Unmanned aerial vehicle comprising electric permanent magnetic chuck and load carrying method

Abstract

The invention relates to the field of unmanned aerial vehicles, and particularly discloses an unmanned aerial vehicle comprising an electric permanent magnetic chuck and a load carrying method. The unmanned aerial vehicle comprises a vehicle body, and a flight assembly is arranged on the vehicle body. The electric permanent magnetic chuck is fixedly arranged below the machine body; the electric permanent magnetic chuck comprises a magnetic pole block, a permanent magnet and an excitation assembly, and the magnetic pole block is made of a ferromagnetic material; one end, facing the machine body, of the magnetic pole block corresponds to the excitation assembly, the surface, deviating from the machine body, of the magnetic pole block is an adsorption surface, and the circumferential direction of the magnetic pole block corresponds to magnetic poles of the permanent magnets; the magnetic pole direction of the excitation assembly towards the magnetic pole block can be adjusted. The unmanned aerial vehicle not only can realize convenient loading and unloading of loads, but also has the advantages of high carrying capacity, simplicity in operation and light weight.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle comprising an electro-permanent magnetic chuck and a load carrying method. Background Art

[0002] With the steady expansion and opening of domestic low-altitude airspace and the continuous innovation and development of drone technology, the flight range, load-carrying capacity and other technical performance of drones have been continuously improved, and autonomous flight technology has continued to mature. Drones have been rapidly applied and promoted in the field of logistics and transportation. At present, the way drones are loaded and transported generally adopts mechanical connection, which has high requirements for autonomous identification technology and autonomous control technology of drones. In addition, the mechanical connection method has slow loading speed, low efficiency, complex operation, and requires manual on-site support.

[0003] The Chinese invention patent application with application publication number CN 112810817A discloses an aerial material hook-type throwing drone, which uses a hook-type mechanical structure to realize the load carrying method. Although it can increase the loading load, its structure is complex, the carrying efficiency is low, and the flight control requirements are high. The Chinese invention patent application with application publication number CN 118850326A discloses a logistics drone, which is designed with a built-in loading mechanism on the drone body and uses a take-off and landing device to realize the loading and unloading of the load. Although the flight control requirements are low, its mechanical structure is complex and the loading and unloading efficiency is low.

[0004] In order to improve the efficiency of loading and unloading drones, the Chinese utility model patent with authorization announcement number CN 221563433U discloses an electromagnetic adsorption type drone carrier platform, which uses a magnetic suction mechanism to connect the load, which can improve the efficiency of load loading and unloading to a certain extent. However, there are still problems such as low carrying weight and complex magnetic suction structure and drone connection mechanism, which makes it difficult to achieve large-scale promotion and use. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a UAV including an electro-permanent magnetic chuck and a load carrying method, which can not only realize convenient loading and unloading of loads, but also have the advantages of large carrying capacity, simple operation and light weight.

[0006] In order to solve the above technical problems, the technical solution provided by the present invention is as follows: an unmanned aerial vehicle including an electric permanent magnetic suction cup, including a body, on which a flight component is provided; also including an electric permanent magnetic suction cup, which is fixedly arranged under the body; the electric permanent magnetic suction cup includes a magnetic pole block, a permanent magnet and an excitation component, and the magnetic pole block is made of ferromagnetic material; one end of the magnetic pole block facing the body corresponds to the excitation component, and the side away from the body is an adsorption surface, and the circumference of the magnetic pole block corresponds to the magnetic pole of the permanent magnet; the magnetic pole direction of the excitation component toward the magnetic pole block is adjustable.

[0007] When performing the load loading operation, the machine body is placed above the load, with the adsorption surface of the electric permanent magnetic chuck facing the load. Then the excitation assembly is adjusted so that the magnetic poles of the excitation assembly and the permanent magnet facing the magnetic pole block are the same, and the magnetic field excited by the excitation assembly and the permanent magnet gathers inside the magnetic pole block. Due to the principle of like poles repelling each other, the magnetic field in the magnetic pole block will deviate outward from the adsorption surface. At this time, the magnetic force of the electric permanent magnetic chuck on the load located on the adsorption surface reaches a maximum value, and the load can be magnetically adsorbed.

[0008] When the UAV and the payload are transported to the preset position and the payload is dropped, the excitation assembly is adjusted so that the magnetic poles of the excitation assembly and the permanent magnet facing the magnetic pole block are opposite. Due to the principle of attraction between opposite poles, the magnetic fields of the permanent magnet and the excitation assembly can form a passage inside the magnetic pole block, and the outward deviation of the magnetic field is greatly weakened. At this time, the magnetic force of the electric permanent magnetic suction cup on the load located on the adsorption surface reaches a minimum value, and the magnetic adsorption effect on the load is very small, so the load can be dropped under its own weight.

[0009] Compared with the magnetic loading method in the prior art, the present application adopts an electric permanent magnetic suction cup to achieve load loading and delivery operations only by adjusting the magnetic pole direction of the excitation component, and has the advantages of large carrying capacity, simple operation and light weight.

[0010] Preferably, the electro-permanent magnetic chuck further comprises a mounting seat, which is fixedly connected to the machine body; a mounting slot is provided on the mounting seat, and the magnetic pole block, permanent magnet and excitation assembly are all arranged in the mounting slot.

[0011] The mounting slots can constrain the pole blocks, permanent magnets and excitation components, and the relative positions of the various parts are stable, ensuring that loading and delivery operations proceed normally.

[0012] Preferably, the mounting seat is made of ferromagnetic material, and an isolating body made of antimagnetic material is filled between the magnetic pole block, the permanent magnet, the excitation assembly and the inner wall of the mounting slot.

[0013] The setting of the isolator can not only form a connection transition between the mounting base and the pole block, permanent magnet, and excitation assembly, but also guide the loop distribution of the magnetic field, realize the concentration of the magnetic field, and form a strong magnetic field locally to increase the carrying capacity.

[0014] Preferably, each of the magnetic pole blocks corresponds to at least two permanent magnets, and the permanent magnets corresponding to the same magnetic pole block are located on different sides of the magnetic pole block and face the same magnetic poles of the corresponding magnetic pole block.

[0015] The magnetic fields of multiple permanent magnets are gathered and enhanced on the same pole block, and guided and deflected by the excitation component, which can effectively improve the adsorption capacity of the electro-permanent magnetic chuck.

[0016] Preferably, the number of the magnetic pole blocks is at least two, the magnetic pole blocks are arranged in parallel, and the excitation components correspond to the magnetic pole blocks one by one.

[0017] The number of magnetic pole blocks can be reasonably configured according to the target machine body and load size.

[0018] Preferably, the excitation assembly comprises a reversible magnet and an excitation coil, the reversible magnet is made of soft magnetic material, the excitation coil is wound around the reversible magnet, and one end of the reversible magnet is aligned with the magnetic pole block.

[0019] The use of electromagnets not only has the advantage of flexible adjustment of the magnetic pole direction, but also because the reversible magnet has the characteristic that the magnetic pole remains unchanged after power failure, it can be energized only during the adsorption and delivery process, and reliable adsorption of the load can be maintained without power during the load transfer process, with obvious energy-saving effects.

[0020] Preferably, it further comprises a flight control module, wherein the flight control module comprises a navigation component and a flight control component, wherein the navigation component comprises a GPS module, and the flight control component is used to be electrically connected to the flight component and control the working state of the flight component.

[0021] Preferably, it further comprises a payload packaging component, on which an adsorption block is provided, and the adsorption block is made of ferromagnetic material.

[0022] The payload packaging component can perform standardized packaging on the payload and cooperate with the electro-permanent magnetic chuck through the adsorption block.

[0023] Preferably, it also includes a loading control module, which includes a suction cup control component and a positioning control component. The suction cup control component is used to be electrically connected to the excitation component and control the working state of the excitation component; the positioning control component includes a positioning unit, and the positioning unit is used to collect the relative position state between the body and the payload packaging component, and adjust the working state of the flight component according to the relative position state.

[0024] The loading control module can automate the loading and delivery operations without manual assistance, thus reducing operating costs.

[0025] A method for transporting a payload using a drone, using the drone described above; At least the following steps are included: S1. Loading: Select a load that can be magnetically adsorbed, place the machine body on the load, and set the adsorption surface of the permanent magnetic chuck toward the load; adjust the excitation component so that the magnetic poles of the excitation component and the permanent magnet facing the magnetic pole block are the same, at this time, the magnetic force of the permanent magnetic chuck on the load reaches a maximum value, and the magnetic adsorption of the load is achieved; S2.Transfer: The flight assembly works, and the aircraft body and the payload are synchronously transferred to the predetermined position; during the transfer process, the magnetic pole direction of the excitation assembly remains unchanged; S3. Delivery: Adjust the excitation assembly so that the excitation assembly and the permanent magnet face the magnetic pole block in the opposite direction. At this time, the magnetic force of the electro-permanent magnetic chuck on the load reaches a minimum value, thus achieving the delivery of the load. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the structure of the drone including the electric permanent magnetic chuck in this embodiment; Figure 2 This is a schematic structural diagram of the drone including the electric permanent magnetic chuck from another perspective of this embodiment; Figure 3 The internal structure diagram of the drone including the electric permanent magnetic chuck in this embodiment; Figure 4 This is a structural schematic diagram of the state of the UAV loading payload packaging assembly including the electric permanent magnetic chuck in this embodiment; Figure 5 Schematic diagram of the structure of the electric permanent magnetic chuck in the drone including the electric permanent magnetic chuck in this embodiment; Figure 6 is a cross-sectional view of an electric permanent magnetic chuck in a drone including the electric permanent magnetic chuck in this embodiment; Figure 7 This is a schematic structural diagram of a payload packaging assembly in a drone including an electro-permanent magnetic chuck according to this embodiment; Figure 8 is a cross-sectional view of a payload packaging assembly in a drone including an electro-permanent magnetic chuck according to the present embodiment; Fig. 9 Schematic diagram of magnetic force line distribution of the electric permanent magnetic chuck in the drone including the electric permanent magnetic chuck in the present embodiment when loaded with a load; Fig.10 This is a schematic diagram of the magnetic field distribution of the electric permanent magnetic chuck in the drone including the electric permanent magnetic chuck in the present embodiment when the load is loaded; Fig.11This is a schematic diagram of the magnetic force lines distribution of the electric permanent magnetic chuck in the drone including the electric permanent magnetic chuck in the present embodiment when the load is released; Fig.12 The figure is a schematic diagram of the magnetic field distribution of the electric permanent magnetic chuck in the drone including the electric permanent magnetic chuck in the load delivery state according to the present embodiment. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] Example

[0029] like Figure 1-Figure 4 As shown, a drone including an electro-permanent magnetic chuck 3 includes a body 1, and a flight component 2 and a flight control module are arranged on the body 1. The flight component 2 includes a plurality of rotors, and the number of rotors is usually four. The flight control module includes a navigation component 51 and a flight control component 52. The navigation component 51 includes a GPS module. The flight control component 52 is used to be electrically connected to the flight component 2 and control the working state of the flight component 2.

[0030] like Figure 4-Figure 6 As shown, it also includes an electric permanent magnetic chuck 3, which is fixedly arranged below the body 1. The electric permanent magnetic chuck 3 includes a mounting seat 31, and the mounting seat 31 is connected to the body 1 by bolts.

[0031] The electric permanent magnetic chuck 3 includes a magnetic pole block 32, a permanent magnet 33 and an excitation assembly 35. The magnetic pole block 32 is made of ferromagnetic material. The end of the magnetic pole block 32 facing the machine body corresponds to the excitation assembly 35, and the side facing away from the machine body is the adsorption surface. The circumference of the magnetic pole block 32 corresponds to the magnetic pole of the permanent magnet 33. The magnetic pole direction of the excitation assembly 35 facing the magnetic pole block 32 can be adjusted.

[0032] Specifically, Figure 6 As shown, the excitation assembly 35 includes a reversible magnet and an excitation coil. The reversible magnet is made of soft magnetic material. The excitation coil is wound around the reversible magnet. One end of the reversible magnet is aligned with the magnetic pole block.

[0033] The electromagnet form is adopted, and the magnetic pole direction of the excitation component 35 can be adjusted by changing the direction of the current, which has the advantage of flexible adjustment of the magnetic pole direction. At the same time, since the reversible magnet has the characteristic that the magnetic pole remains unchanged after power failure, it can be powered on only during the adsorption and delivery process, and can maintain reliable adsorption of the load without powering on during the load transportation process, and the energy saving effect is obvious.

[0034] When loading a load, the machine body 1 is placed above the load, with the adsorption surface of the permanent magnetic chuck 3 facing the load. Then the excitation assembly 35 is adjusted so that the magnetic poles of the excitation assembly 35 and the permanent magnet 33 facing the magnetic pole block 32 are the same, and the magnetic fields excited by the excitation assembly 35 and the permanent magnet 33 are gathered inside the magnetic pole block 32. Fig. 9 and Fig.10 As shown, due to the principle of like poles repelling each other, the magnetic field in the magnetic pole block 32 will deviate outward from the adsorption surface. At this time, the magnetic force of the electro-permanent magnetic chuck 3 on the load located on the adsorption surface reaches a maximum value, and the load can be magnetically adsorbed.

[0035] When the drone and the payload are transported to the preset position and the payload is dropped, the excitation assembly 35 is adjusted so that the excitation assembly 35 and the permanent magnet 33 face the magnetic poles of the magnetic pole block 32 in opposite directions. Fig.11 and Fig.12 As shown, the magnetic fields of the permanent magnet 33 and the excitation assembly 35 can form a path inside the magnetic pole block 32, and the outward deviation of the magnetic field is greatly weakened. At this time, the magnetic force of the electric permanent magnetic suction cup 3 on the load located on the adsorption surface reaches a minimum value, and the magnetic adsorption effect on the load is very small, and the load can be dropped under its own weight.

[0036] Specifically, Figure 6 As shown, the mounting seat 31 is provided with a mounting groove, and the magnetic pole block 32, the permanent magnet 33 and the excitation assembly 35 are all arranged in the mounting groove. The mounting groove can constrain the magnetic pole block 32, the permanent magnet 33 and the excitation assembly 35, and the relative positions of each part are stable, ensuring the normal loading and delivery operations.

[0037] Specifically, Figure 5 and Figure 6 As shown, the mounting seat 31 is made of ferromagnetic material, and the magnetic pole block 32, the permanent magnet 33, the excitation assembly 35 and the inner wall of the mounting slot are filled with an isolator 34 made of antimagnetic material. The magnetic pole block 32, the permanent magnet 33, the excitation assembly 35 and the mounting seat 31 are all connected by gluing.

[0038] The setting of the isolator 34 can not only form a connection transition between the mounting seat 31 and the pole block 32, the permanent magnet 33, and the excitation assembly 35, but also guide the loop distribution of the magnetic field, realize the concentration of the magnetic field, and form a strong magnetic field locally to increase the carrying capacity.

[0039] Further, such as Figure 5 and Figure 6As shown, each of the magnetic pole blocks 32 corresponds to at least two permanent magnets 33, and the permanent magnets 33 corresponding to the same magnetic pole block 32 are located on different sides of the magnetic pole block, and face the same magnetic poles of the corresponding magnetic pole block 32. The magnetic fields of multiple permanent magnets 33 are concentrated and enhanced in the same magnetic pole block 32, and guided and offset by the excitation component 35, which can effectively improve the adsorption capacity of the electric permanent magnetic chuck 3. As a specific embodiment, the magnetic pole block 32 is hexahedral, and the four side surfaces of the magnetic pole block 32 are all permanent magnetic surfaces, and four permanent magnets 33 are correspondingly arranged. Taking the hexahedral magnetic pole block as an example for specific description, it is defined that the side of the magnetic pole block facing the body is the excitation surface, and the four side surfaces are all permanent magnetic surfaces. The excitation component 35 is located on the excitation surface of the magnetic pole block 32, and the permanent magnet 33 is located on the permanent magnetic surface of the magnetic pole block 32.

[0040] Specifically, Figure 5 and Figure 6 As shown, the number of the magnetic pole blocks 32 is at least two, and each magnetic pole block 32 is arranged in parallel, and the excitation assembly 35 corresponds to the magnetic pole block 32 one by one. The number of magnetic pole blocks 32 can be reasonably configured according to the machine body 1 and the load size. As a specific implementation, the number of magnetic pole blocks 32 is two, and the permanent magnets 33 corresponding to each magnetic pole block 32 are divided into a group, and the magnetic poles of the same group of permanent magnets 33 facing the corresponding magnetic pole block 32 are the same, and the magnetic poles of the two groups of permanent magnets 33 facing the corresponding magnetic pole block 32 are opposite.

[0041] Further, such as Figure 7 and Figure 8 As shown, the load packaging assembly 6 is also included, and the load packaging assembly 6 is provided with an adsorption block 63, and the adsorption block 63 is made of ferromagnetic material. The load packaging assembly 6 can perform standardized packaging of the load, and cooperate with the electro-permanent magnetic chuck 3 through the adsorption block 63. Specifically, the load packaging assembly 6 includes a box body 61 and a box cover 62, and the adsorption block 63 is arranged on the box cover 62.

[0042] like Figure 3 As shown, it also includes a loading control module, the loading control module includes a suction cup control component 42 and a positioning control component 41, the suction cup control component 42 is used to be electrically connected to the excitation component 35, and control the working state of the excitation component 35. The positioning control component 41 includes a positioning unit, the positioning unit is used to collect the relative position state of the body 1 and the payload packaging component 6, and adjust the working state of the flight component 2 according to the relative position state. The loading control module can realize the automation of loading and delivery operations without manual assistance, thereby reducing operating costs. Specifically, the positioning unit includes a visual module, specifically including a camera.

[0043] Compared with the magnetic loading form in the prior art, the present application adopts an electric permanent magnetic suction cup 3 which can realize the loading and delivery operation of the load only by adjusting the magnetic pole direction of the excitation component 35, and has the advantages of large carrying capacity, simple operation and light weight.

[0044] A method for transporting a payload using a drone, using the drone described above; At least the following steps are included: S1. Loading: Select a load that can be magnetically adsorbed, place the machine body 1 above the load, and set the adsorption surface of the electric permanent magnetic chuck 3 toward the load; the chuck control component 42 works to adjust the excitation component 35 so that the magnetic poles of the excitation component 35 and the permanent magnet 33 facing the magnetic pole block 32 are the same, and the magnetic force of the electric permanent magnetic chuck 3 on the load reaches a maximum value, thereby achieving magnetic adsorption of the load; The movement of the body 1 relative to the payload can be carried out in manual mode or automatic mode, wherein the automatic mode includes the following steps: fuzzy positioning, the GPS module and the flight component 2 work, and the UAV flies to a preset position; precise positioning, the positioning control component 41 works, the relative position state of the body 1 and the payload packaging component 6 is collected, and the working state of the flight component 2 is adjusted according to the relative position state, and finally moves to above the payload.

[0045] S2. Transportation: The flight assembly 2 works, and the body 1 and the load are synchronously transported to a predetermined position; during the transportation process, the magnetic pole direction of the excitation assembly 35 remains unchanged; S3. Delivery: adjust the excitation component 35 so that the magnetic poles of the excitation component 35 and the permanent magnet 33 facing the magnetic pole block 32 are opposite. At this time, the magnetic force of the electro-permanent magnetic chuck 3 on the load reaches a minimum value, thereby achieving delivery of the load.

[0046] In short, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A drone including an electric permanent magnetic chuck, comprising a body, wherein the body is provided with a flight assembly; characterized in that: It also includes an electric permanent magnetic chuck, which is fixedly arranged under the machine body; The electric permanent magnetic suction cup includes a magnetic pole block, a permanent magnet and an excitation assembly. The magnetic pole block is made of ferromagnetic material; the end of the magnetic pole block facing the body corresponds to the excitation assembly, and the side facing away from the body is the adsorption surface. The circumference of the magnetic pole block corresponds to the magnetic pole of the permanent magnet; the magnetic pole direction of the excitation assembly toward the magnetic pole block is adjustable.

2. The drone according to claim 1, characterized in that: The electric permanent magnetic chuck also includes a mounting seat, which is fixedly connected to the machine body; the mounting seat is provided with a mounting groove, and the magnetic pole block, permanent magnet and excitation assembly are all arranged in the mounting groove.

3. The drone according to claim 2, characterized in that: The mounting seat is made of ferromagnetic material, and an isolating body made of antimagnetic material is filled between the magnetic pole block, the permanent magnet, the excitation assembly and the inner wall of the mounting groove.

4. The drone according to claim 1, characterized in that: Each of the magnetic pole blocks corresponds to at least two permanent magnets, and the permanent magnets corresponding to the same magnetic pole block are located on different sides of the magnetic pole block and face the same magnetic poles of the corresponding magnetic pole block.

5. The drone according to claim 1, characterized in that: The number of the magnetic pole blocks is at least two, each of which is arranged in parallel, and the excitation components correspond to the magnetic pole blocks one by one.

6. The drone according to claim 1, characterized in that: The excitation assembly comprises a reversible magnet and an excitation coil. The reversible magnet is made of soft magnetic material. The excitation coil is wound around the reversible magnet. One end of the reversible magnet is aligned with the magnetic pole block.

7. The drone according to claim 1, characterized in that: It also includes a flight control module, which includes a navigation component and a flight control component. The navigation component includes a GPS module. The flight control component is used to be electrically connected to the flight component and control the working state of the flight component.

8. The drone according to any one of claims 1 to 7, characterized in that: It also includes a payload packaging component, on which an adsorption block is provided, and the adsorption block is made of ferromagnetic material.

9. The drone according to claim 8, characterized in that: It also includes a loading control module, which includes a suction cup control component and a positioning control component. The suction cup control component is used to be electrically connected to the excitation component and control the working state of the excitation component; the positioning control component includes a positioning unit, which is used to collect the relative position state between the body and the payload packaging component, and adjust the working state of the flight component according to the relative position state.

10. A method for transporting a payload of an unmanned aerial vehicle, characterized in that: Using the drone as described in any one of claims 1 to 9; At least the following steps are included: S1. Loading: Select a load that can be magnetically adsorbed, place the machine body on the load, and set the adsorption surface of the permanent magnetic chuck toward the load; adjust the excitation component so that the magnetic poles of the excitation component and the permanent magnet facing the magnetic pole block are the same, at this time, the magnetic force of the permanent magnetic chuck on the load reaches a maximum value, and the magnetic adsorption of the load is achieved; S2.Transfer: The flight assembly works, and the aircraft body and the payload are synchronously transferred to the predetermined position; during the transfer process, the magnetic pole direction of the excitation assembly remains unchanged; S3. Delivery: Adjust the excitation assembly so that the excitation assembly and the permanent magnet face the magnetic pole block in the opposite direction. At this time, the magnetic force of the electro-permanent magnetic chuck on the load reaches a minimum value, thus achieving the delivery of the load.

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