CN111845985A - Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot - Google Patents
Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot Download PDFInfo
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- CN111845985A CN111845985A CN201910335811.XA CN201910335811A CN111845985A CN 111845985 A CN111845985 A CN 111845985A CN 201910335811 A CN201910335811 A CN 201910335811A CN 111845985 A CN111845985 A CN 111845985A
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- electromagnet
- quick disconnect
- sensor
- crawling robot
- docking mechanism
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- 230000009193 crawling Effects 0.000 title claims abstract description 28
- 238000000926 separation method Methods 0.000 title claims abstract description 22
- 238000003032 molecular docking Methods 0.000 title claims description 25
- 238000001179 sorption measurement Methods 0.000 claims abstract description 25
- 230000001939 inductive effect Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention provides a rapid separation and butt joint mechanism between an unmanned aerial vehicle and a crawling robot. The electromagnetism adsorbs the module to be L type support, and this L type support includes a horizontal part and a vertical portion, and the electro-magnet is installed in the end of horizontal part, and the sensor sets up and keeps away from the end of horizontal part with the electro-magnet is adjacent, and the electro-magnet is according to the sensing signal of sensor circular telegram or fall the power failure to make the separation of crawling robot or butt joint correspondingly. Compared with the prior art, the invention utilizes the sensing signal of the sensor to electrify or power off the electromagnet, further leads the electromagnet to lose magnetic force or generate magnetic force correspondingly, and realizes the quick separation or butt joint between the electromagnet and the electromagnet. In addition, the electromagnetic adsorption module is installed on the swing unit, and when the swing unit swings, the electromagnet has an axial degree of freedom, and the posture can be aligned in a self-adaptive mode under the action of the attraction force of the electromagnet.
Description
Technical Field
The invention relates to a mechanical manufacturing technology, in particular to a quick separation and butt joint mechanism between an unmanned aerial vehicle and a crawling robot.
Background
In the prior art, as the number of glass curtain wall buildings is increased, the operation on the glass curtain wall is more and more common. Most of the existing glass curtain walls are operated in a one-person one-rope mode, and the method is low in efficiency, high in cost and high in risk. Along with the development of science and technology, the glass curtain wall climbing robot of heavy load, motion flexibility will certainly replace the manual work to carry out the operation, and the wall climbing robot of unmanned aerial vehicle transportation also is one of them very efficient working methods. But crawling robots carried by such unmanned planes are not seen in the market yet.
Disclosure of Invention
The invention provides a rapid separation and docking mechanism between an unmanned aerial vehicle and a crawling robot, aiming at the defects that the unmanned aerial vehicle in the prior art has poor adsorption force when being docked with a target operation surface, cannot adjust the attitude in a self-adaptive manner and the like.
According to an aspect of the invention, a quick separation and docking mechanism between an unmanned aerial vehicle and a crawling robot is provided, and the quick separation and docking mechanism comprises an electromagnetic adsorption module, a sensor and an electromagnet, wherein the electromagnetic adsorption module is an L-shaped bracket, the L-shaped bracket comprises a horizontal part and a vertical part, the electromagnet is installed at the tail end of the horizontal part, the sensor is arranged adjacent to the electromagnet and far away from the tail end of the horizontal part, and the electromagnet is powered on or powered off according to a sensing signal of the sensor, so that the crawling robot is separated or docked accordingly.
In a specific embodiment, the bottom of the electromagnetic adsorption module comprises a groove, wherein the electromagnet is installed in the groove.
In a specific embodiment, the electromagnets and the sensors are in one-to-one correspondence and are arranged in pairs on the L-shaped bracket.
In one embodiment, the quick disconnect and interface mechanism operates in either a transport mode or a receive mode.
In one embodiment, when the quick disconnect and docking mechanism is operating in the transport mode, the crawling robot is transported to a designated location and released from the drone to a target work surface by the electromagnet and the electromagnetic adsorption module.
In one embodiment, when the quick separation and docking mechanism operates in the receiving mode, the crawling robot is attracted to a predetermined position, is docked with the unmanned aerial vehicle by the electromagnet and the electromagnetic attraction module, and is reloaded on the unmanned aerial vehicle.
In one embodiment, the quick separating and docking mechanism further includes a swing unit, and the electromagnetic adsorption module is mounted on the swing unit, and the axial degree of freedom of the electromagnet is generated by the swing unit, so that the quick separating and docking mechanism is self-adaptive to an alignment posture.
In one embodiment, the sensor is an inductive sensor or an M12 visible laser sensor.
In a specific embodiment, the quick-disconnect and docking mechanism is mounted to the body of the drone.
The rapid separation and butt joint mechanism for the unmanned aerial vehicle and the crawling robot comprises an electromagnetic adsorption module, a sensor and an electromagnet. Wherein the electromagnetism adsorbs the module and is L type support, and L type support includes a horizontal part and a vertical portion, and the electro-magnet is installed in the end of horizontal part, and the sensor sets up and keeps away from the end of horizontal part with the electro-magnet is adjacent, and the electro-magnet is according to the sensing signal of sensor circular telegram or fall the power failure to make the separation of crawling robot or butt joint correspondingly. Compared with the prior art, the rapid separation and docking mechanism of the invention utilizes the sensing signal of the sensor to electrify or power off the electromagnet, so that the electromagnet correspondingly loses magnetic force or generates magnetic force, and rapid separation or docking between the unmanned aerial vehicle and the crawling robot is realized. In addition, the electromagnetic adsorption module is installed on the swing unit, and when the swing unit swings, the electromagnet has an axial degree of freedom, and the posture can be self-adaptively aligned under the action of the attraction force of the electromagnet.
Drawings
The various aspects of the present invention will become more apparent to the reader after reading the detailed description of the invention with reference to the attached drawings. Wherein the content of the first and second substances,
fig. 1 illustrates a schematic structural diagram for a quick disconnect and interface mechanism between a drone and a crawling robot, in accordance with an aspect of the present application; and
fig. 2 is a schematic diagram illustrating the rapid separation and docking mechanism of fig. 1, wherein the unmanned aerial vehicle and the crawling robot realize a docking state and a separation state.
Detailed Description
In order to make the present disclosure more complete and complete, reference is made to the accompanying drawings, in which like references indicate similar or analogous elements, and to the various embodiments of the invention described below. However, it will be understood by those of ordinary skill in the art that the examples provided below are not intended to limit the scope of the present invention. In addition, the drawings are only for illustrative purposes and are not drawn to scale.
Specific embodiments of various aspects of the present invention are described in further detail below with reference to the accompanying drawings.
Fig. 1 shows a schematic structural diagram for a quick detach and interface mechanism between a drone and a crawling robot, and fig. 2 shows a schematic diagram for implementing an interface state and a detach state using the quick detach and interface mechanism of fig. 1, according to an aspect of the present application.
Referring to fig. 1 and 2, in this embodiment, the quick detach and dock mechanism between the unmanned aerial vehicle and the crawling robot includes an electromagnetic adsorption module 1, a sensor 2, and an electromagnet 3. For example, the sensor 2 may be an inductive sensor or an M12 visible laser sensor.
In detail, the electromagnetic adsorption module 1 is an L-shaped bracket, the L-shaped bracket includes a horizontal portion and a vertical portion, the electromagnet 3 is installed at a tail end of the horizontal portion, and the sensor 2 is disposed adjacent to the electromagnet 3 and far away from the tail end of the horizontal portion. The electromagnet 3 is powered on or powered off according to the sensing signal of the sensor 2, so that the crawling robot is separated or docked accordingly.
In a specific embodiment, the bottom of the electromagnetic adsorption module 1 includes a groove, the electromagnet 3 is installed in the groove, and the sensor 2 is embedded on the bottom surface of the electromagnetic adsorption module 1. In addition, the electromagnets 3 and the sensors 2 correspond one to one and are arranged in pairs on the L-shaped bracket. For example, the electromagnets 3 and the sensors 2 are respectively two in number and symmetrically arranged on the horseshoe-shaped bottom surface of the L-shaped bracket.
In one embodiment, the quick disconnect and interface mechanism may operate in either a transport mode or a receive mode. In detail, when the mechanism works in the transportation mode, the crawling robot is transported to a designated position, and is released from the unmanned aerial vehicle to the target operation surface by the electromagnet 3 and the electromagnetic adsorption module 1, as shown in the right diagram of fig. 2. When the mechanism works in a receiving mode, the crawling robot is adsorbed to a preset position, is in butt joint with the unmanned aerial vehicle through the electromagnet 3 and the electromagnetic adsorption module 1 and is reloaded on the unmanned aerial vehicle, as shown in the left drawing of fig. 2.
In one embodiment, the quick separating and docking mechanism further includes a swing unit, and the electromagnetic adsorption module 1 is mounted on the swing unit, and the swing unit generates an axial degree of freedom of the electromagnet, so that the quick separating and docking mechanism is self-adaptive to an alignment posture. For example, when the electromagnetic adsorption module 1 contacts the sending and receiving unit, the sensor generates a corresponding sensing signal, the electromagnet 3 installed on the electromagnetic adsorption module 1 starts adsorption according to the sensing signal, the electromagnet 3 is adsorbed on the sending and receiving unit, and the steering of the mechanism is changed under the action of the attraction of the electromagnet 3, so that the direction of the electromagnet is aligned, and the self-adaptive alignment posture is realized.
The rapid separation and butt joint mechanism for the unmanned aerial vehicle and the crawling robot comprises an electromagnetic adsorption module, a sensor and an electromagnet. Wherein the electromagnetism adsorbs the module and is L type support, and L type support includes a horizontal part and a vertical portion, and the electro-magnet is installed in the end of horizontal part, and the sensor sets up and keeps away from the end of horizontal part with the electro-magnet is adjacent, and the electro-magnet is according to the sensing signal of sensor circular telegram or fall the power failure to make the separation of crawling robot or butt joint correspondingly. Compared with the prior art, the rapid separation and docking mechanism of the invention utilizes the sensing signal of the sensor to electrify or power off the electromagnet, so that the electromagnet correspondingly loses magnetic force or generates magnetic force, and rapid separation or docking between the unmanned aerial vehicle and the crawling robot is realized. In addition, the electromagnetic adsorption module is installed on the swing unit, and when the swing unit swings, the electromagnet has an axial degree of freedom, and the posture can be self-adaptively aligned under the action of the attraction force of the electromagnet.
Hereinbefore, specific embodiments of the present invention are described with reference to the drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present invention without departing from the spirit and scope of the invention. Such modifications and substitutions are intended to be included within the scope of the present invention as defined by the appended claims.
Claims (9)
1. A rapid separation and butt-joint mechanism between an unmanned aerial vehicle and a crawling robot is characterized in that the rapid separation and butt-joint mechanism comprises an electromagnetic adsorption module, a sensor and an electromagnet,
the electromagnetic adsorption module is an L-shaped support, the L-shaped support comprises a horizontal part and a vertical part, the electromagnet is installed at the tail end of the horizontal part, the sensor is adjacent to the electromagnet and far away from the tail end of the horizontal part, and the electromagnet is powered on or powered off according to a sensing signal of the sensor, so that the crawling robot is correspondingly separated or butted.
2. The quick disconnect and docking mechanism of claim 1, wherein a bottom of the electromagnetic attraction module comprises a recess, wherein the electromagnet is mounted in the recess.
3. The quick disconnect and interface mechanism of claim 1, wherein the electromagnets and the sensors are in one-to-one correspondence and are arranged in pairs on the L-shaped bracket.
4. The quick disconnect and dock mechanism of claim 1, wherein the quick disconnect and dock mechanism operates in a transport mode or a receive mode.
5. The quick disconnect and docking mechanism of claim 4, wherein when the quick disconnect and docking mechanism is operating in a transport mode, the crawling robot is transported to a designated location for release from the drone to a target work surface by the electromagnet and the electromagnetic adsorption module.
6. The quick disconnect and dock mechanism of claim 4, wherein when the quick disconnect and dock mechanism is operating in a receive mode, the crawling robot is attracted to a predetermined location, docked with the drone by the electromagnet and the electromagnetic attraction module, and reloaded thereon.
7. The quick disconnect and docking mechanism of claim 1, further comprising a swing unit, wherein the electromagnetic adsorption module is mounted on the swing unit, and the swing unit is used to generate an axial degree of freedom of the electromagnet, thereby enabling the quick disconnect and docking mechanism to self-adaptively align the attitude.
8. The quick disconnect and interface mechanism of claim 1, wherein the sensor is an inductive sensor or an M12 visible laser sensor.
9. The quick disconnect and docking mechanism of claim 1, wherein the quick disconnect and docking mechanism is mounted to a body of the drone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910335811.XA CN111845985A (en) | 2019-04-24 | 2019-04-24 | Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910335811.XA CN111845985A (en) | 2019-04-24 | 2019-04-24 | Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111845985A true CN111845985A (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910335811.XA Pending CN111845985A (en) | 2019-04-24 | 2019-04-24 | Quick separation and docking mechanism between unmanned aerial vehicle and crawling robot |
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| Country | Link |
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| CN (1) | CN111845985A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890656A (en) * | 2021-03-04 | 2021-06-04 | 西京学院 | Unmanned aerial vehicle cooperation type high-altitude glass wiping system |
| CN115008485A (en) * | 2022-08-08 | 2022-09-06 | 广东电网有限责任公司肇庆供电局 | Method, system, equipment and storage medium for remotely pasting nameplate |
-
2019
- 2019-04-24 CN CN201910335811.XA patent/CN111845985A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890656A (en) * | 2021-03-04 | 2021-06-04 | 西京学院 | Unmanned aerial vehicle cooperation type high-altitude glass wiping system |
| CN115008485A (en) * | 2022-08-08 | 2022-09-06 | 广东电网有限责任公司肇庆供电局 | Method, system, equipment and storage medium for remotely pasting nameplate |
| CN115008485B (en) * | 2022-08-08 | 2022-10-11 | 广东电网有限责任公司肇庆供电局 | Method, system, equipment and storage medium for remotely pasting nameplate |
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Address after: Room 1005, 10 / F, building 4, 209 Zhuyuan Road, high tech Zone, Suzhou, Jiangsu, 215011 Applicant after: Suzhou yibote Intelligent Technology Co.,Ltd. Address before: Room 1005, 10 / F, building 4, 209 Zhuyuan Road, high tech Zone, Suzhou, Jiangsu, 215011 Applicant before: Suzhou yibote Intelligent Technology Co.,Ltd. |