WO2018053974A1 - 具有攀附功能的空中机器人 - Google Patents

具有攀附功能的空中机器人 Download PDF

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Publication number
WO2018053974A1
WO2018053974A1 PCT/CN2017/000587 CN2017000587W WO2018053974A1 WO 2018053974 A1 WO2018053974 A1 WO 2018053974A1 CN 2017000587 W CN2017000587 W CN 2017000587W WO 2018053974 A1 WO2018053974 A1 WO 2018053974A1
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WIPO (PCT)
Prior art keywords
climbing
flight platform
platform
aerial robot
flight
Prior art date
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PCT/CN2017/000587
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English (en)
French (fr)
Inventor
陈志石
陈博
Original Assignee
珠海天空速递有限公司
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Publication of WO2018053974A1 publication Critical patent/WO2018053974A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors

Definitions

  • the present invention relates to the field of robots, and more particularly to an aerial robot with a climbing function capable of climbing in the air for various operations.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an airborne robot with a climbing function with simple structure, good stability, safety and reliability.
  • the present invention comprises a flight platform, a climbing component, an identification device and an operating system, and the flight platform is assembled by at least one aircraft, the aircraft is protected by a protective cover and a collision avoidance.
  • An air bag and a plurality of rotors are disposed.
  • the flying platform is respectively provided with a hanging point on the upper and lower sides, and the climbing component and the operating system are respectively disposed on the hanging point, and the flying platform is controlled by a ground flight control device.
  • the climbing component, the identification device and the operating system are all electrically connected to a control portion on the flight platform, the flight platform providing a lift greater than a device mounted on the hook point and the The sum of the gravity of the flight platform itself.
  • the flying platform of the present invention provides lift, and the entire robot can be attached to the surface of the working object through the climbing component, which greatly increases the stability of the robot and enhances the safety; in addition, the identification device can quickly Identifying the environment around the work object, changing the work path and direction of the robot according to the surrounding environment, and improving work efficiency; further, the flight platform provides lift greater than the equipment hung on the hung point and the flight The sum of the gravity of the platform itself ensures that the number of corresponding aircraft can be set according to the overall weight of the robot to ensure the safety of the flight.
  • the climbing component includes a first robot arm and a setting connected to the hook point a climbing device at the movable end of the first robot arm, the butt climbing device including but not limited to a magnetic chuck, a vacuum chuck or a mechanical jaw, the first robot arm and the climbing device being both on the flight platform Control part of the electrical signal connection.
  • the flexibility of the first mechanical arm can ensure that the flight platform can smoothly adhere to the surface of the working object, and can adapt to various environments, and the adaptability is strong, and
  • the climbing device can adopt magnetic suction cups, vacuum suction cups or mechanical jaws, etc., further increasing its applicability.
  • a magnetic suction cup can be used as a climbing device to directly adsorb the metal surface by magnetic force;
  • the vacuum chuck can be used to adsorb on the surface of the smooth object, and when it is in the air with the protruding hanging piece, the mechanical jaw can be used to clamp the hanging piece and then work.
  • the number of the climbing devices is set according to the gravity of the entire aerial robot and the climbing force that the climbing device itself can provide.
  • the scale of the flight platform is set according to the specific working environment.
  • the carried operating system is heavy, the number of aircraft that need to be added is large, and the lifting force is also large, and the weight of the entire robot is large at this time.
  • the required climbing devices are also increased; in short, the climbing force provided by the climbing device can overcome the gravity of the entire robot.
  • the identification device includes, but is not limited to, a camera device, a radar, an infrared sensor, or a photosensor. It can be seen that the selection of the identification device is wide and can be determined according to the specific working environment.
  • a second robot arm is further disposed on the hooking point on the lower side of the flight platform, and the second robot arm is electrically connected to the control portion of the flight platform, and the operating system is disposed in the At the active end of the second robot arm.
  • the operating system includes, but is not limited to, a rust removing device, a cleaning device, a spraying device, a painting device, a welding device, a gripper, a cutting device, a detecting device, a camera device, or a measuring device. Set. It can be seen that there is no limit to the choice of the operating system. As long as it is used at high altitude, the flight platform can be used to form an aerial working robot with different functions.
  • the flight platform is formed by horizontally arranging the aircraft and connected by a connecting rod; or the flight platform is vertically arranged by a plurality of the aircraft and hooked up and down through the hanging point. Or alternatively, the flight platform is formed by a plurality of the aircraft vertically arranged in groups and then connected horizontally by connecting rods having a plurality of rows and a plurality of rows of the aircraft.
  • the construction method of the flight platform can be in various forms, and its main purpose is to form a flight platform, have the ability to fly, and facilitate the operation in different environments, depending on the specific situation. And set.
  • the power of the entire aerial robot is provided by a power supply cable connected to the ground power source, or provided for a secondary battery pack disposed on the flight platform, or provided for a gasoline engine disposed on the flight platform, or Provided for a hybrid electric power source disposed on the flight platform.
  • the power of the aerial robot can be provided in many different forms, which are determined according to actual conditions and environmental protection requirements.
  • the electric drive method is relatively economical and environmentally friendly.
  • FIG. 1 is a schematic view showing a simplified structure of a first angle of view of a first structure of the present invention
  • Figure 2 is a simplified schematic view of a second perspective of the first structure of the present invention.
  • Figure 3 is a simplified schematic view showing the first perspective of the second structure of the present invention.
  • Figure 4 is a simplified schematic view showing a second perspective of the second structure of the present invention.
  • Figure 5 is a simplified schematic view showing the first perspective of the third structure of the present invention.
  • Figure 6 is a simplified schematic view showing a second perspective of the third structure of the present invention.
  • Figure 7 is a schematic view showing a simple structure of the protective cover
  • Figure 8 is a cross-sectional view taken along line B-B of Figure 7;
  • Figure 9 is a schematic view showing the structure of the connecting frame between the protective covers.
  • Figure 10 is a cross-sectional view taken along line C-C of Figure 9;
  • Figure 11 is a simplified schematic view showing the plan view angle of the fourth structure of the present invention.
  • Fig. 12 is a view showing a simplified structure of a plan view angle of a fifth structure of the present invention.
  • the present invention includes a flight platform 1, a climbing component 2, an identification device 3, and an operating system 4, which are assembled by at least one aircraft, which is composed of a protective cover 11 , an anti-collision air bag 12 , and a plurality of rotors 13 .
  • the flying platform 1 is respectively provided with a hanging point 5 , and the climbing component 2 and the working system 4 are disposed on the mounting point 5 .
  • the flight platform 1 is controlled by a flight control device on the ground, and the climbing component 2, the identification device 3 and the operating system 4 are all electrically connected to a control portion on the flight platform 1, and the flight platform provides The lift is greater than the sum of the gravity of the equipment hung on the hitch point 5 and the flight platform itself.
  • the climbing component includes a first robot arm 6 connected to the hitch point 5 and a climbing device 7 disposed at a movable end of the first robot arm 6, the climbing device 7 including but not limited to a magnetic chuck, a vacuum chuck Or a mechanical gripper, the magnetic chuck is an electromagnetic force sucker, when the power is applied, the suction force is effective, and when the power is cut off, the suction force is invalid; the vacuum suction cup is also controlled by an electronically controlled vacuum suction device, and in the case of electrification,
  • the vacuum chuck has an adsorption function, and in the case of power failure, the suction function of the vacuum chuck fails; and the mechanical jaw can be integrally formed with the first robot arm, and can be stably fixed in the air by using the mechanical jaws.
  • Both the first robot arm 6 and the climbing device 7 are electrically connected to a control portion on the flight platform.
  • the selection of the climbing device 7 depends on the actual operating conditions. If working on the surface of the metal body, the magnetic suction cup can be used as the climbing device to directly adsorb the surface of the metal body by magnetic force; and when working on the surface of a smooth object such as a glass curtain wall, the vacuum suction cup can be used to adsorb on the surface of the smooth object and then work; When there are prominent hanging members in the air such as thick cables, tree poles or poles on the outer wall of a building, the mechanical jaws can be used to clamp the hanging members and then work.
  • the number of the climbing devices 7 is set according to the gravity of the entire aerial robot and the climbing force that the climbing device 7 itself can provide. If the weight of the hung operating system is large, and the weight of the entire robot is large, a plurality of climbing devices may be provided for the climbing operation.
  • the flight platform 1 is formed by a plurality of said aircraft horizontally arranged and connected by a connecting rod 9.
  • the flight platform 1 is formed by a plurality of the aircraft vertically arranged and hooked up and down by the attachment point 5.
  • the flight platform 1 is vertically arranged into a plurality of groups by a plurality of said aircrafts.
  • the connecting rods 9 are horizontally connected, and the flying platform has several rows and a plurality of rows of the aircraft. It can be seen that the construction method of the flight platform can be in various forms, and its main purpose is to form a flight platform, have the ability to fly, and facilitate the operation in different environments, depending on the specific situation. And set.
  • the identification device 3 includes, but is not limited to, an imaging device, a radar, an infrared sensor, or a photoelectric sensor.
  • the identification of the surrounding environment by the identification device not only facilitates the climbing operation of the climbing device, but also facilitates the control of the operating system by the ground control system, and at the same time controls the flight of the flight platform, thereby facilitating the path of improving the work efficiency and the quality of the work. Guarantee the quality and efficiency of the work.
  • a second mechanical arm 8 is further disposed on the lower attachment point of the flight platform 1, and the second mechanical arm 8 is electrically connected to a control portion of the flight platform 1, and the operating system 4 is disposed at the At the active end of the second robot arm 8.
  • the operating system 4 includes, but is not limited to, a descaling device, a cleaning device, a spraying device, a painting device, a welding device, a gripper, a cutting device, a detecting device, a camera device, or a measuring device.
  • a descaling device a cleaning device, a spraying device, a painting device, a welding device, a gripper, a cutting device, a detecting device, a camera device, or a measuring device.
  • the imaging aerial robot using the climbing component can be stabilized at one place for a long time, and the video clarity produced by the imaging device is better than that of the prior art. It also greatly reduces the occurrence of jitter.
  • the first mechanical arm and the second mechanical arm are both multi-segment mechanical arms, which are purchased according to actual needs.
  • the power of the entire aerial robot is provided by a power supply cable 10 connected to a ground power source, or provided for a secondary battery pack disposed on the flight platform 1, or for a gasoline engine disposed on the flight platform 1, Or provided for a hybrid electric power source provided on the flight platform 1.
  • the power of airborne robots can be provided in a variety of different forms, depending on the actual situation and environmental requirements. For now, the use of electric drive is more economical and environmentally friendly.
  • the invention is applicable to the field of robotics.

Abstract

一种具有攀附功能的空中机器人，包括飞行平台(1)、攀附部件(2)、识别装置(3)及作业系统(4)，飞行平台(1)由至少一台飞行器可积木式地组合而成，飞行器由保护罩(11)、防撞气囊(12)、若干旋翼(13)组成，飞行平台(1)的上下方分别设置有挂接点(5)，攀附部件(2)及作业系统(4)均设置在挂接点(5)上，飞行平台(1)由地面的飞控装置控制，攀附部件(2)、识别装置(3)及作业系统(4)均与飞行平台(1)上的控制部分电信号连接。

Description

具有攀附功能的空中机器人 技术领域
本发明涉及机器人领域，尤其涉及一种能够攀附在空中进行各种作业的具有攀附功能的空中机器人。
背景技术
随着无人机技术的发展将更多的机器人代替人进行空中作业工作，但在空中作业过程中由于无人机续航时间短及气流的影响，如在空中进行的喷涂、彩绘、焊接、切割、清洁、探查等作业中会晃动不稳定，严重影响作业质量，也存在极大的安全隐患。如能设计一种能够攀附于作业对象表面上使机器人明显提升稳定性的方案，则能很好地解决上述问题。
发明内容
本发明所要解决的技术问题是克服现有技术的不足，提供一种结构简单、稳定性好、安全可靠的具有攀附功能的空中机器人。
本发明所采用的技术方案是：本发明包括飞行平台、攀附部件、识别装置及作业系统，所述飞行平台由至少一台飞行器可积木式地组合而成，所述飞行器由保护罩、防撞气囊、若干旋翼组成，所述飞行平台的上下方分别设置有挂接点，所述攀附部件及所述作业系统均设置在所述挂接点上，所述飞行平台由地面的飞控装置控制，所述攀附部件、所述识别装置及所述作业系统均与所述飞行平台上的控制部分电信号连接，所述飞行平台提供的升力大于挂设于所述挂接点上挂设的设备与所述飞行平台自身的重力之和。
上述方案可见，本发明中的飞行平台提供升力，通过攀附部件可将整个机器人攀附在作业对象表面上，大大地增加了机器人的稳定性，也增强了安全性；另外，通过识别装置能够快速地识别作业对象周围的环境，根据周围环境的情况改变机器人的作业路径和走向，提高作业效率；此外，所述飞行平台提供的升力大于挂设于所述挂接点上挂设的设备与所述飞行平台自身的重力之和，这保证了根据机器人的整体重量可设置相应的飞行器的数量，保证飞行的安全性。
进一步地，所述攀附部件包括与所述挂接点相连接的第一机械臂和设置 在所述第一机械臂的活动端的攀附装置，所述攀附装置包括但不限于磁力吸盘、真空吸盘或机械夹爪，所述第一机械臂与所述攀附装置均与所述飞行平台上的控制部分电信号连接。
上述方案可见，通过第一机械臂的设置，利用第一机械臂的灵活性能够保证飞行平台能够平稳地攀附于作业对象的表面上，且能够适应各种不同的环境，其适应性强，且攀附装置根据不同的环境，可采用磁力吸盘、真空吸盘或机械夹爪等，进一步增加了其适用性，如在金属表面作业，可采用磁力吸盘作为攀附装置通过磁力直接吸附与金属表面；又如在光滑物体表面进行作业时，可采用真空吸盘吸附在光滑物体表面上再进行作业；而处于在空中具有突出的吊挂件时，则可采用机械夹爪夹紧吊挂件再进行作业。
再进一步地，所述攀附装置的数目根据整个所述空中机器人的重力及所述攀附装置自身能够提供的攀附力而设置。
上述方案可见，根据具体的作业环境设置飞行平台的规模，当携带的作业系统较重时，需要加入的飞行器的数量就较多，其提升力也较大，此时整个机器人的重量就较大，需要的攀附装置也增加；总之以攀附装置提供的攀附力能够克服整个机器人的重力为准。
又进一步地，所述识别装置包括但不限于摄像装置、雷达、红外传感器或光电传感器。由此可见，识别装置的选择较广，可根据具体的作业环境而定。
再又进一步地，在所述飞行平台下侧的挂接点上还设置有第二机械臂，所述第二机械臂与所述飞行平台的控制部分电信号连接，所述作业系统设置在所述第二机械臂的活动端处。
上述方案可见，通过第二机械臂的设置，在其活动端设置相应的作业系统，利用第二机械臂的灵活性，也增加了作业系统的适应性，使得作业系统能够适用于更多不同的场合，攀附点与作业距离较远的情况，通过所述第二机械臂能容易地达到作业地点。
更进一步地，所述作业系统包括但不限于除锈装置、清洁装置、喷涂装置、彩绘装置、焊接装置、抓手、切割装置、探测装置、摄像装置或测量装 置。由此可见，作业系统的选择没有限制，只要是用到位于高空作业的，均可采用本飞行平台，进而组成具有不同功能的空中作业机器人。
再更进一步地，所述飞行平台由若于所述飞行器水平排列并通过连接杆连接而成；或者，所述飞行平台由若干所述飞行器竖直排列并通过所述挂接点上下挂接而成；又或者，所述飞行平台由若干所述飞行器竖直排列成若干组再通过连接杆水平连接而成，该飞行平台具有若干排以及若干列所述飞行器。
上述方案可见，飞行平台的搭建方式可有各种各样的形式，其主要目的在于既形成了飞行平台，具备飞行的能力，又便于在不同的环境中进行作业，其具体方式可根据具体情况而设定。
此外，整个所述空中机器人的动力由与地面电源连接的供电电缆提供，或为设置在所述飞行平台上的二次电池组提供，或为设置在所述飞行平台上的汽油发动机提供，或为设置在所述飞行平台上的油电混合动力源提供。
上述方案可见，空中机器人的动力可有多种不同的提供形式，其根据实际情况和环保要求而定，就目前而言，采用电驱动的方式是比较经济和环保的。
附图说明
图1是本发明的第一种结构的第一视角的简易结构示意图；
图2是本发明的第一种结构的第二视角的简易结构示意图；
图3是本发明的第二种结构的第一视角的简易结构示意图；
图4是本发明的第二种结构的第二视角的简易结构示意图；
图5是本发明的第三种结构的第一视角的简易结构示意图；
图6是本发明的第三种结构的第二视角的简易结构示意图；
图7是所述保护罩的俯视角度的简易结构示意图；
图8是图7中B-B方向的剖视图；
图9是所述保护罩之间的连接架的简易结构示意图；
图10是图9中C-C方向的剖视图；
图11是本发明的第四种结构的俯视角度的简易结构示意图；
图12是本发明的第五种结构的俯视角度的简易结构示意图。
具体实施方式
如图1至图12所示，本发明包括飞行平台1、攀附部件2、识别装置3及作业系统4，所述飞行平台1由至少一台飞行器可积木式地组合而成，所述飞行器由保护罩11、防撞气囊12、若干旋翼13组成，所述飞行平台1的上下方分别设置有挂接点5，所述攀附部件2及所述作业系统4均设置在所述挂接点5上，所述飞行平台1由地面的飞控装置控制，所述攀附部件2、所述识别装置3及所述作业系统4均与所述飞行平台1上的控制部分电信号连接，所述飞行平台提供的升力大于挂设于所述挂接点5上挂设的设备与所述飞行平台自身的重力之和。所述攀附部件包括与所述挂接点5相连接的第一机械臂6和设置在所述第一机械臂6的活动端的攀附装置7，所述攀附装置7包括但不限于磁力吸盘、真空吸盘或机械夹爪，所述磁力吸盘为电磁力吸盘，当通电时，其吸力有效，当断电时，其吸力失效；真空吸盘同样采用电控真空吸装置进行控制，在通电的情况下，所述真空吸盘具有吸附功能，在断电的情况下，所述真空吸盘的吸附功能失效；而机械夹爪可与所述第一机械臂一体成型，利用机械夹爪能够稳定地固定于空中某处进行作业。所述第一机械臂6与所述攀附装置7均与所述飞行平台上的控制部分电信号连接。所述攀附装置7的选择根据实际的作业情况而定。如在金属体表面作业，可采用磁力吸盘作为攀附装置通过磁力直接吸附与金属体表面；又如在光滑物体如玻璃幕墙表面进行作业时，可采用真空吸盘吸附在光滑物体表面上再进行作业；而处于在空中具有突出的吊挂件如粗电缆、树杆或建筑物外墙上的杆体时，则可采用机械夹爪夹紧吊挂件再进行作业。而所述攀附装置7的数目根据整个所述空中机器人的重力及所述攀附装置7自身能够提供的攀附力而设置。如挂设的作业系统的重量较大，造成整个机器人的重量较大时，可设置多个攀附装置进行攀附作业。
所述飞行平台1由若干所述飞行器水平排列并通过连接杆9连接而成。或者，所述飞行平台1由若干所述飞行器竖直排列并通过所述挂接点5上下挂接而成。又或者，所述飞行平台1由若干所述飞行器竖直排列成若干组再 通过连接杆9水平连接而成，该飞行平台具有若干排以及若干列所述飞行器。由此可见，飞行平台的搭建方式可有各种各样的形式，其主要目的在于既形成了飞行平台，具备飞行的能力，又便于在不同的环境中进行作业，其具体方式可根据具体情况而设定。
所述识别装置3包括但不限于摄像装置、雷达、红外传感器或光电传感器。通过识别装置进行周围环境的识别，既便于攀附装置的攀附作业，也便于地面控制系统对作业系统的控制，同时对飞行平台的飞行进行控制，使其便于提高作业效率和作业质量的路径行进，保证作业质量和效率。在所述飞行平台1下侧的挂接点上还设置有第二机械臂8，所述第二机械臂8与所述飞行平台1的控制部分电信号连接，所述作业系统4设置在所述第二机械臂8的活动端处。所述作业系统4包括但不限于除锈装置、清洁装置、喷涂装置、彩绘装置、焊接装置、抓手、切割装置、探测装置、摄像装置或测量装置。作为进来比较热门的视频制作，摄像装置作为作业系统时，采用了所述攀附部件的摄像空中机器人能够长时间地稳定在一个地点，与现有技术相比，其制作的视频清晰度更好，也大大地减少了抖动的发生。在本实施例中，所述第一机械臂和所述第二机械臂均为多节段式机械臂，根据实际需要外购而得。
整个所述空中机器人的动力由与地面电源连接的供电电缆10提供，或为设置在所述飞行平台1上的二次电池组提供，或为设置在所述飞行平台1上的汽油发动机提供，或为设置在所述飞行平台1上的油电混合动力源提供。空中机器人的动力可有多种不同的提供形式，其根据实际情况和环保要求而定，就目前而言，采用电驱动的方式是比较经济和环保的。
本发明可应用于机器人领域。

Claims (10)

  1. 一种具有攀附功能的空中机器人，其特征在于：它包括飞行平台(1)、攀附部件(2)、识别装置(3)及作业系统(4)，所述飞行平台(1)由至少一台飞行器可积木式地组合而成，所述飞行器由保护罩(11)、防撞气囊(12)、若干旋翼(13)组成，所述飞行平台(1)的上下方分别设置有挂接点(5)，所述攀附部件(2)及所述作业系统(4)均设置在所述挂接点(5)上，所述飞行平台(1)由地面的飞控装置控制，所述攀附部件(2)、所述识别装置(3)及所述作业系统(4)均与所述飞行平台(1)上的控制部分电信号连接，所述飞行平台提供的升力大于挂设于所述挂接点(5)上挂设的设备与所述飞行平台自身的重力之和。
  2. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：所述攀附部件包括与所述挂接点(5)相连接的第一机械臂(6)和设置在所述第一机械臂(6)的活动端的攀附装置(7)，所述攀附装置(7)包括但不限于磁力吸盘、真空吸盘或机械夹爪，所述第一机械臂(6)与所述攀附装置(7)均与所述飞行平台上的控制部分电信号连接。
  3. 根据权利要求2所述的具有攀附功能的空中机器人，其特征在于：所述攀附装置(7)的数目根据整个所述空中机器人的重力及所述攀附装置(7)自身能够提供的攀附力而设置。
  4. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：所述识别装置(3)包括但不限于摄像装置、雷达、红外传感器或光电传感器。
  5. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：在所述飞行平台(1)下侧的挂接点上还设置有第二机械臂(8)，所述第二机械臂(8)与所述飞行平台(1)的控制部分电信号连接，所述作业系统(4)设置在所述第二机械臂(8)的活动端处。
  6. 根据权利要求1或5所述的具有攀附功能的空中机器人，其特征在于：所述作业系统(4)包括但不限于除锈装置、清洁装置、喷涂装置、彩绘装置、焊接装置、抓手、切割装置、探测装置、摄像装置或测量装置。
  7. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：所述飞行平台(1)由若干所述飞行器水平排列并通过连接杆(9)连接而成。
  8. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：所述飞行平台(1)由若干所述飞行器竖直排列并通过所述挂接点(5)上下挂接而成。
  9. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：所述飞行平台(1)由若干所述飞行器竖直排列成若干组再通过连接杆(9)水平连接而成，该飞行平台具有若干排以及若干列所述飞行器。
  10. 根据权利要求1所述的具有攀附功能的空中机器人，其特征在于：整个所述空中机器人的动力由与地面电源连接的供电电缆(10)提供，或为设置在所述飞行平台(1)上的二次电池组提供，或为设置在所述飞行平台(1)上的汽油发动机提供，或为设置在所述飞行平台(1)上的油电混合动力源提供。
PCT/CN2017/000587 2016-09-21 2017-09-20 具有攀附功能的空中机器人 WO2018053974A1 (zh)

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