Modular intelligent high-altitude operation system based on unmanned aerial vehicle and robot

Abstract

The invention belongs to the technical field of crossing of automation of unmanned aerial vehicles and robots, particularly relates to a modular intelligent high-altitude operation system based on an unmanned aerial vehicle and a robot, and aims at solving the problems that when the unmanned aerial vehicle executes a task, rotor wings are prone to collide with obstacles, the unmanned aerial vehicle is damaged, and the high-altitude operation efficiency is reduced. Rotor mounting rods are fixedly connected to the outer part of the fuselage body at equal intervals; the plurality of rotor wings are arranged on the plurality of rotor wing mounting rods; the operation safety module is arranged on the rotor wing mounting rod, and the operation safety module is used for protecting the rotor wing of the unmanned aerial vehicle and buffering the collision force in time; and the energy dissipation module is arranged below the machine body. The modularized intelligent high-altitude operation system based on the unmanned aerial vehicle and the robot has the effects that the rotors of the unmanned aerial vehicle are protected, meanwhile, the collision force is buffered in time, the unmanned aerial vehicle is prevented from being damaged, and the high-altitude operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the cross-technical field of drone and robot automation, and in particular to a modular intelligent aerial work system based on drones and robots. Background Art

[0002] In the development of modern society, the demand for aerial work is widespread in many fields, including construction, agricultural production, and urban infrastructure maintenance. Traditional aerial work methods rely primarily on manual climbing or the use of simple lifting equipment, which is inefficient and has very limited application scenarios. With the continuous advancement of technology, some fields are experimenting with the use of drones to assist in aerial work. Through the modular and intelligent cooperation of drones and robots, they can address many of the drawbacks of traditional aerial work.

[0003] When existing drones are equipped with multi-joint robots to perform high-altitude tasks, the operating environment is relatively complex, which causes the rotors of the drones to easily collide with obstacles during the execution of the tasks, causing damage to the drone and reducing the efficiency of high-altitude operations. Summary of the Invention

[0004] The present invention discloses a modular intelligent aerial work system based on drones and robots, aiming to solve the technical problem in the background technology that when drones perform tasks, the rotors are prone to collision with obstacles, causing damage to the drones and reducing the efficiency of aerial work.

[0005] The modular intelligent aerial work system based on drones and robots proposed in the present invention includes:

[0006] The fuselage body has rotor mounting rods fixedly connected to the outside of the fuselage body at equal distances;

[0007] A plurality of rotors are mounted on a plurality of rotor mounting rods;

[0008] An operation safety module is installed on the rotor mounting rod. The operation safety module protects the UAV rotor and timely buffers the impact force suffered.

[0009] The energy dissipation module is arranged below the fuselage body, and the energy dissipation module reduces the vibration generated by the fuselage body during landing.

[0010] In a preferred embodiment, the operation safety module includes:

[0011] Two fixing blocks, the fixing blocks are fixedly connected to both sides of the rotor mounting rod, one side of each fixing block is provided with a circular hole, and the interior of each circular hole is connected to a rotating cylinder through a bearing;

[0012] Two support frames are respectively fixedly connected to the outside of the rotating cylinder. One side of the two support frames is fixedly connected with a protective arc plate, and the protective arc plate is located outside the rotor.

[0013] In a preferred embodiment, the operation safety module further includes:

[0014] Two tooling covers, the tooling covers are fixedly connected to both sides of the rotor mounting rod, and a slide groove is opened on one side of the two tooling covers, and a buffer slider is slidably connected inside the two slide grooves;

[0015] Two buffer springs, both ends of the buffer springs are respectively connected to the buffer slider and one side of the support frame, one side of the two buffer sliders is provided with a smooth hole, and the opposite side of the two slides are fixedly connected to the same guide cylinder, which is located inside the smooth hole.

[0016] In a preferred embodiment, the safe operation module further includes:

[0017] Two return springs, both sides of the return springs are fixedly connected to one side of the buffer slider and the slide groove respectively, and the return springs are located outside the guide cylinder;

[0018] The supporting block is fixedly connected to the opposite side of the two buffer sliding blocks. The inner side of the rotor mounting rod is fixedly connected to the limiting sleeve, and a sliding hole is opened on one side of the limiting sleeve.

[0019] In a preferred embodiment, the operation safety module further includes:

[0020] An impact cylinder, one side of which is fixedly connected to one side of the support block, and the other side of which is fixedly connected to a sliding circular plate, which slides inside the limiting sleeve;

[0021] The airbag is arranged inside the limiting sleeve, and two mounting openings are opened outside the limiting sleeve. The insides of the two mounting openings are fixedly connected with jet pipes, and the jet ends of the jet pipes are fixedly connected to the inside of the airbag.

[0022] In a preferred embodiment, the energy dissipation module includes:

[0023] Two landing brackets, the landing brackets are fixedly connected to the bottom of the fuselage body, and one side of the two landing brackets is fixedly connected to the limit track;

[0024] One side of the two limiting rails is provided with a through hole, and the interiors of the plurality of through holes are slidably connected with a buffer cylinder.

[0025] In a preferred solution, the energy dissipation module further includes:

[0026] Two landing plates, one side of the landing plates is fixedly connected to one side of the buffer cylinder, one side of the multiple buffer cylinders is fixedly connected to a shock-absorbing spring 1, and one side of the shock-absorbing spring 1 is fixedly connected to one side of the limiting track.

[0027] In a preferred solution, the energy dissipation module further includes:

[0028] Two limiting round rods, the limiting round rods are fixedly connected to the opposite inner sides of the limiting rails, and the outer sides of the two limiting round rods are slidably connected to two buffer slides;

[0029] Two shock-absorbing springs 2, both sides of which are fixedly connected to one side of two opposite buffer slides, the shock-absorbing spring 2 is located outside the limiting round rod, one side of multiple buffer slides is fixedly connected to a tooling block, and the opposite sides of multiple tooling blocks are connected to a shock-absorbing support arm through a bearing, and one side of the shock-absorbing support arm is movably connected to one side of the landing plate.

[0030] In a preferred solution, a servo linear slide is provided at the bottom of the fuselage body, and a glue storage tank is fixedly connected to one side of the servo linear slide, and a drone safety hanging ring is installed on the outside of the fuselage body.

[0031] In a preferred solution, a multi-joint robot is provided on one side of the servo linear slide, and the driving end of the multi-joint robot is fixedly connected to a quick clamping module, a glue filling tool is installed on the quick clamping module, and a 3D vision unit is provided on one side of the quick clamping module.

[0032] From the above, it can be seen that the modular intelligent high-altitude work system based on drones and robots provided by the present invention has the beneficial effects of protecting the drone rotors, timely buffering the collision force suffered, avoiding damage to the drone, and improving the efficiency of high-altitude work. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the main structure of the modular intelligent aerial work system based on drones and robots proposed in the present invention;

[0034] Figure 2 This is a schematic diagram of the top view of the modular intelligent aerial work system based on drones and robots proposed in the present invention;

[0035] Figure 3 This is a schematic diagram of the work safety module structure of the modular intelligent aerial work system based on drones and robots proposed in the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of the work safety module of the modular intelligent aerial work system based on drones and robots proposed in the present invention;

[0037] Figure 5 This is a schematic diagram of the internal structure of the limit sleeve of the modular intelligent aerial work system based on drones and robots proposed in the present invention;

[0038] Figure 6 This is a schematic diagram of the energy dissipation module structure of the modular intelligent aerial work system based on drones and robots proposed in the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of the glue repair tool of the modular intelligent aerial work system based on drones and robots proposed in the present invention.

[0040] Figure: 1, fuselage body; 2, rotor mounting rod; 3, drone safety ring; 4, rotor; 5, operation safety module; 501, tooling cover; 502, fixing block; 503, rotating cylinder; 504, support frame; 505, protective arc plate; 506, buffer spring; 507, guide cylinder; 508, buffer slider; 509, support block; 510, impact cylinder; 511, sliding circular plate; 512, limiting sleeve; 513, airbag; 514, jet Pipeline; 515, return spring; 6, energy dissipation module; 601, landing bracket; 602, limit rail; 603, buffer cylinder; 604, shock-absorbing spring 1; 605, limit rod; 606, buffer slide; 607, shock-absorbing spring 2; 608, tooling block; 609, shock-absorbing support arm; 610, landing plate; 7, servo linear slide; 8, multi-joint robot; 9, glue storage tank; 10, quick clamp module; 11, glue filling tool; 12, 3D vision unit. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] The modular intelligent aerial work system based on drones and robots disclosed in the present invention is mainly used in scenarios where the rotors of drones are prone to collision with obstacles when performing tasks, causing damage to the drone and reducing the efficiency of aerial work.

[0043] Reference Figure 1-Figure 7 , a modular intelligent aerial work system based on drones and robots, including:

[0044] The fuselage body 1 has rotor mounting rods 2 fixedly connected to the outside of the fuselage body 1 at equal distances;

[0045] A plurality of rotors 4 are mounted on a plurality of rotor mounting rods 2;

[0046] The operation safety module 5 is provided on the rotor mounting rod 2. The operation safety module 5 protects the UAV rotor and timely buffers the collision force suffered.

[0047] The energy dissipation module 6 is arranged below the fuselage body 1 , and the energy dissipation module 6 reduces the vibration generated by the fuselage body 1 during landing.

[0048] When the device is in use, the operation safety module 5 is used to protect the rotor of the drone, and at the same time, the collision force suffered is timely buffered to avoid damage to the drone and improve the efficiency of high-altitude operations. The energy dissipation module 6 minimizes the vibration generated by the fuselage body 1 during landing, avoiding damage caused by vibration to the internal parts of the operating tools on the fuselage body 1.

[0049] Reference Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 In a preferred embodiment, the operation safety module 5 includes:

[0050] Two fixed blocks 502, fixedly connected to both sides of the rotor mounting rod 2, each having a circular hole 1 formed on one side thereof, and a rotating cylinder 503 connected to the inside of each circular hole 1 via a bearing;

[0051] Two support frames 504 are respectively fixedly connected to the outside of the rotating cylinder 503 . One side of the two support frames 504 is fixedly connected with a protective arc plate 505 . The protective arc plate 505 is located outside the rotor 4 .

[0052] In the present invention, the operation safety module 5 further includes:

[0053] Two tooling covers 501, the tooling covers 501 are fixedly connected to both sides of the rotor mounting rod 2, and one side of each tooling cover 501 is provided with a slide groove, and the inside of each slide groove is slidably connected to a buffer slider 508;

[0054] Two buffer springs 506, both ends of the buffer spring 506 are respectively connected to the buffer slider 508 and one side of the support frame 504, one side of the two buffer sliders 508 is provided with a smooth hole, and the opposite side of the two slide grooves are fixedly connected with the same guide cylinder 507, and the guide cylinder 507 is located inside the smooth hole.

[0055] In the present invention, the safe operation module also includes:

[0056] Two return springs 515 , with both sides of the return spring 515 fixedly connected to the buffer slider 508 and one side of the slide groove, respectively. The return spring 515 is located outside the guide cylinder 507 ;

[0057] The support block 509 is fixedly connected to the opposite side of the two buffer sliders 508. The inner side of the rotor mounting rod 2 is fixedly connected to the limiting sleeve 512, and a sliding hole is opened on one side of the limiting sleeve 512.

[0058] In the present invention, the operation safety module 5 further includes:

[0059] An impact cylinder 510 , one side of which is fixedly connected to one side of the support block 509 , and the other side of which is fixedly connected to a sliding circular plate 511 , which slides inside a limiting sleeve 512 ;

[0060] The airbag 513 is arranged inside the limiting sleeve 512. Two installation ports are opened on the outside of the limiting sleeve 512. The insides of the two installation ports are fixedly connected to the jet pipe 514. The jet end of the jet pipe 514 is fixedly connected to the inside of the airbag 513.

[0061] Specifically, the protective arc plate 505 protects the rotor 4 to prevent the rotor 4 from touching obstacles. The impact suffered by the protective arc plate 505 drives the buffer slider 508 to move, so that the sliding circular plate 511 squeezes the airbag 513 inside the limiting sleeve 512. At this time, the airbag 513 ejects gas through the jet pipe 514, and the direction of the gas ejection is opposite to the collision force suffered by the protective arc plate 505.

[0062] In a specific application scenario, when the fuselage body 1 is performing high-altitude operations, the protective arc plate 505 is used to protect the rotor 4 to prevent the rotor 4 from touching obstacles. When the protective arc plate 505 collides with an obstacle, the buffer spring 506 is compressed to absorb the collision energy, thereby reducing the impact force transmitted by the protective arc plate 505. At the same time, the collision force is transmitted through the support frame 504, causing the buffer spring 506 to be compressed and deformed, and pushing the buffer slider 508 to move along the guide cylinder 507. The return spring 515 is compressed at the same time, which increases the damping of the system, helps to dissipate the collision energy and slow down the movement, reducing the transmission to The impact force of the fuselage body 1 and the buffering slider 508 move together, and the sliding circular plate 511 is driven to move inside the limiting sleeve 512 through the impact cylinder 510, so that the sliding circular plate 511 squeezes the airbag 513 inside the limiting sleeve 512. At this time, the airbag 513 ejects gas through the jet pipe 514, and the direction of the gas ejection is opposite to the collision force suffered by the protective arc plate 505, thereby reducing the offset of the fuselage body 1. Through the operation safety module 5, the drone rotor is protected, and the collision force suffered is buffered in time to avoid damage to the drone and improve the efficiency of high-altitude operations.

[0063] Reference Figure 1and Figure 6 In a preferred embodiment, the energy dissipation module 6 includes:

[0064] Two landing brackets 601, the landing brackets 601 are fixedly connected to the bottom of the fuselage body 1, and one side of the two landing brackets 601 is fixedly connected to the limiting track 602;

[0065] One side of the two limiting rails 602 is provided with a through hole, and the interior of the plurality of through holes is slidably connected to a buffer cylinder 603 .

[0066] In the present invention, the energy dissipation module 6 further includes:

[0067] Two landing plates 610, one side of the landing plate 610 is fixedly connected to one side of the buffer cylinder 603, one side of multiple buffer cylinders 603 is fixedly connected to a shock-absorbing spring 1 604, and one side of the shock-absorbing spring 1 604 is fixedly connected to one side of the limiting track 602.

[0068] In the present invention, the energy dissipation module 6 further includes:

[0069] Two limiting round rods 605, the limiting round rods 605 are fixedly connected to the opposite inner sides of the limiting track 602, and the outer sides of the two limiting round rods 605 are slidably connected to two buffer slides 606;

[0070] Two shock-absorbing springs 607, both sides of the shock-absorbing spring 607 are respectively fixedly connected to one side of two opposite buffer slides 606, the shock-absorbing spring 607 is located outside the limiting round rod 605, one side of multiple buffer slides 606 is fixedly connected to the tooling block 608, and the opposite sides of multiple tooling blocks 608 are connected to the shock-absorbing support arm 609 through a bearing, and one side of the shock-absorbing support arm 609 is movably connected to one side of the landing plate 610.

[0071] Specifically, when the landing plate 610 contacts the ground, the first shock-absorbing spring 604 and the second shock-absorbing spring 607 buffer the landing force suffered.

[0072] In a specific application scenario, when the fuselage body 1 is lowered to replace the working tool, the landing plate 610 on the landing bracket 601 contacts the ground. At the moment of contact, the shock-absorbing spring 1 604 is compressed to cushion the impact caused by the contact between the landing plate 610 and the ground, so as to avoid the internal parts of the working tool carried by the fuselage body 1 from being damaged due to severe vibration due to excessive impact when the fuselage body 1 falls. At the same time, the shock-absorbing support arm 609 is squeezed, so that the buffer slide 606 moves relatively inside the limiting track 602. At this time, the shock-absorbing spring 2 607 is compressed to further absorb the impact energy, and cooperate with the shock-absorbing spring 1 604 to make the rebound of the entire system smoother, thereby maximizing the absorption of landing impact energy and significantly reducing the vibration generated by the fuselage body 1 during landing.

[0073] Reference Figure 6 and Figure 7 In a preferred embodiment, a servo linear slide 7 is provided at the bottom of the fuselage body 1, and a glue storage tank 9 is fixedly connected to one side of the servo linear slide 7, and a drone safety hanging ring 3 is installed on the outside of the fuselage body 1.

[0074] Reference Figure 7 In a preferred embodiment, a multi-joint robot 8 is provided on one side of the servo linear slide 7, and the driving end of the multi-joint robot 8 is fixedly connected to a quick clamping module 10, a glue filling tool 11 is installed on the quick clamping module 10, and a 3D vision unit 12 is provided on one side of the quick clamping module 10.

[0075] Working principle: When using,

[0076] By introducing the fuselage body 1 and carrying the multi-joint robot 8 to perform high-altitude work tasks, it replaces manual climbing. When the fuselage body 1 performs high-altitude work, the protective arc plate 505 is used to protect the rotor 4 to prevent the rotor 4 from touching obstacles. When the protective arc plate 505 collides with the obstacle, the buffer spring 506 is compressed to absorb the collision energy, thereby reducing the impact force transmitted by the protective arc plate 505. At the same time, the collision force is transmitted through the support frame 504, causing the buffer spring 506 to be compressed and deformed, and pushing the buffer slider 508 to move along the guide cylinder 507. The return spring 515 is compressed at the same time, which increases the damping of the system, helps to dissipate the collision energy and slow down the movement, reducing the impact force transmitted to the fuselage body 1. At the same time, during the movement of the buffer slider 508, the sliding circular plate 511 is driven to move inside the limiting sleeve 512 through the impact cylinder 510, so that the sliding circular plate 511 squeezes the airbag 513 inside the limiting sleeve 512. The bag 513 ejects gas through the jet pipe 514, and the direction of the gas ejection is opposite to the collision force suffered by the protective arc plate 505, thereby reducing the deflection of the fuselage body 1. When the fuselage body 1 is landed to replace the working tool, the landing plate 610 on the landing bracket 601 contacts the ground. At the moment of contact, the shock-absorbing spring 1 604 is compressed to cushion the impact generated by the landing plate 610 contacting the ground, thereby preventing the internal parts of the working tool carried by the fuselage body 1 from being damaged due to severe vibration due to excessive impact of the falling of the fuselage body 1. At the same time, the shock-absorbing support arm 609 is squeezed, causing the buffer slide 606 to move relatively within the limiting track 602. At this time, the shock-absorbing spring 2 607 is compressed to further absorb the impact energy, and cooperate with the shock-absorbing spring 1 604 to make the rebound of the entire system smoother, thereby maximizing the absorption of landing impact energy and significantly reducing the vibration generated by the fuselage body 1 during landing. The working tool can be quickly replaced through the quick clamping module 10.

[0077] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A modular intelligent aerial work system based on drones and robots, characterized by: include: The fuselage body has rotor mounting rods fixedly connected to the outside of the fuselage body at equal distances; A plurality of rotors are mounted on a plurality of rotor mounting rods; An operation safety module is installed on the rotor mounting rod. The operation safety module protects the UAV rotor and timely buffers the impact force suffered. The energy dissipation module is arranged below the fuselage body, and the energy dissipation module reduces the vibration generated by the fuselage body during landing.

2. The modular intelligent aerial work system based on drones and robots according to claim 1 is characterized in that: The operation safety module includes: Two fixing blocks, the fixing blocks are fixedly connected to both sides of the rotor mounting rod, one side of each fixing block is provided with a circular hole, and the interior of each circular hole is connected to a rotating cylinder through a bearing; Two support frames are respectively fixedly connected to the outside of the rotating cylinder. One side of the two support frames is fixedly connected with a protective arc plate, and the protective arc plate is located outside the rotor.

3. The modular intelligent aerial work system based on drones and robots according to claim 2 is characterized in that: The operation safety module also includes: Two tooling covers, the tooling covers are fixedly connected to both sides of the rotor mounting rod, and a slide groove is opened on one side of the two tooling covers, and a buffer slider is slidably connected inside the two slide grooves; Two buffer springs, both ends of the buffer springs are respectively connected to the buffer slider and one side of the support frame, one side of the two buffer sliders is provided with a smooth hole, and the opposite side of the two slides are fixedly connected to the same guide cylinder, which is located inside the smooth hole.

4. The modular intelligent aerial work system based on drones and robots according to claim 3 is characterized in that: The operation safety module also includes: Two return springs, both sides of the return springs are fixedly connected to one side of the buffer slider and the slide groove respectively, and the return springs are located outside the guide cylinder; The supporting block is fixedly connected to the opposite side of the two buffer sliding blocks. The inner side of the rotor mounting rod is fixedly connected to the limiting sleeve, and a sliding hole is opened on one side of the limiting sleeve.

5. The modular intelligent aerial work system based on drones and robots according to claim 4 is characterized in that: The operation safety module also includes: An impact cylinder, one side of which is fixedly connected to one side of the support block, and the other side of which is fixedly connected to a sliding circular plate, which slides inside the limiting sleeve; The airbag is arranged inside the limiting sleeve, and two mounting openings are opened outside the limiting sleeve. The insides of the two mounting openings are fixedly connected with jet pipes, and the jet ends of the jet pipes are fixedly connected to the inside of the airbag.

6. The modular intelligent aerial work system based on drones and robots according to claim 5 is characterized in that: The energy dissipation module includes: Two landing brackets, the landing brackets are fixedly connected to the bottom of the fuselage body, and one side of the two landing brackets is fixedly connected to the limit track; One side of the two limiting rails is provided with a through hole, and the interiors of the plurality of through holes are slidably connected with a buffer cylinder.

7. The modular intelligent aerial work system based on drones and robots according to claim 6 is characterized in that: The energy dissipation module also includes: Two landing plates, one side of the landing plates is fixedly connected to one side of the buffer cylinder, one side of the multiple buffer cylinders is fixedly connected to a shock-absorbing spring 1, and one side of the shock-absorbing spring 1 is fixedly connected to one side of the limiting track.

8. The modular intelligent aerial work system based on drones and robots according to claim 7 is characterized in that: The energy dissipation module also includes: Two limiting round rods, the limiting round rods are fixedly connected to the opposite inner sides of the limiting rails, and the outer sides of the two limiting round rods are slidably connected to two buffer slides; Two shock-absorbing springs 2, both sides of which are fixedly connected to one side of two opposite buffer slides, the shock-absorbing spring 2 is located outside the limiting round rod, one side of multiple buffer slides is fixedly connected to a tooling block, and the opposite sides of multiple tooling blocks are connected to a shock-absorbing support arm through a bearing, and one side of the shock-absorbing support arm is movably connected to one side of the landing plate.

9. The modular intelligent aerial work system based on drones and robots according to claim 8, characterized in that: A servo linear slide is provided at the bottom of the fuselage body, and a glue storage tank is fixedly connected to one side of the servo linear slide. A drone safety hanging ring is installed on the outside of the fuselage body.

10. The modular intelligent aerial work system based on drones and robots according to claim 9 is characterized in that: A multi-joint robot is provided on one side of the servo linear slide rail, and a driving end of the multi-joint robot is fixedly connected to a quick clamping module, a glue filling tool is installed on the quick clamping module, and a 3D vision unit is provided on one side of the quick clamping module.

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