Release device based on aircraft

Abstract

The utility model provides a release device based on an aircraft, the release device is used for placing a target object, the release device comprises a main control module, the aircraft and a magnetic module, the magnetic module comprises a main body part and a connecting part; the main body part is movably connected to the aircraft and / or the main control module and can move in the axial direction of the aircraft; the connecting part is fixedly assembled on a target object; the main body part is magnetically connected with the connecting part; the main body part is provided with a switch piece, and the main control module is connected to the main body part; when the connecting part and the main body part are in a first preset state, the switch part is in a non-triggered state, and the main control module can be used for electrifying the main body part; and when the connecting part and the main body part are in a second preset state, the switch piece is in a trigger state and sends a trigger signal to the main control module, and the main control module powers off the main body part based on the trigger signal. The device can be applied to a high-altitude area, has no potential safety hazard, can realize quick separation of a target object, is wide in applicability, and can also realize impact-free light release.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a release device based on an aircraft. Background Art

[0002] In traditional power engineering, the placement of special operation robots in high-altitude transportation scenes usually requires operators to use insulated boom trucks or engineering scaffolding to hang special devices on high-voltage cables. Specifically, the operator needs to park the insulated boom truck in a suitable position directly below the cable. After making insulation preparations, the mounting operator carries the power special operation robot, the boom truck operator operates the insulated boom truck to lift it to the predetermined position, and then the mounting operator manually hangs the power special operation robot on the cable. In this process, the operator needs to pay attention to safety and avoid touching the high-voltage cables to avoid danger. Because the operator needs to work at high altitude and needs to come into contact with high-voltage cables. The traditional robot online method has certain safety hazards. At the same time, because the operator works at high altitude, it needs to perform complex operations, such as moving and mounting, which is difficult to operate and has low online efficiency. In addition, the traditional robot online method requires a large space and is generally only suitable for specific scenarios. It has high requirements for the working environment, especially the ground platform and basic working area, and its applicability is poor. Utility Model Content

[0003] The technical purpose of the utility model is to provide a release device based on an aircraft, aiming to solve the technical problems in the related technology that the robot placement method has certain safety hazards, great difficulty in operation, low efficiency and poor applicability.

[0004] To solve the above technical problems, the utility model is implemented as follows: a release device based on an aircraft, used for placing a target object, the release device comprising: a main control module, an aircraft and a magnetic module, the magnetic module comprising a main body and a connecting part; the main body is movably connected to the aircraft and / or the main control module, and can move along the axial direction of the aircraft; the connecting part is fixedly assembled on the target object; the main body and the connecting part can be magnetically connected; the main body is provided with a switch component, and the main control module is connected to the main body; when the connecting part and the main body are in a first preset state, the switch component is in an untriggered state, and the main control module can be used to power on the main body; when the connecting part and the main body are in a second preset state, the switch component is in a triggered state, the switch component sends a trigger signal to the main control module, and the main control module powers off the main body based on the trigger signal.

[0005] Further, the main body includes a movable plate and a first fixing member, the first fixing member is used to connect the connecting part, and the movable plate is located on the side of the first fixing member away from the connecting part; the switch member is arranged between the movable plate and the first fixing member, and the movable plate can be movably connected to the first fixing member along the axial direction of the aircraft so that the movable plate and the first fixing member are in contact, fit or separated; when the movable plate is separated from the first fixing member, the switch member is in an untriggered state; when the movable plate is in contact with the first fixing member, the switch member is in a triggered state.

[0006] Furthermore, the side of the first fixing member facing away from the movable plate is used to carry the target object; the aircraft and / or the main control module are fixedly equipped with a winding drive source, the main control module also includes a control module, and the winding drive source is electrically connected to the control module; a pulley is provided on the side of the movable plate facing away from the first fixing member, and the releasing device also includes a suspension wire, the suspension wire passes through the pulley, and both ends of the suspension wire are fixed to the winding drive source.

[0007] Furthermore, the release device also includes a second fixing member and a fixed shaft, the second fixing member is located on the side of the movable plate away from the first fixing member, and the second fixing member is fixedly assembled with the first fixing member through the fixed shaft, the movable plate is movably connected between the first fixing member and the second fixing member, and can move along the axial direction of the aircraft.

[0008] Furthermore, the release device further comprises an elastic member, one end of the elastic member abuts against the movable plate and the other end of the elastic member abuts against the second fixing member, and the elastic member is used to provide an elastic force for moving the movable plate toward the first fixing member.

[0009] Furthermore, the movable plate is provided with a through hole extending along the axial direction of the aircraft, the fixed shaft is passed through the through hole, and along the radial direction of the through hole, there is a gap between the fixed shaft and the through hole.

[0010] Furthermore, the switch element includes a micro switch, and the micro switch can be connected or disconnected with the main control module; when the micro switch is disconnected from the main control module, the switch element is in an untriggered state; when the micro switch is connected with the main control module, the switch element is in a triggered state.

[0011] Further, the micro switch is arranged on the side of the movable plate facing the first fixing part, the movable plate is provided with a connection end connected to the main control module, and the connection end can be disconnected from or connected to the micro switch; and / or, the micro switch is arranged on the side of the first fixing part facing the movable plate, the first fixing part is provided with a connection end connected to the main control module, and the connection end can be disconnected from or connected to the main control module.

[0012] Furthermore, the main control module forms a main circuit for connecting the micro switches; the release device includes n micro switches arranged on the main body at a preset interval, wherein n is a positive integer; when n is 2, two micro switches are arranged in series for connection to the main circuit; when n>2, i micro switches are arranged in parallel to form a parallel circuit, wherein i is a positive integer and i<n; n micro switches form multiple parallel circuits, and the values ​​of i for different parallel circuits may be the same or different; multiple parallel circuits are sequentially arranged in series to form a combination circuit, and the combination circuit is used to connect the main circuit.

[0013] Furthermore, the switch component includes a pressure sensor electrically connected to the main control module, and when the pressure value of the pressure sensor is greater than a preset threshold value, the switch component is in a triggered state; the pressure sensor is arranged on a side of the movable plate facing the first fixed component, and / or the pressure sensor is arranged on a side of the first fixed component facing the movable plate.

[0014] In the utility model, a release device based on an aircraft has the following beneficial effects compared with the related art:

[0015] When the main body and the connecting part are magnetically connected, and the aircraft drives the main body and the connecting part to fly in the air (such as the process of transporting the target object), the main body and the connecting part are in an untriggered state, at which time the switch is in an untriggered state, and the main control module can be used to energize the main body so that the main body can continue to be magnetically connected to the connecting part. When the main body and the connecting part are not connected, or the aircraft places the target object at the target position, and the main body and the connecting part are also placed at the target position, the main body and the connecting part are in a second preset state, and at this time the switch is in a triggered state. When the main body and the connecting part are not connected, that is, when the target object is not carried, after the main control module receives the corresponding signal of the switch, the main control module does not energize the switch based on the corresponding signal; when the aircraft places the target object at the target position, and the main body and the connecting part are also placed at the target position, after the main control module receives the corresponding signal of the switch, the main control module stops energizing the main body based on the corresponding signal, so that the main body is in a power-off state, so that the main body and the connecting part are no longer in a magnetic connection relationship, and the two are in a separable state. At this time, the main control module controls the main body to move away from the connection part, and can take the main body away from the connection part. The main control module then controls the aircraft to drive the main body to fly away from the target position, and the target object can be automatically placed. And the target object can be placed at any position, such as in a high-altitude area, without the need for operators to work at high altitudes, and there is no personal safety hazard. At the same time, because the main body and the connection part are fixedly connected by magnetic attraction, the target object can be quickly detached, and the detachment process is smooth and unobstructed, which improves the placement efficiency; and the volume is small, the impact on the target object is small, and the applicability is wide.

[0016] In the utility model, the state of the switch can be changed according to the different states of the main body, the connecting part and the target position, so that the control action of the main control module can be changed. In the process of transporting the target item, the main control module always energizes the main body, and the main body and the connecting part are always in a state of magnetic connection, and the two will never separate. Only when the target item is placed at the target position will the main control module receive the signal of the switch, and the main control module will control to stop energizing the main body, and the main body and the connecting part will separate, so that accurate placement can be achieved, and the target item will not be separated midway. In addition, in the process of placing the target item at the target position, the main control module can control the main body to drive the connecting part and the target item to slowly move down to the target position, so that the target item can be "gently placed" at the target position, so that impact-free and gentle placement can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For those skilled in the art, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the main body in the embodiment of the utility model;

[0019] Figure 2 It is a side view of the main body in the embodiment of the utility model;

[0020] Figure 3 is a top view of the first fixing member in the embodiment of the utility model;

[0021] Figure 4 is a schematic diagram of the connection relationship between the connecting portion and the target object in an embodiment of the utility model;

[0022] Figure 5 It is a schematic diagram of the process of the grabbing device grabbing the target object in the embodiment of the utility model;

[0023] Figure 6 It is a circuit schematic diagram of micro switch signal coupling in the embodiment of the utility model.

[0024] In the accompanying drawings, each figure mark represents: 1. main control module; 2. aircraft; 3. magnetic attraction module; 31. main body; 311. electromagnet; 312. movable plate; 3121. pulley; 313. first fixing member; 314. second fixing member; 315. fixed shaft; 32. connecting part; 4. switch member; 5. elastic member; 6. suspension wire; 7. multi-core shielded wire; 8. target object. DETAILED DESCRIPTION

[0025] The embodiments of the utility model are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the utility model, and cannot be understood as limiting the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the utility model.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "circumferential", "radial" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] See also Figure 1-6 , a release device based on an aircraft 2, used for placing a target object 8, the release device includes: a main control module 1, an aircraft 2 and a magnetic suction module 3, the magnetic suction module 3 includes a main body 31 and a connecting part 32; the main body 31 is movably connected to the aircraft 2 and / or the main control module 1, and can move along the axial direction of the aircraft 2; the connecting part 32 is fixedly assembled on the target object 8; the main body 31 and the connecting part 32 can be magnetically connected; the main body 31 is provided with a switch 4, and the main control module 1 is connected to the main body 31; when the connecting part 32 and the main body 31 are in a first preset state, the switch 4 is in an untriggered state, and the main control module 1 can be used to power on the main body 31; when the connecting part 32 and the main body 31 are in a second preset state, the switch 4 is in a triggered state, the switch 4 sends a trigger signal to the main control module 1, and the main control module 1 powers off the main body 31 based on the trigger signal.

[0029] The embodiment of the utility model is provided with a main body 31 and a connecting part 32, and also provided with a switch 4. When the main body 31 and the connecting part 32 are magnetically connected, and the aircraft 2 drives the main body 31 and the connecting part 32 to fly in the air (such as in the process of transporting the target object 8), the main body 31 and the connecting part 32 are in an untriggered state, at which time the switch 4 is in an untriggered state, and the main control module 1 can be used to energize the main body 31 so that the main body 31 can continue to be magnetically connected with the connecting part 32. When the main body 31 and the connecting part 32 are not connected, or when the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, the main body 31 and the connecting part 32 are in a second preset state, at which time the switch 4 is in a triggered state. When the main body 31 and the connecting part 32 are not connected, that is, the target object 8 is not carried, after the main control module 1 receives the corresponding signal of the switch 4, the main control module 1 does not energize the switch 4 based on the corresponding signal; when the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, after the main control module 1 receives the corresponding signal of the switch 4, the main control module 1 stops energizing the main body 31 based on the corresponding signal, so that the main body 31 is in a power-off state, so that the main body 31 and the connecting part 32 are no longer in a magnetic connection relationship, and the two are in a separable state. At this time, the main control module 1 controls the main body 31 to move away from the connecting part 32, and the main control module 1 controls the aircraft 2 to drive the main body 31 to fly away from the target position, so as to realize the automatic placement of the target object 8. And the target object 8 can be placed at any position, such as in a high-altitude area, without the need for operators to work at high altitudes, and there is no personal safety hazard. At the same time, since the main body 31 and the connecting part 32 are fixedly connected by magnetic attraction, the target object 8 can be quickly detached, and the detachment process is smooth and unobstructed, thereby improving the placement efficiency; and the volume is small, the impact on the target object 8 is small, and the applicability is wide.

[0030] Furthermore, the traditional control methods for placing objects include visual observation (such as manual observation with the help of a telescope, manual observation using remote video transmission, etc.), which is the placement of manually controlled devices; or judging the target position information through proximity sensors or position sensors such as (RTK modules, etc.) to achieve automatic placement; or using visual algorithms to automatically judge graphic analysis or using visual tags to assist in automatic positioning and placement; however, the above methods all have the risk of misjudgment due to misjudgment. It is possible that the target object 8 to be placed will be detached due to misjudgment before it reaches the target position, causing the placed target object 8 to fall, which may damage the on-site facilities in serious cases and even cause danger to surrounding personnel. In addition, due to the nature of "dropping", if the target object is directly loosened above the target point, the target object and the target point will be impacted.

[0031] In the embodiment of the utility model, the state of the switch 4 can be changed according to the different states of the main body 31, the connecting part 32 and the target position, so as to change the control action of the main control module 1. In the process of transporting the target item 8, the main control module 1 always energizes the main body 31, and the main body 31 and the connecting part 32 are always in a state of magnetic connection, and the two will never separate. Only when the target item 8 is placed at the target position, the main control module 1 will receive the signal of the switch 4, and the main control module 1 will control to stop energizing the main body 31, and the main body 31 and the connecting part 32 will separate, so that accurate placement can be achieved, and the target item 8 will not be separated in the middle. In addition, in the process of placing the target item 8 at the target position, the main control module 1 can control the main body 31 to drive the connecting part 32 and the target item 8 to slowly move down to the target position, so that the target item 8 can be "gently placed" at the target position, so that no impact and gentle placement can be achieved.

[0032] Exemplarily, the aircraft 2 may be a rotorcraft.

[0033] For example, the main body 31 includes an electromagnet 311, and the connecting part 32 includes a magnetic connecting plate assembled on the target object 8, which can be adsorbed by the electromagnet 311. The main control module 1 turns on and off the power of the main body 31, which actually turns on and off the power of the electromagnet 311. When the main body 31 and the connecting part 32 are magnetically connected, the plane of the electromagnet 311 contacts and fits the plane of the connecting plate. After the target object 8 is "gently placed" at the target position, the switch 4 is in a triggered state. After receiving the trigger signal, the main control module 1 stops energizing the electromagnet 311. When the main body 31 and the connecting part 32 are in a separable state, the plane of the electromagnet 311 and the plane of the connecting plate are separated.

[0034] It is understandable that the release device of the embodiment of the utility model can be used not only for placement on high-altitude cables, but also for placement on the ground, on cable towers, on aerial work platforms, etc. At the same time, the release device of the embodiment of the utility model can be applied to fields such as power engineering, and can be used to place various types of target objects 8, such as special devices, etc., and can also be used to place other materials, including but not limited to high-voltage transformers, porcelain bottles, cross arms, cables, tools, etc.

[0035] It should be noted that operations such as the main control module 1 controlling the flight of the aircraft 2 and the main control module 1 controlling the main body 31 to move downward to the target position or away from the connecting part 32 are all manual operations, but can be operated through the control panel or remotely by control buttons, so there is no safety hazard.

[0036] It should be noted that the embodiment of the utility model is mainly to achieve the placement of the target object 8, and for grabbing the target object 8, the main control module 1 energizes the main body 31, so that the main body 31 and the connecting part 32 are magnetically connected, thereby achieving a fixed connection. However, the specific grabbing process is not specifically limited in the embodiment of the utility model. When the switch component 4 of the embodiment of the utility model is not triggered, the main control module 1 is simply kept energized to the main body 31, which essentially does not change the control mode of the main control module 1, and does not change the connection method between the main body 31 and the connecting part 32; only when the switch component 4 is triggered, the control mode of the main control module 1 will be changed.

[0037] For further information, see Figure 1-5 The main body 31 includes a movable plate 312 and a first fixing member 313, the first fixing member 313 is used to connect the connecting portion 32, and the movable plate 312 is located on the side of the first fixing member 313 away from the connecting portion 32; the switch member 4 is arranged between the movable plate 312 and the first fixing member 313, and the movable plate 312 can be movably connected to the first fixing member 313 along the axial direction of the aircraft 2, so that the movable plate 312 and the first fixing member 313 are in contact, fit or separated; when the movable plate 312 is separated from the first fixing member 313, the switch member 4 is in an untriggered state; when the movable plate 312 is in contact with the first fixing member 313, the switch member 4 is in a triggered state.

[0038] Specifically, along the axial direction of the aircraft 2, from the main body 31 to the connecting part 32, the magnetic suction module 3 sequentially includes a movable plate 312 of the main body 31, a first fixing member 313 of the main body 31 and the connecting part 32. The movable plate 312 can move along the axial direction of the aircraft 2. When the aircraft 2 is in the process of transporting the target item 8, the movable plate 312 and the first fixing member 313 are separated, and the switch member 4 is in an untriggered state. At this time, the main body 31 and the connecting part 32 are in a magnetic connection state. When the main body 31 and the connecting part 32 are not connected, that is, when the target item 8 is not carried, the movable plate 312 moves to contact and fit with the first fixing member 313, and the switch member 4 is in a triggered state. At this time, the main control module 1 receives the corresponding signal, and the main control module 1 does not power on the main body 31. When the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, the movable plate 312 moves to contact and fit with the first fixing member 313, and the switch member 4 is in a triggered state. At this time, the main control module 1 receives a corresponding signal, and the main control module 1 controls the main body 31 to be powered off, so that the main body 31 and the connecting part 32 are in a separable state, thereby realizing automatic placement of the target object 8.

[0039] Furthermore, the side of the first fixing member 313 away from the movable plate 312 is used to carry the target item 8; the aircraft 2 and / or the main control module 1 are fixedly equipped with a winding drive source, the main control module 1 also includes a control module, and the winding drive source is electrically connected to the control module; a pulley 3121 is provided on the side of the movable plate 312 away from the first fixing member 313, and the release device also includes a suspension wire 6, the suspension wire 6 passes through the pulley 3121, and both ends of the suspension wire 6 are fixed to the winding drive source.

[0040] Specifically, the main control module 1 is fixedly mounted on the aircraft 2, and the winding drive source can be a winding motor, which can be fixedly mounted on the aircraft 2 and / or the main control module 1. The control module can control the winding motor to operate, so that the movable plate 312 can be moved axially along the aircraft 2 through the suspension wire 6 and the pulley 3121, and because the movable plate 312 is movably connected to the first fixing member 313, the movable plate 312 and the first fixing member 313 can be synchronously moved axially along the aircraft 2. In addition, the first fixing member 313 is used to carry the target object 8, the movable plate 312 is movably connected to the first fixing member 313, and the pulley 3121 is fixedly assembled on the movable plate 312. Therefore, the movable plate 312 can be affected by the force of the suspension line 6, and can also be affected by the gravity of the first fixing member 313, or the gravity of the first fixing member 313 and the target object 8; when the movable plate 312 is in a stationary state or moving at a constant speed, the force of the suspension line 6 acting on the movable plate 312 is equal to the gravity of the first fixing member 313, or the gravity of the first fixing member 313 and the target object 8.

[0041] When the first fixing member 313 carries the target object 8 and the aircraft 2 drives the main body 31 and the connecting portion 32 to fly in the air, the force acting on the movable plate 312 increases; when the first fixing member 313 does not carry the target object 8, or the target object 8 is placed at the target position and the main body 31 and the connecting portion 32 are also placed at the target position, the force acting on the movable plate 312 decreases.

[0042] Exemplarily, the main body 31 includes an electromagnet 311, the first fixing structure surrounds the circumference of the electromagnet 311, and the electromagnet 311 exposes the plane of the first fixing structure, so that the plane of the electromagnet 311 can contact the plane of the connecting plate of the fitting connecting part 32. Therefore, the first fixing member 313 can carry the target object 8 through the electromagnet 311.

[0043] Furthermore, the release device also includes a second fixing member 314 and a fixing shaft 315. The second fixing member 314 is located on the side of the movable plate 312 away from the first fixing member 313, and the second fixing member 314 is fixedly assembled with the first fixing member 313 via the fixing shaft 315. The movable plate 312 is movably connected between the first fixing member 313 and the second fixing member 314, and can move along the axial direction of the aircraft 2.

[0044] Specifically, along the axial direction of the aircraft 2, from the main body 31 to the connecting part 32, the magnetic module 3 includes, from top to bottom, the second fixing member 314 of the main body 31, the movable plate 312 of the main body 31, the first fixing member 313 of the main body 31, and the connecting part 32. The fixed shaft 315 is parallel to the axial direction of the aircraft 2, and the fixed shaft 315 is sequentially arranged in the second fixing member 314, the movable plate 312, and the first fixing member 313, and the movable plate 312 moves between the first fixing member 313 and the second fixing member 314 along the fixed shaft 315, and the first fixing member 313 and the second fixing member 314 are fixedly assembled on the fixed shaft 315.

[0045] When the aircraft 2 is in the process of transporting the target object 8, the movable plate 312 and the first fixing member 313 are separated, and the movable plate 312 moves to fit the second fixing member 314, and the switch member 4 is in an untriggered state, at which time the main body 31 and the connecting portion 32 are in a magnetic connection state. When the main body 31 and the connecting portion 32 are not connected, that is, the target object 8 is not carried, the movable plate 312 and the second fixing member 314 are separated, and the movable plate 312 moves to contact and fit the first fixing member 313, and the switch member 4 is in a triggered state, at which time the main control module 1 receives the corresponding signal, and the main control module 1 does not power on the main body 31. When the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, the movable plate 312 is separated from the second fixing member 314, and the movable plate 312 moves to contact and fit with the first fixing member 313, and the switch member 4 is in a triggered state. At this time, the main control module 1 receives a corresponding signal, and the main control module 1 controls the main body 31 to be powered off, so that the main body 31 and the connecting part 32 are in a separable state.

[0046] Therefore, when the movable panel 312 is separated from the first fixing member 313 and moves axially along the aircraft 2 in a direction away from the first fixing member 313 , the second fixing member 314 can be used to limit the movable panel 312 from further axial movement.

[0047] Furthermore, the release device further comprises an elastic member 5 , one end of the elastic member 5 abuts against the movable plate 312 and the other end of the elastic member 5 abuts against the second fixing member 314 , and the elastic member 5 is used to provide elastic force to move the movable plate 312 toward the first fixing member 313 .

[0048] Specifically, along the axial direction of the aircraft 2, from the main body 31 to the connecting portion 32, the magnetic module 3 includes, from top to bottom, the second fixing member 314 of the main body 31, the elastic member 5 sleeved on the outside of the fixing shaft 315, the movable plate 312 of the main body 31, the first fixing member 313 of the main body 31, and the connecting portion 32. Therefore, since the second fixing member 314 is fixedly assembled with the fixing shaft 315, and the movable plate 312 is in a movably connected relationship, and since one end of the elastic member 5 abuts against the movable plate 312 and the other end abuts against the second fixing member 314, the movable plate 312 is also subjected to the elastic force of the elastic member 5.

[0049] When the aircraft 2 is in the process of transporting the target object 8 and flying at a constant speed, the gravity acting on the movable plate 312 is equal to the action of the suspension line 6 on the movable plate 312. As the gravity acting on the movable plate 312 increases, that is, the action of the suspension line 6 on the movable plate 312 increases and is greater than the elastic force of the elastic member 5, the movable plate 312 is acted upon upward, so that the movable plate 312 moves upward, and the movable plate 312 and the first fixing member 313 are separated. The movable plate 312 compresses the elastic member 5 and moves toward the direction close to the second fixing member 314. The movable plate 312 will eventually contact and fit the second fixing member 314, and the switch member 4 is in an untriggered state. At this time, the main body 31 and the connecting portion 32 are in a magnetic connection state.

[0050] When the main body 31 and the connecting part 32 are not connected, that is, the target object 8 is not carried, since the gravity acting on the movable plate 312 is small, that is, the force exerted by the suspension line 6 on the movable plate 312 is small and smaller than the elastic force of the elastic member 5, the elastic member 5 returns to its original state, and the elastic member 5 provides a function to move the movable plate 312 downward, the movable plate 312 separates from the second fixing member 314, and moves in the direction of the first fixing member 313, the movable plate 312 moves to contact and fit with the first fixing member 313, and the switch member 4 is in a triggered state. At this time, the main control module 1 receives the corresponding signal, and the main control module 1 does not power on the main body 31.

[0051] When the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, the movable plate 312 is subjected to a reduced gravity force, that is, the force exerted by the suspension line 6 on the movable plate 312 is reduced and is less than the elastic force of the elastic member 5, and the elastic member 5 returns to its original state. The elastic member 5 provides a function to move the movable plate 312 downward, and the movable plate 312 separates from the second fixing member 314 and moves toward the direction of the first fixing member 313. The movable plate 312 moves to contact and fit with the first fixing member 313, and the switch member 4 is in a triggered state. At this time, the main control module 1 receives a corresponding signal, and the main control module 1 controls the main body 31 to be powered off, so that the main body 31 and the connecting part 32 are in a separable state.

[0052] Furthermore, the movable plate 312 is provided with a through hole extending along the axial direction of the aircraft 2 , and the fixed shaft 315 is passed through the through hole. Along the radial direction of the through hole, there is a gap between the fixed shaft 315 and the through hole.

[0053] Specifically, the movable plate 312 is provided with a through hole, and the radial dimension of the through hole is larger than the radial dimension of the fixed shaft 315, so that when the fixed shaft 315 is inserted into the through hole, there is a gap between the fixed shaft 315 and the through hole along the radial direction of the through hole. When the movable plate 312 moves along the axial direction of the aircraft 2 relative to the first fixing member 313 and the second fixing member 314, and when the movable plate 312 contacts the first fixing member 313, the movable plate 312 can shake, so that the fit between the movable plate 312 and the first fixing member 313 can be flexibly adjusted to prevent the movable plate 312 and the first fixing member 313 from not being completely fitted.

[0054] Furthermore, the switch element 4 includes a micro switch, which can be connected or disconnected with the main control module 1; when the micro switch is disconnected from the main control module 1, the switch element 4 is in an untriggered state; when the micro switch is connected with the main control module 1, the switch element 4 is in a triggered state.

[0055] Specifically, the switch 4 may be a micro switch. When the micro switch is disconnected from the main control module 1, the switch 4 is in an untriggered state. When the micro switch is connected to the main control module 1, the switch 4 is in a triggered state. After the main control module 1 receives the conduction signal, the main control module 1 controls not to power on the main body 31; or controls to power off the main body 31.

[0056] Further, the micro switch is arranged on the side of the movable plate 312 facing the first fixed part 313, and the movable plate 312 is provided with a connection end connected to the main control module 1, and the connection end can be disconnected or connected with the micro switch; and / or, the micro switch is arranged on the side of the first fixed part 313 facing the movable plate 312, and the first fixed part 313 is provided with a connection end connected to the main control module 1, and the connection end can be disconnected or connected.

[0057] Specifically, in some embodiments, one release device may include a plurality of switch elements 4, and the switch element 4 may be a micro switch.

[0058] In some implementations, all the micro switches are disposed on a side of the movable plate 312 facing the first fixing member 313 , and the movable plate 312 is provided with a connection end connected to the main control module 1 .

[0059] When the aircraft 2 is transporting the target object 8 and flying at a constant speed, the movable plate 312 and the first fixing member 313 are separated, and the movable plate 312 contacts and fits the second fixing member 314. Due to the gap between the movable plate 312 and the first fixing member 313, the micro switch is in an untriggered state, and the micro switch is disconnected from the main control module 1, that is, the switch member 4 is in an untriggered state. The main control module 1 can still energize the main body 31, so that the main body 31 and the connecting part 32 are always magnetically connected, so that the target object 8 will not fall off during transportation.

[0060] When the main body 31 and the connecting part 32 are not connected, that is, the target object 8 is not carried, the movable plate 312 and the second fixing member 314 are separated, and the movable plate 312 is in contact with the first fixing member 313, the micro switch and the connecting end are connected, and the micro switch is triggered, that is, the micro switch and the main control module 1 are turned on, that is, the switch element 4 is in a triggered state, and the main control module 1 receives the trigger signal at this time, and the main control module 1 does not power on the main body 31.

[0061] When the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, the movable plate 312 and the second fixing member 314 are separated, and the movable plate 312 is in contact with the first fixing member 313, the micro switch and the connecting end are connected, and the micro switch is triggered, that is, the micro switch and the main control module 1 are turned on, that is, the switch element 4 is in a triggered state. At this time, the main control module 1 receives the trigger signal, and the main control module 1 controls the main body 31 to be powered off, so that the main body 31 and the connecting part 32 are in a separable state.

[0062] In some implementations, all micro switches are arranged on the side of the first fixing member 313 facing the movable plate 312, and the first fixing member 313 is provided with a connection end connected to the main control module 1. Similarly, the micro switches can be disconnected and connected with the main control module 1 by separating or contacting the first fixing member 313 and the movable plate 312.

[0063] In some possible implementations, some micro switches are arranged on the side of the movable plate 312 facing the first fixing member 313, and some micro switches are arranged on the side of the first fixing member 313 facing the movable plate 312. Both the movable plate 312 and the first fixing member 313 are provided with connection ends connected to the main control module 1.

[0064] It should be noted that the specific setting positions and setting intervals of the multiple micro switches can be determined according to actual conditions.

[0065] It should be noted that if Figure 6As shown, the main control module 1 is formed with a main circuit for connecting the micro switch, and the main circuit includes its own control circuit and an optocoupler isolation circuit. When the micro switch is triggered, the micro switch is actually connected to the multi-core shielded wire 7, and the micro switch is connected to the optocoupler isolation circuit through the multi-core shielded wire 7, and then connected to the control circuit through the optocoupler isolation circuit. After the micro switch is triggered, the trigger signal is transmitted to the control circuit through the optocoupler isolation circuit, and the control circuit energizes the main body 31 based on the trigger signal.

[0066] Furthermore, the main control module 1 forms a main circuit for connecting the micro switches; the release device includes n micro switches arranged on the main body 31 at a preset interval, wherein n is a positive integer; when n is 2, two micro switches are arranged in series for connection to the main circuit; when n>2, i micro switches are arranged in parallel to form a parallel circuit, wherein i is a positive integer and i<n; n micro switches form multiple parallel circuits, and the values ​​of i for different parallel circuits may be the same or different; multiple parallel circuits are sequentially arranged in series to form a combination circuit, and the combination circuit is used to connect the main circuit.

[0067] In some embodiments, the release device may include two micro switches arranged at a preset interval on one side of the main body 31 toward the connecting portion 32, and the two micro switches are arranged in series and then used to connect to the main circuit of the main control module 1. The two micro switches can be arranged on the left and right sides or the front and rear sides of the movable plate 312 and / or the first fixing member 313. When the target object 8 is not placed in place or the placement is biased, when only one side of the target object 8 contacts the overhead cable, the movable plate 312 will deviate to one side, and only one side of the micro switches on both sides will be triggered. Since the micro switches on both sides are connected in series in the circuit, only the triggering of the micro switch on one side will not transmit the trigger signal to the control module. Only when the target object 8 is placed in place, the movable plate 312 and the first fixing member 313 are fully contacted and connected in place, and the two micro switches are triggered at the same time, the main control module 1 can receive the trigger signal, and the main control module 1 will cut off the power to the main body 31 according to the trigger signal, thereby further improving the accuracy of placement and achieving placement without misjudgment.

[0068] In some embodiments, the release device may include more than two micro switches arranged at a preset interval on the side of the main body 31 facing the connecting portion 32, and all the micro switches are unequally divided into multiple parts, each of which is first arranged in parallel to form multiple parallel circuits; and then the multiple parallel circuits are arranged in series to form a combination circuit. Therefore, the micro switches in the combination circuit include both series connection and parallel connection. The series switch can prevent a single switch from being accidentally touched, avoid the risk of misjudgment, and achieve precise placement; while the parallel switch can be used as a backup switch to prevent a single micro switch in the series circuit from occasionally failing to trigger properly, thereby affecting the operation of the entire combination circuit, thereby improving accuracy and reliability. Specifically, the setting positions and setting spacings of multiple micro switches can be set according to actual conditions.

[0069] For example, see Figure 6 , the four micro switches are first connected in parallel in pairs to form two parallel circuits, and then the two parallel circuits are connected in series to form a combination circuit.

[0070] Exemplarily, seven micro switches form three parallel circuits, one parallel circuit includes two micro switches arranged in parallel, one parallel circuit includes three micro switches arranged in parallel, and one parallel circuit includes two micro switches arranged in parallel; the three parallel circuits are then connected in series to form a combination circuit.

[0071] It is understandable that, in the case of more than two micro switches, all the micro switches are unequally divided into multiple parts, and if some of the parts have only one micro switch, these parts do not need to be arranged in parallel. For example, if there are three micro switches, two of them are first arranged in parallel to form a parallel circuit, and then arranged in series with the third micro switch.

[0072] Furthermore, in some embodiments, the switch element 4 includes a pressure sensor electrically connected to the main control module 1, and when the pressure value of the pressure sensor is greater than a preset threshold value, the switch element 4 is in a triggered state; the pressure sensor is arranged on the side of the movable plate 312 facing the first fixed member 313, and / or the pressure sensor is arranged on the side of the first fixed member 313 facing the movable plate 312.

[0073] Specifically, the pressure sensor may be a thin-film sensor. The pressure sensor transmits the read pressure value to the main control module 1, and the main control module 1 compares the pressure value with a preset threshold value. When the comparison result shows that the pressure value is greater than the preset threshold value, it is equivalent to that the switch 4 is triggered, and the main control module 1 cuts off the power to the main body 31 based on the comparison result. On the contrary, if the switch 4 is not triggered, the main control module 1 can continue to power on the main body 31.

[0074] In addition, the pressure sensor can be installed on the movable plate 312 or the first fixing member 313. When the movable plate 312 and the first fixing member 313 are in contact, the pressure value read by the pressure sensor is greater than the preset threshold value, and the switch member 4 is triggered. When the movable plate 312 and the first fixing member 313 are not in contact, the pressure value read by the pressure sensor does not exceed the preset threshold value, and the switch member 4 is not triggered.

[0075] Specifically, when the aircraft 2 is transporting the target object 8 and the aircraft 2 is flying at a constant speed, the movable plate 312 and the first fixing member 313 are separated. Since the movable plate 312 and the first fixing member 313 are not in contact, the pressure value measured by the pressure sensor will not exceed the preset threshold value. At this time, the switch member 4 is in an untriggered state, and the main control module 1 can still energize the main body 31, so that the main body 31 and the connecting part 32 are always magnetically connected, so that the target object 8 will not be detached during transportation.

[0076] When the main body 31 and the connecting part 32 are not connected, that is, the target object 8 is not carried, the movable plate 312 and the second fixing member 314 are separated, and the movable plate 312 is in contact with the first fixing member 313. The pressure value measured by the pressure sensor is greater than the preset threshold value, that is, the switch member 4 is triggered, and the main control module 1 does not power on the main body 31.

[0077] When the aircraft 2 places the target object 8 at the target position, and the main body 31 and the connecting part 32 are also placed at the target position, the movable plate 312 and the second fixing member 314 are separated, and the movable plate 312 is in contact with the first fixing member 313, and the main control module 1 detects that the pressure value measured by the pressure sensor is greater than the preset threshold value, that is, the switch member 4 is triggered. At this time, the main control module 1 cuts off the power to the main body 31 based on the comparison result, so that the main body 31 and the connecting part 32 are in a separable state.

[0078] In some embodiments, a plurality of pressure sensors arranged at a preset interval may be included, and all of them may be arranged on the side of the movable plate 312 facing the first fixing member 313; or all of them may be arranged on the side of the first fixing member 313 facing the movable plate 312; or, they may be partially arranged on the side of the movable plate 312 facing the first fixing member 313, and partially arranged on the side of the first fixing member 313 facing the movable plate 312. In these embodiments, the main control module 1 will only receive the pressure value read by each pressure sensor, and compare all the pressure values ​​with the preset threshold value. Only when all the comparison results show that the pressure value is greater than the preset threshold value, the main control module 1 will cut off the power supply to the main body 31, so as to achieve the placement of the target object 8, improve the accuracy of the placement, and achieve the placement without misjudgment. Specifically, the specific setting position and setting interval of the plurality of pressure sensors can be determined according to the actual situation.

[0079] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0080] The above is a description of the technical solution provided by the utility model. For technicians in this field, according to the ideas of the embodiments of the utility model, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the utility model.

Claims

1. A release device based on an aircraft, used to place a target object, characterized in that: The release device includes: a main control module, an aircraft and a magnetic suction module. The magnetic attraction module comprises a main body and a connecting part; the main body is movably connected to the aircraft and / or the main control module and can move along the axial direction of the aircraft; the connecting part is fixedly assembled to the target object; the main body and the connecting part can be magnetically connected; The main body is provided with a switch component, and the main control module is connected to the main body; When the connecting portion and the main body are in a first preset state, the switch element is in an untriggered state, and the main control module can be used to power on the main body; When the connecting portion and the main body are in a second preset state, the switch component is in a trigger state, the switch component sends a trigger signal to the main control module, and the main control module cuts off power to the main body based on the trigger signal.

2. The release device according to claim 1, characterized in that: The main body comprises a movable plate and a first fixing member, the first fixing member is used to connect the connecting portion, and the movable plate is located at a side of the first fixing member away from the connecting portion; The switch member is disposed between the movable plate and the first fixing member, and the movable plate can be movably connected to the first fixing member along the axial direction of the aircraft, so that the movable plate and the first fixing member are in contact with each other or separated; When the movable plate is separated from the first fixing member, the switch member is in an untriggered state; When the movable plate is in contact with and in contact with the first fixing member, the switch member is in a triggered state.

3. The release device according to claim 2, characterized in that: The side of the first fixing member facing away from the movable plate is used to carry the target object; The aircraft and / or the main control module is fixedly equipped with a winding drive source, the main control module further comprises a control module, and the winding drive source is electrically connected to the control module; A pulley is arranged on the side of the movable plate away from the first fixing member, and the releasing device further comprises a suspension wire, which passes through the pulley, and both ends of the suspension wire are fixed to the winding drive source.

4. The release device according to claim 2, characterized in that: The release device also includes a second fixing member and a fixing shaft, the second fixing member is located on the side of the movable plate away from the first fixing member, and the second fixing member is fixedly assembled with the first fixing member via the fixing shaft, the movable plate is movably connected between the first fixing member and the second fixing member, and can move along the axial direction of the aircraft.

5. The release device according to claim 4, characterized in that: The release device further comprises an elastic member, one end of which abuts against the movable plate and the other end of which abuts against the second fixing member, and the elastic member is used to provide an elastic force for moving the movable plate toward the first fixing member.

6. The release device according to claim 4, characterized in that: The movable plate is provided with a through hole extending along the axial direction of the aircraft, the fixed shaft is passed through the through hole, and along the radial direction of the through hole, there is a gap between the fixed shaft and the through hole.

7. The release device according to claim 2, characterized in that: The switch element comprises a micro switch, and the micro switch and the main control module can be connected or disconnected; When the micro switch is disconnected from the main control module, the switch element is in an untriggered state; When the micro switch is connected to the main control module, the switch element is in a triggered state.

8. The release device according to claim 7, characterized in that: The micro switch is arranged on a side of the movable plate facing the first fixing member, and the movable plate is provided with a connection end connected to the main control module, and the connection end can be disconnected from or connected to the micro switch; and / or, The micro switch is arranged on a side of the first fixing member facing the movable plate, and the first fixing member is provided with a connection end connected to the main control module, and the connection end can be disconnected from or connected to the main control module.

9. The release device according to claim 7, characterized in that: The main control module is formed with a main circuit for connecting the micro switch; the release device includes n micro switches arranged on the main body at a preset interval, where n is a positive integer; When n is 2, two of the micro switches are arranged in series to be connected to the main circuit; When n>2, i of the micro switches are arranged in parallel to form a parallel circuit, wherein i is a positive integer and i<n; n of the micro switches form multiple parallel circuits, and the values ​​of i in different parallel circuits may be the same or different; multiple parallel circuits are arranged in series in sequence to form a combination circuit, and the combination circuit is used to connect the main circuit.

10. The release device according to claim 2, characterized in that: The switch element includes a pressure sensor electrically connected to the main control module, and when the pressure value of the pressure sensor is greater than a preset threshold, the switch element is in a triggering state; The pressure sensor is arranged on a side of the movable plate facing the first fixing member, and / or the pressure sensor is arranged on a side of the first fixing member facing the movable plate.

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