CN218698932U

CN218698932U - Magnetic butt-joint type air suction manipulator for unmanned aerial vehicle

Info

Publication number: CN218698932U
Application number: CN202220650013.3U
Authority: CN
Inventors: 胡江峰; 郝敬宾; 刘哲; 陈辑涛; 张博; 邓凯; 顾军锋
Original assignee: China University of Mining and Technology CUMT
Current assignee: China University of Mining and Technology CUMT
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2023-03-24
Anticipated expiration: 2032-03-24

Abstract

The utility model discloses a magnetic force butt-joint type air suction manipulator for an unmanned aerial vehicle, which comprises a magnetic suction part and a sucker part connected with the magnetic suction part, wherein the magnetic suction part comprises a sleeve cover plate, an integral electromagnetic sleeve, an electromagnet and a locking stop block, and the sucker part comprises a separated sucker sleeve and a sucker; the sleeve cover plate is detachably connected with the integral electromagnetic sleeve, an electromagnet partition plate is arranged in the integral electromagnetic sleeve and connected with the electromagnet, a battery and a control unit are arranged at the top end of the electromagnet partition plate, an electromagnetic coil is arranged in the integral electromagnetic sleeve and elastically connected with the locking stop block, and a proximity switch is arranged on the electromagnetic coil; the top end of the separated sucker sleeve is provided with a locking base and a permanent magnet, and one side of the separated sucker sleeve is provided with an air pipe and an integrated vacuum generator. The utility model discloses the realization reaches unmanned aerial vehicle and transports the purpose of the separation of article or combination under the condition that need not artificial intervention, and is quick convenient, the at utmost has practiced thrift the human cost.

Description

Magnetic butt-joint type air suction manipulator for unmanned aerial vehicle

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicle lifting device and specifically relates to a manipulator is inhaled to magnetic force dock gas for unmanned aerial vehicle.

Background

The existing hoisting tool is connected and separated from the unmanned aerial vehicle by conveying articles more by means of manual operation. For example, a photovoltaic panel arranged in the field may increase the labor cost if manual operation is required for the purpose of separating the robot from the drone.

Therefore, need through corresponding operation after unmanned aerial vehicle will need the article that transport to the destination for docking device separation realizes under unmanned circumstances, reaches unmanned aerial vehicle and transports the purpose of quick separation or the combination of article.

Disclosure of Invention

In order to solve the defects of the prior art, the utility model provides a manipulator is inhaled to magnetic force dock gas for unmanned aerial vehicle reaches unmanned aerial vehicle and transports the separation of article or the purpose of butt joint under the condition that need not artificial intervention.

In order to achieve the above object, the utility model discloses a technical scheme be:

a magnetic force butt-joint type air suction manipulator for an unmanned aerial vehicle comprises a magnetic suction part and a sucker part connected with the magnetic suction part, wherein the magnetic suction part comprises a sleeve cover plate, an integral electromagnetic sleeve, an electromagnet and a locking stop block, and the sucker part comprises a separated sucker sleeve and a sucker;

the sleeve cover plate is detachably connected with the integral electromagnetic sleeve, an electromagnet partition plate is arranged in the integral electromagnetic sleeve and connected with the electromagnet, a battery and a control unit are arranged at the top end of the electromagnet partition plate, an electromagnetic coil is arranged in the integral electromagnetic sleeve and elastically connected with the locking stop block, and a detection switch is arranged on the electromagnetic coil;

the top end of the separated sucker sleeve is provided with a locking base and a permanent magnet, one side of the separated sucker sleeve is provided with an air pipe and an integrated vacuum generator, the air pipe is connected with the integrated vacuum generator, the bottom end of the separated sucker sleeve is provided with the sucker, the inside of the sucker is communicated with the air pipe and is provided with a sucker grid ring, and the top end of the sucker grid ring is provided with a rubber retaining ring;

the locking stop block is inserted into the locking base.

Further, the sleeve cover plate is in threaded connection with the integral electromagnetic sleeve.

Furthermore, the shaft shoulder at the tail end of the electromagnet is matched with the electromagnet partition plate through a hole shaft.

Further, the electromagnetic coil is connected with the locking stop block through a return spring, and the electromagnetic coil is provided with a detection switch.

Further, disconnect-type sucking disc sleeve is equipped with and is used for the installation the first inner ring form recess of permanent magnet, disconnect-type sucking disc sleeve one side is equipped with the trachea hole, the trachea passes the trachea hole with integrated form vacuum generator connects, disconnect-type sucking disc sleeve both sides are equipped with square groove respectively, and wherein one side square groove places integrated form vacuum generator, opposite side pressure alarm switch is placed to square groove, just pressure alarm switch with integrated form vacuum generator connects.

Furthermore, the sucker is provided with an outer annular groove, and the separated sucker sleeve is provided with a second inner annular groove and a first inner annular boss which are matched with the outer annular groove.

Further, the sucking disc be equipped with the recess of trachea intercommunication, the recess is inside to be equipped with sucking disc bars circle, rubber check ring.

Furthermore, the sucking disc grid ring is provided with a positioning hole and air holes which are arranged in an annular mode, the rubber check ring is in an umbrella shape and comprises a rubber ring top and a rubber ring bottom, the diameter of the rubber ring top is larger than the diameter of an arc tangent to the sucking disc grid ring and the air holes, and the diameter of the rubber ring bottom is larger than the diameter of the positioning hole and is not tangent to the arc of the air holes.

Furthermore, one end of the air pipe connected with the groove is provided with a rubber ring, the top end of the rubber ring is provided with a flexible sealing ring, and the rubber ring is larger than the air vent and smaller than the groove.

Further, the locking base is provided with an annular groove matched with the locking stop block for use

Compared with the prior art, the utility model has the advantages that:

the utility model discloses a combining current unmanned aerial vehicle and robot interfacing apparatus, realizing under the condition that need not artificial intervention, reaching unmanned aerial vehicle and transporting the separation of article or the purpose that combines, it is quick convenient, the at utmost has practiced thrift the human cost.

Drawings

Fig. 1 is an axial sectional view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the separated sucker sleeve of the present invention;

FIG. 3 is a schematic view of the square groove of the present invention;

FIG. 4 is a schematic view of the sucking disc grid ring structure of the present invention;

FIG. 5 is a schematic view of the rubber retainer ring of the present invention

Fig. 6 is a structural view of the air pipe of the present invention.

Reference numerals are as follows: the device comprises a sleeve cover plate 1, an integral electromagnetic sleeve 2, a battery and control unit 3, an electromagnet partition plate 4, a detection switch 5, an electromagnet 6, an electromagnetic coil 7, a reset spring 8, a locking stop 9, a permanent magnet 10, a locking base 11, a separated sucker sleeve 12, an air pipe 13, a pressure alarm switch 14, a sucker 15, a sucker 16, a sucker grid ring 17, a rubber retainer ring 18, an integrated vacuum generator 18, a first inner annular groove 12-1, a first inner annular groove 12-2, an air pipe hole 12-3, a second inner annular groove 12-4, a first inner annular boss 12-5, a square groove 13-1, a flexible sealing ring 13-2, a rubber ring 16-1, a positioning hole 16-2, a vent hole 17-1, the top of the rubber ring and the bottom of the rubber ring 17-2.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example 1, as shown in figures 1-6:

a magnetic force butt-joint type air suction manipulator for an unmanned aerial vehicle comprises a magnetic suction part and a sucker part, wherein the magnetic suction part consists of a sleeve cover plate 1, an integral electromagnetic sleeve 2, a battery and control unit 3, an electromagnet partition plate 4, a detection switch 5, an electromagnet 6, an electromagnetic coil 7, a reset spring 8 and a locking stop block 9; the sucking disc part consists of a permanent magnet 10, a locking base 11, a separated sucking disc sleeve 12, an air pipe 13, a pressure alarm switch 14, a sucking disc 15, a sucking disc grid ring 16, a rubber retainer ring 17 and an integrated vacuum generator 18;

the sleeve cover plate 1 is provided with internal threads, the integral electromagnetic sleeve 2 is provided with external threads, and the integral electromagnetic sleeve are connected and fastened through threads; the end shaft shoulder of the electromagnet 6 is matched with the electromagnet partition plate 4 through a hole shaft to support the electromagnet partition plate 4, a battery and a control unit 3 are arranged above the electromagnet partition plate 4, the current control unit 3 can change the current direction to change a magnetic pole to generate attraction and repulsion magnetic force, an electromagnetic coil 7 in the integral type electromagnetic sleeve 2 is connected with a locking stop block 9 through a reset spring 8, elastic movement can be realized, later-stage reset is facilitated, a detection switch 5 is arranged on the electromagnetic coil 7 to facilitate control energization, a locking base 11 is inserted into an annular groove in the locking stop block 9 in a separated type sucker sleeve 12, and the locking position can be achieved;

the separated sucker sleeve 12 is provided with a first inner annular groove 12-1, and the permanent magnet 10 is arranged in the first inner annular groove 12-1; the separated type sucking disc sleeve 12 is provided with an air pipe hole 12-2, and an air pipe 13 penetrates through the air pipe hole 12-2 and is communicated with a sucking disc vent hole 16-2 for air supply;

the separating type sucker sleeve 12 is provided with a second inner annular groove 12-3 and a first inner annular boss 12-4 which are matched and fixed with the outer annular groove, square grooves 12-5 are arranged on two sides of the separating type sucker sleeve 12 and are respectively used for placing an integrated vacuum generator 18 and a pressure alarm switch 14, the pressure alarm switch 14 is connected with the integrated vacuum generator 18 and can display pressure, and the alarm gives an alarm when the generated negative pressure is insufficient;

the sucking disc 15 is provided with a groove, the bottom of the groove is provided with a sucking disc grid ring 16 and a rubber retainer ring 17, the top of the groove is matched with one end of the air pipe 13, and the other end of the air pipe 13 is connected with a vacuum generator 18;

the sucking disc grid ring 16 is provided with 1 positioning hole 16-1 and 6 vent holes 16-2 which are uniformly distributed (annularly arranged), the rubber retainer ring 17 is umbrella-shaped, the diameter of the top 17-1 of the rubber ring is larger than the diameter of a tangent circular arc of the sucking disc grid ring 16 and the vent holes 16-2, a one-way valve is formed, the function of one-way conduction and reverse interception is achieved, and the air tightness is ensured;

the diameter of the bottom 17-2 of the rubber ring is larger than that of the positioning hole and is not tangent to the arc of the vent hole 16-2, so that the bottom 17-2 of the rubber ring cannot be separated from the sucker grid ring 16 due to suction force, and the gas flow is not influenced;

one end of the air pipe 13 is provided with a rubber ring 13-2, the upper part of the rubber ring 13-2 is provided with a flexible sealing ring 13-1, and the rubber ring 13-2 is larger than the vent hole 16-2 but smaller than the groove, so that air is pumped out of the air pipe during air pumping, and the air tightness of the sucking disc 15 during air pumping is ensured;

the other side of the integrated vacuum generator 18 is connected with an external air pump for air intake.

The magnetic suction part is fixed on the unmanned aerial vehicle through threaded connection, the sucker part is fixed on an object to be hoisted through the sucker 15, when the unmanned aerial vehicle is in butt joint, the unmanned aerial vehicle drives the magnetic suction part to be close to the sucker part, the detection switch 5 sends a working signal to the battery and control unit 3 when detecting that the working distance is smaller than the working distance but not zero, the battery and control unit 3 enables the electromagnet 6 to generate magnetic force to be attracted with the permanent magnet 10 by electrifying the electromagnetic coil 7, meanwhile, the locking base 11 extrudes the locking stop block 9 outwards from the conical head, and the magnetic force and the conical head play a role in positioning together; when the magnetic suction part and the sucker part are completely sucked, the locking stop block 9 is clamped into the annular groove of the locking base 11 to form a locking mechanism, so that the locking mechanism plays a role in fixing, the unmanned aerial vehicle tries to fly, and if the fixing is completed, the unmanned aerial vehicle hoists the object to be conveyed to a destination; if the fixing is not finished, the battery and control unit 3 energizes the electromagnetic coil 7 to generate magnetic force to attract the locking stop dog 9, so that the locking stop dog 9 exits from the annular groove, and then positioning and fixing are carried out again; when the switch 5 to be detected is detected to be greater than the working distance, the electromagnetic coil 7 is powered off, and the locking stop dog 9 is reset under the action of the reset spring 8.

Although embodiments of the present invention have been shown and described, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the principles and spirit of the present invention.

Claims

1. A magnetic force butt-joint type air suction manipulator for an unmanned aerial vehicle comprises a magnetic suction part and a sucker part connected with the magnetic suction part, and is characterized in that the magnetic suction part comprises a sleeve cover plate (1), an integral electromagnetic sleeve (2), an electromagnet (6) and a locking stop block (9), and the sucker part comprises a separated sucker sleeve (12) and a sucker (15);

the sleeve cover plate (1) is detachably connected with the integral electromagnetic sleeve (2), an electromagnet partition plate (4) is arranged inside the integral electromagnetic sleeve (2), the electromagnet partition plate (4) is connected with the electromagnet (6), a battery and a control unit (3) are arranged at the top end of the electromagnet partition plate (4), an electromagnetic coil (7) is arranged inside the integral electromagnetic sleeve (2), the electromagnetic coil (7) is elastically connected with the locking stop block (9), and the electromagnetic coil (7) is provided with a detection switch (5);

the top end of the separated sucker sleeve (12) is provided with a locking base (11) and a permanent magnet (10), one side of the separated sucker sleeve (12) is provided with an air pipe (13) and an integrated vacuum generator (18), the air pipe (13) is connected with the integrated vacuum generator (18), the bottom end of the separated sucker sleeve (12) is provided with the sucker (15), the inside of the sucker (15) is communicated with the air pipe (13) and is provided with a sucker grid ring (16), and the top end of the sucker grid ring (16) is provided with a rubber retainer ring (17);

the locking stop block (9) is inserted into the locking base (11).

2. The magnetic docking pneumatic manipulator for unmanned aerial vehicles of claim 1, characterized in that the sleeve cover plate (1) is in threaded connection with the integral electromagnetic sleeve (2).

3. The magnetic docking manipulator for unmanned aerial vehicle as claimed in claim 1, wherein the electromagnet (6) end shoulder is fitted with the electromagnet partition (4) through a hole shaft.

4. Magnetic docking type air suction manipulator for unmanned aerial vehicles according to claim 1, characterized in that the solenoid (7) is connected with the locking block (9) through a return spring (8), and the solenoid (7) is provided with a detection switch (5).

5. The magnetic docking type air suction manipulator for the unmanned aerial vehicle as claimed in claim 1, wherein the split type suction cup sleeve (12) is provided with a first inner annular groove (12-1) for installing the permanent magnet (10), one side of the split type suction cup sleeve (12) is provided with an air pipe hole (12-2), the air pipe (13) passes through the air pipe hole (12-2) and is connected with the integrated type vacuum generator (18), two sides of the split type suction cup sleeve (12) are respectively provided with a square groove (12-5), one side of the square groove (12-5) is used for placing the integrated type vacuum generator (18), the other side of the square groove (12-5) is used for placing the pressure alarm switch (14), and the pressure alarm switch (14) is connected with the integrated type vacuum generator (18).

6. A magnetic docking air suction robot for unmanned aerial vehicles according to claim 1, wherein the suction cup (15) is provided with an outer annular groove, and the split suction cup sleeve (12) is provided with a second inner annular groove (12-3), a first inner annular boss (12-4) for cooperating with the outer annular groove.

7. The magnetic docking type air suction manipulator for the unmanned aerial vehicle as claimed in claim 6, wherein the suction cup (15) is provided with a groove communicated with the air pipe (13), and the suction cup grid ring (16) and the rubber check ring (17) are arranged inside the groove.

8. The magnetic docking type air suction manipulator for the unmanned aerial vehicle as claimed in claim 7, wherein the suction cup grid ring (16) is provided with 1 positioning hole (16-1) and 6 vent holes (16-2) arranged in a ring shape, the rubber retainer ring (17) is umbrella-shaped, the rubber retainer ring (17) comprises a rubber ring top portion (17-1) and a rubber ring bottom portion (17-2), the diameter of the rubber ring top portion (17-1) is larger than that of a circular arc where the suction cup grid ring (16) is tangent to the vent holes (16-2), and the diameter of the rubber ring bottom portion (17-2) is larger than that of the positioning hole (16-1) and is not tangent to the vent holes (16-2).

9. The magnetic docking type air suction manipulator for the unmanned aerial vehicle as claimed in claim 8, wherein a rubber ring (13-2) is arranged at one end of the air pipe (13) connected with the groove, a flexible sealing ring (13-1) is arranged at the top end of the rubber ring (13-2), and the rubber ring (13-2) is larger than the vent hole (16-2) and smaller than the groove.

10. A magnetic docking manipulator for unmanned aerial vehicles according to claim 1, characterized in that the locking base (11) is provided with an annular groove for cooperating with the locking dog (9).