Suspended robot, gripping device, overturning method and use method

Abstract

The present disclosure provides a suspension robot, a grabbing device, a turning method and a use method, wherein the suspension robot comprises a main body, a first hanging rope, the main body is connected at the end of the first hanging rope, a sensing assembly, the sensing assembly detects the inclination angle between the main body and the first vertical direction and the torsion angle of the first hanging rope, a control assembly, the control assembly calculates the change regression angle and the change torsion angle of the main body according to the detection data of the sensing assembly, so that the main body is righted to the initial position and the initial direction, a balance rotating assembly, the balance rotating assembly controls the main body to rotate the change torsion angle to the righting direction, and a balance swinging assembly, the balance swinging assembly controls the main body to swing the change regression angle to the righting direction. The first hanging rope is twisted to the original position by the balance rotating assembly, and the main body is returned to the first vertical direction by the balance swinging assembly, the swing caused by the inertia of the suspended object is balanced, the swing amplitude is reduced, and the suspension stability is improved.

Description

Technical Field

[0001] This disclosure relates to the field of aircraft technology, and more particularly to a suspension robot, a gripping device, a flipping method, and a method of using it. Background Technology

[0002] Currently, there are various suspension application scenarios on the market, including crane equipment hoisting and high-altitude operations. However, in actual applications, due to the inertia transmitted during the movement of the suspension robot or the influence of strong winds, the suspended object often sways during operation. In severe cases, the suspended object may slip off the first suspension rope and damage surrounding facilities. Summary of the Invention

[0003] In view of this, the purpose of this disclosure is to propose a suspension robot and a gripping device that effectively alleviates the problem of swaying of the suspended object during the suspension process.

[0004] To achieve the above objectives, this disclosure provides a suspended robot, comprising: a main body; a first suspension rope, the main body being suspended and connected to the end of the first suspension rope; a sensing component, the sensing component detecting the tilt angle between the first suspension rope and a first vertical direction and the torsion angle of the first suspension rope; a control component, the control component calculating the change return angle and change torsion angle of the main body based on the detection data of the sensing component, thereby aligning the main body to an initial position and an initial direction; a balancing rotation component, the balancing rotation component controlling the main body to rotate the change torsion angle in the alignment direction; and a balancing swing component, the balancing swing component controlling the main body to swing the change return angle in the alignment direction.

[0005] Optionally, the balancing rotation assembly includes: a balance wheel, the axis of which is collinear with the center line of the second vertical direction of the main body; and a power source, which drives the balance wheel to rotate, the rotation direction of which is opposite to the direction of the changing torsion angle.

[0006] Optionally, the main body is in a suspended state; the balancing swing assembly includes a first fan and a second fan, wherein in the suspended state, the first fan and the second fan are respectively located at one end close to the first suspension rope and one end away from the first suspension rope, and the air blowing paths of the first fan and the second fan are respectively oriented towards one side or both sides of the second vertical direction.

[0007] Optionally, the main body also has a flight state, in which the first fan and the second fan are respectively located at one end close to the first suspension rope and the other end away from the first suspension rope, and the air blowing path of the first fan and the second fan is directed towards the lower end of the first vertical direction.

[0008] Optionally, the sensing component further includes a second IMU sensor, which is disposed on the first suspension rope and is used to detect the torsion angle and tilt angle of the first suspension rope.

[0009] Optionally, in the suspended state, the first fan is located at the end closer to the first suspension rope, and the second fan is located at the end farther from the first suspension rope. When the sensing component detects that the tilt angle is greater than zero, the air volume of the first fan toward the second vertical direction is less than the air volume of the second fan toward the second vertical direction.

[0010] Optionally, in the suspended state, the first fan is located at the end closer to the first suspension rope, and the second fan is located at the end farther from the first suspension rope. When the sensing component detects that the tilt angle is greater than zero, the air volume of the first fan toward the second vertical direction is greater than the air volume of the second fan toward the opposite direction of the second vertical direction.

[0011] Optionally, the first fan includes a first sub-fan and / or a second sub-fan; the second fan includes a first sub-fan and / or a second sub-fan.

[0012] Optionally, the second IMU sensor is located at the end or the beginning of the first suspension rope.

[0013] Optionally, it also includes a flipping assembly, which includes: a slide rail extending from the end face of the body to the side face of the body, and the end of the first suspension rope having a slide block that engages in the slide rail.

[0014] Optionally, the flipping assembly further includes a drive unit and a sensor unit, the sensor unit being used to receive instructions to switch between the suspended state and the flight state, and the drive unit driving the slide block to slide in the slide rail to flip the main body.

[0015] Optionally, it may also include: a power supply system electrically connected to the balance rotation component and the balance swing component; the power supply system includes: a cable extending along the first suspension rope into the interior of the main body.

[0016] Optionally, the end face of the main body that connects to the first suspension rope has an arc-shaped structure.

[0017] This disclosure also provides a gripping device, including the aforementioned suspended robot, an aircraft for attaching the beginning of the first suspension rope, and a gripper connected to the bottom of the suspended robot.

[0018] Optionally, the gripping device further includes: a counterweight and a second suspension rope, the beginning of the second suspension rope being connected to the aircraft and the end of the second suspension rope being connected to the counterweight; the counterweight further includes a positioning hook for connecting or separating from the gripper.

[0019] This disclosure also provides a gripping method for a gripping device, applied to the aforementioned gripping device; the method includes: the gripper is connected to the positioning hook, the aircraft suspends the suspension robot and the counterweight, and the second suspension rope is tightened; the aircraft drives the suspension robot and the counterweight to fly to the lifting range of the object being lifted; the aircraft descends, the counterweight stops on the ground, and the second suspension rope is slack; the suspension robot enters flight mode, the gripper separates from the positioning hook, the suspension robot flies to the upper part of the object being lifted, and the gripper grips the object being lifted; the aircraft increases its flight altitude until the first suspension rope and the second suspension rope are tightened, and then flies to the destination of the object being lifted.

[0020] This disclosure also provides a method for flipping a suspended robot, applied to the aforementioned suspended robot, comprising: when the suspended robot is in a suspended state, a first suspension rope is connected to the upper end of the main body; a first fan at the upper end of the main body blows air to one side of the main body, and a second fan at the lower end of the main body blows air to the other side of the main body, causing the two ends of the main body to flip 90 degrees; the suspended robot enters a flight state.

[0021] Optionally, after the first fan at the upper end of the main body blows air to one side of the main body and the second fan at the lower end of the main body blows air to the other side of the main body, the system further includes: when the main body is rotated in a clockwise direction and the suspended robot enters a flight state, the first fan blows air in the direction of the rotation to the downward side.

[0022] Optionally, after the first fan at the upper end of the main body blows air to one side of the main body and the second fan at the lower end of the main body blows air to the other side of the main body, the system further includes: when the main body is rotated in a counterclockwise direction and the suspended robot enters a flight state, the first fan blows air in a direction that is rotated downwards.

[0023] This disclosure also provides a method for using a suspended robot, applied to the above-mentioned suspended robot, including: the first fan and the second fan blowing air to one side, wherein the blowing thrust is F, and the blowing time is t;

[0024] Calculate the thrust F of the first and second fans and the blowing time t:

[0025] F=k*sinθ; k=mv2 / r+mg*cosθ; t=mv / F;

[0026] Where m is the weight of the main body and the suspended object, v is the velocity of the main body and the suspended object perpendicular to the first vertical direction before the suspension robot brakes suddenly; θ is the angle between the first hoisting rope and the first vertical direction; k is the tension of the first hoisting rope; and g is the acceleration due to gravity.

[0027] As can be seen from the above, the suspension robot provided in this disclosure detects the tilt angle and the twist angle of the first suspension rope when the suspended object is tilted using a sensing component. Then, it uses a balance rotation component to twist the first suspension rope back to its original position and a balance swing component to return the main body to the first vertical direction, thereby balancing the swaying caused by the inertia of the suspended object, reducing the swaying amplitude, and improving the suspension stability. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of a suspended robot in an embodiment of this disclosure;

[0030] Figure 2 This is a schematic diagram of the internal structure of the suspended robot in an embodiment of this disclosure;

[0031] Figure 3 This is a cross-sectional schematic diagram of the suspended robot in an embodiment of this disclosure;

[0032] Figure 4 This is a cross-sectional schematic diagram of the suspended robot in an inclined state according to an embodiment of this disclosure;

[0033] Figure 5 This is a cross-sectional schematic diagram of a suspended robot according to another embodiment of the present disclosure;

[0034] Figure 6 This is a schematic diagram of the process of a grasping device according to an embodiment of the present disclosure;

[0035] Figure 7 This is a schematic diagram of the process of a grasping device according to an embodiment of the present disclosure.

[0036] Figure label:

[0037] 1. Suspended robot; 10. Main body; 20. First lifting rope; 31. First IMU sensor; 32. Second IMU sensor; 41. Balance wheel; 42. Power source; 51. First fan; 52. Second fan; 2. Grasping device; 210. Aircraft; 220. Counterweight; 221. Positioning hook; 230. Grasping hand; 240. Second lifting rope; 3. Lifted object. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0039] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] Please see Figure 1 As shown in one embodiment of this disclosure, a suspended robot 1 is provided, including a main body 10, a first suspension rope 20, a sensing component, a balance rotation component, and a balance swing component; the main body 10 is suspended and connected to the end of the first suspension rope 20; the sensing component detects the tilt angle between the first suspension rope 20 and a first vertical direction and the torsion angle of the first suspension rope 20; the control component calculates the change return angle and change torsion angle of the main body 10 based on the detection data of the sensing component, so that the main body 10 is aligned to the initial position and initial direction; the balance rotation component controls the main body 10 to rotate the change torsion angle in the alignment direction; the balance swing component controls the main body 10 to swing the change return angle in the alignment direction.

[0041] The suspension robot 1 is used to adjust the position of the suspended object. During the process of suspending and moving the suspended object, the suspended object will swing or twist in all directions under the action of inertia, which will drive the first suspension rope 20 to swing or twist in the same way. By detecting the movement mode of the first suspension rope 20, the first suspension rope 20 is adjusted back to its original position, thereby reducing the swing and twisting amplitude of the suspended object, improving the suspension stability, and avoiding entanglement and collision.

[0042] It should be noted that "alignment" of the main body 10 refers to the initial position where the centerline of the main body 10 is collinear with the first vertical direction and there is no offset, and the first suspension rope 20 is in a natural hanging state, with no twisting of the first suspension rope 20 and the main body 10. Therefore, the value of the original position is set to 0°, the value of the original angle is set to 0°, the change in torsion angle is the difference between the detected torsion angle and the zero value; the change in regression angle is the difference between the detected tilt angle and the zero value.

[0043] It should also be noted that the first vertical direction is the vertical direction of gravity. In a static state, the initial angle and initial position maintained by the suspended robot 1 and the suspended object under the action of the tension of the first suspension rope 20 and gravity are the first vertical direction.

[0044] In one embodiment of this disclosure, such as Figure 2 As shown, the balancing rotation assembly includes a balance wheel 41 and a power source 42. The axis of the balance wheel 41 is collinear with the center line of the second vertical direction of the main body 10. The power source 42 drives the balance wheel 41 to rotate, and the rotation direction of the balance wheel 41 is opposite to the direction of the change in torsion angle. By utilizing the principle of conservation of angular momentum, the rotation direction of the main body 10 is controlled, realizing the rotation of the shell, thereby solving the problem of the main body 10 actively rotating.

[0045] Specifically, when applied to gravity-assisted suspension, the axis of the balance wheel 41 is arranged along the second vertical direction, and the balance wheel 41 and the main body 10 rotate in the horizontal plane. According to the principle of conservation of angular momentum, the rotation direction of the main body 10 is opposite to the rotation direction of the balance wheel 41. If, in the calculation, clockwise rotation is set as a positive value, and the calculated change in torsion angle is 'a' (a is a positive value), then the balance wheel 41 rotates counterclockwise by an angle 'a'.

[0046] In a specific embodiment, the power source 42 is a motor.

[0047] It should be noted that in a static state, the second vertical direction of the main body 10 is collinear with the first vertical direction, but the second vertical direction is the structural direction on the main body 10. Therefore, when the main body 10 shakes or rotates, the second vertical direction moves with the main body 10.

[0048] In one embodiment of this disclosure, such as Figure 3 As shown, the sensing component includes a first IMU sensor 31, which is disposed within the main body 10 and is used to detect the tilt angle and rotation angle of the main body. The first IMU sensor 31 is used to detect data such as the angle between the main body 10 and the direction of gravity.

[0049] Specifically, the first IMU sensor 31 obtains the tilt angle and rotation angle of the main body 10 by detecting the acceleration and angular velocity of the main body 10.

[0050] It should be noted that the tilt angle of the main body 10 refers to the angle between the second vertical direction and the first vertical direction of the main body, and the rotation angle of the main body 10 refers to the rotation of the main body around the second vertical direction.

[0051] In one embodiment of this disclosure, such as Figure 1 , Figure 3 and Figure 4 As shown, the main body is in a suspended state, and the balancing swing assembly includes a first fan 51, a second fan 52, and multiple blades; the first fan 51 and the second fan 52 are respectively located at one end close to the first suspension rope 20 and the other end away from the first suspension rope 20, and the air blowing paths of the first fan 51 and the second fan 52 are respectively oriented towards one or both sides of the second vertical direction; the first fan 51 and the second fan 52 deliver airflow to the blades, and use the airflow to apply thrust to the main body 10, so that the main body 10 can rotate according to the changing return angle, and can also adjust the thrust between the main body 10 and the first suspension rope 20 by applying different thrusts to the upper and lower ends of the main body 10.

[0052] In a specific embodiment, the first fan 51 and the second fan 52 control the thrust applied to the blades by adjusting the air volume. When the thrust on the blades at the first fan 51 and the second fan 52 is equal, the two ends of the main body 10 swing with the same acceleration, thereby adjusting the angle between the main body 10 as a whole and its original position.

[0053] In another specific embodiment, the thrust of the first fan 51 and the second fan 52 on the blades is different, thus the acceleration at both ends of the main body 10 is different, and the angle between the main body 10 and the first suspension rope 20 changes. When the first suspension rope 20 is tilted, the tilt angle of the main body 10 can be reduced to increase the straightening effect using the weight of the main body 10. Alternatively, when the tilt angle of the first suspension rope 20 is less than the tilt angle of the main body 10, the tilt angle of the main body 10 can be reduced to increase the straightening effect. In one embodiment of this disclosure, in the suspended state, the first fan 51 is located at the end closer to the first suspension rope 20, and the second fan 52 is located at the end farther from the first suspension rope 30. When the sensing component detects that the tilt angle is greater than zero, the airflow of the first fan 51 towards the second vertical direction is less than the airflow of the second fan 52 towards the second vertical direction.

[0054] Specifically, when the main body 10 and the first suspension rope 20 are tilted relative to the first vertical direction, the beginning of the first suspension rope 20 is a fixed connection point and its position remains unchanged. Therefore, the closer the position of the main body 10 and the first suspension rope 20 is to the beginning of the first suspension rope 20, the closer it is to the first vertical direction. That is, the distance from the end of the main body 10 closest to the first suspension rope 20 to the first vertical direction is less than the distance from the end of the main body 10 furthest from the first suspension rope 20 to the first vertical direction. The acceleration required by the first fan 51 is less than the acceleration required by the second fan 52, so that the first suspension rope 20 and the main body 10 return to the first vertical direction.

[0055] It should be noted that in the actual process of using a fan to counteract the swing inertia during an emergency stop, the uncertainty of the object being grasped will cause the center of gravity positions of the suspended robot 1 and the object to be grasped to be uncertain. Using a single fan will cause the blowing force of the fan to be off-center, resulting in an unbalanced posture of the object. Therefore, fans need to be installed at both ends of the main body 10. After the sensing component detects the posture of the main body 10, the air volume of the fan is adjusted to compensate for the posture.

[0056] In another embodiment of this disclosure, in the suspended state, the first fan 51 is located near one end of the first suspension rope 20, and the second fan 52 is located near one end of the first suspension rope 20. When the sensing component detects that the tilt angle is greater than zero, the air volume of the first fan 51 toward the second vertical direction is greater than the air volume of the second fan 52 toward the opposite direction.

[0057] Specifically, the tilt of the first suspension rope 20 and the main body 10 is as described in the above embodiment, and will not be repeated here. In this embodiment, the first fan 51 and the second fan 52 are oriented to the sides. The first fan 51 provides a larger acceleration to the upper end of the main body 10 in the direction of hanging, and the second fan 52 provides a smaller acceleration to the lower end of the main body in the direction away from hanging, so that the main body 10 quickly returns to the direction of hanging and returns to the first vertical direction.

[0058] In one embodiment of this disclosure, such as Figure 5 As shown, the main body 10 also has a flight state. The balancing swing assembly includes a first fan 51 and a second fan 52. The first fan 51 and the second fan 52 are located at one end near the first suspension rope 20 and the other end away from the first suspension rope 20, respectively, and the airflow paths of the first fan 51 and the second fan 52 are directed towards the lower end of the first vertical direction. After the main body 10 switches to the flight state, the first fan 51 and the second fan 52 deliver airflow towards the lower end of the first vertical direction, which enables the main body 10 to fly. When the suspended object sways, the swaying of the suspended object is reduced by lateral flight or vertical flight.

[0059] Specifically, the first fan 51 and the second fan 52 are set on both sides of the main body 10 in the horizontal direction and output airflow downwards, which increases the flight function and enters the drone mode, directly solving the shaking problem by adjusting the flight position.

[0060] In one embodiment of this disclosure, such as Figure 1 As shown, the sensing component also includes a second IMU sensor 32 for detecting the torsion angle of the first suspension rope 20. The second IMU sensor 32 is used to detect data such as the torsion angle of the first suspension rope 20 and the angle between the first suspension rope 20 and the direction of gravity.

[0061] In a specific embodiment, the first suspension rope is also provided with a locking device. The second IMU sensor 32 is on the locking device of the first suspension rope 20. As the first suspension rope 20 deflects and twists, the sensor detects the acceleration and angular velocity of the locking device to obtain the twist angle of the first suspension rope 20.

[0062] In one embodiment of this disclosure, the second IMU sensor 32 is located at the beginning or end of the first suspension rope 20.

[0063] Specifically, the second IMU sensor 32 is located at the end of the first suspension rope 20. The second IMU sensor 32 also has a certain weight. By setting it at the end and in contact with the main body 10, the weight of the second IMU sensor 32 works together with the weight of the main body 10 to avoid causing more complex swaying of the first suspension rope 20, which would be difficult to control.

[0064] Specifically, the second IMU sensor 32 is located at the beginning of the first suspension rope 20, close to the communication system of the suspended robot 1, to facilitate communication.

[0065] In one embodiment of this disclosure, the first fan 51 includes a first sub-fan and / or a second sub-fan, and the second fan 52 includes a first sub-fan and / or a second sub-fan. Specifically, when one fan is provided and it is located on the axis in the second vertical direction, the fan can blow air to both sides; when two fans are provided, the two fans can blow air to both sides respectively; and they are located on both sides of the axis with the axis in the second vertical direction as the center line.

[0066] In order to enable the suspended robot 1 to switch from a suspended state to a flying state, in one embodiment of this disclosure, the suspended robot 1 further includes a flipping component, which is located at the end of the first suspension rope 20 and is movably connected to the main body 10; the blowing paths of the first fan 51 and the second fan 52 are respectively directed toward the two sides of the main body 10, so that the main body 10 flips.

[0067] The blowing of the first fan 51 and the second fan 52 provides the power for the flipping of the main body. The first fan 51 causes one end of the main body to rotate to one side, and the second fan 52 causes the other end of the main body 10 to rotate to the other side, thereby realizing the rotation of the center of the main body 10. When the main body rotates 90 or 180 degrees, the flipping process is completed.

[0068] In one embodiment of this disclosure, the flipping assembly includes a slide rail extending from the end face of the main body 10 to the side face of the main body 10. The end of the first suspension rope 20 has a slide seat that engages with the slide rail. This allows the first suspension rope 20 to be switched from being connected to the end face of the main body 10 to being connected to the side face of the main body 10. The first suspension rope 20 acts as a tension element for the main body 10, and the connection position between the first suspension rope 20 and the main body 10 changes the suspension configuration of the main body 10, thus achieving a transition from a suspended state to a flying state.

[0069] In one embodiment of this disclosure, the flipping assembly further includes a drive element and a sensor element. The sensor element is used to receive commands to switch between suspended and flying states. The drive element drives the slide block to slide in the slide rail, thereby flipping the main body 10. Upon receiving the command, the drive element provides kinetic energy to the slide block, thus driving it.

[0070] In a specific embodiment, the sensor is connected to a communication system, which transmits the user's instructions.

[0071] In one embodiment of this disclosure, the suspended robot 1 further includes a power supply system electrically connected to the balance rotation component and the balance swing component; the power supply system includes a cable and / or a battery box, the cable extending along the first suspension rope 20 into the interior of the main body 10.

[0072] Specifically, when the suspended robot 1 is powered by a cable, the cable is positioned at the location of the first suspension rope 20 and extends into the main body 10 along the first suspension rope 20, thus avoiding complicated and tangled wiring and reducing the weight of the main body 10.

[0073] In one embodiment of this disclosure, the suspended robot 1 further includes a communication system; the communication system includes: a radio frequency module for communicating with a remote control device; a wireless module for network communication; or a network cable module, the network cable module including an Ethernet interface for connecting a network cable.

[0074] Specifically, the radio frequency module transmits and receives signals from the remote control device, enabling remote control of the operation of the suspended robot 1; the wireless module or network module establishes a wireless or wired network connection, enabling remote control of the suspended robot 1 and network data transmission.

[0075] In one embodiment of this disclosure, the end of the main body 10 connected to the first hoisting rope 20 is an arc-shaped structure, which can avoid the risk of the aircraft getting stuck when the first hoisting rope 20 is retrieved.

[0076] In one specific embodiment, the outer shell of the main body 10 is made of composite materials such as plastic, or it can be made of rubber, for impact protection in specific scenarios.

[0077] In one specific embodiment, the working process of the suspended robot 1 is as follows: the main body 10 is suspended from the end of the first suspension rope 20, the main body 10 is connected to the suspended object, the first IMU sensor 31 detects the tilt angle and rotation angle of the main body 10, and the second IMU sensor set on the first suspension rope 20 detects the torsion angle and tilt angle of the first suspension rope 20. When the above four angles are not equal to 0, it indicates that the suspended object has swayed; according to the tilt angle, the first fan 51 and the second fan 52 in the balance swing assembly are driven. The first fan 51 and the second fan 52 blow air towards the blades respectively, applying a thrust to the main body 10 in the first vertical direction. The main body 10 swings and changes the return angle, so that the main body 10 returns to the upright position; according to the torsion angle, the balance wheel 41 is driven. The balance wheel 41 and the main body 10 have conserved angular momentum. The main body 10 rotates in the opposite direction to the balance wheel 41. The rotation changes the torsion angle, so that the first suspension rope 20 and the main body 10 return to the upright position. During the swaying process of the suspended object, the above process involves real-time detection and control of the balancing rotation component and the balancing swing component, enabling the suspended robot 1 and the suspended object to achieve dynamic balance in the swinging position.

[0078] In one embodiment of this disclosure, a gripping device is also disclosed, comprising the suspended robot 1 described in the above embodiments, a flying device 210 for attaching to the beginning of the first suspension rope 20, and a gripper 230 connected to the bottom of the suspended robot 1. The suspended robot 1 includes a main body 10, a first suspension rope 20, a sensing component, a balance rotation component, and a balance swing component. The main body 10 is suspended from the end of the first suspension rope 20. The sensing component detects the tilt angle between the first suspension rope 20 and a first vertical direction, and the torsion angle of the first suspension rope 20. The control component calculates the change return angle and change torsion angle of the main body 10 based on the detection data from the sensing component, causing the main body 10 to be aligned along the first vertical direction. The balance rotation component controls the main body 10 to rotate the change torsion angle in the alignment direction. The balance swing component controls the main body 10 to swing the change return angle in the alignment direction.

[0079] Specifically, the gripping device grips and moves the suspended object. During the gripping and moving process, the suspended object sways due to inertia. The suspension robot 1 balances the swaying of the suspended object, alleviates the swaying, and improves the suspension stability.

[0080] In one embodiment of this disclosure, such as Figure 6As shown, the gripping device 2 also includes a counterweight 220 and a second suspension rope 240. The beginning of the second suspension rope 240 is connected to the aircraft 210, and the end of the second suspension rope 240 is connected to the counterweight 220. The counterweight 220 also includes a positioning hook 221 for connecting or separating from the gripper 230.

[0081] Specifically, when the aircraft 210 descends to the ground, it uses the counterweight 220 to remain stationary. Additionally, the positioning hook 221 connects to the suspended robot 1. When the suspended robot 1 is fixed to the gripping device 2, the gripper 230 engages with the positioning hook 221; when the suspended robot 1 flies independently, the gripper 230 disengages from the positioning hook 221. The counterweight 220 suspends under the aircraft 210, maintaining its flight balance.

[0082] This disclosure also provides a grasping method for a grasping device 2, applied to the aforementioned grasping device 2, such as... Figure 6 As shown, the gripper 230 is connected to the positioning hook 221, the aircraft 210 suspends its suspended robot 1 and counterweight 220, and the second lifting rope 240 is taut; the aircraft 210 flies to the lifting range of the object 3; the aircraft 210 descends, the counterweight 220 stops on the ground, and the second lifting rope 240 slackens; the suspended robot 1 enters flight mode, the gripper 230 separates from the positioning hook 221, the suspended robot 1 flies to the top of the object 3, and the gripper 230 grips the object 3; as... Figure 7 As shown, the aircraft 210 increases its flight altitude until the first hoisting rope 20 and the second hoisting rope 240 are taut, and then flies to the destination of the hoisted object.

[0083] Specifically, the gripper 230 is connected to the positioning hook 221, and the suspension robot 1 is connected to the gripping device 2. It moves with the gripping device 2. After the gripping device 2 stops on the ground, the suspension robot 1, in flight mode, uses the gripper 230 to grab the suspended object 3. The aircraft 210 then carries the suspended object 3 to its destination. During the flight, the suspension robot 1 maintains the balance of the suspension and reduces the swaying of the suspension.

[0084] It should be noted that the range of the suspended object 3 is: the range centered on the suspended object 3 and with the first hoisting rope 20 as the radius, which is the range that the grab hand 230 can grab when the aircraft 210 is on the ground.

[0085] This disclosure also provides a method for flipping a suspended robot 1, which is applied to the suspended robot 1 in the above embodiments, such as... Figures 3 to 5As shown, the suspension robot 1 is in a suspended state, with the first suspension rope 20 connected to the upper end of the main body 10; the first fan 51 at the upper end of the main body 10 blows air to one side of the main body 10, and the second fan 52 at the lower end of the main body 10 blows air to the other side of the main body 10, causing the two sides of the main body 10 to rotate 90 degrees; the suspension robot 1 enters the flight state.

[0086] The first fan 51 and the second fan 52 provide the power for the rotation, so that the main body 10 can be rotated and switch between two working states.

[0087] In a specific embodiment of this disclosure, when the main body 10 is rotated clockwise, the suspended robot 1 enters the flight state, and the first fan 51 rotates to blow air downwards.

[0088] Specifically, after the main body 10 is rotated clockwise, the blowing direction of the second fan 52 changes from facing to the right to facing downward, and the blowing direction of the first fan 51 changes from facing to the left to facing upward. At this time, the first fan 51 blows downward, and the flight of the main body 10 is achieved by the two downward airflows.

[0089] In a specific embodiment of this disclosure, when the main body 10 is rotated counterclockwise, the suspended robot 1 enters the flight state, and the first fan 51 rotates to blow air downwards.

[0090] Specifically, after the main body 10 is flipped counterclockwise, the blowing direction of the second fan 52 changes from facing left to facing downward, and the blowing direction of the first fan 51 changes from facing right to facing upward. At this time, the first fan 51 blows downward, and the flight of the main body 10 is achieved by the two downward airflows.

[0091] This disclosure also provides a method for using a suspended robot 1, applied in the aforementioned suspended robot 1, including: a first fan 51 and a second fan 52 blowing air to one side, wherein the blowing thrust is F, and the blowing time is t; calculating the thrust F and the blowing time t of the first fan 51 and the second fan 52: F = k*sinθ; k = mv² / r + mg*cosθ; t = mv / F; where m is the weight of the main body 10 and the suspended object, v is the velocity of the main body 10 and the suspended object perpendicular to the first vertical direction before the suspended robot 1 brakes suddenly; θ is the angle between the first suspension rope 20 and the first vertical direction; k is the tension of the first suspension rope 20; and g is the acceleration due to gravity.

[0092] Specifically, after the suspended robot 1 flies horizontally and brakes suddenly, the first suspension rope 20 swings forward due to inertia, generating kinetic energy mv. This kinetic energy is decomposed into kinetic energy in the first vertical direction and kinetic energy in the horizontal direction perpendicular to the first vertical direction. The kinetic energy in the first vertical direction is mv*sinθ, which is attenuated by the vertical component of gravity plus centrifugal force and the vertical component of the first suspension rope 20, and the kinetic energy in the first vertical direction does not affect the coordinate offset of the object on the horizontal plane. The kinetic energy in the horizontal direction is mv*cosθ, which is attenuated by the horizontal component of the tension of the first suspension rope 20. The tension F of the first suspension rope 20 is mv² / r + mg*cosθ, which is the component of the angle between gravity and the first suspension rope 20 and the centrifugal force. The force that cancels out the kinetic energy in the horizontal direction is k*sinθ. When the suspended robot 1 brakes suddenly, the angle θ is very small, meaning that the force that counteracts the horizontal momentum is almost zero. Therefore, the common situation is that after the sudden braking, it needs to swing to a certain angle to counteract the momentum before swinging back. After swinging to the bottom, the object accumulates a certain amount of kinetic energy in the horizontal component of the rope tension, and then swings in the other direction again.

[0093] At the instant the suspended robot 1 brakes suddenly and forms an angle, the first fan 51 and the second fan 52 blow air in opposite directions to form a horizontal thrust, which can quickly stop the object from swinging.

[0094] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0095] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A suspended robot, characterized in that, include: main body; The main body has both a suspended state and a flying state; The first suspension rope, with the main body suspended and connected to the end of the first suspension rope; A sensing component that detects the tilt angle between the first suspension rope and the first vertical direction and the torsion angle of the first suspension rope; A control component calculates the change regression angle and change torsion angle of the main body based on the detection data of the sensing component, so that the main body is aligned to the initial position and initial direction; A balancing rotation assembly controls the main body to rotate in the initial direction by the changing torsion angle; the balancing rotation assembly includes: a balance wheel, the axis of which is collinear with the vertical center line of the main body in the second vertical direction; and a power source, which drives the balance wheel to rotate, causing the main body to rotate back to the initial direction; the rotation direction of the balance wheel is opposite to the direction of the changing torsion angle. A balancing swing assembly controls the main body to swing towards the initial position by the changing return angle; the balancing swing assembly includes: a first fan and a second fan, wherein in the suspended state, the first fan and the second fan are respectively located on the main body at one end close to the first suspension rope and the other end away from the first suspension rope, and the air blowing paths of the first fan and the second fan are respectively oriented towards one side or both sides of the second vertical direction; The first fan and the second fan are located at one end closer to the first suspension rope and the other end further away from the first suspension rope, respectively, and the air blowing paths of the first fan and the second fan are oriented towards the lower end of the first vertical direction; the control component controls the air volume difference between the first fan and the second fan according to the tilt angle, so that the main body swings back to the initial position.

2. The suspended robot of claim 1, wherein, The sensing components include: The first IMU sensor, which is disposed inside the main body, is used to detect the tilt angle and rotation angle of the first suspension rope main body.

3. The suspended robot of claim 1, wherein, The sensing component also includes: The second IMU sensor, which is mounted on the first suspension rope, is used to detect the torsion angle and tilt angle of the first suspension rope.

4. The suspended robot of claim 1, wherein, In the suspended state, the first fan is located at the end closer to the first suspension rope, and the second fan is located at the end farther from the first suspension rope. When the sensing component detects that the tilt angle is greater than zero, the air volume of the first fan toward the second vertical direction is less than the air volume of the second fan toward the second vertical direction.

5. The suspended robot of claim 1, wherein, In the suspended state, the first fan is located at the end closer to the first suspension rope, and the second fan is located at the end farther away from the first suspension rope. When the sensing component detects that the tilt angle is greater than zero, the air volume of the first fan toward the second vertical direction is greater than the air volume of the second fan toward the opposite direction of the second vertical direction.

6. The suspended robot of claim 1, wherein, The first fan includes a first sub-fan and / or a second sub-fan; the second fan includes a first sub-fan and / or a second sub-fan.

7. The suspended robot of claim 3, wherein, The second IMU sensor is located at either the end or the beginning of the first suspension rope.

8. The suspended robot of claim 1, wherein, It also includes a flipping component, which comprises: A slide rail extends from the end face of the main body to the side face of the main body, and the end of the first suspension rope has a slide block that engages in the slide rail.

9. The suspended robot of claim 8, wherein, The flipping component also includes: The device includes a drive unit and a sensor, the sensor being used to receive instructions to switch between the suspended state and the flight state, and the drive unit driving the slide to slide in the slide rail to cause the main body to flip.

10. The suspended robot of claim 1, wherein, Also includes: The power supply system is electrically connected to the balance rotation assembly and the balance swing assembly; The power supply system includes: A cable that extends along the first suspension rope into the interior of the body.

11. The suspended robot of claim 1, wherein, The end face of the main body that connects to the first suspension rope has an arc-shaped structure.

12. A gripping device, characterized in that include: The suspended robot according to any one of claims 1 to 11; The aircraft is used to attach the beginning of the first sling. The gripper is attached to the bottom of the suspended robot.

13. The gripping device according to claim 12, characterized in that Also includes: A counterweight and a second hoisting rope, the beginning of which is connected to the aircraft and the end of which is connected to the counterweight; The counterweight also includes a positioning hook for connecting or separating from the gripper.

14. A gripping method of a gripping apparatus, characterized by, Applied to the gripping device as described in claim 13, the method includes: The gripper is connected to the positioning hook, the aircraft suspends the suspension robot and the counterweight, and the second suspension rope is tightened; The aircraft drives the suspension robot and the counterweight to fly to the lifting range of the object being lifted; The aircraft descends, the counterweight remains stationary on the ground, and the second suspension rope becomes slack. The suspended robot enters flight mode, the gripper separates from the positioning hook, the suspended robot flies to the top of the suspended object, and the gripper grabs the suspended object; The aircraft increases its flight altitude until the first and second hoisting ropes are taut, and then flies to the destination of the hoisted object.

15. A method of inverting a suspended robot, the method comprising: Applied to the suspended robot as described in any one of claims 1-9, comprising: When the suspended robot is in a suspended state, the first suspension rope is connected to the upper end of the main body; The first fan at the upper end of the main body blows air to one side of the main body, and the second fan at the lower end of the main body blows air to the other side of the main body, causing the two ends of the main body to rotate 90 degrees. The suspended robot enters flight mode.

16. The method of claim 15, wherein, After the first fan at the upper end of the main body blows air to one side of the main body, and the second fan at the lower end of the main body blows air to the other side of the main body, the system further includes: When the main body is rotated clockwise, the suspended robot enters flight mode, and the first fan rotates to blow air downwards.

17. The method of claim 15, wherein: After the first fan at the upper end of the main body blows air to one side of the main body, and the second fan at the lower end of the main body blows air to the other side of the main body, the system further includes: When the main body is rotated counterclockwise, the suspended robot enters the flight state, and the first fan rotates to blow air downwards.

18. A method of using a suspended robot, characterized by, Applied to the suspended robot as described in any one of claims 1-9, comprising: The first and second fans blow air to one side, where the blowing thrust is F and the blowing time is t; Calculate the thrust F of the first and second fans and the blowing time t: F = k sin θ; k = mv2 / r + mg cos θ; t = mv / F; Where m is the weight of the main body and the suspended object, v is the velocity of the main body and the suspended object perpendicular to the first vertical direction before the suspension robot brakes suddenly, r is the length of the first suspension rope, θ is the angle between the first suspension rope and the first vertical direction, k is the tension of the first suspension rope, and g is the acceleration due to gravity.

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