Multi-mode flight operation device oriented to high-risk environment and working method of multi-mode flight operation device

Abstract

The invention relates to the technical field of high-altitude high-risk environment flight work robots, and provides a high-risk environment-oriented multi-mode flight work device and a working method thereof, and the high-risk environment-oriented multi-mode flight work device comprises a support arm with one end provided with a B standard interface; the lander is arranged on the B standard interface; one end of the main operation arm is rotationally arranged at the other end of the supporting arm, a flight assembly used for flight is arranged on the supporting arm or the main operation arm and comprises a propeller or a rotor wing, and an A standard interface is formed in the other end of the main operation arm; and the actuator is arranged on the A standard interface. According to the technical scheme, the problem of high-risk work of manual climbing operation is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-altitude and high-risk environment flight working robots, and in particular to a multi-modal flight working device for high-risk environments and a working method thereof. Background Art

[0002] With the acceleration of urbanization and the increasing complexity of industrial facilities, the demand for high-altitude, high-risk operations is increasing, such as high-rise building maintenance, power facility inspection, and chemical equipment testing. Traditional methods rely primarily on manual climbing or the construction of temporary scaffolding, which poses safety risks such as falls, falling objects, and extreme weather conditions. They also suffer from low efficiency and high costs. In recent years, robotics technology has been gradually applied to high-altitude operations, but existing technologies still have significant limitations. Existing high-altitude robots often use fixed manipulators or single flying vehicles, making it difficult to simultaneously achieve autonomous flight, precise landing, and multi-angle operations, making them unable to adapt to the changing demands of complex, high-altitude environments. High-risk environments are often accompanied by strong winds, electromagnetic interference, and confined spaces. Traditional robots lack dynamic stability and multimodal control capabilities, resulting in large positioning errors and low operational reliability. The interfaces between existing manipulators, flying platforms, and actuators are insufficiently standardized, making functional expansion difficult, maintenance costs high, and rapid adaptation to diverse task requirements difficult. They cannot completely replace manual labor, and the problem of high-risk manual operations at height persists. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a multi-modal flight operation device and its working method for high-risk environments in response to the above-mentioned technical deficiencies, which solves the high-risk work problem of manual altitude operations.

[0004] The technical solution adopted by the present invention is to provide a multi-modal flight operation device for high-risk environments, comprising: Support arm, one end of which is provided with a B standard interface; A lander, arranged on the B standard interface; A main working arm, one end of which is rotatably mounted on the other end of the support arm; a flight component for flight is provided on the support arm or the main working arm, the flight component including a propeller or a rotor; and an A standard interface is provided on the other end of the main working arm; The actuator is arranged on the A standard interface.

[0005] To further optimize this technical solution, the lander is of fixed clamping type, wheel clamping type, electromagnet magnetic suction type, electromagnet magnetic suction wheel type, vacuum suction cup type, vacuum attraction wheel type or rock crevice expansion plug type.

[0006] To further optimize this technical solution, the B standard interface includes: A base is rotatably arranged at one end of the support arm, and the lander is rotatably arranged on the base, and the rotation axis of the base is perpendicular to the rotation axis of the lander.

[0007] To further optimize this technical solution, the A standard interface is rotatably arranged at the other end of the main working arm.

[0008] Further optimizing this technical solution, the main working arm has a C standard interface; and further comprising: The auxiliary working arm is arranged on the main working arm through the C standard interface.

[0009] To further optimize the technical solution, the actuator is of a rotary type, an impact type, a vacuum suction type, an electromagnetic suction type, a clamping type, a spraying type or a signal transmission type.

[0010] A method for operating a multi-modal flight operation device for high-risk environments is also proposed. The multi-modal flight operation device for high-risk environments is used to perform flight operations, including the following method: Take-off and flight mode: The lander, main working arm and support arm are folded up, and according to the flight instructions received, the flight state is adjusted to gradually approach a suitable fixed position at the work site. Different landers are selected according to different fixed positions. The fixed position can be an iron frame, a smooth glass curtain wall, a rock wall, a tree or a building; Landing method: After approaching a suitable fixed position at the work site, the real-time image is transmitted back by image transmission and analyzed by the computer or observed by the driver. The remote control sends a command, and the lander deploys to the landing preparation state. The computer or the driver adjusts the flight state, making the lander approach at a low speed until it touches the fixed position of the work site. The computer or the driver sends the lander operation command, and the lander generates electromagnetic force, vacuum, or retracts the gripper to firmly fix the main working arm near the work point. Operation method: After the flying operation device is fixed near the operation site, the computer or the driver operates the remote control to control the extension of the support arm and the main operation arm, and the support actuator is moved to the specific operation location for operation; Return method: After the operation is completed, the computer or the driver operates the remote control to control the main operating arm and the support arm to retract, the flight component operates to adjust the flight state, and after the whole machine maintains the suspended posture, the lander is unlocked. The flight operation device fully enters the flight state, slowly moves away from the surrounding objects, the lander retracts, and the whole machine returns, completing an operation.

[0011] The beneficial effects of the present invention are: 1. The lander allows the main working arm to be stably placed near the work site, improving operational stability. Through the B-standard interface and the A-standard interface, different landers and actuators can be easily selected and replaced, conveniently responding to fixed positions and operational requirements in different operating environments, achieving multi-modal optional operation forms, making function expansion more convenient and enabling rapid adaptation to different mission requirements.

[0012] 2. The present invention can complete specific work tasks that replace manual labor during high-altitude operations. It can conveniently control and adjust the replacement of actuators and landers through the ground station to replace most dangerous manual operations at heights. It can replace manual entry into high-risk environments and difficult-to-reach environments for installation, dismantling, and repair work. It can also serve as a temporary high-altitude fulcrum for emergency support devices. It adopts an integrated design with a simple structure and is easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of the present invention in use; Figure 2 This is a schematic diagram of the auxiliary working arm of the present invention in use; Figure 3 For the present invention Figure 2 Schematic diagram of the cross-section at the AA position (interface side of the B standard interface); Figure 4 This is a schematic structural diagram of the lander of the present invention (the docking side with the B standard interface); Figure 5 This is a side view schematic diagram of the present invention in a curled-up flying posture; Figure 6 This is a schematic diagram of the structure of the present invention in a curled-up flying posture (part of the structure is omitted); Figure 7 This is a schematic structural diagram of the fixed clamping lander of the present invention in use state; Figure 8 This is a schematic structural diagram of the wheeled clamping lander of the present invention in use state; Figure 9 This is a schematic diagram of the structure of the electromagnet magnetic attraction lander of the present invention in use state; Figure 10 This is a schematic diagram of the structure of the electromagnet magnetic attraction wheel lander in use state of the present invention; Figure 11 This is a schematic structural diagram of the vacuum suction cup lander of the present invention in use; Figure 12 This is a schematic structural diagram of the rock gap expansion plug lander of the present invention in flight state; Figure 13 This is a schematic diagram of the structure of the rock gap expansion plug lander of the present invention in the lowering state; Figure 14This is a schematic diagram of the fixing structure of the rock gap expansion plug lander of the present invention; Figure 15 This is a schematic structural diagram of the rock crevice expansion plug lander of the present invention in use; Explanation of the marks in the figure: 1. Support arm; 2. B standard interface; 201. Base; 202. Turbine drive assembly; 203. Central locking hole; 3. Lander; 301. Turbine gear; 302. Central locking rod; 4. Main working arm; 401. C standard interface; 5. Flight assembly; 6. A standard interface; 7. Actuator; 8. Auxiliary working arm; 9. Electric shaft. DETAILED DESCRIPTION

[0014] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one," and "several" includes "two" and "more than two."

[0016] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0017] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0018] like Figure 1-15 As shown, a multimodal flight operation device for high-risk environments includes: a support arm 1, one end of which is provided with a B standard interface 2; a lander 3, which is arranged on the B standard interface 2; a main working arm 4, one end of which is rotatably arranged at the other end of the support arm 1, and a flight component 5 for flight is provided on the support arm 1 or the main working arm 4, and the flight component 5 includes a propeller or a rotor, and the other end of the main working arm 4 is provided with an A standard interface 6; an actuator 7, which is provided on the A standard interface 6.

[0019] The lander 3 is of fixed clamping type, wheel clamping type, electromagnet magnetic suction type, electromagnet magnetic suction wheel type, vacuum suction cup type, vacuum attraction wheel type or rock gap expansion plug type.

[0020] The B standard interface 2 includes: a base 201 rotatably disposed at one end of the support arm 1 , the lander 3 rotatably disposed on the base 201 , and a rotation axis of the base 201 perpendicular to a rotation axis of the lander 3 .

[0021] The A standard interface 6 is rotatably arranged at the other end of the main working arm 4 .

[0022] The main working arm 4 has a C-standard interface 401 ; and further comprises: an auxiliary working arm 8 , which is arranged on the main working arm 4 via the C-standard interface 401 .

[0023] The actuator 7 is of a rotary type, an impact type, a vacuum suction type, an electromagnetic suction type, a clamping type, a spraying type or a signal transmission type.

[0024] When in use, the lander 3, the B standard interface 2, the support arm 1, the main working arm 4, the A standard interface 6 and the actuator 7 are connected in sequence. The base 201 of the B standard interface 2 is connected to the support arm 1 through an electric shaft 9. A turbine drive assembly 202 can be provided on the base 201. The lander 3 has turbine teeth 301. The turbine drive assembly 202 drives the turbine teeth 301, thereby driving the lander 3 to rotate. The base 201 can also have a central locking hole 203. The middle part of the lander 3 has a central locking rod 302 that is plugged into the central locking hole 203 to achieve connection. The rotation axis of the rotational connection between the base 201 and the support arm 1 is perpendicular to the rotation axis between the lander 3 and the base 201, which can realize multi-angle adjustment on the two vertical planes of horizontal and vertical, and realize the control of the pitch and tilt of the support arm 1, so as to better control the rotation of the support arm 1. The scissor lift is located in a fixed position near the quasi-landing site, and its rotational connection is remotely and actively controlled via an electric shaft 9, enabling transitions between a retracted and deployed landing state. Slip rings and brushes allow for electrical conduction and communication between the lander 3 and the B-standard interface 2. The support arm 1 and the main working arm 4 are rotationally connected via an electric shaft 9, enabling transitions between a retracted and deployed operating state. The end of the main working arm 4 is rotationally connected to the A-standard interface 6 via an electric shaft 9, allowing the angle of the actuator 7 to be adjusted during operation to better execute different operational actions. The connection between the end of the main working arm 4 and the A-standard interface 6 is also controlled via two perpendicularly arranged electric shafts 9, enabling rotation and pitch control of the A-standard interface 6. Different electric shafts 9 can be selected for different rotational requirements to adapt parameters such as rotational power.

[0025] The support arm 1 or main working arm 4 can be equipped with batteries, receivers, flight controllers, flight control instruments, attitude controllers, motor drivers, cameras, image transmitters, and more. The exterior of the support arm 1 is connected to the motors and propellers via multiple connecting rods, and can also be equipped with a camera to guide the movement. The camera can be mounted via a gimbal. This is a conventional technology, and the required components can be selected based on the flight and operational requirements of the operation.

[0026] The lander 3 can select an appropriate type according to the landing fixed position in the working environment, such as a fixed clamping lander 3, a wheeled clamping lander 3, an electromagnet magnetic suction lander 3, an electromagnet magnetic suction wheel lander 3, a vacuum suction cup lander 3, a vacuum suction wheel lander 3 or a rock crevice expansion plug lander 3.

[0027] like Figure 7 As shown, the fixed clamping type: A fixed clamping gripper is a mechanical end effector 7 mounted on the fixed base end of the flight manipulator arm, with two or more "fingers" (gripper arms or clamps) that move inward relative to each other. The inner contact surfaces of these gripper arms are designed with specific shapes (such as V-grooves, arcs, flat surfaces, or with flexible pads) to maximize the contact area and adapt to the shape of the clamped object. The gripper arms move inward simultaneously from both sides or around the fixed target object. The fixed clamping gripper mainly applies clamping force through a core driving force such as a cylinder, motor, hydraulic cylinder, etc. The clamping force is converted into a force that causes the gripper arms to move inward perpendicular to the contact surface to secure the support arm 1.

[0028] like Figure 8 As shown, the wheeled clamping type: the wheeled clamping type replaces the original contact surface with a powered roller, such as a one-way wheel, a universal wheel, or a Mecanum wheel, based on the fixed clamping type, thereby achieving the ability to move along the surface of the fixed object.

[0029] like Figure 9 As shown, the electromagnet magnetic attraction type uses one or an array of electromagnets to energize and de-energize to achieve the electromagnet's attraction to the magnetic fixing surface. The contact surface of these electromagnets is designed with a specific shape (such as a V-groove, arc, flat surface, or with a flexible pad) to maximize the contact area and adapt to the shape of the magnetically attracted object. This achieves the purpose of more firmly fixing the support arm 1.

[0030] like Figure 10 As shown, the electromagnet magnetic wheel type: the electromagnet magnetic wheel type uses a powered roller, such as a one-way wheel, a universal wheel, and a Mecanum wheel, to replace the original contact surface on the basis of the electromagnet magnetic type, thereby realizing the ability of the robotic arm to move along the magnetic surface.

[0031] like Figure 11As shown, vacuum suction cup type: uses one or an array of vacuum suction cups for fixation, and uses a vacuum blower or plunger pump to achieve vacuum attraction on the smooth surface of the fixed position. These vacuum suction cups are designed into specific shapes (such as V-grooves, arcs, flat surfaces, or with flexible pads) to maximize the contact area and adapt to the shape of the smooth surface. Achieve the purpose of more firmly fixing the electromagnet.

[0032] Vacuum suction wheel type: Method 1, the vacuum suction wheel type uses a vacuum suction cup type with a vacuum blower and replaces the original contact surface with a powered roller, such as a one-way wheel, a universal wheel, or a Mecanum wheel, to achieve the ability of the electromagnet to move along a smooth surface.

[0033] Vacuum suction wheel type: Method 2, the vacuum suction wheel type uses a plunger vacuum pump based on the vacuum suction cup type. It uses a powered slide rail to control two or more groups of vacuum suction cups to achieve electromagnet creep on a smooth surface.

[0034] like Figure 12-15 As shown, in the rock fracture expansion plug method, lander 3 releases an extension rod or rope to insert the rock fracture plug into the rock fracture. The rock fracture plug is then controlled by tightening a nut using a motor, compressed air, or hydraulic system, generating axial tension, or by pulling a core rod directly. This forces the internal conical wedge to move, forcing the elastic cone sleeve to expand radially, forcing the rock fracture or hole wall to be squeezed. The substantial normal reaction force generated by the rock wall creates static friction on the contact surface, resisting sliding. Ultimately, the load (tension) of support arm 1 is transferred to the surrounding rock mass through friction and mechanical engagement. The main body retracts the extension rod or reels in the rope to reliably anchor support arm 1 to the rock arm. This solution is suitable for remote control operations on steep mountainous terrain.

[0035] A C standard interface 401 with a standard guide rail buckle is set on one side of the main working arm 4. The auxiliary working arm 8 can be installed on the C standard interface 401. The auxiliary working arm 8 is a controllable robotic arm. A camera device or other actuator 7 can be installed on the mobile end. A standard interface can be installed on the mobile end of the auxiliary working arm 8 to perform multi-modal operation selection, assisting the actuator 7 on the A standard interface 6 to work or perform independent operation.

[0036] The actuator 7 can be a rotary actuator 7, an impact actuator 7, a vacuum actuator 7, an electromagnetic actuator 7, a gripping actuator 7, a spraying actuator 7, a monitoring actuator 7, a lighting actuator 7, or a signal transmission actuator 7. It can also be a multi-functional actuator 7, integrating multiple functions and compatible with the A standard interface 6, allowing for optional configuration based on operational requirements. For example, a rotary actuator 7 can be an electric drill for drilling holes or screwing; a vacuum actuator 7 can be used to remove, install, or secure objects through vacuum suction; and a signal transmission actuator 7 can be a signal relay station, transmitting signals and facilitating signal connectivity to surrounding areas.

[0037] A working method of a multimodal flight operation device for high-risk environments is also proposed. The multimodal flight operation device for high-risk environments is used to perform flight operations. The multimodal flight operation device can not only avoid the danger of manual operation at high altitudes, but also can conveniently standardize the operation actions and operation logic, and can also achieve aerial crossing of target buildings to improve work efficiency. A flying support arm 1 is used to complete a tool position transfer action over a long distance. After flying to a relatively close operation range, a multimodal optional lander 3 is used to firmly fix the entire device near the operation point. After the main operation arm 4 is unfolded, the multimodal optional actuator 7 is used to complete the operation. The main operation arm 4 is then folded and converted to a flying state to leave the site, change the operation site, or return to the target site. The following methods are included: Take-off and flight mode: The lander 3, the main working arm 4 and the support arm 1 are folded, and according to the received flight instructions, the flight state is adjusted to gradually approach a suitable fixed position at the work site. Different landers 3 are selected according to different fixed positions. The fixed position can be an iron structure, a smooth glass curtain wall, a rock wall, a tree or a building; Landing method: After approaching a suitable fixed position at the work site, the real-time image transmitted by the image transmission is analyzed by the computer or observed by the driver. The remote control sends a command, and the lander 3 is deployed to the landing preparation state. The computer or the driver adjusts the flight state so that the lander 3 approaches at a low speed until it touches the fixed position of the work site. The computer or the driver sends an operation command to the lander 3, and the lander 3 generates electromagnetic force, vacuum, or retracts the gripper to firmly fix the main working arm 4 near the work point. Operation method: After the flying operation device is fixed near the operation site, the computer or the driver operates the remote control to control the support arm 1 and the main operation arm 4 to extend, and the support actuator 7 is moved to the specific operation location for operation; Return method: After the operation is completed, the computer or the driver operates the remote control to control the main working arm 4 and the support arm 1 to curl up, and the flight component 5 operates to adjust the flight state. After the whole machine maintains the suspended posture, the lander 3 is unlocked, and the flight operation device fully enters the flight state. After slowly moving away from the surrounding objects, the lander 3 curls up and the whole machine returns, completing an operation action.

[0038] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A multi-mode flight operation device for high-risk environments, characterized by: include: A support arm (1) having a B standard interface (2) provided at one end; A lander (3) is arranged on the B standard interface (2); A main working arm (4) is rotatably arranged at one end on the other end of the support arm (1); a flight component (5) for flying is arranged on the support arm (1) or the main working arm (4); the flight component (5) includes a propeller or a rotor; and an A standard interface (6) is arranged at the other end of the main working arm (4); An actuator (7) is arranged on the A standard interface (6).

2. The multi-mode flight operation device for high-risk environments according to claim 1, characterized in that: The lander (3) is of a fixed clamping type, a wheel clamping type, an electromagnet magnetic suction type, an electromagnet magnetic suction wheel type, a vacuum suction cup type, a vacuum attraction wheel type or a rock gap expansion plug type.

3. The multi-mode flight operation device for high-risk environments according to claim 1, characterized in that: The B standard interface (2) includes: A base (201) is rotatably mounted on one end of the support arm (1), and the lander (3) is rotatably mounted on the base (201), wherein the rotation axis of the base (201) is perpendicular to the rotation axis of the lander (3).

4. The multi-mode flight operation device for high-risk environments according to claim 3, characterized in that: The A standard interface (6) is rotatably arranged at the other end of the main working arm (4).

5. The multi-mode flight operation device for high-risk environments according to claim 1, characterized in that: The main working arm (4) has a C standard interface (401) and further comprises: The auxiliary working arm (8) is arranged on the main working arm (4) via the C standard interface (401).

6. The multi-mode flight operation device for high-risk environments according to claim 1, characterized in that: The actuator (7) is of a rotary type, an impact type, a vacuum suction type, an electromagnetic suction type, a clamping type, a spraying type or a signal transmission type.

7. A method for operating a multi-modal flight operation device for high-risk environments, comprising performing flight operations using the multi-modal flight operation device for high-risk environments according to any one of claims 1 to 6, characterized in that: The following methods are included: Take-off and flight mode: the lander (3), the main operating arm (4) and the supporting arm (1) are folded, and according to the received flight instructions, the flight state is adjusted to gradually approach a suitable fixed position at the operation site. Different landers (3) are selected according to different fixed positions. The fixed position can be an iron structure, a smooth glass curtain wall, a rock wall, a tree or a building; Landing method: After approaching a fixed position suitable for the operation site, the real-time image is transmitted back by the image transmission and analyzed by the computer or observed by the driver's naked eyes. The remote control sends a command, and the lander (3) is deployed to a landing preparation state. The computer or the driver adjusts the flight state so that the lander (3) approaches the fixed position of the operation site at a low speed until it touches the operation site. The computer or the driver sends an operation command for the lander (3), and the lander (3) generates electromagnetic force, vacuum, or retracts the clamping claws to firmly fix the main working arm (4) near the operation point. Operation method: After the flying operation device is fixed near the operation site, the computer or the driver operates the remote control to control the support arm (1) and the main operation arm (4) to extend, and the supporting actuator (7) is moved to the specific operation implementation position to perform the operation; Return method: After the operation is completed, the computer or the driver operates the remote control to control the main operating arm (4) and the support arm (1) to curl up, and the flight component (5) operates to adjust the flight state. After the whole machine maintains the suspended posture, the lander (3) is unlocked, and the flight operation device fully enters the flight state. After slowly moving away from the surrounding objects, the lander (3) curls up and the whole machine returns, completing an operation action.

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