Structure of unmanned aerial vehicle hoisting robot

Abstract

The utility model relates to the technical field of unmanned aerial vehicle hoisting robots, in particular to a structure of an unmanned aerial vehicle hoisting robot. Comprising an unmanned aerial vehicle, a joint connecting rod, a horizontal clamping jaw, a guide rod, a guide rod steering engine and a robot. The horizontal clamping jaw is connected to the unmanned aerial vehicle through the joint connecting rod, and the guide rod is connected to the structure of the robot through the guide rod steering engine and a sheet metal part, so that the unmanned aerial vehicle can control the orientation of the robot so as to accurately align to an operation site. And when an operation field has a certain inclination angle, the guide rod can be ensured to be always vertically upward, so that the horizontal clamping jaw can realize butt joint of the guide rod more effectively, and the overall cost is also reduced.

Description

Technical Field

[0001] This utility model relates to the technical field of drone hoisting robots, and in particular to the structure of a drone hoisting robot. Background Technology

[0002] Currently, there are two main methods for drone-based lifting robots: one involves storing the robot in a container, with the drone connected to the container via ropes, placing the container on a panel, opening the container, and the robot automatically moving out to the panel to perform the operation. The other method involves placing an electronic ball into a self-locking guide housing, then retrieving and placing the robot. The electronic ball is connected to the drone via flexible ropes, while the guide housing and robot are rigidly connected. The first method requires a dedicated storage container for the robot, resulting in a larger and heavier overall device, increasing the load on the drone and raising overall costs. Furthermore, the robot needs autonomous navigation to enter and exit the container, limiting its application and further increasing costs. The second method uses flexible ropes to secure the electronic ball, but this results in arbitrary rotation in the air, making it impossible to control the robot's landing direction. Utility Model Content

[0003] The purpose of this utility model is to provide a structure for a drone hoisting robot that addresses the deficiencies in existing technologies. This structure allows the drone to control the robot's orientation for accurate alignment with the work site. Furthermore, it ensures that the guide rod remains vertically upward even when the work site has a certain angle of inclination. This allows the horizontal grippers to more effectively connect with the guide rod, while also reducing overall costs.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: it includes a drone, a joint link, a horizontal gripper, a guide rod, a guide rod servo motor, and a robot; the horizontal gripper is connected to the drone through the joint link, and the guide rod is connected to the robot through the guide rod servo motor and sheet metal parts.

[0005] Furthermore, when the robot is in a state where it needs to be deployed onto the panel, the horizontal gripper clamps the guide rod, and the drone moves the robot above the panel by the clamping action of the horizontal gripper. The drone slowly descends and adjusts its angle at the same time to make the robot land on the panel. After the robot lands smoothly, the horizontal gripper opens, and the drone, carrying the horizontal gripper, rises and disengages from the guide rod on the robot, completing the robot deployment.

[0006] Furthermore, after the robot completes its task, the drone, carrying the horizontal gripper, moves above the guide rod on the robot. Once the horizontal gripper aligns with the guide rod, the drone descends to allow the horizontal gripper to engage with the guide rod. Subsequently, the horizontal gripper clamps the guide rod, and the drone ascends to lift the robot off the panel. When the operation has a certain tilt angle, the guide rod servo adjusts the angle to keep the guide rod vertical, thereby ensuring that the horizontal gripper can effectively dock with the guide rod.

[0007] Furthermore, the horizontal gripper includes a limiting electromagnet, an electromagnet fixing plate, a limiting baffle, a gripper main support plate, a servo motor bracket, a swing arm servo motor, a main swing arm, a secondary swing arm, an electrode plate, an electrode plate bracket, and an auxiliary swing arm; the limiting electromagnet is fixed to the gripper main support plate via the electromagnet fixing plate; the limiting baffle and the main swing arm are rigidly connected to the servo disc of the swing arm servo motor; the swing arm servo motor is fixed to the gripper main support plate via the servo motor bracket and an isolation column; and the secondary swing arm is fixed to the gripper main support plate via limiting screws.

[0008] Furthermore, there are two electrode plates, which are respectively fixed to the main swing arm and the auxiliary swing arm by the electrode plate bracket.

[0009] Furthermore, there are two auxiliary swing arms, which are fixed to the main swing arm and the secondary swing arm respectively. The auxiliary swing arms are mainly extensions of the main swing arm and the secondary swing arm. Because of the presence of the auxiliary swing arms, the horizontal grippers can open to a larger angle to dock with the guide rod, which greatly reduces the docking difficulty.

[0010] Furthermore, when the horizontal gripper engages with and clamps the guide rod, the limiting electromagnet is energized and the limiting electromagnet guide post retracts. The swing arm servo operates to bring the main swing arm and the auxiliary swing arm closer together until they clamp the guide rod. After the main swing arm and the auxiliary swing arm are clamped in place, the electrode plates on the main swing arm and the auxiliary swing arm contact the guide rod, the electrode plates conduct electricity, the servo stops working, and the clamping action of the horizontal gripper is completed. Then, the limiting electromagnet is de-energized and the limiting electromagnet guide post descends. The limiting electromagnet blocks the movement of the limiting electromagnet limiting baffle to prevent the gripper from disengaging.

[0011] Furthermore, when the horizontal gripper needs to release the guide rod, the limiting electromagnet is energized and the limiting electromagnet guide post retracts, and the swing arm servo motor operates to separate the main swing arm and the auxiliary swing arm.

[0012] The system comprises a drone, articulated links, a horizontal gripper, a guide rod, a guide rod servo motor, and a robot. The horizontal gripper is connected to the drone via the articulated links, and the guide rod is connected to the robot via the guide rod servo motor and sheet metal parts. This structure allows the drone to control the robot's orientation for accurate alignment with the work site. Furthermore, when the work site has a certain angle of inclination, the guide rod is kept vertically upright. This allows the horizontal gripper to more effectively connect with the guide rod, while also reducing overall costs. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a structural schematic diagram of the drone hoisting robot of this utility model.

[0015] Figure 2 This is an enlarged schematic diagram of the horizontal gripper of this utility model.

[0016] Figure 3 This is another schematic diagram of the unmanned aerial vehicle (UAV) hoisting robot of this utility model.

[0017] Figure label:

[0018] 1. Unmanned Aerial Vehicle (UAV) 2. Joint Linkage 3. Horizontal Gripper 3. Limiting Electromagnet 31. Electromagnet Fixing Plate 32. Limiting Baffle 33. Gripper Main Support Plate 34. Servo Mount Bracket 35. Swing Arm Servo 36. Main Swing Arm 37. Secondary Swing Arm 38. Electrode Plate 39. Electrode Plate Bracket 310. Auxiliary Swing Arm 311. Guide Rod 4. Guide Rod Servo 5. Robot 6. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] In the description of this utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inner", and "outer" are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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.

[0021] The structure of a drone hoisting robot, such as Figures 1-3 As shown, the system includes a drone 1, a joint link 2, a horizontal gripper 3, a guide rod 4, a guide rod servo motor 5, and a robot 6. The horizontal gripper 3 is connected to the drone 1 via the joint link 2, and the guide rod 4 is connected to the robot 6 via the guide rod servo motor 5 and sheet metal parts.

[0022] Specifically, the UAV 1 is directly connected to the horizontal gripper 3 via the articulated link 2, eliminating the complex structure of traditional housings or electronic spheres, significantly reducing the overall weight and the load requirements on the UAV 1. Compared to existing housing solutions, no additional storage housing is needed, reducing volume and material costs. It also avoids the complex design of requiring the robot 6 to autonomously navigate in and out of the housing. The guide rod 4 is rigidly connected to the robot 6 via the guide rod servo 5, allowing for active adjustment of the guide rod 4's attitude. This ensures precise control of the robot 6's landing direction during pick-up and drop-off, solving the problem of uncontrollable aerial rotation of the robot 6 in traditional flexible rope solutions, improving operational stability and safety. The coordinated design of the horizontal gripper 3 and guide rod 4 simplifies the pick-up and drop-off process, eliminating the need for repetitive... The complex electronic ball locking or autonomous navigation functions reduce the functional requirements of robot 6, expand the types of robots that can be adapted, and reduce the overall system cost. Drone 1 drives horizontal gripper 3 to directly grasp guide rod 4 through joint link 2, achieving rapid alignment and placement without the need for additional steps such as box unfolding or electronic ball deployment, shortening operation time and improving efficiency. The combination of guide rod servo motor 5 and rigid sheet metal parts ensures a stable connection between robot 6 and guide rod 4, avoiding the risk of flexible ropes swaying or loosening, and can maintain stable operation in complex environments, improving system reliability. The joint link 2 and horizontal gripper 3 adopt a modular design, and the structural parameters can be flexibly adjusted according to the size and weight of different robots 6, making it suitable for various operation scenarios.

[0023] As a preferred embodiment of the above, such as Figures 1-3As shown, when the robot 6 is in the state where it needs to be deployed to the panel, the horizontal gripper 3 clamps the guide rod 4. The drone 1 moves the robot 6 to the top of the panel through the clamping action of the horizontal gripper 3. The drone 1 slowly descends and adjusts its angle at the same time so that the robot 6 lands on the panel. After the robot 6 lands smoothly, the horizontal gripper 3 opens, and the drone 1 rises with the horizontal gripper 3 and disengages from the guide rod 4 on the robot 6, completing the deployment of the robot 6.

[0024] As a preferred embodiment of the above, such as Figures 1-3 As shown, after the robot 6 completes its task, the drone 1, carrying the horizontal gripper 3, moves above the guide rod 4 on the robot 6. After the horizontal gripper 3 aligns with the guide rod 4, the drone 1 descends to allow the horizontal gripper 3 to engage with the guide rod 4. Subsequently, the horizontal gripper 3 clamps the guide rod 4, and the drone 1 rises to lift the robot 6 off the panel. When the operation has a certain tilt angle, the guide rod servo 5 adjusts the angle to keep the guide rod 4 vertically upward, thereby ensuring that the horizontal gripper 3 can effectively dock with the guide rod 4.

[0025] Specifically, by eliminating the traditional box structure and directly using the horizontal gripper 3 to hold the guide rod 4 for deployment, the overall weight is significantly reduced, lowering the load requirements of the drone 1, reducing material costs, and avoiding the complex mechanical design of box unfolding and storage. Simultaneously, the autonomous navigation function required for the robot 6 to enter and exit the box is eliminated, reducing the hardware cost of the robot 6. During landing, the drone 1 actively adjusts its flight angle, and combined with the guide rod servo motor 5 to fine-tune the robot 6's attitude, ensures that the robot 6 lands smoothly in the preset direction. This solves the problem of uncontrollable aerial rotation of the robot 6 in traditional flexible rope solutions, avoiding operational failures due to landing angle deviations. After the horizontal gripper 3 directly clamps the guide rod 4, the drone... 1. Only the "move-land-release" action needs to be performed, eliminating the redundant steps such as box unfolding and electronic ball locking in traditional solutions, shortening the single deployment time. It is especially suitable for high-frequency, multi-target scenarios, significantly improving work efficiency. The guide rod 4 and robot 6 are rigidly fixed by sheet metal parts, and with the stable gripping of the horizontal gripper 3, the risk of flexible ropes shaking or loosening is avoided. Even in complex environments such as strong winds and vibrations, the connection stability between robot 6 and drone 1 can still be guaranteed, reducing the probability of accidental fall and improving work safety. The joint link 2 allows the horizontal gripper 3 to be flexibly adjusted in multiple axes to adapt to the panel deployment needs of different heights and angles, and is compatible with complex scenarios such as tilted panels and irregular working surfaces.

[0026] As a preferred embodiment of the above, such as Figures 1-3As shown, the horizontal gripper 3 includes a limiting electromagnet 31, an electromagnet fixing plate 32, a limiting baffle 33, a gripper main support plate 34, a servo bracket 35, a swing arm servo 36, a main swing arm 37, a secondary swing arm 38, an electrode plate 39, an electrode plate bracket 310, and an auxiliary swing arm 311. The limiting electromagnet 31 is fixed to the gripper main support plate 34 through the electromagnet fixing plate 32. The limiting baffle 33 and the main swing arm 37 are rigidly connected to the servo disk of the swing arm servo 36. The swing arm servo 36 is fixed to the gripper main support plate 34 through the servo bracket 35 and the isolation column. The secondary swing arm 38 is fixed to the gripper main support plate 34 through limiting screws.

[0027] Specifically, the limiting electromagnet 31 is independently fixed to the main support plate 34 of the gripper via the electromagnet fixing plate 32, realizing a modular design for electromagnetic adsorption. This facilitates quick replacement or maintenance, avoids mutual interference between the electromagnet and the mechanical structure, improves gripping stability, and reduces the risk of overall failure due to a single component malfunction. The limiting baffle 33, in conjunction with the limiting screw, strictly constrains the movement range of the main swing arm 37 and the auxiliary swing arm 38, preventing overload or accidental loosening. This ensures that the horizontal gripper 3 can still firmly grip the guide rod 4 in strong winds or vibration environments, improving the safety of high-altitude operations. The swing arm servo motor 36 drives the main swing arm 37 and the auxiliary swing arm 38 to achieve multi-angle opening and closing actions, adapting to different vertical... The guide rod 4, with its diameter or shape, expands the applicability of the gripper and avoids the compatibility limitations caused by the simple structure of traditional grippers. The main support plate 34 of the gripper serves as the core load-bearing structure. Combined with the isolation column, it achieves a compact layout of the servo bracket 35 and the electromagnet fixing plate 32, reducing redundant weight and making the overall structure lightweight. This further reduces the load pressure on the UAV 1 while maintaining high strength support capacity. The electrode plate 39 is isolated from the metal structure by the insulating bracket 310, preventing short circuits or interference when the electromagnet 31 is energized, thus improving electrical safety. It is especially suitable for humid and high electromagnetic interference environments. The electromagnet 31 achieves instantaneous adsorption and release, and the swing arm servo 36 only needs to work briefly during the gripping phase, reducing overall energy consumption.

[0028] As a preferred embodiment of the above, such as Figures 1-3 As shown, there are two electrode plates 39, which are fixed to the main swing arm 37 and the auxiliary swing arm 38 respectively by the electrode plate bracket 310.

[0029] As a preferred embodiment of the above, such as Figures 1-3 As shown, there are two auxiliary swing arms 311, which are respectively fixed.

[0030] The auxiliary swing arm 311 is fixed to the main swing arm 37 and the secondary swing arm 38. It is mainly an extension of the main swing arm 37 and the secondary swing arm 38. Because of the presence of the auxiliary swing arm 311, the horizontal gripper 3 can open at a larger angle to dock with the guide rod 4, which greatly reduces the docking difficulty.

[0031] Specifically, two electrode plates 39 are fixed to the main swing arm 37 and the auxiliary swing arm 38 respectively, forming an independent power supply circuit. This ensures the stability of the electromagnet 31's adsorption action, avoids clamping failure due to poor contact of a single electrode plate, and improves system redundancy. The auxiliary swing arm 311, as an extension of the main and auxiliary swing arms, amplifies the opening and closing stroke of the swing arm servo motor 36 through the lever principle, allowing the horizontal gripper 3 to open to a larger angle. This significantly reduces the difficulty of docking the guide rod 4, improves the fault tolerance rate of high-altitude operations, and is compatible with guide rods 4 of different diameters, expanding the applicability of the device. The rigidity extension of the auxiliary swing arm 311... The flexible adsorption combination of the extension and limiting electromagnet 31 ensures controllable clamping force and avoids damage to the surface of the guide rod 4. It is suitable for smooth, rough or irregularly shaped guide rods 4. It can maintain stable clamping even under strong wind interference, reducing the risk of accidental loosening. Both the electrode plate 39 and the auxiliary swing arm 311 adopt a detachable design and are independently fixed to the main and auxiliary swing arms, which facilitates quick replacement or upgrade. If a single part is damaged, there is no need to replace the entire gripper, reducing maintenance costs. It supports the customization of electrode plate or swing arm specifications according to task requirements. The dual electrode plate 39 can be powered in a time-sharing manner according to the clamping status, optimizing energy consumption distribution.

[0032] As a preferred embodiment of the above, such as Figures 1-3 As shown, when the horizontal gripper 3 engages with and clamps the guide rod 4, the limiting electromagnet 31 is energized and its guide post retracts. The swing arm servo 36 operates, bringing the main swing arm 37 and the auxiliary swing arm 38 closer together until they clamp the guide rod 4. After the main swing arm 37 and the auxiliary swing arm 38 are clamped in place, the electrode plates 39 on the main swing arm 37 and the auxiliary swing arm 38 contact the guide rod 4, and the electrode plates 39 become conductive. The servo stops operating, and the clamping action of the horizontal gripper 3 is completed. Then, the limiting electromagnet 31 is de-energized, and its guide post descends. The limiting electromagnet 31 blocks the movement of the limiting baffle 33 to prevent the gripper from disengaging.

[0033] Specifically, the main swing arm 37 and the auxiliary swing arm 38 are driven by the swing arm servo motor 36 to clamp the guide rod 4, achieving initial fixation through mechanical force. After clamping, the limit electromagnet 31 is de-energized, causing the guide post to descend and rigidly blocking the limit baffle 33, forming a physical lock. This double locking significantly improves clamping reliability and prevents accidental loosening due to vibration or strong winds during high-altitude operations. When the electrode plates 39 on the main and auxiliary swing arms contact the guide rod 4, they automatically conduct, providing electrical signal feedback for clamping completion. This achieves closed-loop control of the clamping action, ensuring that the gripper only stops operating when fully clamped, avoiding insufficient clamping or overload, reducing the need for manual judgment, and improving the level of automation. The limit electromagnet 31 is only energized at the initial stage of clamping and de-energized after clamping is completed. The servo motor 36 only operates briefly during the clamping phase, significantly reducing the continuous power consumption of the electromagnet and servo motor, and extending the flight time of the UAV 1. After the guide column of the limiting electromagnet 31 descends, the swing arm rebound is physically blocked by the limiting baffle 33, forming a rigid anti-loosening barrier. Even if the electromagnet is accidentally de-energized or the servo motor fails, the clamping state can still be maintained by mechanical limiting, ensuring safety in extreme situations. The limiting electromagnet 31, the swing arm servo motor 36, and the electrode plate 39 are all integrated into the main support plate 34 of the gripper. Through coordinated action, they achieve rapid clamping, reduce the clamping action time, and improve the efficiency of high-frequency lifting operations. After the electrode plate 39 is turned on, the swing arm servo motor 36 is automatically stopped to avoid excessive clamping force from damaging the guide rod 4 or the robot 6, protecting the surface of the guide rod 4, and extending the life of the components.

[0034] As a preferred embodiment of the above, such as Figures 1-3 As shown, when the horizontal gripper 3 needs to release the guide rod 4, the limiting electromagnet 31 is energized and the guide post of the limiting electromagnet 31 is retracted, and the swing arm servo motor 36 operates to separate the main swing arm 37 and the auxiliary swing arm 38.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A structure for a drone-mounted lifting robot, characterized in that: Includes unmanned aerial vehicle (1), joint link (2), horizontal gripper (3), guide rod (4), guide rod servo (5) and robot (6); The horizontal gripper (3) is connected to the drone (1) via the joint link (2), and the guide rod (4) is connected to the robot (6) via the guide rod servo (5) and sheet metal parts.

2. The structure of the unmanned aerial crane robot according to claim 1, wherein, When the robot (6) is in a state where it needs to be deployed to the panel, the horizontal gripper (3) clamps the guide rod (4). The drone (1) moves the robot (6) above the panel by the clamping action of the horizontal gripper (3). The drone (1) slowly descends and adjusts its angle at the same time so that the robot (6) lands on the panel. After the robot (6) lands smoothly, the horizontal gripper (3) opens. The drone (1) rises with the horizontal gripper (3) and disengages from the guide rod (4) on the robot (6), thus completing the deployment of the robot (6).

3. The structure of the unmanned aerial crane robot according to claim 2, wherein, After the robot (6) completes its task, the drone (1) moves with the horizontal gripper (3) above the guide rod (4) on the robot (6). After the horizontal gripper (3) aligns with the guide rod (4), the drone (1) descends so that the horizontal gripper (3) fits onto the guide rod (4). Then, the horizontal gripper (3) clamps the guide rod (4) and, together with the drone (1), rises to drive the robot (6) away from the panel. When the operation has a certain tilt angle, the guide rod servo (5) adjusts the angle to keep the guide rod (4) vertically upward.

4. The unmanned aerial crane robot structure of claim 1, wherein, The horizontal gripper (3) includes a limiting electromagnet (31), an electromagnet fixing plate (32), a limiting baffle (33), a gripper main support plate (34), a servo bracket (35), a swing arm servo (36), a main swing arm (37), a secondary swing arm (38), an electrode plate (39), an electrode plate bracket (310), and an auxiliary swing arm (311). The limiting electromagnet (31) is fixed to the main support plate of the gripper (34) by the electromagnet fixing plate (32). The limiting baffle (33) and the main swing arm (37) are rigidly connected to the rudder disk of the swing arm servo (36). The swing arm servo (36) is fixed to the main support plate of the gripper (34) through the servo bracket (35) and the isolation column. The auxiliary swing arm (38) is fixed to the main support plate of the gripper (34) through the limiting screw.

5. The structure of the unmanned aerial crane robot according to claim 4, wherein, There are two electrode plates (39), which are fixed to the main swing arm (37) and the auxiliary swing arm (38) respectively by the electrode plate bracket (310).

6. The structure of a drone hoisting robot according to claim 5, characterized in that, There are two auxiliary swing arms (311), which are fixed to the main swing arm (37) and the secondary swing arm (38) respectively.

7. The structure of the unmanned aerial crane robot according to claim 6, wherein, When the horizontal gripper (3) engages with the guide rod (4) and clamps it, the limiting electromagnet (31) is energized and the guide post of the limiting electromagnet (31) retracts. The swing arm servo (36) works to bring the main swing arm (37) and the auxiliary swing arm (38) closer together until they clamp the guide rod (4). After the main swing arm (37) and the auxiliary swing arm (38) are clamped in place, the electrode plates (39) on the main swing arm (37) and the auxiliary swing arm (38) contact the guide rod (4). The electrode plates (39) are conductive, the servo stops working, and the clamping action of the horizontal gripper (3) is completed. Then the limiting electromagnet (31) is de-energized and the guide post of the limiting electromagnet (31) descends. The limiting electromagnet (31) blocks the movement of the limiting baffle (33) of the limiting electromagnet (31) to prevent the gripper from disengaging.

8. The structure of the unmanned aerial crane robot according to claim 7, wherein, When the horizontal gripper (3) needs to release the guide rod (4), the limiting electromagnet (31) is energized and the guide post of the limiting electromagnet (31) is retracted, and the swing arm servo motor (36) works to separate the main swing arm (37) and the auxiliary swing arm (38).

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