Grabbing unmanned aerial vehicle, grabbing system and photovoltaic cleaning robot cleaning system

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a grabbing unmanned aerial vehicle, a grabbing system and a photovoltaic cleaning robot cleaning system.The grabbing unmanned aerial vehicle comprises a control assembly and a first heat dissipation piece, the control assembly is connected to a main machine body, and the control assembly comprises a shell structure and a control panel arranged in the shell structure; the first heat dissipation piece is connected to the shell structure and comprises a plurality of first heat dissipation fins, the peripheral side of the first heat dissipation piece is provided with a heat dissipation channel, and the first heat dissipation piece is configured to be a heat dissipation control panel; wherein the propellers are arranged on the peripheral side of the control assembly in a surrounding mode, a negative pressure area is formed below the propellers in the rotating state, and the negative pressure area and the heat dissipation channel are at least partially overlapped and communicated in the height direction. The grabbing unmanned aerial vehicle can have good heat dissipation performance while being light in weight and small in size, it is guaranteed that the endurance performance is not affected, and the reliability and safety of a grabbing system with the grabbing unmanned aerial vehicle are improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a grabbing UAV, a grabbing system, and a photovoltaic cleaning robot cleaning system. Background Technology

[0002] Because drones are less restricted by terrain, they can be used to transport objects, such as solar cleaning robots and robotic dogs. When transporting objects, grasping drones can be used to automatically grab them.

[0003] Grab drones generate heat during operation, and current technology typically uses cooling fans to dissipate this heat and prevent heat buildup from affecting the drone's normal operation. However, cooling fans not only increase the overall weight of the grab drone but also reduce its battery life. Utility Model Content

[0004] One objective of this utility model is to address one of the aforementioned technical problems. To achieve this objective, this utility model adopts the following technical solution:

[0005] A grasping drone is provided, comprising a main body and a plurality of horizontally arranged propellers, the propellers being rotatably connected to the main body, the grasping drone further comprising:

[0006] A control component connected to the main body, the control component including a housing structure and a control board disposed within the housing structure;

[0007] A first heat sink is connected to the housing structure. The first heat sink includes a plurality of first heat sink fins and has heat sink channels on its periphery. The first heat sink is configured to dissipate heat from the control board.

[0008] The propellers are arranged around the control component. When the propellers are configured to rotate, a negative pressure area is formed below them. Along the height direction, the negative pressure area and the inlet end of the heat dissipation channel at least partially overlap and communicate with each other.

[0009] In one embodiment, the first heat dissipation fin is disposed at the bottom of the housing structure, the end of the first heat dissipation fin extends toward the lower side away from the housing structure, the heat dissipation channel is located below the housing structure, and the plane where the bottom of the propeller blade is located and the bottom of the housing structure are in the same horizontal plane;

[0010] or,

[0011] The first heat dissipation fin is disposed on the top of the housing structure, and the end of the first heat dissipation fin extends toward the upper side away from the housing structure. The heat dissipation channel is located above the housing structure, and the propeller is located above the first heat dissipation fin and spaced apart from the top of the housing structure.

[0012] In one embodiment, the grasping drone further includes a power supply component. Along the height direction, the power supply component and the control component are interconnected and arranged sequentially. The first heat dissipation fins are disposed on the outer side of the shell structure facing the power supply component. The power supply component and the control component are spaced apart, and a heat dissipation channel is formed between the power supply component and the control component.

[0013] In one embodiment, the grabbing drone further includes a second heat sink, which is configured to dissipate heat from the power supply component. The second heat sink includes a cooling fan and a plurality of second heat sink fins. The cooling fan and the second heat sink fins are both disposed on the outside of the power supply component, and the air outlet of the cooling fan faces at least a portion of the second heat sink fins.

[0014] And / or,

[0015] The power supply component includes a protective housing and a power distribution board disposed within the protective housing; the control component includes a flight control board and an electronic speed controller board, and the power distribution board is electrically connected to the flight control board and the electronic speed controller board respectively.

[0016] And / or,

[0017] The power supply component includes a protective housing and a power distribution board disposed inside the protective housing, and a first drainage hole is provided at the bottom of the protective housing.

[0018] In one embodiment, the housing structure includes a detachably connected bottom housing and an upper housing, the bottom housing and the upper housing together forming an accommodating space for accommodating the control panel, and the bottom housing having a second drain hole communicating with the accommodating space.

[0019] In one embodiment, the housing structure further includes a water-blocking baffle disposed on the bottom housing and extending toward the accommodating space, the water-blocking baffle surrounding the periphery of the control plate, and the second drain hole located on the outer periphery of the water-blocking baffle;

[0020] And / or,

[0021] The bottom housing and / or the upper housing are provided with a through-hole for wiring, which connects to the accommodating space. The wiring harness of the control component passes through the through-hole. The housing structure also includes an elastic seal, which is embedded in the through-hole and is used to seal and fix the wiring harness.

[0022] In one embodiment, the grabbing drone further includes:

[0023] A gripping assembly includes two gripping arms. One end of each gripping arm is provided with a transmission gear, and the two transmission gears are meshed with each other. The other ends of the two gripping arms are brought close to each other to form a gripping state.

[0024] The drive assembly includes a motor and a drive gear. The drive gear is connected to the output shaft of the motor and meshes with one of the two transmission gears to drive the ends of the two gripping arms to move closer or further apart.

[0025] In one embodiment, the crawling component further includes:

[0026] The mounting bracket has two mounting holes, two rotating shafts are movably disposed in the two mounting holes, and two transmission gears are rotatably connected to the two rotating shafts.

[0027] An elastic positioning element is provided, with its two ends connected to the two rotating shafts respectively. The elastic positioning element always has a tendency to apply a pulling force to the two rotating shafts so that the two rotating shafts keep moving closer to each other.

[0028] In one embodiment, a protective cover is provided on the main body, the propeller is rotatably connected to the protective cover, and the protective cover is positioned above the propeller. The grabbing drone also includes a positioning component, which includes two RTK modules and two protective beams. The two RTK modules are both connected above the protective cover and are located on both sides of the main body. One end of the protective beam is connected to the main body, and the other end is connected to the RTK module.

[0029] And / or,

[0030] The grabbing drone also includes a battery, which is disposed on the main body and located above the control component.

[0031] Another objective of this utility model is to address one of the aforementioned problems. To achieve this objective, this utility model employs the following technical solution in another aspect:

[0032] A grasping system is provided, the grasping system including a carrier drone, a winch, and a grasping drone as described in any of the above embodiments, the winch being mounted on the carrier drone and connected to the grasping drone via a rope.

[0033] The third objective of this utility model also addresses one of the aforementioned problems. To achieve this objective, this utility model further employs the following technical solution:

[0034] A photovoltaic cleaning robot cleaning system is provided, including a photovoltaic cleaning robot and a gripping system as described above.

[0035] The beneficial effects of this utility model are:

[0036] The grabbing drone provided by this utility model has multiple first heat dissipation fins on its shell structure. The heat generated by the control board during operation is transferred to the shell structure. Utilizing the heat transfer effect of air on the surface of the first heat dissipation fins, the heat on the shell structure is dissipated through the heat dissipation channel, achieving the purpose of cooling the control board. At the same time, it makes full use of the negative pressure area formed during the rotation of the propeller. Since the negative pressure area and the inlet end of the heat dissipation channel overlap and connect at least partially in the height direction, the negative pressure area can accelerate the airflow velocity in the heat dissipation channel, thereby achieving rapid heat dissipation of the control board by the first heat dissipation fins. The sheet-like structure of the first heat dissipation fins is simple and compact, and it achieves good heat dissipation performance by utilizing the negative pressure area formed by the propeller. This avoids increasing the weight of the grabbing drone, which helps to simplify the structure of the grabbing drone, achieves lightweight and miniaturization of the grabbing drone, and ensures that the endurance of the grabbing drone is not affected.

[0037] The grasping system provided by this utility model has the above-mentioned grasping drone, and the grasping drone has good heat dissipation performance and battery life performance.

[0038] The photovoltaic cleaning robot cleaning system provided by this utility model enables the photovoltaic cleaning robot to be grasped by the grasping drone of the above-mentioned grasping system, thereby improving the reliability and safety of grasping and transporting the photovoltaic cleaning robot. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of the grabbing drone provided in this embodiment of the utility model;

[0040] Figure 2 This is a front view of the structure of the grabbing drone provided in this embodiment of the utility model;

[0041] Figure 3 This is a partial structural schematic diagram of the grabbing drone provided in an embodiment of the present utility model;

[0042] Figure 4This is a structural disassembly diagram of the control component provided in an embodiment of the present invention.

[0043] In the picture:

[0044] 1. Main body; 11. Protective cover; 12. Battery; 2. Propeller; 3. Control components; 31. Housing structure; 311. Bottom housing; 3111. Second drain hole; 312. Upper housing; 3121. Wiring hole; 313. Water-blocking baffle; 314. Elastic seal; 32. Control board; 4. First heat sink; 41. Heat dissipation channel; 5. Power supply components; 51. First drain hole; 6. Second heat sink; 61. Cooling fan; 7. Gripping components; 71. Gripping arm; 72. Transmission gear; 73. Mounting bracket; 74. Rotating shaft; 75. Elastic positioning component; 8. Drive components; 81. Motor; 82. Drive gear; 9. Positioning components; 91. RTK module; 92. Protective beam. Detailed Implementation

[0045] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0046] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0048] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0049] like Figures 1 to 4 As shown, this embodiment first provides a grasping drone, which includes a main body 1 and multiple horizontally arranged propellers 2, which are rotatably connected to the main body 1. A main motor and a battery 12 are installed on the main body 1. The battery 12 provides electrical energy to the main motor. The propellers 2 are connected to the output end of the main motor. The propellers 2 rotate and convert the mechanical energy output by the main motor into the propulsion force for the grasping drone to fly.

[0050] The grasping drone also includes a control component 3 and a first heat sink 4. The control component 3 is connected to the main body 1 and includes a housing structure 31 and a control board 32 disposed within the housing structure 31. The first heat sink 4 is connected to the housing structure 31 and includes multiple first heat dissipation fins. The first heat sink 4 has heat dissipation channels 41 on its periphery and is configured as a heat dissipation control board 32. Multiple propellers 2 surround the control component 3. During the rotation of the propellers 2, the blades generate propulsion force in the air. Due to the design of the blade shape, the air changes direction when flowing past the blades, increasing the air velocity and reducing the pressure below the propellers 2, thus forming a negative pressure area. This negative pressure area attracts more air to the propellers 2. Along the height direction, the negative pressure area and the inlet end of the heat dissipation channel 41 at least partially overlap and communicate.

[0051] The grabbing drone provided in this embodiment has multiple first heat dissipation fins on the shell structure 31. The heat generated by the control board 32 during operation is transferred to the shell structure 31. Utilizing the heat transfer effect of air on the surface of the first heat dissipation fins, the heat on the shell structure 31 is dissipated through the heat dissipation channel 41, achieving the purpose of cooling the control board 32. At the same time, the negative pressure area formed during the rotation of the propeller 2 is fully utilized. Since the negative pressure area and the inlet end of the heat dissipation channel 41 overlap and connect at least partially in the height direction, the negative pressure area can accelerate the airflow velocity in the heat dissipation channel 41, thereby achieving rapid heat dissipation of the control board 32 by the first heat dissipation fins. The sheet-like structure of the first heat dissipation fins is simple and compact, and the negative pressure area formed by the propeller 2 achieves good heat dissipation performance, avoiding increasing the weight of the grabbing drone, which helps to simplify the structure of the grabbing drone, realize the lightweight and miniaturization of the grabbing drone, and ensure that the endurance of the grabbing drone is not affected.

[0052] Specifically, the control board 32 includes a flight control board (FCB) and an electronic speed controller (ESC), which can be arranged vertically or horizontally within the housing structure 31. To improve the heat dissipation performance of the first heat sink 4, the first heat sink fins are made of metal, which has good thermal conductivity. This embodiment does not limit the number, shape, or arrangement of the first heat sink fins.

[0053] In one embodiment, such as Figure 1 As shown, the grabbing drone is equipped with four propellers 2, which are symmetrically arranged around the main body 1. This embodiment does not limit the number or shape of the propeller blades 2.

[0054] In one embodiment, such as Figure 2 As shown, the first heat dissipation fin is disposed at the bottom of the shell structure 31, and the end of the first heat dissipation fin extends toward the lower side away from the shell structure 31. The heat dissipation channel 41 is located below the shell structure 31. The plane where the bottom of the propeller blade 2 is located and the bottom of the shell structure 31 are in the same horizontal plane. In this way, the inlet end of the heat dissipation channel 41 is completely connected to the negative pressure area, and the suction force formed by the negative pressure area on the heat dissipation channel 41 is greater.

[0055] Since the blade has a spatial curved surface structure, the bottom of the blade refers to the lowest point of the blade along the height direction of the drone being captured.

[0056] Of course, in other embodiments, the bottom of the housing structure 31 may be located above the bottom of the blades of the propeller 2, so that the inlet end of the heat dissipation channel 41 is connected to the negative pressure area.

[0057] In another embodiment, the first heat dissipation fin is disposed on the top of the housing structure 31, with the end of the first heat dissipation fin extending upward away from the housing structure 31, and the heat dissipation channel 41 is located above the housing structure 31. The propeller 2 is located above the first heat dissipation fin and spaced apart from the top of the housing structure 31, which also ensures that the inlet end of the heat dissipation channel 41 is fully connected to the negative pressure area. In practical applications, whether the first heat dissipation fin is disposed on the top or bottom of the housing structure 31 can be determined according to the position of the control plate 32 inside the housing structure 31, so that the first heat dissipation fin is disposed on the side of the housing structure 31 that is relatively close to the control plate 32. This embodiment does not impose specific limitations.

[0058] To power the control board 32, the grasping drone also includes a power supply component 5. Along the height direction, the power supply component 5 and the control component 3 are interconnected and arranged sequentially. A first heat dissipation fin is disposed on the outer side of the housing structure 31 facing the power supply component 5. The power supply component 5 and the control component 3 are spaced apart, forming a heat dissipation channel 41 between them. Exemplarily, in one embodiment, the control component 3 is located above the power supply component 5, the first heat dissipation fin is disposed at the bottom of the housing structure 31 facing the power supply component 5, and the heat dissipation channel 41 is located between the top of the power supply component 5 and the bottom of the control component 3. The air flowing within the heat dissipation channel 41 can simultaneously dissipate heat from both the power supply component 5 and the control component 3.

[0059] The power supply component 5 includes a protective housing and a power distribution board (not shown) disposed within the protective housing. The power distribution board is electrically connected to the control board 32, providing power to the flight control board and the electronic speed controller board, respectively. In rainy or snowy weather, rainwater inevitably enters the protective housing. To improve the safety of the power distribution board, a first drainage hole 51 is provided at the bottom of the protective housing. Rainwater can flow out of the protective housing through the first drainage hole 51. This embodiment does not limit the number or specific location of the first drainage holes 51. For example, the first drainage hole 51 is located at the bottom of the detachable cover of the protective housing; the detachable connection structure of the detachable cover results in a higher risk of water ingress.

[0060] During operation, the power supply component 5 of the grabbing drone experiences rapid temperature rise. To quickly cool the power supply component 5, the grabbing drone also includes a second heat sink 6, which is configured to cool the power supply component 5. The second heat sink 6 includes a cooling fan 61 and multiple second heat sink fins. Both the cooling fan 61 and the second heat sink fins are located on the outer side of the power supply component 5. The second heat sink fins are positioned beside the cooling fan 61, and the air outlet of the cooling fan 61 faces at least a portion of the second heat sink fins. The airflow blown by the cooling fan 61 accelerates the heat exchange and cooling of the power supply component 5 by the second heat sink fins.

[0061] In one embodiment, the housing structure 31 includes a detachably connected bottom housing 311 and an upper housing 312. The bottom housing 311 and the upper housing 312 together form a receiving space for accommodating the control board 32. A second drainage hole 3111 communicating with the receiving space is provided on the bottom housing 311. Due to limitations in processing and assembly precision, gaps inevitably exist in the housing structure 31. During rainy or snowy weather, rainwater can enter the housing structure 31 through these gaps. The second drainage hole 3111 on the bottom housing 311 can drain the rainwater that has entered the housing structure 31, preventing rainwater from accumulating inside the housing structure 31 and affecting the operational safety and reliability of the control board 32.

[0062] Furthermore, the shell structure 31 also includes a water-blocking baffle 313, which is disposed on the bottom shell 311 and extends toward the accommodating space. The water-blocking baffle 313 surrounds the periphery of the control plate 32, and the second drainage hole 3111 is located on the outer periphery of the water-blocking baffle 313. The water-blocking baffle 313 forms a certain shielding height, so that rainwater flowing down along the shell structure 31 is blocked on the outside of the water-blocking baffle 313, further increasing the shielding and protection effect on the control plate 32, and preventing rainwater from failing to drain from the second drainage hole 3111 and flowing toward the control plate 32 in time when the drone is being captured in an tilted state.

[0063] A through-hole 3121 is provided on the bottom housing 311 and / or the upper housing 312. The through-hole 3121 connects to the accommodating space. The wiring harness (not shown in the figure) of the control component 3 passes through the through-hole 3121. The wiring harness is used to electrically connect the distributor board and the control board 32. The housing structure 31 also includes an elastic seal 314, which is embedded in the through-hole 3121 and is used to seal and fix the wiring harness. Exemplarily, in one embodiment, such as Figure 4 As shown in the figure, the upper housing 312 has a through-hole 3121 for wire passing. The elastic seal 314 reduces the gap between the wire harness and the through-hole 3121, preventing rainwater from entering the housing structure 31 through the through-hole 3121.

[0064] To grasp an object (not shown in the figure), the grasping drone also includes a grasping component 7 and a drive component 8. The object to be grasped includes, but is not limited to, a photovoltaic cleaning robot and a robotic dog. The grasping component 7 includes two grasping arms 71. One end of each grasping arm 71 is equipped with a transmission gear 72. The two transmission gears 72 are meshed together. The other ends of the two grasping arms 71 are brought close together to form a grasping state. When the other ends of the two grasping arms 71 are moved away from each other, the object to be grasped is released. The grasping component 7 includes a motor 81 and a drive gear 82. The drive gear 82 is connected to the output shaft of the motor 81 and is meshed with one of the two transmission gears 72. When the motor 81 rotates, it drives the drive gear 82 to rotate, which in turn drives one of the transmission gears 72 to rotate. The two transmission gears 72 rotate in opposite directions to drive the ends of the two grasping arms 71 to move closer together or further apart.

[0065] During flight, the grasping drone typically deploys its two grasping arms 71 in a horizontal position. To ensure the positional accuracy of the two grasping arms 71 in this horizontal position, the grasping assembly 7 also includes a mounting bracket 73 and an elastic positioning element 75. The mounting bracket 73 has two mounting holes, and two rotating shafts 74 are movably mounted within each hole. Each shaft 74 passes through one of the mounting holes, with one end having a head whose radial dimension is larger than the mounting hole, and the other end having an external thread. The external thread connects to a nut after passing through the mounting hole, preventing the shaft 74 from falling off. Two transmission gears 72 are rotatably connected to the rotating shafts 74 and located between the head and the external thread. The shafts 74 provide support for the transmission gears 72 and the grasping arms 71. The elastic positioning element 75 has two ends connected to the two rotating shafts 74, and it always tends to apply a pulling force to the two rotating shafts 74 to keep them moving closer together. For example, the elastic positioning member 75 is a tension spring. The tension spring applies tension to the two rotating shafts 74, so that the two rotating shafts 74 maintain a tendency to move closer to each other, thereby ensuring the center distance between the two transmission gears 72. On the one hand, it improves the transmission accuracy of the transmission gears 72; on the other hand, it reduces the shaking caused by the gap between the two transmission gears 72 when the gripping arm 71 is in a horizontal state, and maintains the stability of the gripping drone flight.

[0066] To protect the propeller 2 and reduce the risk of it colliding with foreign objects, a protective cover 11 is provided on the main body 1. The propeller 2 is rotatably connected to the protective cover 11, which covers the propeller 2. The protective cover 11 is a mesh structure formed from a rigid material to reduce overall weight. The grabbing drone also includes a positioning component 9, which includes two RTK (Real-time Kinematic) modules 91 and two protective beams 92. The two RTK modules 91 are connected to the upper side of the protective cover 11 and are located on both sides of the main body 1, increasing positioning accuracy. One end of the protective beam 92 is connected to the main body 1, and the other end is connected to the RTK module 91. The protective beam 92 prevents gaps between the RTK module 91 and the main body 1, thus avoiding interference between the grabbing drone and the carrier drone frame during application.

[0067] This utility model embodiment also provides a grasping system, which includes a carrier drone (not shown), a winch (not shown), and the aforementioned grasping drone. The winch is mounted on the carrier drone and is connected to the grasping drone via a rope.

[0068] The carrier drone (not shown in the figure) is carried by a winch to fly above the object to be grasped. The winch retracts and releases the grasping drone, moving it closer to or away from the object. During this process, the landing gear of the carrier drone is prone to colliding with the grasping drone. The protective beam 92 prevents the landing gear of the carrier drone from entering the space between the RTK module 91 and the main body 1, thus avoiding collisions with either the RTK module 91 or the main body 1. The grasping drone utilizes the negative pressure area created by the propeller 2 to achieve better heat dissipation, enabling lightweight and miniaturized design, and improving the transport reliability of the grasping system.

[0069] This embodiment of the invention also provides a photovoltaic cleaning robot cleaning system. The photovoltaic cleaning robot cleaning system includes a photovoltaic cleaning robot that can be grasped by the aforementioned grasping drone. The photovoltaic cleaning robot is provided with a grasping part that is adapted to the grasping drone. For example, the grasping part is a ring-shaped structure. This adaptation can be the two grasping arms 71 of the grasping drone grasping the ring-shaped structure, or it can be an adaptation of other structures. This embodiment does not impose specific limitations.

[0070] The photovoltaic cleaning robot achieves transfer between different working positions by grasping a drone. The drone has multiple first heat dissipation fins on its shell structure 31. The heat generated by the control board 32 is transferred to the shell structure 31. Utilizing the heat transfer effect of air on the surface of the first heat dissipation fins, the heat on the shell structure 31 is dissipated through the heat dissipation channel 41, achieving the purpose of cooling the control board 32. Simultaneously, the negative pressure area formed during the rotation of the propeller 2 is fully utilized. Since the negative pressure area and the inlet end of the heat dissipation channel 41 at least partially overlap and connect in the height direction, the negative pressure area can accelerate the airflow within the heat dissipation channel 41, thereby achieving rapid heat dissipation of the control board 32 by the first heat dissipation fins. The sheet-like structure of the first heat dissipation fins is simple and compact, and the use of the negative pressure area formed by the propeller 2 achieves good heat dissipation performance, avoiding increasing the weight of the grasping drone, simplifying the structure of the grasping drone, ensuring that the endurance of the grasping drone is not affected, and ensuring the reliability and safety of the photovoltaic cleaning robot.

[0071] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A grab drone comprising a main body (1) and a plurality of horizontally arranged propellers (2) rotatably connected to the main body (1), characterized in that, The grabbing unmanned aerial vehicle further comprises: a control assembly (3) connected to the main body (1), the control assembly (3) comprising a shell structure (31) and a control board (32) arranged in the shell structure (31); a first heat dissipation member (4) connected to the shell structure (31), the first heat dissipation member (4) comprising a plurality of first heat dissipation fins, the periphery of the first heat dissipation member (4) having a heat dissipation channel (41), the first heat dissipation member (4) being configured to dissipate heat from the control board (32); wherein a plurality of the propellers (2) are arranged around the periphery of the control assembly (3), the propellers (2) being configured to form a negative pressure area below when in a rotating state, the negative pressure area and the inlet end of the heat dissipation channel (41) at least partially overlapping and communicating in the height direction.

2. The grabbing drone of claim 1, wherein, The first heat dissipation fins are arranged at the bottom of the shell structure (31), the ends of the first heat dissipation fins extending away from the underside of the shell structure (31), the heat dissipation channel (41) being located below the shell structure (31), the plane on which the blades of the propellers (2) are located and the bottom of the shell structure (31) being located on the same horizontal plane; alternatively, The first heat dissipation fins are arranged at the top of the shell structure (31), the ends of the first heat dissipation fins extending away from the top side of the shell structure (31), the heat dissipation channel (41) being located above the shell structure (31), the propellers (2) being located above the first heat dissipation fins and being arranged at a distance from the top of the shell structure (31).

3. The grabber drone of claim 2, wherein, The grabbing unmanned aerial vehicle further comprises a power supply assembly (5), the power supply assembly (5) and the control assembly (3) being connected to each other and arranged in sequence in the height direction, the first heat dissipation fins being arranged on the shell structure (31) towards the outside of the power supply assembly (5), the power supply assembly (5) and the control assembly (3) being arranged at a distance from each other, the power supply assembly (5) and the control assembly (3) forming the heat dissipation channel (41) therebetween.

4. The grabber drone of claim 3, wherein, The grabbing unmanned aerial vehicle further comprises a second heat dissipation member (6) configured to dissipate heat from the power supply assembly (5), the second heat dissipation member (6) comprising a heat dissipation fan (61) and a plurality of second heat dissipation fins, the heat dissipation fan (61) and the second heat dissipation fins being arranged on the outside of the power supply assembly (5), the air outlet of the heat dissipation fan (61) being directed towards at least part of the second heat dissipation fins; and / or, The power supply assembly (5) comprises a protective shell and a power distribution board arranged in the protective shell, the control assembly (3) comprising a flight control board and an electronic speed controller board, the power distribution board being electrically connected to the flight control board and the electronic speed controller board, respectively; and / or, The power supply assembly (5) comprises a protective shell and a power distribution board arranged in the protective shell, the bottom of the protective shell being provided with a first drain hole (51).

5. The grasping drone of claim 1, wherein, The shell structure (31) comprises a bottom shell (311) and an upper shell (312) which are detachably connected, the bottom shell (311) and the upper shell (312) enclose a containing space for containing the control panel (32), and the bottom shell (311) is provided with a second drain hole (3111) which communicates with the containing space.

6. The grasping drone of claim 5, wherein, The shell structure (31) further comprises a water-blocking baffle (313) which is arranged on the bottom shell (311) and extends towards the containing space, the water-blocking baffle (313) surrounds the periphery of the control panel (32), and the second drain hole (3111) is located on the outer periphery of the water-blocking baffle (313); And / or, The bottom shell (311) and / or the upper shell (312) is provided with a through wire hole (3121) which communicates with the containing space, the wire harness of the control assembly (3) is arranged in the wire hole (3121), and the shell structure (31) further comprises an elastic sealing member (314) which is embedded in the wire hole (3121), and the elastic sealing member (314) is used for sealing and fixing the wire harness.

7. The grasping drone of claim 1, wherein, The grabbing unmanned aerial vehicle further comprises: A grabbing assembly (7) comprising two grabbing arms (71), one end of each grabbing arm (71) is provided with a transmission gear (72), and the two transmission gears (72) are connected with each other, and the other ends of the two grabbing arms (71) are close to each other to form a grabbing state; A driving assembly (8) comprising a motor (81) and a driving gear (82), the driving gear (82) is connected to the output shaft of the motor (81), and the driving gear (82) is engaged with one of the two transmission gears (72) to drive the two ends of the two grabbing arms (71) to be close to or away from each other.

8. The grasping drone of claim 7, wherein, The grabbing assembly (7) further comprises: A mounting bracket (73) provided with two mounting holes, two rotating shafts (74) are movably arranged in the two mounting holes respectively, and the two transmission gears (72) are rotatably connected to the two rotating shafts (74) respectively; An elastic positioning member (75) connected to the two rotating shafts (74) at two ends respectively, the elastic positioning member (75) always has a movement trend of applying a pulling force to the two rotating shafts (74) to keep the two rotating shafts (74) close to each other.

9. The grabbing drone according to any one of claims 1-8, characterized in that, The main body (1) is provided with a protective cover (11), the propeller (2) is rotatably connected to the protective cover (11), and the protective cover (11) covers the propeller (2) from above, the grabbing unmanned aerial vehicle further comprises a positioning assembly (9), the positioning assembly (9) comprises two RTK modules (91) and two protective beams (92), the two RTK modules (91) are connected to the upper side of the protective cover (11) and are respectively located on the two sides of the main body (1), one end of the protective beam (92) is connected to the main body (1), and the other end is connected to the RTK module (91). And / or, The grabbing unmanned aerial vehicle further comprises a battery (12), the battery (12) is arranged on the main body (1) and located above the control assembly (3).

10. A gripping system characterized in that, The grabbing system comprises a carrying unmanned aerial vehicle, a winch and the grabbing unmanned aerial vehicle as claimed in any one of claims 1 to 9, the winch is arranged on the carrying unmanned aerial vehicle, and the winch is connected with the grabbing unmanned aerial vehicle through a rope.

11. A photovoltaic cleaning robot cleaning system, characterized in that, The grabbing system comprises a carrying unmanned aerial vehicle, a winch and the grabbing unmanned aerial vehicle as claimed in any one of claims 1 to 9, the winch is arranged on the carrying unmanned aerial vehicle, and the winch is connected with the grabbing unmanned aerial vehicle through a rope. The grabbing system comprises a carrying unmanned aerial vehicle, a winch and the grabbing unmanned aerial vehicle as claimed in any one of claims 1 to 9, the winch is arranged on the carrying unmanned aerial vehicle, and the winch is connected with the grabbing unmanned aerial vehicle through a rope.

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