CN110329495B - Unmanned aerial vehicle adsorption parking device and parking method thereof - Google Patents
Unmanned aerial vehicle adsorption parking device and parking method thereof Download PDFInfo
- Publication number
- CN110329495B CN110329495B CN201910574488.1A CN201910574488A CN110329495B CN 110329495 B CN110329495 B CN 110329495B CN 201910574488 A CN201910574488 A CN 201910574488A CN 110329495 B CN110329495 B CN 110329495B
- Authority
- CN
- China
- Prior art keywords
- adsorption
- unmanned aerial
- aerial vehicle
- self
- adjusting
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
The invention discloses an unmanned aerial vehicle adsorption parking device and a parking method thereof. Unmanned aerial vehicle has advantages such as simple structure, flexible, but the duration is not enough to become its biggest soft rib. The invention discloses an unmanned aerial vehicle adsorption parking device which comprises an unmanned aerial vehicle main body and an adsorption type undercarriage. The adsorption type undercarriage comprises a substrate, a turnover driving assembly, an adsorption gas path and two unilateral adsorption assemblies. The self-adjusting adsorption component comprises an adsorption plate, a self-adjusting push rod, an adjusting rotary block, a return spring and a stopping adsorber. The adsorption gas path comprises a gas pump, a vacuum generator and an adsorption reversing valve. The adsorption type undercarriage is arranged, so that the unmanned aerial vehicle can directly stop on a vertical or inclined wall surface, and the environment adaptability of the unmanned aerial vehicle is greatly enhanced. The self-adjusting adsorption component can push the force of the self-adjusting push rod through the wall surface, so that the parking adsorber is automatically attached to the wall surface, the control error of the flight attitude of the unmanned aerial vehicle is made up, and the stability and reliability of adsorption parking are guaranteed.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle parking, and particularly relates to an unmanned aerial vehicle adsorption parking device and an adsorption method thereof.
Background
In recent years, along with the reduction of manufacturing cost and the development of technology, unmanned aerial vehicles rapidly advance to the mass consumer market. The application scene of the unmanned aerial vehicle is very wide, and the unmanned aerial vehicle is used in the fields of aerial photography, agricultural plant protection, surveying and mapping, reconnaissance monitoring, disaster rescue, electric power inspection and the like. Unmanned aerial vehicle has advantages such as simple structure, flexible, but the duration is not enough to become its biggest soft rib. Inhabit through adsorbing on the building surface, let unmanned aerial vehicle reduce energy loss when the task goes on to extension unmanned aerial vehicle duration is a novel effectual research direction.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle adsorption parking device and an adsorption method thereof.
The invention discloses an unmanned aerial vehicle adsorption parking device which comprises an unmanned aerial vehicle main body and an adsorption type undercarriage. The adsorption type undercarriage comprises a substrate, a turnover driving assembly, an adsorption air path and two unilateral adsorption assemblies. The base plate is fixed with the fuselage bottom of unmanned aerial vehicle main part. The single-sided clamping assembly includes a flipping panel and a self-adjusting suction assembly. The inner end of the turnover plate and the edge of the base plate form a revolute pair. The turnover plates in the two unilateral clamping assemblies are synchronously and reversely driven by the turnover driving assembly.
The self-adjusting adsorption component comprises an adsorption plate, a self-adjusting push rod, an adjusting rotating block, a return spring and a stopping adsorber. The stopping absorber is arranged on the adsorption plate. The docking adsorber comprises an adsorption air bag, a filter screen and adsorption particles. The filter screen and the adsorption particles are arranged in the adsorption air bag. The filter screen separates the adsorption particles from the vent of the adsorption air bag.
The inner end of the adsorption plate is hinged with the outer end of the turnover plate. The inner end of the adjusting rotary block is fixed with the inner end of the adsorption plate. The outer end of the adjusting rotating block is provided with a sliding column. The self-adjusting push rod is L-shaped, one end of the self-adjusting push rod is provided with a push block, and the other end of the self-adjusting push rod is provided with a sliding groove. The self-adjusting push rod and the adsorption plate form a sliding pair. The reset spring is sleeved on the self-adjusting push rod, and two ends of the reset spring respectively abut against the push block and the adsorption plate. The sliding column at the outer end of the adjusting rotating block extends into the sliding groove on the self-adjusting push rod.
The adsorption gas path comprises a gas pump, a vacuum generator and an adsorption reversing valve. The air outlet of the air pump is connected with the air inlet of the vacuum generator. The vacuum port of the vacuum generator is connected with the air inlets of the two adsorption reversing valves. The working air ports of the two adsorption reversing valves are respectively connected with the air ports of the two adsorption air bags.
Further, the turnover driving assembly comprises a motor, a gear box, a rotary box, a first gear shaft, a second gear shaft and a third gear shaft. The gear box is fixed in the middle of the bottom surface of the base plate. The two rotary boxes are respectively fixed on the edges of two sides of the bottom surface of the substrate. The first gear shaft is supported within the gear box. Two second gear shafts are respectively supported on the two rotary boxes. And third gear shafts are supported in the two rotary boxes. A first bevel gear is fixed on the first gear shaft. A second bevel gear is fixed at the inner end of the second gear shaft, and a third bevel gear is fixed at the outer end of the second gear shaft. A fourth bevel gear is fixed on the third gear shaft. The second bevel gears on the two second gear shafts are respectively meshed with the two sides of the first bevel gear. And the third bevel gears on the two second gear shafts are respectively meshed with the two sides of the two fourth bevel gears. The two third gear shafts are respectively fixed with the inner ends of the turnover plates on the two unilateral clamping assemblies. The motor is fixed on the bottom surface of the substrate. The output shaft of the motor is fixed with the first gear shaft.
Further, the unmanned aerial vehicle adsorption parking device further comprises a control box. The controller is arranged in the control box. The air pump, the vacuum generator, the adsorption reversing valve and the gear box are all arranged in the control box. The control interfaces of the two adsorption reversing valves are respectively connected with the two gas circuit control interfaces of the controller; the control interface of the motor is connected with the motor control interface of the controller through a motor driver.
Further, the diameter of the sliding column is equal to the width of the sliding groove. The distance from the end of the sliding chute close to the adsorption plate to the axis of the hinge shaft of the adsorption plate and the axis of the hinge shaft of the turnover plate is smaller than the distance from the end of the sliding chute far away from the adsorption plate to the axis of the hinge shaft of the adsorption plate and the axis of the hinge shaft of the turnover plate.
Further, the air pump adopts a miniature air pump with the model of PCF 5015N. The vacuum generator 11 is model ASM 10-NC. The adsorption reversing valve adopts a two-position three-way electromagnetic adsorption reversing valve, and under a first working position, an air inlet of the adsorption reversing valve is communicated with a working air port, and an air return port is cut off; and under the first working position, the air return port of the adsorption reversing valve is communicated with the working air port, and the air inlet is cut off.
Furthermore, the inner end of the outer side surface of the adsorption plate is provided with a stepped hole. The self-adjusting push rod passes through the stepped hole on the adsorption plate. The reset spring is propped against the hole shoulder of the stepped hole.
Further, the particle size of the adsorption particles is less than 0.5 mm.
Further, the unmanned aerial vehicle main part be for having the conventional four-axis unmanned aerial vehicle of screw orientation regulatory function.
Furthermore, the unmanned aerial vehicle adsorption parking device further comprises an auxiliary adsorber and an auxiliary reversing valve. Two auxiliary adsorbers are respectively arranged on the two turnover plates. The auxiliary adsorber has the same structure as the parked adsorber. The air vents of the two auxiliary adsorbers are respectively connected with the working air ports of the two auxiliary reversing valves. The air inlets of the two auxiliary reversing valves are connected with the vacuum port of the vacuum generator.
The method for the unmanned aerial vehicle to stop on the vertical wall surface comprises the following steps:
step one, the unmanned aerial vehicle main body flies to the place of the wall surface to be parked. Afterwards, the unmanned aerial vehicle main part makes self slope, and two self-interacting absorption subassemblies are and arrange from top to bottom.
And step two, the overturning driving assembly drives the two unilateral clamping assemblies to overturn outwards, so that the included angle between the adsorption plate and the parked wall surface is smaller than 5 degrees.
And step three, the main body of the unmanned aerial vehicle flies close to the wall surface to be parked, so that the outer end of the turnover plate in the upper single-side clamping assembly is in contact with the wall surface to be parked, and the push block on the corresponding self-adjusting push rod slides inwards under the pushing of the wall surface to be parked, so that the adsorption plate is outwards turned to a state that the parking absorber is completely attached to the wall surface to be parked.
Step four, the unilateral clamping assembly positioned above is switched corresponding to the reversing valve, so that the docking absorber in the unilateral clamping assembly positioned above is communicated with the vacuum generator; starting the air pump to pump out the gas in the stopped absorber; the docking adsorber is attached to the docked wall surface.
And step five, the motor is rotated reversely, so that the outer end of the turnover plate in the lower single-side clamping assembly is in contact with the parked wall surface, and meanwhile, the push block on the corresponding self-adjusting push rod slides inwards under the pushing of the parked wall surface, so that the adsorption plate is turned outwards until the parked absorber is completely attached to the parked wall surface.
And step six, the lower single-side clamping assembly is switched corresponding to the reversing valve, so that a parking absorber in the lower single-side clamping assembly is communicated with the vacuum generator, and gas in the parking absorber is extracted and attached to a parked wall surface.
The invention has the beneficial effects that:
1. the adsorption type undercarriage is arranged, so that the unmanned aerial vehicle can directly stop on a vertical or inclined wall surface, and the environment adaptability of the unmanned aerial vehicle is greatly enhanced.
2. The self-adjusting adsorption component can push the force of the self-adjusting push rod through the wall surface, so that the parking adsorber is automatically attached to the wall surface, the control error of the flight attitude of the unmanned aerial vehicle is made up, and the stability and reliability of adsorption parking are guaranteed.
3. The unmanned aerial vehicle can stop at a higher position, so that the unmanned aerial vehicle can better execute tasks such as reconnaissance, search and rescue and the like in the stop state, and the cruising ability of the unmanned aerial vehicle is improved.
Drawings
FIG. 1 is a schematic view of the present invention resting on a slope;
FIG. 2 is a schematic view of the flip drive assembly of the present invention;
FIG. 3 is a schematic view of a single-sided adsorption module according to the present invention;
FIG. 4 is a cross-sectional view of a single-sided adsorbent assembly of the present invention;
FIG. 5 is a gas path diagram of an adsorption gas path in the present invention;
FIG. 6a is a schematic diagram of step one of the docking method of the present invention;
FIG. 6b is a schematic diagram of step two of the docking method of the present invention;
FIG. 6c is a schematic representation of step three of the docking method of the present invention;
FIG. 6d is a schematic representation of step five of the docking method of the present invention;
FIG. 7 is a schematic view of the present invention resting on a vertical wall surface;
FIG. 8 is a schematic view of the present invention resting on a convex wall surface;
fig. 9 is a schematic view of the structure of the present invention resting on a concave wall surface.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figure 1, an unmanned aerial vehicle adsorbs parking device, includes unmanned aerial vehicle main part 1, absorption formula undercarriage and control box 2. The unmanned aerial vehicle main body 1 is a conventional four-axis unmanned aerial vehicle with a propeller orientation adjusting function; four support arms on the unmanned aerial vehicle main part 1 are the cross and expand, and screw and driving motor are installed to every support arm end. The adsorption type undercarriage comprises a substrate 3, a turnover driving assembly 4, an adsorption gas path and two unilateral adsorption assemblies. Base plate 3 is fixed with the fuselage bottom of unmanned aerial vehicle main part 1. The single-sided clamping assembly includes a flipping panel 5 and a self-adjusting suction assembly 6. The inner end of the turnover plate 5 and the edge of the base plate 3 form a revolute pair.
As shown in fig. 2, the tumble drive assembly 4 includes a motor, a gear case 4-1, a rotary case 4-2, a first gear shaft 4-3, a second gear shaft 4-4, and a third gear shaft 4-5. The gear case 4-1 is fixed to the middle of the bottom surface of the base plate 3. Two rotary boxes 4-2 are respectively fixed on the two side edges of the bottom surface of the base plate 3. The first gear shaft 4-3 is supported in the gear housing 4-1. The side surfaces of the two rotating boxes 4-2 facing the gear box 4-1 are both provided with a placing groove. Bearings are arranged in the arrangement grooves of the two rotary boxes 4-2. Two end covers with central holes are respectively fixed at the arrangement grooves of the two rotary boxes 4-2 to press the outer ring of the bearing. The two second gear shafts 4-4 and the two rotating boxes 4-2 form a rotating pair through corresponding bearings respectively. And third gear shafts 4-5 are supported in the two rotary boxes 4-2. The first gear shaft 4-3 is fixed with a first bevel gear. A second bevel gear is fixed at the inner end of the second gear shaft 4-4, and a third bevel gear is fixed at the outer end. A fourth bevel gear is fixed on the third gear shaft 4-5. The second bevel gears on the two second gear shafts 4-4 are respectively meshed with the two sides of the first bevel gear. And the third bevel gears on the two second gear shafts 4-4 are respectively meshed with the two sides of the two fourth bevel gears. The two third gear shafts 4-5 are respectively fixed with the inner ends of the turnover plates 5 on the two unilateral clamping components. The motor is fixed to the bottom surface of the base plate 3. An output shaft of the motor is fixed with a first gear shaft 4-3; thereby realizing the synchronous reverse driving of the two turnover plates 5 by one motor.
As shown in FIGS. 3 and 4, the self-regulating adsorption assembly 6 includes an adsorption plate 6-1, a self-regulating push rod 6-2, a regulating rotary block 6-3, a return spring 6-4, and a resting adsorber 6-5. The outer side surface of the adsorption plate 6-1 is provided with an air bag installation groove. The inner side surface of the adsorption plate 6-1 is provided with a vent hole. A stopping absorber 6-5 is fixed in the air bag mounting groove. The stopping adsorber 6-5 comprises an adsorption air bag, a filter screen 6-5-1 and adsorption particles 6-5-2. The filter screen 6-5-1 and the adsorption particles 6-5-2 are arranged in the adsorption air bag. The filter screen 6-5-1 separates the adsorption particles 6-5-2 from the vent of the adsorption air bag, so that the adsorption particles 6-5-2 cannot be drawn out of the adsorption air bag in the air suction process. The vent hole of the adsorption air bag is communicated with the vent hole on the adsorption plate 6-1. The particle size of the adsorption particles 6-5-2 is less than 0.5 mm.
When the adsorption air bag is filled with gas, gaps exist between adjacent adsorption particles 6-5-2. Therefore, when the adsorption air bag is pressed on the rough wall surface, the adsorption air bag deforms, and the adsorption particles 6-5-2 are embedded into the gaps on the wall surface through the adsorption air bag. After the air in the adsorption air bag is pumped out, the gap between the adjacent adsorption particles 6-5-2 is reduced, the adsorption air bag shrinks and gradually approaches to a rigid body, and the adsorption particles 6-5-2 are clamped in the gap of the wall surface through the adsorption air bag to form an adhesion state which is similar to the adhesion state of barbs on the insect feet to the wall surface, so that the adhesion to the wall surface is realized.
When the adsorption air bag before air exhaust is pressed on a smooth wall surface, the adsorption air bag deforms, and the adsorption particles 6-5-2 are attached to the wall surface through the adsorption air bag. After the gas in the adsorption air bag is pumped out, part of adsorption particles 6-5-2 attached to the wall surface move backwards, so that a plurality of negative pressure cavities are formed on one side of the adsorption air bag attached to the wall surface; the absorber is pressed on the wall surface under the action of atmospheric pressure, so as to realize the attachment to the wall surface. Therefore, the adsorber can adsorb wall surfaces of different types.
The end part of the outer end of the turnover plate 5 is provided with a abdicating notch and is fixed with a disc. The inner end of the adsorption plate 6-1 is hinged with the outer end of the turnover plate 5. The inner end of the adjusting rotary block 6-3 is fixed with the inner end of the adsorption plate 6-1. The outer end of the adjusting rotating block 6-3 is provided with a sliding column. The inner end of the side surface of the adsorption plate 6-1 is provided with a stepped hole. The self-adjusting push rod 6-2 is L-shaped, and one end of the self-adjusting push rod is provided with a push block, and the other end of the self-adjusting push rod is provided with a sliding groove. The self-adjusting push rod 6-2 and the stepped hole on the side surface of the adsorption plate 6-1 form a sliding pair. The reset spring 6-4 is sleeved on the self-adjusting push rod 6-2, and two ends of the reset spring respectively abut against the hole shoulders of the stepped hole on the push block and the adsorption plate 6-1, so that the push block extends out of the stepped hole in an initial state. A sliding column at the outer end of the adjusting rotating block 6-3 extends into a sliding groove on the self-adjusting push rod 6-2; the diameter of the sliding column is equal to the width of the sliding groove; the distance from the end of the chute close to the adsorption plate 6-1 to the axis of the hinged shaft of the adsorption plate 6-1 and the turnover plate 5 is less than the distance from the end of the chute far from the adsorption plate 6-1 to the axis of the hinged shaft of the adsorption plate 6-1 and the turnover plate 5.
The adsorption plate 6-1 and the turning plate 5 are combined to form a V shape. The absorber and the pushing block are both positioned on the outer side of the V shape. When the self-adjusting push rod 6-2 is pushed, the sliding column slides towards the end of the sliding chute close to the adsorption plate 6-1 in the sliding chute, so that the adjusting rotating block 6-3 and the adsorption plate 6-1 are driven to turn over towards the side where the stopping adsorption device 6-5 is arranged, and the stopping adsorption device 6-5 is helped to automatically adhere to the wall surface.
As shown in fig. 5, the adsorption gas path includes an air pump 10, a vacuum generator 11 and an adsorption switching valve 12. The air pump 10 is a miniature air pump model PCF 5015N. The vacuum generator 11 is model ASM10-NC and has multiple vacuum ports for simultaneous control of multiple docked adsorbers 6-5. The air outlet of the air pump 10 is connected with the air inlet of the vacuum generator 11. Two vacuum ports of the vacuum generator 11 are respectively connected with air inlets of the two adsorption reversing valves 12 through air pipes. The working air ports of the two adsorption reversing valves 12 are respectively connected with the air ports of the two adsorption air bags, and the air return ports are communicated with the external environment. The adsorption reversing valve 12 adopts a two-position three-way electromagnetic adsorption reversing valve 12, and under the first working position, an air inlet of the adsorption reversing valve 12 is communicated with a working air port, and an air return port is cut off; in the first working position, the return air port of the adsorption reversing valve 12 is communicated with the working air port, and the air inlet is cut off.
A controller is installed in the control box 2. The air pump 10, the vacuum generator 11, the adsorption reversing valve 12 and the gear box 4-1 are all arranged in the control box 2. The control interfaces of the two adsorption reversing valves 12 are respectively connected with the two gas path control interfaces of the controller; the control interface of the motor is connected with the motor control interface of the controller through a motor driver. The controller adopts a singlechip.
The method for the unmanned aerial vehicle to stop on the vertical wall surface comprises the following steps:
step one, as shown in fig. 6a, the main body 1 of the unmanned aerial vehicle flies to the surface 7 to be parked, and one of the self-adjusting suction assemblies 6 is located between the other self-adjusting suction assembly 6 and the surface 7 to be parked. The parked wall 7 is a vertical wall. Thereafter, the main body 1 of the drone tilts itself and the two self-adjusting suction assemblies 6 are arranged one above the other.
Step two, as shown in fig. 6b, the motor rotates forwards to enable the two unilateral clamping assemblies to turn outwards, so that the included angle between the adsorption plate 6-1 and the wall surface is smaller than 5 degrees, and the distance from the outer end of the adsorption plate 6-1 to the wall surface is larger than the distance from the outer end of the adsorption plate 6-1 to the wall surface.
Step three, as shown in fig. 6c, the main body 1 of the unmanned aerial vehicle flies close to the surface 7 to be parked, so that the outer end of the turnover plate 5 in the upper single-side clamping assembly is in contact with the surface 7 to be parked, and meanwhile, the push block on the corresponding self-adjusting push rod 6-2 slides inwards under the pushing of the surface 7 to be parked, so that the adsorption plate 6-1 is turned outwards to a state that the parking adsorber 6-5 completely fits the surface 7 to be parked.
Step four, the unilateral clamping assembly positioned above is switched corresponding to the reversing valve, so that the stopping adsorber 6-5 positioned in the unilateral clamping assembly positioned above is communicated with the vacuum generator 11; the air pump 10 is started to pump out the gas in the stopping absorber 6-5; the docking adsorber 6-5 is attached to the docked wall surface 7.
Step five, as shown in fig. 6d, the motor is reversed to turn the unmanned aerial vehicle to the vertical state, the outer end of the turning plate 5 in the lower single-side clamping assembly is in contact with the parked wall surface 7, and meanwhile, the push block on the corresponding self-adjusting push rod 6-2 is pushed by the parked wall surface 7 to slide inwards, so that the adsorption plate 6-1 is turned outwards to a state that the parked adsorber 6-5 is completely attached to the parked wall surface 7.
And step six, the lower single-side clamping assembly is switched corresponding to the reversing valve, so that the stopping absorber 6-5 in the lower single-side clamping assembly is communicated with the vacuum generator 11, and gas in the stopping absorber 6-5 is pumped out and attached to the stopped wall surface 7. So far, realize the berthing of this unmanned aerial vehicle absorption berthing device on vertical wall, as shown in fig. 7.
In addition, the unmanned aerial vehicle adsorption parking device can also park on a slope, a convex wall surface 8 and a concave wall surface 9, the state of parking on the slope is shown in fig. 1, the state of parking on the convex wall surface 8 is shown in fig. 8, and the state of parking on the concave wall surface 9 is shown in fig. 9.
Example 2
The utility model provides an unmanned aerial vehicle adsorbs parking equipment, on embodiment 2 basis, still includes supplementary adsorber and supplementary switching-over valve. The two auxiliary adsorbers are respectively arranged on the two turnover plates 5. The auxiliary adsorber has the same structure as the parked adsorber 6-5. The air vents of the two auxiliary adsorbers are respectively connected with the working air ports of the two auxiliary reversing valves. The air inlets of the two auxiliary reversing valves are respectively connected with the other two vacuum ports of the vacuum generator 11, and the air return ports are connected with the external environment. And control interfaces of the auxiliary reversing valves are connected with the controller. The auxiliary reversing valve has the same structure as the adsorption reversing valve 12.
Claims (9)
1. An unmanned aerial vehicle adsorption parking device comprises an unmanned aerial vehicle main body; the method is characterized in that: the landing gear further comprises an adsorption landing gear; the adsorption type undercarriage comprises a substrate, a turnover driving assembly, an adsorption gas path and two unilateral adsorption assemblies; the base plate is fixed with the bottom of the unmanned aerial vehicle main body; the single-side clamping assembly comprises a turnover plate and a self-adjusting adsorption assembly; the inner end of the turnover plate and the edge of the base plate form a revolute pair; the turnover plates in the two unilateral clamping assemblies are synchronously and reversely driven by the turnover driving assembly;
the self-adjusting adsorption component comprises an adsorption plate, a self-adjusting push rod, an adjusting rotary block, a return spring and a stopping adsorber; the stopping absorber is arranged on the adsorption plate; the docking adsorber comprises an adsorption air bag, a filter screen and adsorption particles; the filter screen and the adsorption particles are arranged in the adsorption air bag; the filter screen separates the adsorption particles from the vent of the adsorption air bag;
the inner end of the adsorption plate is hinged with the outer end of the turnover plate; the inner end of the adjusting rotating block is fixed with the inner end of the adsorption plate; the outer end of the adjusting rotating block is provided with a sliding column; the self-adjusting push rod is L-shaped, one end of the self-adjusting push rod is provided with a push block, and the other end of the self-adjusting push rod is provided with a sliding chute; the self-adjusting push rod and the adsorption plate form a sliding pair; the reset spring is sleeved on the self-adjusting push rod, and two ends of the reset spring respectively abut against the push block and the adsorption plate; a sliding column at the outer end of the adjusting rotating block extends into a sliding groove on the self-adjusting push rod;
the adsorption gas path comprises a gas pump, a vacuum generator and an adsorption reversing valve; the air outlet of the air pump is connected with the air inlet of the vacuum generator; the vacuum port of the vacuum generator is connected with the air inlets of the two adsorption reversing valves; the working air ports of the two adsorption reversing valves are respectively connected with the air ports of the two adsorption air bags, and the air return ports are communicated with the external environment.
2. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the overturning driving assembly comprises a motor, a gear box, a rotating box, a first gear shaft, a second gear shaft and a third gear shaft; the gear box is fixed in the middle of the bottom surface of the base plate; the two rotary boxes are respectively fixed on the edges of two sides of the bottom surface of the substrate; a first gear shaft supported within the gear case; two second gear shafts are respectively supported on the two rotary boxes; third gear shafts are supported in the two rotary boxes; a first bevel gear is fixed on the first gear shaft; a second bevel gear is fixed at the inner end of the second gear shaft, and a third bevel gear is fixed at the outer end of the second gear shaft; a fourth bevel gear is fixed on the third gear shaft; second bevel gears on the two second gear shafts are respectively meshed with two sides of the first bevel gear; the third bevel gears on the two second gear shafts are respectively meshed with the two sides of the two fourth bevel gears; the two third gear shafts are respectively fixed with the inner ends of the turnover plates on the two unilateral clamping assemblies; the motor is fixed on the bottom surface of the substrate; the output shaft of the motor is fixed with the first gear shaft.
3. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the device also comprises a control box; a controller is arranged in the control box; the air pump, the vacuum generator, the adsorption reversing valve and the gear box are all arranged in the control box; the control interfaces of the two adsorption reversing valves are respectively connected with the two gas circuit control interfaces of the controller; the control interface of the motor is connected with the motor control interface of the controller through a motor driver.
4. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the diameter of the sliding column is equal to the width of the sliding groove; the distance from the end of the sliding chute close to the adsorption plate to the axis of the hinge shaft of the adsorption plate and the axis of the hinge shaft of the turnover plate is smaller than the distance from the end of the sliding chute far away from the adsorption plate to the axis of the hinge shaft of the adsorption plate and the axis of the hinge shaft of the turnover plate.
5. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the inner end of the outer side surface of the adsorption plate is provided with a stepped hole; the self-adjusting push rod penetrates through a stepped hole in the adsorption plate; the reset spring is propped against the hole shoulder of the stepped hole.
6. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the particle size of the adsorption particles is less than 0.5 mm.
7. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the unmanned aerial vehicle main part be for having conventional four-axis unmanned aerial vehicle of screw orientation regulatory function.
8. The unmanned aerial vehicle adsorbs docking device of claim 1, characterized in that: the device also comprises an auxiliary adsorber and an auxiliary reversing valve; the two auxiliary adsorbers are respectively arranged on the two turnover plates; the structure of the auxiliary adsorber is the same as that of the stopping adsorber; the air vents of the two auxiliary adsorbers are respectively connected with the working air ports of the two auxiliary reversing valves; the air inlets of the two auxiliary reversing valves are connected with the vacuum port of the vacuum generator.
9. The docking method of the unmanned aerial vehicle adsorption docking device as claimed in claim 1, wherein: firstly, flying an unmanned aerial vehicle main body to a parked wall; then, the main body of the unmanned aerial vehicle inclines, and the two self-adjusting adsorption components are arranged up and down;
driving the two unilateral clamping assemblies to turn outwards by the turning driving assembly, so that the included angle between the adsorption plate and the stopped wall surface is smaller than 5 degrees;
thirdly, the main body of the unmanned aerial vehicle flies close to the wall surface to be parked, so that the outer end of the turnover plate in the upper single-side clamping assembly is in contact with the wall surface to be parked, and the corresponding push block on the self-adjusting push rod slides inwards under the pushing of the wall surface to be parked, so that the adsorption plate is turned outwards to be in a state that the parking absorber is completely attached to the wall surface to be parked;
step four, the unilateral clamping assembly positioned above is switched corresponding to the reversing valve, so that the docking absorber in the unilateral clamping assembly positioned above is communicated with the vacuum generator; starting the air pump to pump out the gas in the stopped absorber; the docking adsorber is attached to the docked wall surface;
step five, the motor is reversed, so that the outer end of the turnover plate in the lower single-side clamping assembly is in contact with the parked wall surface, and meanwhile, the push block on the corresponding self-adjusting push rod slides inwards under the pushing of the parked wall surface, so that the adsorption plate is turned outwards until the parked absorber is completely attached to the parked wall surface;
and step six, the lower single-side clamping assembly is switched corresponding to the reversing valve, so that a parking absorber in the lower single-side clamping assembly is communicated with the vacuum generator, and gas in the parking absorber is extracted and attached to a parked wall surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574488.1A CN110329495B (en) | 2019-06-28 | 2019-06-28 | Unmanned aerial vehicle adsorption parking device and parking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910574488.1A CN110329495B (en) | 2019-06-28 | 2019-06-28 | Unmanned aerial vehicle adsorption parking device and parking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110329495A CN110329495A (en) | 2019-10-15 |
| CN110329495B true CN110329495B (en) | 2020-11-24 |
Family
ID=68143633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910574488.1A Active CN110329495B (en) | 2019-06-28 | 2019-06-28 | Unmanned aerial vehicle adsorption parking device and parking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110329495B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483605B (en) * | 2020-04-26 | 2023-09-08 | 重庆大学 | Grabbing device suitable for flight is at and is attached robot |
| CN112550682B (en) * | 2020-12-16 | 2022-04-22 | 南京航空航天大学 | Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof |
| CN113104166B (en) * | 2021-05-13 | 2021-12-10 | 赵薛强 | Relay station of ocean mapping unmanned aerial vehicle |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192987B (en) * | 2013-04-07 | 2015-06-17 | 南京理工大学 | Amphibious robot capable of flying and climbing wall and control method of amphibious robot |
| CN204399477U (en) * | 2014-12-04 | 2015-06-17 | 吉林大学 | Adsorbable multifunction micro flight instruments |
| RU160508U1 (en) * | 2015-11-03 | 2016-03-20 | Андрей Иванович Бодренко | DEVICE INTENDED FOR IMPLEMENTATION OF LANDING OF AN UNMANNED AIRCRAFT TELEPHONE TYPE ON A FLAT VERTICAL SURFACE |
| CN205499350U (en) * | 2016-04-11 | 2016-08-24 | 吉林大学 | Can perch in intelligent flying robot of different inclinations wall |
| WO2017183636A1 (en) * | 2016-04-19 | 2017-10-26 | インダストリーネットワーク株式会社 | Suction drone aircraft and work method using said suction drone aircraft |
| PL423709A1 (en) * | 2017-12-04 | 2019-06-17 | Politechnika Śląska | Unmanned flying platform with the docking module |
| CN207759000U (en) * | 2017-12-16 | 2018-08-24 | 广东容祺智能科技有限公司 | A kind of unmanned plane tripod |
-
2019
- 2019-06-28 CN CN201910574488.1A patent/CN110329495B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110329495A (en) | 2019-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110329495B (en) | Unmanned aerial vehicle adsorption parking device and parking method thereof | |
| CN106945740B (en) | A kind of wheel leg convolution climbing robot of multi-cavity absorption | |
| CN100554068C (en) | Multi-node wall-climbing worm type robot | |
| CN104085530B (en) | The coaxial multi-rotor aerocraft of duct | |
| WO2019085151A1 (en) | Unmanned aerial vehicle positioning device and parking apron | |
| CN102167101B (en) | Polydisc non-contact-absorption type climbing robot | |
| CN105667779A (en) | Intelligent flying robot capable of perching on walls at different inclination angles | |
| CN113844221B (en) | Amphibious three-mode flight adsorption wall climbing robot and control method | |
| CN110171561A (en) | A kind of unmanned plane pushing stable landing based on reversed air pressure | |
| CN216069511U (en) | Amphibious three-modal flying adsorption wall-climbing robot | |
| CN204527388U (en) | Self-adaptive flight adsorbed wall-climbing mechanism | |
| CN112829846B (en) | Wall climbing robot and wall transition method thereof | |
| CN110510027A (en) | A kind of multi-locomotion mode ground/wall-surface mobile robot | |
| CN111361726A (en) | Logistics distribution unmanned aerial vehicle with wall adsorbs function | |
| CN104648516B (en) | Self-adaptive flight adsorbed wall-climbing robot | |
| CN112874789A (en) | Aerial photography unmanned aerial vehicle and working method thereof | |
| CN211104019U (en) | Sucking disc formula snakelike curtain robot of crawling | |
| CN2654560Y (en) | Carrier having vacuum attracting device | |
| CN110329494B (en) | Unmanned aerial vehicle landing gear and landing method thereof | |
| CN212890950U (en) | Double rotor unmanned plane | |
| CN209833987U (en) | Four-rotor aircraft with deformation and wall surface landing functions | |
| CN210338106U (en) | Robot | |
| CN218806211U (en) | L-shaped adsorption type flying robot walking mechanism | |
| CN112340022A (en) | Double rotor unmanned plane | |
| CN214524656U (en) | Device capable of assisting in adsorbing highly-breathable packing materials |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |