Aerial work device and system

Abstract

The application provides an aerial work device and system, which can realize stable support of a UAV on a work surface and improve the stability of high-altitude work. The aerial work device comprises a UAV and a support assembly. The support assembly is arranged on one side of the UAV in a first direction intersecting the work surface. The projection of the center of mass of the UAV in the first direction falls within the projection range of the region enclosed by the support assembly in the first direction.

Description

Technical Field

[0001] This application relates to the field of high-altitude operations, specifically to an aerial work device and system. Background Technology

[0002] With the development of science and technology, more and more large machines and equipment are using robots for routine inspection and maintenance, especially those located in high-altitude areas, where drones are often used for inspection and maintenance.

[0003] However, drones operating at high altitudes are susceptible to dynamic wind interference, causing continuous swaying of the fuselage. This affects the automatic identification and adjustment of the onboard equipment by the drone to the target point. Even with manual adjustments by the operator, it remains difficult to maintain the balance of the drone and its onboard equipment. Therefore, improving the stability of drones during high-altitude operations remains a problem that needs to be solved. Utility Model Content

[0004] This application provides an aerial work device and system that can provide stable support for drones on the work surface, thereby improving the stability of high-altitude operations.

[0005] In a first aspect, an aerial work device is provided, comprising: a drone; and a support assembly disposed on one side of the drone in a first direction, the first direction intersecting with a work surface, wherein the projection of the center of mass of the drone in the first direction falls within the range of the projection of the area enclosed by the support assembly in the first direction.

[0006] The aerial work device provided in this application improves the support stability between the aerial work device and the work surface by setting the projection of the center of mass of the drone in the first direction within the area enclosed by the support components. This makes it less likely for the drone to flip under the thrust toward the work surface and the reaction force of the work surface on the support components, thus providing a stable working environment for aerial work.

[0007] In conjunction with the first aspect, in some implementations, the support component includes at least three support portions, which are not on the same plane, the support portions extending along the first direction, and one end of the support portion facing the working surface in the first direction is used to contact the working surface.

[0008] At least three support components can form a stable support surface on the working surface. At the same time, the point contact method of support can adapt to the curvature of the surface, improve the support stability, and expand the application range of the aerial work device.

[0009] In conjunction with the first aspect, in some implementations, the support portion includes a first support member and a second support member, the first support member including a rigid support rod, the second support member including a telescopic mechanism, the telescopic mechanism being capable of telescopic movement in the first direction, and the support assembly including up to three of the first support members.

[0010] The first support member forms a rigid support on the working surface, reducing excessive adjustments in the UAV's attitude and improving the stability of the aerial work device during attitude and position adjustments. The second support member can be adaptively adjusted according to the UAV's position and attitude via a telescopic mechanism, ensuring that at least three support parts are in contact with the working surface, further enhancing the stability of the aerial work device relative to the working surface. Especially in areas where the working surface has a large curvature, the aerial work device provided in this application exhibits excellent surface adaptability and operational stability.

[0011] In conjunction with the first aspect, in some implementations, at least one of the support portions includes a flexible body and a support rod, the flexible body being disposed at one end of the support rod facing the working surface in the first direction, the flexible body being deformable when in contact with the working surface.

[0012] Flexible bodies can increase the contact area between the support and the working surface, increase the friction of the support on the working surface, and make it less likely for the support to slide relative to the working surface, thereby improving the support stability of the support assembly.

[0013] In conjunction with the first aspect, in some implementations, the flexible body includes a suction cup substrate for flexible contact and / or adsorption with the working surface.

[0014] When in contact with the working surface, the suction cup substrate can have a large contact area with the working surface and can also be adsorbed onto the working surface as needed, providing stable support for the aerial work device.

[0015] In conjunction with the first aspect, in some implementations, the suction cup substrate is provided with an exhaust channel that penetrates the suction cup substrate.

[0016] The suction cup substrate can maintain the stability of the support components relative to the working surface to a certain extent, thereby reducing the adjustment range of the aerial work device relative to the working surface and improving the stability of the aerial work device in the working area.

[0017] In conjunction with the first aspect, in some implementations, the support assembly includes an air extraction device, and the support portion is provided with a through hole that communicates with the air extraction device to expel air between the suction cup base and the working surface.

[0018] Setting an exhaust channel on the suction cup substrate can reasonably adjust the suction force of the suction cup substrate on the working surface. On the one hand, when the suction cup substrate is in contact with the working surface, it maintains the friction of the suction cup substrate on the working surface, making it difficult for the suction cup substrate to move in a direction perpendicular to the first direction. On the other hand, the exhaust channel can reduce the suction force between the suction cup substrate and the working surface, reduce the force required for the support component to leave the working surface, reduce the stress on the connection between the UAV and the support component, improve the overall stability of the aerial work device, and at the same time reduce the operating difficulty of the aerial work device.

[0019] In conjunction with the first aspect, in some implementations, the support includes a movable member, the suction cup base is connected to the support rod through the movable member, and the suction cup base is rotatable relative to the support rod through the movable member.

[0020] During the process of the suction cup substrate and the working surface being bonded, the moving parts can adaptively adjust the angle of the suction cup substrate according to the actual situation of the working surface, so that the suction cup substrate can be bonded to the working surface more fully, improving the bonding accuracy between the suction cup substrate and the working surface, and helping to improve the adaptability of the suction cup substrate to working surfaces with different shapes of curved surfaces.

[0021] In conjunction with the first aspect, in some implementations, the movable member has a spherical groove on the portion near the suction cup base in the first direction, and a spherical structure on the portion near the support rod in the first direction, the spherical structure cooperating with the spherical groove.

[0022] The movable part connects the suction cup base and the support rod in the form of a ball joint. The suction cup base can rotate more flexibly at multiple angles. When the suction cup base adjusts the adhesion direction according to the actual situation of the working surface, it can improve the sensitivity of the suction cup base in adjustment, which is conducive to improving the support stability of the support component on the working surface.

[0023] In a second aspect, an aerial work system is provided, including the aerial work device described in any of the embodiments of the first aspect above; and a work component, which is carried on the drone and is used to perform work on the work surface. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of an aerial work device provided in this application.

[0025] Figure 2 This is a structural schematic diagram of the first support component provided in this application.

[0026] Figure 3 This is a structural schematic diagram of the second support member provided in this application.

[0027] Figure 4 This is a structural schematic diagram of a support section provided in this application.

[0028] Figure 5 This is a schematic diagram of another support structure provided in this application.

[0029] Figure 6 This is a schematic diagram of another support structure provided in this application.

[0030] Figure 7 This is a cross-sectional structural diagram of a support provided in this application.

[0031] Figure 8 This is a structural schematic diagram of an aerial operation system provided in this application. Detailed Implementation

[0032] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0033] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0034] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application 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 direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0036] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0037] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0038] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0039] The aerial work platform provided in this application can be applied to the inspection and maintenance of machinery and equipment surfaces, especially the high-altitude sections of the machinery and equipment. Specifically, it can be used to inspect and maintain the surfaces of equipment such as ship hulls, oil tanks, water tanks, bridges, towers, and wind turbines, as well as the surfaces of buildings. This application does not limit the application scenarios and work items for inspection and maintenance; it only uses the inspection and maintenance of wind turbine blades as an example for illustration.

[0040] The aerial work device provided in this application can be used to perform inspection and maintenance work on the surface of machinery and equipment, such as cleaning, spraying, painting, welding, grinding, and inspection of the work surface. This application does not limit the application scenarios and work items for inspection and maintenance; the specific work items involved are only illustrative examples.

[0041] To perform maintenance and inspection work on the surface of wind turbine blades, drones are often used to transport the relevant work components to the vicinity of the work surface, and the corresponding work is carried out by aligning them with the target points on the work surface. However, since the areas where wind turbines are located often have strong winds, especially in high-altitude areas, the wind has a more significant impact on drones. Automatic alignment makes it difficult to guarantee alignment accuracy; even if the drone adheres to the work surface, it will cause strong shaking of the drone, affecting the quality of the work. Manual alignment requires a high level of skill from the operator and makes it difficult to keep the work components close to the target point. Therefore, this application provides an aerial work device 1, including a drone 10 and a support assembly 20, such as... Figure 1 As shown.

[0042] The support component 20 is disposed on one side of the UAV 10 in the first direction X, which intersects with the working surface. The projection of the center of mass of the UAV 10 in the first direction X falls within the range of the projection of the area enclosed by the support component 20 in the first direction X.

[0043] The drone 10 refers to a type of device that can transport the aerial work device 1 to a high altitude. The support component 20 is carried on the drone 10 and moves together with the drone 10 to the vicinity of the work area.

[0044] As the UAV 10 drives the aerial work device 1 towards the work surface, the support component 20 contacts the work surface and provides support for the aerial work device 1 relative to it. "Support" refers to the dynamic contact or separation between the support component 20 and the work surface during attitude and position adjustments by the UAV 10. When the support component 20 remains in contact with the work surface, "support" means that it provides a certain degree of reaction force to prevent the aerial work device 1 from tilting further towards the work surface in that direction, thus reducing over-adjustment by the UAV 10. By supporting the work surface with the support component 20, the stability of the aerial work device 1 during attitude and position adjustments can be improved. In some embodiments, the support component 20 can maintain contact with the work surface, increasing the drag of the UAV 10 away from the work surface when it adjusts in a direction away from it, similarly reducing over-adjustment and thus improving the stability of the aerial work device 1 during attitude and position adjustments.

[0045] Support component 20 may include multiple point contact structures. Figure 1The diagram shows a support assembly 20 formed by three point-contact structures, meaning it supports the work surface through three support points. In some embodiments, the support assembly 20 may include a continuous frame structure, in which case the support assembly 20 contacts the work surface in a line or surface contact manner. Connecting the various structures on the support assembly 20 that are used to contact the work surface sequentially into a closed curve in a plane perpendicular to the first direction X, the largest area that can be formed is the area enclosed by the support assembly 20.

[0046] As the drone 10, carrying the support assembly 20, approaches the work surface, the resultant force of the drone 10 flying forward typically passes through the center of mass of the drone 10. In this embodiment, the projection of the center of mass of the drone 10 in the first direction X falls within the projection range of the area enclosed by the support assembly 20 in the first direction X. Therefore, the point of application of the resultant force of the drone 10 also falls within the projection range of the area enclosed by the support assembly 20 in the first direction X.

[0047] When adjusting the position of the support assembly 20 relative to the working surface by controlling the movement of the drone 10, the center of the support assembly 20 is close to the projection of the drone 10's center of motion in the first direction X, which improves the stability of the drone 10. Specifically, when the support assembly 20 provides support to the working surface, the resultant force of the reaction force generated by the working surface on the support assembly 20 acts at the center of the support assembly 20 and the direction of the force is away from the working surface. Meanwhile, the resultant force of the drone 10 moving towards the working surface passes through the drone 10's center of mass and is directed towards the working surface. Therefore, the close proximity of the projection of the center of the resultant force of the support assembly 20 in the first direction X to the drone 10's center of mass makes it less likely for the drone 10 to flip under the action of the two forces, thus maintaining the stability of the drone 10.

[0048] In one embodiment, the projection of the center of mass of the UAV 10 in the first direction X coincides with the center of the projection of the area enclosed by the support component 20 in the first direction X. Then, the point of application of the resultant force of the reaction force of the support component 20 on the working surface coincides with the projection of the point of application of the resultant force of the UAV 10 moving towards the working surface in the first direction X, which can greatly improve the stability of the UAV 10.

[0049] In some embodiments, the aerial work device 1 may include an image acquisition device, such as a camera. When the drone 10 is manually aligned with the target point, the operator can control the drone 10 using images transmitted back by the image acquisition device.

[0050] In other embodiments, the image acquisition device may be configured with an associated processor to process the images acquired by the image acquisition device, identify target points on the work surface, and control the UAV 10 to automatically adjust its attitude and position, align with the target point, and move toward the target point.

[0051] The aerial work device 1 provided in this application embodiment improves the support stability between the aerial work device 1 and the work surface by setting the projection of the center of mass of the drone 10 in the first direction X within the area enclosed by the support component 20. This makes it less likely for the drone 10 to flip under the thrust toward the work surface and the reaction force of the work surface on the support component 20, thus providing a stable working environment for aerial work.

[0052] According to some embodiments of this application, the support component 20 includes at least three support portions 21, which are not on the same plane. The support portions 21 extend along a first direction X, and one end of the support portion 21 facing the working surface in the first direction X is used to contact the working surface.

[0053] like Figure 1 As shown, the support component 20 may include a plurality of point contact structures, each of which is a support portion 21. In some embodiments, the support component 20 includes at least three support portions 21 that are not on the same plane, wherein not on the same plane means that the projections of the at least three support portions 21 in any direction do not coincide.

[0054] The support rod 211 of the support part 21 is connected to the drone 10 on the side away from the working surface in the first direction X, and the side facing the working surface is used to contact the working surface. When in contact with the working surface, the support part 21 provides support for the aerial work device 1, reducing excessive adjustment of the aerial work device 1.

[0055] At least three support parts 21 can form a stable support surface on the working surface. At the same time, the point contact method of support can adapt to the curvature changes, improve the support stability, and expand the applicability of the aerial work device 1.

[0056] According to some embodiments of this application, the support part 21 may include two structures: a first support member 201 and a second support member 202. The first support member 201 has a rigid support rod 211, and the second support member 202 includes a telescopic mechanism 203. The telescopic mechanism 203 can telescopically move in the first direction X. The support assembly 20 includes up to three first support members 201.

[0057] Figure 2 The diagram shown is a structural schematic of a first support member 201, as follows: Figure 2As shown, the rigid support rod 211 of the first support member 201 extends along the first direction X. As a rigid structure, the support rod 211 has a certain ability to resist deformation. When the support part 21 is in contact with the working surface, the rigid support rod 211 can abut against the working surface and provide support for the aerial work device 1 in the first direction X.

[0058] The second support member 202 includes a telescopic mechanism 203 capable of telescopic movement in the first direction. Figure 3 Figures (a) and (b) show schematic diagrams of two different structures of the second support member 202. Specifically, as shown in Figure (a) and (b) respectively. Figure 3 As shown in (a), the telescopic mechanism 203 of the second support member 202 may include a first connecting rod 2111 and a second connecting rod 2112 that are nested together, and the first connecting rod 2111 and the second connecting rod 2112 may move relative to each other in the first direction X.

[0059] In some embodiments, the first connecting rod 2111 and the second connecting rod 2112 can adaptively extend and retract in the first direction X based on the contact between the end of the support 21 facing the working surface in the first direction X and the working surface. Specifically, the extension and retraction adjustment can be performed within the space reserved in the nested structure.

[0060] In other embodiments, the relative movement of the first connecting rod 2111 and the second connecting rod 2112 in the first direction X can be achieved by electric control. Specifically, the support rod 211 may also include a control motor for controlling the relative movement of the first connecting rod 2111 and the second connecting rod 2112 in the first direction X.

[0061] like Figure 3 As shown in (b), the second support member 202 may include a first elastic part 215, the first connecting rod 2111 includes a body part 2113 and a protrusion 2114, the protrusion 2114 protrudes from the body part 2113 in a direction perpendicular to the first direction X and forms a first step structure 213 with the body part 2113, the first connecting rod 2111 and the second connecting rod 2112 form a second step structure 214, and the first elastic part 215 abuts against the first step structure 213 and the second step structure 214 at both ends along the first direction X.

[0062] The body portion 2113 of the first connecting rod 2111 can be an elongated rod-shaped structure extending along the first direction X. A protrusion 2114 is disposed in the first direction X between the support head 212 and the second connecting rod 2112, and is at a certain distance from the second connecting rod 2112 on the body portion 2113. In some embodiments, if the first connecting rod 2111 can move relative to the second connecting rod 2112 in the first direction X, the protrusion 2114 can also move along with the body portion 2113 in the first direction X. During its movement along the first direction X, the distance between the protrusion 2114 and the second connecting rod 2112 changes. The protrusion 2114 can be arranged around the surface of the body portion 2113. Optionally, the protrusion 2114 can also be spaced apart on a surface perpendicular to the first direction X along the surface of the body portion 2113.

[0063] The first step structure 213 refers to the structure with a height difference formed between the protrusion 2114 and the body portion 2113, and the second step structure 214 refers to the structure with a height difference formed between the second connecting rod 2112 and the body portion 2113 of the first connecting rod 2111. The second connecting rod 2112 can be a sleeve with a hollow structure, and the first connecting rod 2111 is fitted into the hollow structure of the second connecting rod 2112. Therefore, the second step structure 214 can be formed by the sleeve structure of the second connecting rod 2112 and the first connecting rod 2111.

[0064] The first elastic part 215 is disposed between the first step structure 213 and the second step structure 214, and abuts against the first step structure 213 and the second step structure 214 respectively. Specifically, the first elastic part 215 can abut against the protrusion 2114 and the second connecting rod 2112 respectively.

[0065] The first elastic part 215 can provide elastic support force in the first direction X. When the UAV 10 adjusts the attitude and position of the aerial work device 1, the first elastic part 215 can push the first connecting rod 2111 towards the work surface, so that the support part 21 is always supported on the work surface. At the same time, when the first connecting rod 2111 is in contact with the work surface, it can generate a certain pressure on the work surface, increase the friction between the support part 21 and the work surface, thereby improving the support stability of the support assembly 20 on the work surface.

[0066] The support assembly 20 includes at most three first support members 201, meaning that at most three of the at least three support parts 21 are first support members 201, and the other support parts 21 are second support members 202. The first support members 201 form a rigid support on the working surface, reducing excessive attitude adjustments of the UAV 10 and improving the stability of the aerial work device 1 during attitude and position adjustments. The second support members 202 can adjust according to the position and attitude of the UAV 10, adaptively adjusting the relative positions of the first connecting rod 2111 and the second connecting rod 2112 via the telescopic mechanism 203, ensuring that at least three support parts 21 are in contact with the working surface, further improving the stability of the aerial work device 1 relative to the working surface. Especially in areas where the working surface has a large curvature, the aerial work device 1 exhibits good surface adaptability and operational stability.

[0067] According to some embodiments of this application, at least one support portion 21 includes a flexible body 212 and a support rod 211. The flexible body 212 is disposed at one end of the support rod 211 facing the working surface in a first direction X. The flexible body 212 is deformable when in contact with the working surface.

[0068] Figure 4 Some structural diagrams of the support section 21 and its cross-sectional structure are shown. Specifically, Figure 4 Image (a) shows the structure of a support 21. Figure 4 (b) shows a cross-sectional view of the support 21 in (a) along the AA direction. Figure 4 (c) shows another cross-sectional view of the support 21 in (a) along the AA direction.

[0069] The flexible body 212 is a structure made of a flexible material, such as rubber or sponge, which can undergo significant deformation under stress. When in contact with the working surface, the flexible body 212 compresses the working surface and deforms itself, increasing the contact area between the flexible body 212 and the working surface. This increases the friction between the flexible body 212 and the working surface, making it less likely for the support part 21 to slide relative to the working surface and improving the stability of the support.

[0070] In one implementation, such as Figure 4 As shown in (b), the flexible body 212 is connected to the end of the support rod 211 near the working surface in the first direction X; in another embodiment, as Figure 4 As shown in (c), the flexible body 212 can be wrapped around the outside of one end of the support rod 211. This not only increases the contact area between the support part 21 and the working surface when the flexible body 212 contacts the working surface, but also improves the support strength of the flexible body 212 on the working surface.

[0071] The flexible body 212 can increase the contact area between the support part 21 and the working surface, increase the friction of the support part 21 on the working surface, and make the support part 21 less likely to slide relative to the working surface, thereby improving the support stability of the support assembly 20.

[0072] According to some embodiments of this application, the flexible body 212 includes a suction cup substrate 2121, which is used for flexible contact and / or adsorption with the working surface.

[0073] The flexible body 212 may specifically include a structure having a suction cup shape, i.e. Figure 5 The suction cup substrate 2121 shown is connected to the end of the support rod 211 facing the work surface in the first direction X, with the inner side of the suction cup substrate 2121 facing the work surface. The suction cup substrate 2121 can flexibly contact the work surface without adhering, or it can achieve vacuum adsorption by expelling the air between the suction cup substrate 2121 and the work surface during the process of flexibly contacting the work surface.

[0074] When in contact with the working surface, the suction cup substrate 2121 can have a large contact area with the working surface and can also be adsorbed on the working surface as needed to provide stable support for the aerial work device.

[0075] According to some embodiments of this application, the support component 20 includes an air extraction device, and the support portion 21 is provided with a through hole 2122, which communicates with the air extraction device to discharge the air between the suction cup base 2121 and the working surface.

[0076] Figure 5 (a) shows a schematic diagram of one structure of the support 21. Figure 5 (b) is a cross-sectional view of the support 21 in (a) along the BB direction.

[0077] In some embodiments, the drone 10 moves the flexible body 212 toward the work surface and presses the suction cup base 2121 against the work surface, causing air inside the suction cup base 2121 to be expelled, thus generating a certain suction force on the work surface. In other embodiments, the through hole 2122 provided on the suction cup base 2121 is connected to an air extraction device (e.g., a vacuum pump), which extracts air from the inside of the suction cup base 2121 to increase the suction force of the suction cup base 2121 on the work surface. The inside of the suction cup base 2121 refers to the side that adheres to the work surface when it is adsorbed; when not adsorbed, the suction cup base 2121 encloses a certain space on this side.

[0078] This application does not limit the location of the through hole 2122 and the air extraction device; the air extraction device only needs to be able to extract air from the inside of the suction cup base 2121 through the through hole 2122. In one embodiment, such as Figure 5 As shown, the through hole 2122 of the support part 21 can penetrate the suction cup base and the support rod 211 from the center of the suction cup base 2121 in the first direction X. Then the air extraction device can extract the air inside the suction cup base 2121 at the end of the support rod 211 away from the working surface in the first direction X, thereby realizing vacuum adsorption.

[0079] In this embodiment, the support component 20 includes at least three support portions 21, and at least one support portion 21 may have a flexible body 212 including a suction cup base 2121. That is, only one support portion 21 may adhere to the working surface, while the other support portions 21 may only serve a supporting function on the working surface; or multiple support portions 21 may adhere to the working surface, while the other support portions 21 may only serve a supporting function.

[0080] The suction cup base 2121 can maintain the stability of the support component 20 relative to the working surface to a certain extent, thereby reducing the adjustment range of the aerial work device 1 relative to the working surface and improving the stability of the aerial work device 1 in the working area.

[0081] According to some embodiments of this application, an exhaust channel 217 is provided on the suction cup base 2121, and the exhaust channel 217 penetrates the suction cup base 2121.

[0082] In some embodiments, even if the suction cup substrate 2121 is only adsorbed onto the working surface by squeezing, the suction cup substrate 2121 will generate a large adsorption force, making it difficult for the drone 10 to lift the suction cup substrate 2121 off the working surface. Therefore, an exhaust channel 217 can be provided on the suction cup substrate 2121.

[0083] Figure 6 (a) shows another structural schematic diagram of the support 21. Figure 6 (b) in the diagram is a cross-sectional view of the support 21 in the CC direction in (a). Figure 6As shown, the exhaust channel 217 penetrates the suction cup base 2121, specifically, it penetrates both the inner and outer sides of the suction cup base 2121. The inner side of the suction cup base 2121 refers to the side that adheres to the working surface when adsorbed, and when not adsorbed, the suction cup base 2121 encloses a certain space on this side. Correspondingly, the outer side of the suction cup base 2121 refers to the portion opposite to the inner side of the suction cup base 2121 in the first direction X. The exhaust channel 217 can be a through hole penetrating the suction cup base 2121 in the first direction X, or it can be a gap connecting the inner and outer sides of the suction cup base 2121. The exhaust channel 217 can appropriately weaken the adsorption force of the suction cup base 2121 on the working surface. The size and number of exhaust channels 217 can be set according to the actual adsorption force of the suction cup base 2121 and the force required for the support component 20 to detach from the working surface. In some embodiments, the exhaust channel 217 can be provided along the edge of the suction cup base 2121.

[0084] The exhaust channel 217 on the suction cup base 2121 can reasonably adjust the adsorption force of the suction cup base 2121 on the working surface. On the one hand, when the suction cup base 2121 is in contact with the working surface, the friction of the suction cup base 2121 on the working surface is maintained, making it difficult for the suction cup base 2121 to move in the direction perpendicular to the first direction X. On the other hand, the exhaust channel 217 can reduce the adsorption force between the suction cup base 2121 and the working surface, reduce the force required for the support component 20 to leave the working surface, reduce the force on the connection between the UAV 10 and the support component 20, improve the overall stability of the aerial work device 1, and reduce the operation difficulty of the aerial work device 1.

[0085] According to some embodiments of this application, the support part 21 includes a movable member 216, and the suction cup base 2121 is connected to the support rod 211 through the movable member 216. The suction cup base 2121 can rotate relative to the support rod 211 through the movable member 216.

[0086] Movable component 216 refers to at least part of the structure that connects the suction cup base 2121 to the support rod 211, such as... Figure 7 As shown, the end of the movable component 216 facing the working surface along the first direction X is connected to the suction cup base 2121, and the end facing away from the working surface is connected to the support rod 211. The movable component 216 itself has a certain degree of flexibility or a structure that allows relative movement, so that the suction cup base 2121 can rotate relative to the support rod 211.

[0087] The movable part 216 can be a component made of flexible material, such as rubber, sponge or other flexible filler. While providing support strength for the suction cup base 2121, it can deform to a certain extent, so that the suction cup base 2121 can rotate with the deformation of the movable part 216. When in contact with the working surface, it can adapt to the shape of the working surface and change the direction of the suction cup base 2121 to fit the working surface.

[0088] Flexible materials have good adaptability to complex motion requirements, allowing for the simultaneous realization of complex motions such as torsion, bending, and extension. At the same time, compared with transmission mechanisms, flexible materials are often lighter, which can reduce the load of the UAV 10. The fact that the moving parts 216 are made of flexible materials is beneficial to improving the control accuracy and adjustment flexibility of the UAV 10.

[0089] Optionally, the movable part 216 can be a ball joint connecting component, which enables the suction cup base 2121 to rotate relative to the support rod 211 through the mutually cooperating ball joint connecting structure.

[0090] During the process of the suction cup base 2121 adhering to the working surface, the movable part 216 can adaptively adjust the angle of the suction cup base 2121 according to the actual situation of the working surface, so that the suction cup base 2121 can adhere more fully to the working surface, improve the adhering accuracy of the suction cup base 2121 to the working surface, and help improve the adaptability of the suction cup base 2121 to working surfaces with different shapes of curved surfaces.

[0091] According to some embodiments of this application, the movable member 216 has a spherical groove 2161 in the first direction X near the suction cup base 2121, and a spherical structure 2162 in the first direction X near the support rod 211, the spherical structure 2162 cooperating with the spherical groove 2161.

[0092] The movable part 216 and the suction cup base 2121 can be specifically connected by a ball joint structure, such as... Figure 7As shown, the movable member 216 includes a spherical groove 2161 and a spherical structure 2162. The spherical groove 2161 is disposed in the portion of the movable member 216 connected to the suction cup base 2121, and the spherical structure 2162 is disposed in the portion of the movable member 216 connected to the support rod 211. At least a portion of the spherical structure 2162 is accommodated in the spherical groove 2161, and the spherical groove 2161 connected to the suction cup base 2121 is rotatable relative to the spherical structure 2162. This ball joint connection allows the suction cup base 2121 to rotate adaptively according to the slope or curvature of the working surface, adjusting the orientation of the suction cup base 2121 so that it can support the working surface directly. Especially when the suction cup base 2121 is in surface contact with the working surface, the movable part 216 can adjust the direction of the suction cup base 2121, making the suction cup base 2121 fully adhere to the working surface, thereby increasing the friction of the suction cup base 2121 on the working surface and making it less likely for the suction cup base 2121 to move along the working surface.

[0093] The spherical portion of the spherical structure 2162 and the spherical groove 2161 may include only a portion of the sphere, rather than the entire sphere. In other words, the spherical structure 2162 and the spherical groove 2161 can achieve relative rotation at different angles.

[0094] In some embodiments, a spherical structure 2162 may be disposed on the portion of the movable member 216 that connects to the suction cup base 2121, and a spherical groove 2161 may be disposed on the portion of the movable member 216 that connects to the support rod 211. That is, the side of the suction cup base 2121 facing away from the working surface in the first direction X and the end of the support rod 211 facing the suction cup base 2121 in the first direction X each have a spherical structure 2162 and a spherical groove 2161, and the spherical structure 2162 and the spherical groove 2161 cooperate to realize the movable connection between the suction cup base 2121 and the support rod 211.

[0095] The movable part 216 connects the suction cup base 2121 and the support rod 211 in the form of a ball joint. The suction cup base 2121 can rotate more flexibly at multiple angles. When the suction cup base 2121 adjusts the bonding direction according to the actual situation of the working surface, it can improve the sensitivity of the suction cup base 2121 in adjustment, which is conducive to improving the support stability of the support component 20 on the working surface.

[0096] This application also provides an aerial operation system 2, such as... Figure 8 As shown, it includes the aerial work device 1 and work component 30 described in any of the above embodiments. The work component 30 is carried on the UAV 10 and is used to perform work on the work surface.

[0097] The working component 30 can be, for example, a structure for performing operations such as cleaning, spraying, painting, welding, grinding, and inspection on the working surface. Figure 1 As shown, the operation component 30 is carried on the drone 10 and cooperates with the support component 20. With the support component 20 forming a stable support on the operation surface, the operation is carried out on the operation surface, or on the target point on the operation surface.

[0098] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An aerial work device, characterized in that, include: Unmanned aerial vehicles (10); A support component (20) is disposed on one side of the UAV (10) in a first direction (X), the first direction (X) intersecting the working surface, and the projection of the center of mass of the UAV (10) in the first direction (X) falls within the range of the projection of the area enclosed by the support component (20) in the first direction (X).

2. The aerial work device according to claim 1, characterized in that, The support assembly (20) includes at least three support portions (21), which are not on the same plane. The support portions (21) extend along the first direction (X), and one end of the support portion (21) facing the working surface in the first direction (X) is used to contact the working surface.

3. The aerial work device according to claim 2, characterized in that, The support part (21) includes a first support member (201) and a second support member (202). The first support member (201) includes a rigid support rod (211), and the second support member (202) includes a telescopic mechanism (203). The telescopic mechanism (203) is capable of telescopic movement in the first direction (X). The support assembly (20) includes up to three of the first support members (201).

4. The aerial work device according to claim 2 or 3, characterized in that, At least one of the support portions (21) includes a flexible body (212) and a support rod (211), the flexible body (212) being disposed at one end of the support rod (211) facing the working surface in the first direction (X), and the flexible body (212) being deformable when in contact with the working surface.

5. The aerial work device according to claim 4, characterized in that, The flexible body (212) includes a suction cup substrate (2121) for flexible contact and / or adsorption with the working surface.

6. The aerial work device according to claim 5, characterized in that, The suction cup base (2121) is provided with an exhaust channel (217), which penetrates the suction cup base (2121).

7. The aerial work device according to claim 5, characterized in that, The support assembly (20) includes an air extraction device, and the support portion is provided with a through hole (2122), which is connected to the air extraction device to discharge the air between the suction cup base (2121) and the working surface.

8. The aerial work device according to any one of claims 5 to 7, characterized in that, The support part (21) includes a movable part (216), the suction cup base (2121) is connected to the support rod (211) through the movable part (216), and the suction cup base (2121) can rotate relative to the support rod (211) through the movable part (216).

9. The aerial work device according to claim 8, characterized in that, The movable part (216) has a spherical groove (2161) near the suction cup base (2121) in the first direction (X), and a spherical structure (2162) near the support rod (211) in the first direction (X), the spherical structure (2162) cooperating with the spherical groove (2161).

10. An aerial work system, characterized in that, include: The aerial work device as described in any one of claims 1 to 9; The operation component (30) is carried on the UAV (10) and is used to perform operations on the operation surface.

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