handgrip seat
Top on be equipped with connecting column 11-1 cooperation mounting hole, connecting column 11-1 be inserted into mounting hole after, card is caught in by retainer ring
In ring recess 11-2, its abjection is avoided.During being switched to adsorbed state by regular flight condition due to patrol unmanned machine, body is deposited
Certain impact can be generated by generating between biggish inertia, with absorption object.The impact and rebound generated in adsorption process is not
The absorption success rate of adsorbent equipment can be only reduced, irreversible damage can be generated to each component of body also to reduce reconnaissance UAV
Service life and working performance.Therefore 11 structure of cushion, can be improved job stability and the use of adsorbable reconnaissance UAV
Service life.
In the present embodiment, the flexible finger 8 includes the silica gel matrix 8-1 of strip, is embedded in the silica gel matrix 8-1
Elastic bar 8-5, be set to the rope end fixing buckle 8-3 of the outer end silica gel matrix 8-1, be set to the silica gel base
The Electrostatic Absorption film 8-4 of body 8-1 medial surface, and it is set to the rope limit hole 8-2 of the silica gel matrix 8-1 lateral surface；Such as
Shown in Fig. 5, the silica gel matrix 8-1 of strip is hollow structure, and to improve its flexibility, embedded elastic bar 8-5 does not need it
Additional driving force can be achieved with effectively coating absorption object of different shapes, and flexible grips are become using this clad type
The surface that the design of shape mechanism can be well realized between adsorbent equipment and absorption object is submissive to be bonded, and adsorbent equipment pair is improved
The adsorption capacity of the absorption object of different surfaces feature.Different size, different shape, different structure and table are better adapted to this
The absorption object of region feature has advantage in versatility, tolerance and flexibility；The Electrostatic Absorption film of 8 inside of flexible finger
8-4 can produce electrostatic adsorption force after being powered, and cladding power is combined with electrostatic adsorption force, effectively raises adsorbent equipment
Overall adsorption ability, the final stability and reliability for improving unmanned plane in adsorbed state.
In the present embodiment, the handgrip seat is equipped with finger receptacle 6-2, guide wheel 23 and rope limiting bracket 6-4；The handgrip
Driving motor 20 is set to below handgrip seat, and shaft is fixed with the wire spool 21 for winding rope 7；The rope successively leads to
It crosses through-hole, guide wheel 23, the cotton rope through-hole 6-6 on top cover 6 and the rope limit hole 8-2 of the rope limiting bracket 6-4 and connects
In the rope end fixing buckle 8-3；As shown in Figure 2 and Figure 3, handgrip seat includes top cover 6, bottom cover 22 and side frame 9；Wire spool
21 are set between top cover 6 and bottom cover 22；As shown in figure 4,6 bottom of top cover is equipped with four groups of finger receptacle 6-2, guide wheel 23 and rope
Limiting bracket 6-4；It is equipped with screw hole 6-3 in socket 6-2, flexible finger can be lockked by lock screw to prevent it from moving back
Out；The aperture 6-5 for passing through Electrostatic Absorption film conducting wire is additionally provided on top cover；As shown in figure 9, bottom cover 22 is equipped with cushion fixation hole
22-1 and handgrip driving motor fixation hole 22-2；Guide wheel 23 is rotatablely installed by guide wheel fixing seat 6-1 in 6 bottom of handgrip seat top cover
Portion.As described in Figure 10, there is the motor output shaft matching hole 21-2 with motor rotation secure fit, outer circle in the middle part of wire spool 21
It is equipped with winding slot 21-3 week, the fixation hole 21-1 for being fixedly connected with cotton rope end is equipped in winding slot 21-3.
In the present embodiment, the shell 12 includes two detachable half-shells being fixedly connected, and two half-shells pass through shell
Fixation hole 12-2 is connected；12 side wall of shell is equipped with camera fixation hole 12-1 close to lower end, is equipped at the top of shell 12 for installing
The motor firm banking 12-4 of handgrip driving motor 20；12 bottom of shell is equipped with cylindrical battery 1.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (5)
- The patrol unmanned machine 1. a kind of portable and collapsible flies-adsorbs, it is characterised in that: including unmanned plane body, be set to institute State the electro-optical system and adsorbent equipment of unmanned plane body；The electro-optical system includes the camera for being set to unmanned plane body and its corresponding drive module；The adsorbent equipment includes handgrip seat, flexible finger, driving rope and handgrip driving motor；The handgrip seat is set to institute It states at the top of machine human organism；Multiple flexible fingers are circumferentially uniformly distributed at the top of handgrip seat, and keep rounding state；Institute The shaft for stating handgrip driving motor can wind rope by driving wire spool and the flexible finger is pulled to be unfolded.
- The patrol unmanned machine 2. a kind of portable and collapsible according to claim 1 flies-adsorbs, it is characterised in that: described Unmanned plane body includes shell, folding wing and wing-folding driving assembly；The folding wing includes the rotor fixed frame for being articulated with the shell, is fixed on the boat of rotor fixed frame outer end Mould motor and the rotor being fixed on the model plane machine shaft；The wing-folding driving assembly is vertically arranged at the intracorporal screw rod of the shell including at least two, with what is be reciprocally moveable Mode is set to the intracorporal drive disk of shell, the strut being articulated between the drive disk and rotor fixed frame, and for driving The folding driving motor that the screw rod rotates synchronously；The drive disk is equipped with the threaded hole cooperated with the screw rod.
- The patrol unmanned machine 3. a kind of portable and collapsible according to claim 1 flies-adsorbs, it is characterised in that: described It is connected between at the top of handgrip seat and unmanned plane body by cushion.
- The patrol unmanned machine 4. a kind of portable and collapsible according to claim 1 flies-adsorbs, it is characterised in that: described Flexible finger includes the silica gel matrix of strip, is embedded in the intracorporal elastic bar of silica gel base, is set to the silica gel matrix The rope end fixing buckle of outer end, the Electrostatic Absorption film for being set to the silica gel matrix medial surface, and it is set to the silica gel The driving rope limit hole of matrix lateral surface.
- The patrol unmanned machine 5. a kind of portable and collapsible according to claim 1 flies-adsorbs, it is characterised in that: described Handgrip seat is equipped with finger receptacle, guide wheel and rope limiting bracket；The handgrip driving motor is set to below handgrip seat, output Axis is fixed with the wire spool for winding rope；The circular hole for driving rope to pass sequentially through on the rope limiting bracket is led Wheel and rope limit hole, and it is connected to the rope end fixing buckle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910381637.2A CN110127053B (en) | 2019-05-08 | 2019-05-08 | Portable foldable flying-adsorbing inspection unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910381637.2A CN110127053B (en) | 2019-05-08 | 2019-05-08 | Portable foldable flying-adsorbing inspection unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110127053A true CN110127053A (en) | 2019-08-16 |
| CN110127053B CN110127053B (en) | 2021-03-26 |
Family
ID=67576902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910381637.2A Active CN110127053B (en) | 2019-05-08 | 2019-05-08 | Portable foldable flying-adsorbing inspection unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110127053B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483605A (en) * | 2020-04-26 | 2020-08-04 | 重庆大学 | Grabbing device suitable for flying perching robot |
| CN114313245A (en) * | 2022-01-05 | 2022-04-12 | 广东电网有限责任公司 | Electric power patrols line unmanned aerial vehicle that obstacles removing |
| CN114771859A (en) * | 2022-04-07 | 2022-07-22 | 南京航空航天大学 | Rough/smooth negative surface unmanned aerial vehicle landing mechanism based on micro-thorn array and bionic dry adhesion material |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110127053B (en) | 2021-03-26 |
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