Aircraft capable of carrying out adsorption climbing operation

Abstract

The utility model relates to an aircraft capable of carrying out adsorption climbing operation, which comprises a flight mechanism capable of generating upward flight driving force by utilizing a rotor wing, a bearing mechanism is arranged at one end of the flight mechanism, a plurality of first adjusting arm mechanisms capable of adjusting angles and adsorbing are arranged on one side of the bearing mechanism, and a plurality of second adjusting arm mechanisms capable of adjusting angles are arranged on the other side of the bearing mechanism. The other side of the bearing mechanism is provided with a second adjusting arm mechanism used for operation. When the unmanned aerial vehicle needs to control the positions of the suction cups, the suction positions of the vacuum suction cups at the ends of the first adjusting arm mechanisms are continuously adjusted, so that alternate suction is carried out, the function of crawling on the surface of a sucked object is achieved, and adjustment of the positions during suction is more accurate.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an aircraft capable of performing adsorption and climbing operations. Background Technology

[0002] A drone is an unmanned aerial vehicle controlled by remote control equipment or autonomous programs. It is mainly divided into two categories: military reconnaissance and attack drones, and civilian logistics, agriculture, and inspection drones. Its core advantages lie in its flexibility, adaptability to high-risk environments, and low operating costs. It is widely used in: agriculture (plant protection spraying, crop monitoring, and lifting of supplies, such as the drone-lifted navel oranges in Zigui County, Hubei Province, which increased efficiency several times); logistics and urban management (express delivery, illegal construction inspection, and traffic monitoring); and military and security (battlefield reconnaissance, counter-terrorism operations, and border patrols).

[0003] Application announcement number CN120081017A discloses an unmanned aerial vehicle (UAV) and detection method for detecting the carbonation depth of concrete in hard-to-reach high-altitude areas. According to its specification and drawings, the scheme uses multiple electric vacuum suction cups to fit tightly against the concrete surface under the adjustment of servo motors. The attitude of the suction cups on the connecting rod and connecting column is controlled by the servo motors to make them parallel to the concrete surface. Then, the electric vacuum suction cups are powered on to generate a strong suction force, which adsorbs the entire detection device onto the concrete surface.

[0004] However, the solution has certain limitations: 1. The angle of the connecting column is limited during adjustment, which limits the position adjustment of the suction cup at the end and causes inconvenience during use; 2. After the drone is adsorbed, the sleeve can only work at a single angle during operation, which causes inconvenience during use. Summary of the Invention

[0005] This invention addresses the problems encountered by drones during suction and operation by proposing an aircraft capable of suction and climbing. When the drone needs to control the position of the suction cups, it continuously adjusts the suction positions of the vacuum suction cups at the ends of the first and second support arms to perform alternating suction, thereby enabling it to climb on the surface of the object being suctioned.

[0006] The purpose of this invention is achieved through the following technical solution: an aircraft capable of adsorption and climbing operations, comprising a flight mechanism that uses rotors to generate upward flight driving force, a carrying mechanism at one end of the flight mechanism, a plurality of first adjusting arm mechanisms that can adjust angles and adsorb on one side of the carrying mechanism, and a second adjusting arm mechanism for performing operations on the other side of the carrying mechanism.

[0007] Preferably, the flight mechanism includes a first annular support plate, a motor support frame, a first motor housing, a first drive motor, a first rotor, and aileron elements. The first annular support plate has several motor support frames inside, and the ends of the motor support frames are connected to the first motor housing. The first motor housing has a first drive motor inside, and the end of the first drive motor has a first rotor. The outer side of the first annular support plate has several aileron elements capable of generating axial rotational thrust.

[0008] Preferably, the first motor housing is further provided with a second drive motor, the shaft end of the second drive motor is provided with a second rotor, and the outer side of the first annular support plate is provided with a rotor support housing for a third drive motor disposed inside the rotor support housing, the end of the third drive motor being connected to a third rotor.

[0009] Preferably, the bearing mechanism includes a first ring, a second annular support plate, and a third ring. The bottom of the first annular support plate extends outward to form a transition support plate. The first ring is disposed at the bottom of the transition support plate. The bottom of the first ring is sequentially provided with the second annular support plate and the third ring. The diameter of the second annular support plate is larger than the diameter of the first annular support plate.

[0010] Preferably, each of the first adjusting arm mechanisms includes a servo support frame, a first electric servo, a second electric servo, a first support arm, and an adsorption assembly. The side wall of the second annular support plate is provided with a servo support frame, the servo support frame is provided with a first electric servo, the shaft end of the first electric servo is connected to a second electric servo, the shaft end of the second electric servo is connected to the first support arm, and the end of the first support arm is connected to an adsorption assembly capable of adsorption.

[0011] Preferably, the adsorption assembly includes a second support arm, a fourth drive motor, and a vacuum suction cup. The second support arm is rotatably disposed inside the first support arm. The side of the first support arm is also provided with a fourth drive motor for driving the second support arm to rotate. The end of the second support arm is connected to a vacuum suction cup.

[0012] Preferably, the second adjusting arm mechanism includes an adjusting support base, a third supporting arm, a fifth drive motor, a sixth drive motor, and a working module. The side wall of the second annular support plate is also provided with an adjusting support base. The end of the adjusting support base is hinged to the third supporting arm and is provided with a fifth drive motor for driving the third supporting arm to rotate. The end of the third supporting arm is connected to the sixth drive motor. The end of the rotating shaft of the sixth drive motor is connected to the fourth supporting arm. The end of the fourth supporting arm is connected to the working module.

[0013] Preferably, the operation module includes an operation support column and a gripper module. The end of the fourth support arm is connected to the operation support column, and the end of the operation support column is detachably connected to the gripper module. This configuration is to enable users to remove the operation module according to their needs and replace it with a specified operation module, so that the entire UAV can complete different aerial operation tasks in the adsorption state.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Compared to traditional quadcopter drones with a horizontally flat structure, the vertical barrel design of this invention makes the force direction and center of gravity more reasonable during lateral adsorption. Furthermore, the "rotor-in-the-inside" design avoids collisions between the rotor and external objects, enabling close-range operations in industrial fields. To prevent the drone from spinning, the shaft of the second drive motor drives the second rotor to rotate. Since the rotation direction of the second rotor is perpendicular to that of the first rotor, the driving force generated by the second rotor during rotation can induce two opposing torques in the drone, which cancel each other out. The final result is a net torque of zero on the drone's body, preventing uncontrolled spinning and maintaining a stable attitude and heading, laying the foundation for precise control.

[0016] 2. When the drone needs to control the position of the suction cup, it continuously adjusts the adsorption position of the vacuum suction cup at the end of the second support arm of the first group and the vacuum suction cup at the end of the second support arm of the second group, so as to perform alternating adsorption and realize the crawling function on the surface of the adsorbed object. The position adjustment during adsorption is more precise.

[0017] 3. After the first adjusting arm mechanism drives the drone to adhere, it allows the drone to truly get close to the wall or target object for contact-based operations. The second adjusting arm mechanism controls the angle of the working module, enabling the working module to more accurately complete the designated work tasks when the drone is in the adsorption and hovering state, such as high-altitude cutting and welding, high-altitude delivery and retrieval, and cleaning of specific walls. Attached Figure Description

[0018] Figure 1 This is a perspective view of the first embodiment of the present utility model;

[0019] Figure 2 This is a perspective view of the first embodiment of the present utility model;

[0020] Figure 3 This is a partial perspective view of the first embodiment of the present invention;

[0021] Figure 4 This is a partial perspective view of the first embodiment of the present invention;

[0022] Figure 5 This is a perspective view of the second annular support plate after half-section in the second embodiment of this utility model;

[0023] Figure 6 This is an enlarged view of region A in the figure of the first embodiment of this utility model;

[0024] Figure 7 This is an enlarged view of region B in the figure of the first embodiment of this utility model;

[0025] Figure 8 This is a perspective view of the third embodiment of the present utility model;

[0026] Figure 9 This is a perspective view of the fourth embodiment of the present utility model.

[0027] The diagram shows: 1. Flight mechanism; 11. First annular support plate; 12. Motor support frame; 13. First motor housing; 14. First drive motor; 15. First rotor; 16. Second drive motor; 17. Second rotor; 18. Rotor support housing; 19. UAV body; 10. Third drive motor; 111. Transition support plate; 2. Bearing mechanism; 21. First ring; 22. Second annular support plate; 23. Third ring; 3. First adjusting arm mechanism; 31 31. Servo support frame; 32. First electric servo; 33. Second electric servo; 34. First support arm; 35. Adsorption assembly; 351. Second support arm; 352. Fourth drive motor; 353. Vacuum suction cup; 4. Second adjusting arm mechanism; 41. Adjusting support base; 42. Third support arm; 43. Fifth drive motor; 44. Sixth drive motor; 45. Working module; 451. Working support column; 452. Gripper module; 5. Vacuum pump; 51. Vacuum extraction pipeline; Detailed Implementation

[0028] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0029] like Figure 1 and Figure 2 The first embodiment of the present invention describes an aircraft capable of performing adsorption and climbing operations, which includes a flight mechanism 1 that uses rotors to generate upward flight driving force, and a support mechanism 2 is provided at one end of the flight mechanism 1.

[0030] Please continue to refer to this. Figure 3In the first embodiment: the flight mechanism 1 includes a first annular support plate 11, a motor support frame 12, a first motor housing 13, a first drive motor 14, a first rotor 15, and aileron elements. The first annular support plate 11 has several motor support frames 12 inside, and the ends of the motor support frames 12 are connected to the first motor housing 13. The first drive motor 14 is located inside the first motor housing 13, and the first rotor 15 is located at the end of the first drive motor 14. The outer side of the first annular support plate 11 has several aileron elements capable of generating axial rotational thrust. A rotor support housing 18 is located on the outer side of the first annular support plate 11 to house a third drive motor 10 inside the rotor support housing 18. The end of the third drive motor 10 is connected to a third rotor 19.

[0031] The end shaft of the first drive motor 14 drives the first rotor 15 to rotate, and the lift generated by the first rotor 15 can propel the entire drone upward. However, during the rotation of the first rotor 15, it also applies a counter-torque (reaction torque) of equal magnitude but opposite direction to the motor that drives it (and consequently to the entire drone fuselage). This causes a single-rotor spin problem: if there is only one rotor (such as the main rotor of a traditional single-rotor helicopter), this counter-torque will cause the drone fuselage to continuously rotate in the opposite direction to the rotor's rotation (spin), making it impossible for the aircraft to fly stably or control its heading.

[0032] To prevent spin-over, the shaft of the second drive motor drives the second rotor to rotate. Since the shaft of the second rotor is perpendicular to that of the first rotor, the driving force generated by the second rotor during rotation can induce two opposing torques in the drone, which cancel each other out. As a result, the net torque acting on the drone's body is zero, preventing uncontrolled spin-over and maintaining a stable attitude and heading, thus laying the foundation for precise control.

[0033] Please continue to refer to this. Figure 4 In the first embodiment: the bearing mechanism 2 includes a first ring 21, a second annular support plate 22 and a third ring 23. The bottom of the first annular support plate 11 extends outward to provide a transition support plate 111. The first ring 21 is disposed at the bottom of the transition support plate 111. The bottom of the first ring 21 is sequentially provided with the second annular support plate 22 and the third ring 23.

[0034] It should be noted that the diameter of the second annular support plate 22 is larger than the diameter of the first annular support plate 11. This arrangement is because the aileron element extends outward from the surface of the first annular support plate 11. Therefore, if the first annular support plate 11 and the second annular support plate 22 were of the same diameter, the aileron element protruding too much outward would obviously result in lower safety. Therefore, the second annular support plate 22 is designed to have a larger diameter, enabling it to protect the flight mechanism 1 that generates the driving force and the aileron element.

[0035] Please continue to refer to this. Figure 2 and Figure 4 In the first embodiment: one side of the bearing mechanism 2 is provided with a plurality of first adjusting arm mechanisms 3 that can adjust the angle and are adsorbed.

[0036] Each of the first adjusting arm mechanisms 3 includes a servo support frame 31, a first electric servo 32, a second electric servo 33, a first support arm 34, and an adsorption assembly 35. The side wall of the second annular support plate 22 is provided with a servo support frame 31. The first electric servo 32 is provided inside the servo support frame 31. The shaft end of the first electric servo 32 is connected to the second electric servo 33. The shaft end of the second electric servo 33 is connected to the first support arm 34. The end of the first support arm 34 is connected to an adsorption assembly 35 capable of adsorption.

[0037] With this configuration, the rotation of the shaft of the first electric servo motor 32 can drive the second electric servo motor 33 and the components connected to its end to adjust their positions. When the shaft of the second electric servo motor 33 rotates, it can drive the first support arm 34 to adjust its position. After the position of the first support arm 34 is continuously adjusted to a specified angle, the adsorption assembly 35 can adsorb the surface of the object being adsorbed.

[0038] The adsorption assembly 35 includes a second support arm 351, a fourth drive motor 352, and a vacuum suction cup 353. The second support arm 351 is rotatably disposed inside the first support arm 34. The side of the first support arm 34 is also provided with a fourth drive motor 352 for driving the second support arm 351 to rotate. The end of the second support arm 351 is connected to the vacuum suction cup 353.

[0039] like Figure 4As shown, the position of the vacuum suction cup 353 at the end of the second support arm 351 is further adjusted by setting a fourth drive motor 352. If the second annular support plate 22 is divided into left and right sides, then two sets of first adjusting arm mechanisms 3 are installed on each side. When the vacuum suction cup 353 at the end of the first set of second support arms 35 is attached to the surface of the object being adsorbed, the vacuum suction cup 353 at the end of the second set of second support arms 35 can leave the surface of the object and adjust its angle toward the target position until the vacuum suction cup 353 at the end of the second set of second support arms 35 is attached to the surface of the object being adsorbed. At this time, the original vacuum suction cup 353 at the end of the first set of second support arms 35 can leave the surface of the object being adsorbed and readjust its position. The alternating movement of the two sets of first adjusting arm mechanisms 3 can realize the crawling function on the surface of the object being adsorbed.

[0040] Please continue to refer to this. Figure 6 and Figure 7 In the first embodiment: a second adjusting arm mechanism 4 for performing operations is provided on the other side of the bearing mechanism 2. The second adjusting arm mechanism 4 includes an adjusting support base 41, a third support arm 42, a fifth drive motor 43, a sixth drive motor 44, and an operating module 45. The side wall of the second annular support plate 22 is also provided with an adjusting support base 41. The end of the adjusting support base 41 is hinged to the third support arm 42 and a fifth drive motor 43 is provided to drive the third support arm 42 to rotate. The end of the third support arm 42 is connected to the sixth drive motor 44. The end of the rotating shaft of the sixth drive motor 44 is connected to the fourth support arm. The end of the fourth support arm is connected to the operating module 45.

[0041] With this configuration, the rotation of the shaft of the fifth drive motor 43 can drive the third support arm 42 to adjust its position, while the rotation of the shaft of the sixth drive motor 44 can drive the operation module 45 to adjust its position, so that the operation module 45 can complete the specified work tasks when the drone is hovering, such as delivering goods, picking up goods, cleaning windows, etc.

[0042] In the first embodiment, the operation module 45 includes an operation support column 451 and a gripper module 452. The end of the fourth support arm is connected to the operation support column 451, and the end of the operation support column 451 is detachably connected to the gripper module 452. Users can remove the operation module 45 and replace it with a specified operation module according to their needs, enabling the entire UAV to complete different aerial operation tasks in an adsorbed state.

[0043] like Figure 5As shown, the second embodiment of this utility model differs from the first embodiment only in that a second drive motor 16 is also provided inside the first motor housing 13, and a second rotor 17 is provided at the end of the shaft of the second drive motor 16. The second rotor 17 rotates under the drive of the second drive motor 16. The arrangement of the second rotor 17 can precisely match the rotational speed (or torque output) of the first rotor 15 and the second rotor 17, so that the two opposing anti-torques can cancel each other out, ultimately achieving a net torque of zero acting on the drone body.

[0044] like Figure 8 As shown, the third embodiment of this utility model differs from the first embodiment only in that: a vacuum pump 5 is provided on the inner sidewall of the second annular support plate 22, and the vacuum pump 5 is connected to the inside of the vacuum suction cup 353 at the end of the second support arm 351 through a vacuum pumping pipe 51. Furthermore, the upper two vacuum suction cups 353 are a group controlled by one vacuum pump 5 for adsorption, while the lower two vacuum suction cups 353 are a separate group controlled by another vacuum pump 5.

[0045] like Figure 9 As shown, in the fourth embodiment of this utility model, the only difference from the first embodiment is that the vacuum suction cup 353 connected to the end of the second support arm 351 is changed from a disc-shaped suction cup to a spherical suction cup, which makes it easier for the vacuum suction cup 353 to adhere to the surface of the object being adsorbed during the adsorption process, and the interaction of the dense suction cups further enhances the adsorption effect.

[0046] Working principle and usage of this utility model:

[0047] The overall shape of this drone, or aircraft, is inspired by existing insects for biomimetic design. The head is shaped like a flight mechanism 1, and the body is hollow, thus becoming the shape of a second annular support plate 22. The wing shape is integrated into the side wall of the second annular support plate 22, forming several first adjustment arm mechanisms 3. The second annular support plate 22 is divided into an abdomen and a back. The abdomen has four first adjustment arm mechanisms 3, and the back is equipped with second adjustment arm mechanisms 4 for operation.

[0048] The end shaft of the first drive motor 14 drives the first rotor 15 to rotate, and the lift generated by the first rotor 15 propels the entire drone upward. However, during rotation, the first rotor 15 also exerts an equal and opposite counter-torque (reaction torque) on the motor driving it (and consequently on the entire drone fuselage). To avoid spin-over, the shaft of the second drive motor drives the second rotor to rotate. Since the shaft of the second rotor is perpendicular to that of the first rotor, the driving force generated by the second rotor during rotation causes the drone to generate two counter-torques in opposite directions, which cancel each other out. The final result is a net torque acting on the drone fuselage of zero, preventing uncontrolled spin-over and maintaining a stable attitude and heading.

[0049] When adsorption is required: the fourth drive motor 352 further adjusts the position of the vacuum suction cup 353 at the end of the second support arm 351. If the second annular support plate 22 is divided into left and right sides, then two sets of first adjusting arm mechanisms 3 are installed on each side. When the vacuum suction cup 353 at the end of the first set of second support arms 35 is attached to the surface of the object to be adsorbed, the vacuum suction cup 353 at the end of the second set of second support arms 35 can leave the surface of the object and adjust its angle toward the target position until the vacuum suction cup 353 at the end of the second set of second support arms 35 is attached to the surface of the object to be adsorbed. At this time, the vacuum suction cup 353 at the end of the first set of second support arms 35 can leave the surface of the object to be adsorbed and readjust its position. The alternating movement of the two sets of first adjusting arm mechanisms 3 enables the crawling function on the surface of the object to be adsorbed.

[0050] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. An aircraft capable of performing adsorptive climbing work, comprising a flying body (1) that generates an upward flight driving force using a rotor, characterized by, One end of the flight mechanism (1) is provided with a bearing mechanism (2), one side of the bearing mechanism (2) is provided with a plurality of first adjusting arm mechanisms (3) capable of adjusting the angle and adsorbing, the other side of the bearing mechanism (2) is provided with a second adjusting arm mechanism (4) for work.

2. The aircraft capable of adsorbing climbing operation according to claim 1, wherein, The flight mechanism (1) comprises a first annular support plate (11), a motor support frame (12), a first motor placing shell (13), a first driving motor (14), a first rotor (15) and aileron elements, the inside of the first annular support plate (11) is provided with a plurality of motor support frames (12), the end of the motor support frame (12) is connected with the first motor placing shell (13), the inside of the first motor placing shell (13) is provided with the first driving motor (14), the end of the first driving motor (14) is provided with the first rotor (15), the outside of the first annular support plate (11) is provided with a plurality of aileron elements capable of generating axial rotation thrust.

3. The aircraft capable of adsorbing climbing operation according to claim 2, wherein, The inside of the first motor placing shell (13) is also provided with a second driving motor (16), the rotating shaft end of the second driving motor (16) is provided with a second rotor (17), the outside of the first annular support plate (11) is provided with a rotor support shell (18) to set a third driving motor (10) inside the rotor support shell (18), the end of the third driving motor (10) is connected with a third rotor (19).

4. The aircraft capable of adsorbing climbing operation according to claim 2, wherein The bearing mechanism (2) comprises a first circular ring (21), a second annular support plate (22) and a third circular ring (23), the bottom of the first annular support plate (11) extends outwardly and is provided with a transition support plate (111), the first circular ring (21) is arranged at the bottom of the transition support plate (111), the bottom of the first circular ring (21) is sequentially provided with the second annular support plate (22) and the third circular ring (23), the diameter of the second annular support plate (22) is greater than that of the first annular support plate (11).

5. The aircraft capable of adsorbing climbing operation according to claim 4, wherein Each first adjusting arm mechanism (3) comprises a steering gear support frame (31), a first electric steering gear (32), a second electric steering gear (33), a first support arm (34), an adsorption assembly (35), the side wall of the second annular support plate (22) is provided with the steering gear support frame (31), the inside of the steering gear support frame (31) is provided with the first electric steering gear (32), the rotating shaft end of the first electric steering gear (32) is connected with the second electric steering gear (33), the rotating shaft end of the second electric steering gear (33) is connected to the first support arm (34), the end of the first support arm (34) is connected with the adsorption assembly (35) capable of adsorbing.

6. The aircraft capable of adsorbing climbing operation according to claim 5, wherein The adsorption assembly (35) comprises a second support arm (351), a fourth driving motor (352) and a vacuum chuck (353), the second support arm (351) is rotatably arranged in the inside of the first support arm (34), the side of the first support arm (34) is also provided with the fourth driving motor (352) driving the rotation of the second support arm (351), the end of the second support arm (351) is connected with the vacuum chuck (353).

7. The aircraft capable of adsorbing climbing operation according to claim 6, wherein The second adjusting arm mechanism (4) comprises an adjusting support seat (41), a third support arm (42), a fifth driving motor (43), a sixth driving motor (44) and a working module (45), the side wall of the second annular support plate (22) is also provided with the adjusting support seat (41), the end of the adjusting support seat (41) is hingedly connected with the third support arm (42), and the third support arm (42) is provided with the fifth driving motor (43) for driving the third support arm (42) to rotate, the end of the third support arm (42) is connected with the sixth driving motor (44), the rotating shaft end of the sixth driving motor (44) is connected with a fourth support arm, and the end of the fourth support arm is connected with the working module (45).

8. The aircraft capable of adsorbing climbing operation according to claim 7, wherein, The working module (45) comprises a working support column (451) and a clamping jaw module (452), the end of the fourth support arm is connected with the working support column (451), and the end of the working support column (451) is detachably connected with the clamping jaw module (452).

Images