Docking device for unmanned aerial vehicle and robot

Abstract

The utility model discloses a docking device for an unmanned aerial vehicle and a robot. The docking device comprises a fixing frame, a connecting frame and a connecting rod plug pin mechanism. The fixing frame is used for being connected with a robot, and a first locking piece is arranged on the fixing frame; the connecting frame is used for being connected with an unmanned aerial vehicle, and a second locking piece is arranged on the connecting frame; the connecting rod bolt mechanism comprises a driving part, a sliding plate, a bolt block, an auxiliary connecting rod and a main connecting rod, the driving part is arranged on the fixing frame, the driving end of the driving part is connected with the sliding plate, the bolt block is arranged on the sliding plate, the main connecting rod is rotationally connected with the fixing frame, and the auxiliary connecting rod is arranged on the main connecting rod. The number of the sliding plates and the number of the auxiliary connecting rods are both two, one ends of the two auxiliary connecting rods are rotationally connected with the two ends of the main connecting rod respectively, the two sliding plates are slidably arranged on the two opposite sides of the fixing frame respectively, and the other ends of the two auxiliary connecting rods are connected with the two sliding plates respectively.

Description

Technical Field

[0001] The utility model relates to the technical field of docking devices, in particular to a docking device for an unmanned aerial vehicle and a robot. Background Art

[0002] With the development of technology, photovoltaic power generation is more and more widely used. Photovoltaic panels are the main components of photovoltaic power generation, and the cleaning of photovoltaic panels is particularly important. There are robots for cleaning photovoltaic panels on the market. However, the transportation of robots is very inconvenient.

[0003] For existing photovoltaic cleaning unmanned aerial vehicles, the unmanned aerial vehicle and the photovoltaic cleaning robot are combined to achieve collaborative operation. However, in some working conditions, the photovoltaic cleaning robot and the unmanned aerial vehicle are unnecessary loads for each other. For example, during the flight stage, the photovoltaic cleaning robot does not play its corresponding role. On the contrary, when the photovoltaic cleaning robot is operating on the ground, the unmanned aerial vehicle is also idle, increasing the moving load. When crossing obstacles, the moving ability will also be reduced. At the same time, long-term operation with too high a load will damage the photovoltaic panel and limit the loads such as the battery and water tank of the photovoltaic cleaning unmanned aerial vehicle, seriously affecting the operation efficiency. Summary of the Utility Model

[0004] In order to overcome the deficiencies of the prior art, the purpose of the utility model is to provide a docking device for an unmanned aerial vehicle and a robot to solve the technical problem of low operation efficiency existing in the prior art.

[0005] The utility model is implemented by adopting the following technical scheme: A docking device for an unmanned aerial vehicle and a robot includes a fixing frame, a connecting frame and a connecting rod and pin mechanism;

[0006] The fixing frame is used for connecting with the robot, and a first locking member is arranged on the fixing frame;

[0007] The connecting frame is used for connecting with the unmanned aerial vehicle, and a second locking member is arranged on the connecting frame;

[0008] The connecting rod and pin mechanism includes a driving member, a sliding plate, a pin block, a secondary connecting rod and a main connecting rod. The driving member is arranged on the fixing frame, the driving end of the driving member is connected with the sliding plate, the pin block is arranged on the sliding plate, the main connecting rod is rotatably connected with the fixing frame, the number of the sliding plates and the secondary connecting rods is two each. One ends of the two secondary connecting rods are respectively rotatably connected with the two ends of the main connecting rod, the two sliding plates are respectively slidably arranged on the opposite sides of the fixing frame, and the other ends of the two secondary connecting rods are respectively connected with the two sliding plates;

[0009] When the fixing frame is docked with the connecting frame, the pin block extends into the space between the first locking member and the second locking member.

[0010] In a possible implementation, a guide plate is provided on the fixing frame, a guide groove is provided on the guide plate, a guide post is provided on the sliding plate, and the guide post extends into the guide groove.

[0011] In a possible implementation, a bearing is provided at the top end of the guide post, the inner ring of the bearing contacts the guide post, and the outer ring of the bearing contacts the inner wall of the guide groove.

[0012] In a possible implementation, a fixed shaft is provided on the fixing frame, a through hole is provided at the center of the main connecting rod, the fixed shaft extends into the through hole, and the fixed shaft is rotatably connected to the main connecting rod.

[0013] In a possible implementation, a fixing plate is further provided on the fixing frame, one end of the fixing plate is connected to the guide plate, and the middle part of the fixing plate is connected to the fixed shaft.

[0014] In a possible implementation, the fixing frame includes a housing and a connecting plate, the connecting plate is arranged at the upper end of the housing, the first locking member is arranged on the connecting plate and is located outside the housing, and the second locking member extends between the first locking member and the housing.

[0015] In a possible implementation, a guiding portion is provided on one side of the connecting plate close to the first locking member, and the surface of the guiding portion facing the second locking member is an inclined surface.

[0016] In a possible implementation, the front end of the plug block has an inclined rounded corner structure.

[0017] In a possible implementation, a sensor is further provided on the fixing frame, and when the connecting frame is engaged with the fixing frame, the connecting frame triggers the sensor.

[0018] In a possible implementation, the connecting frame includes a plurality of vertical plates and a horizontal plate, and adjacent two vertical plates are connected by the horizontal plate, and the second locking member is arranged at the end of the vertical plate.

[0019] Compared with the prior art, the beneficial effects of the present utility model are as follows: By installing the fixing frame on the upper end of the robot and the connecting frame on the lower end of the drone, when the drone needs to cooperate with the robot, the robot only needs to move below the drone to align the fixing frame with the connecting frame. The driving member drives the sliding plate to move outwards so that the pin block extends between the first locking member and the second locking member, and the fixing frame and the connecting frame are clamped through the pin block to complete the docking of the drone and the robot. When separating, the pin block only needs to be retracted into the fixing frame after parking the drone, which is very fast and convenient. The docking device can not only enable the drone and the robot to cooperate, but also enable the robot to work independently, greatly improving the working efficiency of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural view of the docking device of the drone and the robot of the present utility model;

[0021] Figure 2 is an exploded view of the docking device of the drone and the robot of the present utility model;

[0022] Figure 3 is a schematic structural view of the docking device of the drone and the robot of the present utility model with the connecting frame hidden.

[0023] In the figure:

[0024] 100, fixing frame; 101, first locking member; 102, guide plate; 103, guide groove; 104, fixed shaft; 105, fixing plate; 106, outer shell; 107, connecting plate; 108, guiding part; 109, sensor;

[0025] 200, connecting frame; 201, second locking member; 202, vertical plate; 203, horizontal plate;

[0026] 300, link pin mechanism; 301, driving member; 302, sliding plate; 303, pin block; 304, sub-link; 305, main link; 306, guide post. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] It should be noted that all the directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0029] In addition, the descriptions involving "first", "second", etc. in the present application are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0030] Such as Figures 1 - 3A docking device for a drone and a robot as shown includes a fixing frame 100, a connecting frame 200 and a link pin mechanism 300; the fixing frame 100 is used to connect with the robot, and a first locking member 101 is provided on the fixing frame 100; the connecting frame 200 is used to connect with the drone, and a second locking member 201 is provided on the connecting frame 200; the link pin mechanism 300 includes a driving member 301, a sliding plate 302, a pin block 303, a secondary link 304 and a main link 305. The driving member 301 is arranged on the fixing frame 100, the driving end of the driving member 301 is connected with the sliding plate 302, the pin block 303 is arranged on the sliding plate 302, the main link 305 is rotatably connected with the fixing frame 100. The number of both the sliding plate 302 and the secondary link 304 is two. One ends of the two secondary links 304 are respectively rotatably connected with both ends of the main link 305. The two sliding plates 302 are respectively slidably arranged on opposite sides of the fixing frame 100, and the other ends of the two secondary links 304 are respectively connected with the two sliding plates 302; when the fixing frame 100 is docked with the connecting frame 200, the pin block 303 extends between the first locking member 101 and the second locking member 201. It should be noted that two pin blocks 303 are provided on each sliding plate 302, and the two pin blocks 303 are respectively arranged near both ends of the sliding plate 302. The driving member 301 is an electric push rod. When the electric push rod extends, the sliding plate 302 directly connected with the electric push rod slides outwards under the action of the thrust, so that the pin block 303 extends between the first locking member 101 and the second locking member 201, so that the fixing frame 100 and the connecting frame 200 are completed for docking. And, during the outward movement of the sliding plate 302, the secondary link 304 is driven to move, the secondary link 304 drives the main link 305 to rotate, the main link 305 drives the other secondary link 304 to move, and the other secondary link 304 drives the other sliding plate 302 to move, so as to realize the synchronous movement of the two sliding plates 302. In addition, the number of the driving members 301 is two, which are respectively installed on opposite sides of the fixing frame 100, and the driving ends of the two driving members 301 are respectively connected with both ends of the same sliding plate 302. The end of the secondary link 304 is connected with the middle of the sliding plate 302, which is beneficial to make the two sliding plates 302 slide more smoothly.

[0031] The beneficial effects of the present utility model are as follows: By installing the fixing frame 100 at the upper end of the robot and the connecting frame 200 at the lower end of the drone, when the drone needs to cooperate with the robot for operation, the robot only needs to move below the drone to align the fixing frame 100 with the connecting frame 200. The driving member 301 drives the sliding plate 302 to move outwards, so that the pin block 303 extends into the space between the first locking member 101 and the second locking member 201. The fixing frame 100 and the connecting frame 200 are clamped through the pin block 303 to complete the docking of the drone and the robot. When separating, it only needs to retract the pin block 303 into the fixing frame 100 after parking the drone, which is very fast and convenient. The docking device can not only enable the drone and the robot to cooperate for operation, but also enable the robot to operate independently, greatly improving the operation efficiency of the cleaning robot.

[0032] Please refer to Figure 3 , in a possible implementation manner, a guiding plate 102 is provided on the fixing frame 100, a guiding groove 103 is provided on the guiding plate 102, and a guiding column 306 is provided on the sliding plate 302. The guiding column 306 extends into the guiding groove 103. It should be noted that both ends of the guiding plate 102 are installed on the fixing frame 100 through bolts, and the guiding plate 102 is arranged along the sliding direction of the sliding plate 302. Guiding grooves 103 are provided at both ends of the guiding plate 102, and the guiding grooves 103 extend along the length direction of the guiding plate 102. The guiding columns 306 on the two sliding plates 302 respectively extend into the two guiding grooves 103, so that the same guiding plate 102 can guide the two sliding plates 302 at the same time. In addition, the number of guiding plates 102 is also two, and the two guiding plates 102 are respectively arranged on both sides of the fixing frame 100. Correspondingly, two guiding columns 306 are provided on the same sliding plate 302, and the two guiding columns 306 are respectively arranged near both ends of the sliding plate 302.

[0033] Furthermore, a bearing is provided at the top of the guiding column 306. The inner ring of the bearing is in contact with the guiding column 306, and the outer ring of the bearing is in contact with the inner wall of the guiding groove 103. It is easy to understand that by setting the bearing, the friction between the guiding column 306 and the guiding plate 102 can be greatly reduced, which is beneficial to improving the working efficiency of the driving member 301 and making the sliding plate 302 move more smoothly.

[0034] Please refer to Figure 2 and Figure 3, in a possible implementation, a fixed shaft 104 is provided on the fixing frame 100. A through hole is provided at the center of the main connecting rod 305. The fixed shaft 104 extends into the through hole, and the fixed shaft 104 is rotatably connected to the main connecting rod 305. It is easy to understand that by providing the fixed shaft 104 at the center of the fixing frame 100, the rotational connection between the main connecting rod 305 and the fixing frame 100 is realized, so as to form the principle of horizontal movement of the parallel connecting rod with the fixed shaft 104 as the rotation center point. Moreover, a bearing is also provided on the fixed shaft 104 to assist the rotation of the main connecting rod 305 and improve the smoothness of the rotation of the main connecting rod 305.

[0035] Please refer to Figure 3 , in a possible implementation, a fixing plate 105 is further provided on the fixing frame 100. The end of the fixing plate 105 is connected to the guide plate 102, and the middle of the fixing plate 105 is connected to the fixed shaft 104. It is easy to understand that both ends of the fixing plate 105 are respectively connected to the two guide plates 102 by bolts. A through hole is also provided at the center of the fixing plate 105. The fixed shaft 104 extends into the through hole and is connected to the fixing plate 105. The setting of the fixing plate 105 is beneficial to improving the overall structural stability of the fixing frame 100.

[0036] Please refer to Figure 3 , in a possible implementation, the fixing frame 100 includes a housing 106 and a connecting plate 107. The connecting plate 107 is arranged at the upper end of the housing 106. The first locking member 101 is arranged on the connecting plate 107, and the first locking member 101 is located outside the housing 106. The second locking member 201 extends between the first locking member 101 and the housing 106. It should be noted that the drone has feet, the connecting frame 200 is arranged at the lower end of the drone, and the fixing frame 100 is arranged at the upper end of the robot. When the robot moves directly below the drone, the second locking member 201 is located between the first locking member 101 and the housing 106, and the first locking member 101 and the second locking member 201 are vertically offset. In addition, a notch for the insertion block 303 to protrude is provided on the housing 106. The insertion block 303 extends between the first locking member 101 and the second locking member 201, and the top surface of the insertion block 303 abuts against the first locking member 101, and the bottom surface of the insertion block 303 abuts against the second locking member 201 to improve the stability after the docking of the fixing frame 100 and the connecting frame 200.

[0037] Please refer to Figure 3In a possible implementation, a guide portion 108 is provided on one side of the connecting plate 107 close to the first locking member 101, and the side of the guide portion 108 facing the second locking member 201 is an inclined surface. It should be noted that when the UAV is stationary on the designated ground, the robot will receive the location information of the UAV and perform path planning. The robot will dock with the UAV after going to the designated ground position through the autonomously planned path. When the robot is close to the UAV, position errors will occur due to the influence of the path and other factors, resulting in the robot being unable to accurately enter the docking area. Therefore, the setting of the guide portion 108 can guide the robot. When the robot walks, it will slowly enter the lockable area according to the offset of the guide portion 108, which is conducive to improving the docking accuracy between the robot and the UAV.

[0038] Furthermore, the front end of the latch block 303 is an inclined rounded structure. It should be noted that the second locking member 201 is cylindrical, and when the latch block 303 contacts the second locking member 201, a mutual guiding effect is formed, so that the latch block 303 completely passes over the second locking member 201 and contacts the first locking member 101. Therefore, when the latch block 303 is fully extended, the lower surface of the latch block 303 contacts the second locking member 201, and the upper surface of the latch block 303 contacts the first locking member 101, so as to complete the docking of the fixing frame 100 and the connecting frame 200. In addition, since the latch blocks 303 are provided at both ends of the two sliding plates 302, that is, the four latch blocks 303 are respectively located at the four corners of the fixing frame 100, the four corners of the fixing frame 100 and the connecting frame 200 can be connected, thereby avoiding the risk of shaking back and forth when the drone carries the robot, which is conducive to improving the stability of the connection between the drone and the robot.

[0039] Please refer to Figure 2 In a possible implementation, the fixing frame 100 is further provided with a sensor 109. When the connecting frame 200 cooperates with the fixing frame 100, the connecting frame 200 triggers the sensor 109. It is easy to understand that the sensor 109 is electrically connected to the driving member 301. The sensor 109 can determine whether the robot has completely entered the area where the latch can be locked. When the robot has completely entered, the sensor 109 can be triggered. The sensor 109 transmits a signal to the driving member 301, so that the driving member 301 starts and pushes the sliding plate 302 to perform the latch action.

[0040] Please refer to Figure 2, in a possible implementation, the connecting frame 200 includes a plurality of vertical plates 202 and a horizontal plate 203. The adjacent two vertical plates 202 are connected by the horizontal plate 203, and the second locking member 201 is disposed at the end of the vertical plate 202. It is easy to understand that the number of the vertical plates 202 and the horizontal plate 203 is four, and the horizontal plate 203 is disposed at the center of the vertical plate 202 to connect the vertical plates 202 to each other, so as to improve the structural stability of the connecting frame 200.

[0041] The above implementation is only the preferred implementation of the present invention, and the protection scope of the present invention cannot be limited thereby. Any non-substantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the protection scope required by the present invention.

Claims

1. A docking device for a drone and a robot, characterized in that, It includes a fixing frame, a connecting frame and a connecting rod pin mechanism; The fixing frame is used to connect with a robot, and a first locking member is provided on the fixing frame; The connecting frame is used to connect with a drone, and a second locking member is provided on the connecting frame; The connecting rod pin mechanism includes a driving member, a sliding plate, a pin block, a secondary connecting rod and a main connecting rod. The driving member is arranged on the fixing frame, the driving end of the driving member is connected with the sliding plate, the pin block is arranged on the sliding plate, the main connecting rod is rotatably connected with the fixing frame. The number of the sliding plates and the secondary connecting rods is two each. One ends of the two secondary connecting rods are respectively rotatably connected with two ends of the main connecting rod. The two sliding plates are respectively slidably arranged on opposite sides of the fixing frame. The other ends of the two secondary connecting rods are respectively connected with the two sliding plates; When the fixing frame is docked with the connecting frame, the pin block extends into the space between the first locking member and the second locking member.

2. The docking device for a drone and a robot according to claim 1, characterized in that, A guiding plate is provided on the fixing frame, a guiding groove is provided on the guiding plate, and a guiding post is provided on the sliding plate. The guiding post extends into the guiding groove.

3. The docking device for a drone and a robot according to claim 2, characterized in that, A bearing is provided at the top end of the guiding post. The inner ring of the bearing contacts the guiding post, and the outer ring of the bearing contacts the inner wall of the guiding groove.

4. The docking device for a drone and a robot according to claim 3, characterized in that, A fixed shaft is provided on the fixing frame. A through hole is provided at the center of the main connecting rod. The fixed shaft extends into the through hole, and the fixed shaft is rotatably connected with the main connecting rod.

5. The docking device for the drone and the robot according to claim 4, characterized in that, A fixing plate is further provided on the fixing frame. The end of the fixing plate is connected with the guiding plate, and the middle of the fixing plate is connected with the fixed shaft.

6. The docking device for a drone and a robot according to claim 1, characterized in that, The fixing frame includes a housing and a connecting plate. The connecting plate is arranged at the upper end of the housing. The first locking member is arranged on the connecting plate and is located outside the housing. The second locking member extends into the space between the first locking member and the housing.

7. The docking device for a drone and a robot according to claim 6, characterized in that, A guiding portion is provided on one side of the connecting plate close to the first locking member. The surface of the guiding portion facing the second locking member is an inclined surface.

8. The docking device for a drone and a robot according to claim 1, characterized in that, The front end of the pin block has an inclined rounded corner structure.

9. The docking device for a drone and a robot according to claim 1, characterized in that, A sensor is further provided on the fixing frame. When the connecting frame is matched with the fixing frame, the connecting frame triggers the sensor.

10. The docking device for a drone and a robot according to claim 1, characterized in that, The connecting frame includes a plurality of vertical plates and horizontal plates. Adjacent two vertical plates are connected by a horizontal plate. The second locking member is arranged at the end of the vertical plate.

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