CN109660028B - Clamping device and unmanned aerial vehicle - Google Patents
Clamping device and unmanned aerial vehicle Download PDFInfo
- Publication number
- CN109660028B CN109660028B CN201910093851.8A CN201910093851A CN109660028B CN 109660028 B CN109660028 B CN 109660028B CN 201910093851 A CN201910093851 A CN 201910093851A CN 109660028 B CN109660028 B CN 109660028B
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- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- clamping
- guide rail
- wireless power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a clamping device and an unmanned aerial vehicle, wherein the clamping device comprises a base, a clamping unit and a wireless power transmission unit, wherein the clamping unit is arranged on the base, the base is provided with a guide rail for the clamping unit to move on the base, the clamping unit comprises a power component which can provide power for the clamping unit, and the power component is electrically connected with the wireless power transmission unit; the wireless power transmission unit starts the power assembly, and the power assembly drives the clamping unit to move on the base along the guide rail so as to clamp a workpiece to be clamped. The unmanned aerial vehicle comprises the clamping device. According to the invention, when the unmanned aerial vehicle falls, the clamping and fixing of the unmanned aerial vehicle are realized.
Description
Technical Field
The invention belongs to the field of wireless charging, and particularly relates to a fixing and clamping device of wireless charging equipment.
Background
At present, wireless power transmission is a technology for carrying out power transmission through space electromagnetic field coupling, has the main advantages of no need of plugging, is simple and convenient to use, and can be widely applied to mobile robot industries such as unmanned aerial vehicles, AGVs and the like; no electric spark is generated, and the electric spark can be used in flammable and explosive industrial environments; the charging equipment can be waterproof, can transmit energy in water, and can be applied to underwater applications such as marine equipment.
One of the biggest problems faced by the unmanned aerial vehicle industry to date is unmanned aerial vehicle endurance, when the electric quantity of a carried battery is consumed, the battery needs to be replaced or charged, a pure automatic system does not need manual intervention at present, when the unmanned aerial vehicle is used for replacing the battery or automatically charging, the unmanned aerial vehicle needs to be fixed, for example, when the unmanned aerial vehicle is carried for wireless charging, the unmanned aerial vehicle cannot move in the charging process, and the unmanned aerial vehicle needs to be fixed on a charging station; for example, in the high-altitude power inspection industry, when the unmanned aerial vehicle charges in the high altitude, the unmanned aerial vehicle is very easy to blow down by wind and even falls under the tower, so that loss is caused, and the common fixing device cannot achieve rain prevention and dust prevention.
Disclosure of Invention
In order to solve the problems, the invention provides a clamping device and an unmanned aerial vehicle, and the clamping device can better play a role in fixing a device in a wireless charging mode.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the clamping device comprises a base, a clamping unit and a wireless power transmission unit, wherein the clamping unit is arranged on the base, the base is provided with a guide rail for the clamping unit to move on the base, the clamping unit comprises a power component which can provide power for the clamping unit, and the power component is electrically connected with the wireless power transmission unit; the wireless power transmission unit starts the power assembly, and the power assembly drives the clamping unit to move on the base along the guide rail so as to clamp a workpiece to be clamped.
As a further optimization of the invention, the wireless power transmission unit comprises a wireless power transmitting end and a wireless power receiving end, wherein the wireless power transmitting end is parallel to the guide rail and extends in the direction of the guide rail, the wireless power receiving end is arranged on the clamping unit, and the wireless power receiving end moves along the guide rail along with the clamping unit.
As a further optimization of the invention, the power assembly comprises a motor driver electrically connected to the wireless power receiving end and a motor connected to the motor driver.
As a further refinement of the invention, the clamping unit comprises a roller which can move in a guide rail, the roller is connected to the motor shaft of the motor, and the roller drives the clamping unit to move along the guide rail through a wheel shaft.
As a further optimization of the invention, a first gear is arranged on the wheel shaft of the roller, and a first rack is arranged in the guide rail corresponding to the first gear.
As a further optimization of the invention, the clamping unit comprises a second gear which can move in the guide rail, the second gear is connected to a motor shaft of the motor, a second rack is arranged at the bottom of the guide rail and corresponds to the second gear, and the second gear drives the clamping unit to move along the guide rail.
As a further refinement of the invention, a position finding piece is arranged in the guide rail, which can detect the movement position of the clamping unit.
As a further refinement of the invention, the position-finding element is one of a travel switch, a pressure sensor or a torque sensor.
As a further optimization of the invention, the clamping unit is provided with a clamping part for clamping the workpiece to be clamped when the workpiece to be clamped is fixed.
An unmanned aerial vehicle, includes the unmanned aerial vehicle body, and is used for when unmanned aerial vehicle body falls the clamping device of tight unmanned aerial vehicle body, clamping device is the clamping device of any one of the preceding claims.
As a further optimization of the invention, the bottom of the unmanned aerial vehicle body is provided with unmanned aerial vehicle legs, and the unmanned aerial vehicle legs are provided with matching parts corresponding to the clamping parts.
Compared with the prior art, the invention has the advantages and positive effects that:
1. according to the clamping device, the wireless power transmission unit and the clamping device electrically connected with the wireless charging unit are arranged, the clamping device moves along the guide rail in the direction of a workpiece to be clamped under the action of the wireless power transmission unit so as to clamp the workpiece to be clamped, the workpiece to be clamped is clamped and fixed in a wireless power transmission mode, and the clamping device does not need dragging of a cable and is light and flexible; and the wireless power transmission unit is in complete sealing arrangement, so that better dust and water prevention can be realized.
2. According to the clamping device, the wireless power transmission unit is arranged, the wireless power transmitting end extends along the direction of the guide rail, and the wireless power receiving end moves along with the clamping unit, so that the wireless power receiving end can always receive power in the moving process, and dynamic power supply is formed.
3. According to the unmanned aerial vehicle, the matched clamping device is arranged, so that the problem that the unmanned aerial vehicle is not tightly fixed during field landing and charging is solved, and the falling rate probability of the unmanned aerial vehicle is reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a clamping device of the unmanned aerial vehicle of the present invention;
fig. 2 is a front cross-sectional view of the unmanned aerial vehicle clamping device of fig. 1;
FIG. 3 is a side cross-sectional view of a first embodiment of the unmanned aerial vehicle clamping device of FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 3A;
FIG. 5 is a side cross-sectional view of a second embodiment of the drone clamping device of FIG. 1;
fig. 6 is a schematic diagram of a wireless power transfer unit.
In the above figures: 1. a base; 11. a guide rail; 12. a wireless power transmitting terminal; 2. a clamping unit; 21. a roller; 211. a wheel axle; 212. a first gear; 213. a first rack; 214. a second gear; 215. a second rack; 22. a wireless power receiving terminal; 23. a wireless power receiving coil; 24. a clamping part; 3. a motor; 31. a motor shaft; 4. an unmanned aerial vehicle body; 41. unmanned aerial vehicle leg; 42. and a mating part.
Detailed Description
The present invention will be specifically described below by way of exemplary embodiments. It is to be understood that elements, structures, and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 to 3, the present invention provides a clamping device, which can be used for fixedly clamping a workpiece to be clamped, the clamping device comprises a base 1, a clamping unit 2 arranged on the base 1, and wireless power transmission units (12, 22 and 23), wherein the base 1 is provided with a guide rail 11 for the clamping unit 2 to move on the base 1, the clamping unit 2 comprises power components (3 and 31) for providing power for the clamping unit 1, and the power components are electrically connected with the wireless power transmission units; the wireless power transmission unit starts the power assembly, and the power assembly drives the clamping unit to move on the base along the guide rail so as to clamp a workpiece to be clamped.
In the above, the clamping device is used for power supply by adopting the wireless electric energy transmission unit, so that the cable is not required to drag, and the clamping device is light and smart; and the wireless power transmission unit is in complete sealing arrangement, so that better dust and water prevention can be realized.
As shown in fig. 2 and 6, the above-mentioned wireless power transmission unit includes a wireless power transmitting end 12 and a wireless power receiving end 22, where the wireless power transmitting end 12 is parallel to the guide rail 11 and extends in the direction of the guide rail 11, the wireless power receiving end 22 is disposed on the clamping unit, and the wireless power receiving end 22 moves along the guide rail 11 along with the clamping unit 2. Preferably, the wireless power receiving end 22 is disposed inside the clamping unit 2 to further seal the wireless power transmission unit, and meanwhile, the wireless power receiving coil 23 in the wireless power receiving end 22 may be disposed at the bottom of the clamping unit. The advantage of arranging the radio energy receiving coil 23 at the bottom is that no other barriers can be realized between the radio energy transmitting end and the radio energy receiving end, and the transmission of radio energy can be better realized.
In this technical solution, the wireless transmitting coil in the wireless power transmitting end 12 is preferably elongated, that is, elongated extending along the direction of the guide rail 11, so that when the wireless power receiving end moves, that is, moves on the upper portion of the elongated wireless power transmitting end, real-time dynamic power supply can be realized, so that the wireless power receiving end continuously receives energy.
As shown in fig. 2, the power assembly includes a motor driver electrically connected to the wireless power receiving end 22, and a motor 3 connected to the motor driver, the motor 3 having a motor shaft 31. The clamping unit 2 comprises a roller 21 which can move in the guide rail 11, the roller 21 is connected with a motor shaft of the motor 3, and the roller 21 drives the clamping unit 2 to move along the guide rail 11 through a wheel shaft 211.
As shown in fig. 4, since the wheel 21 is circular, friction with the guide rail 11 is small, so that the wheel 21 is not able to provide an effective clamping force due to slipping of the wheel 21 when the wheel 21 is started and the wheel 21 is stopped. In order to overcome the skidding of the wheel, a first gear 212 is arranged on the wheel shaft 211 of the wheel 21, and a first rack 213 is arranged in the guide rail 11 corresponding to the first gear 212. The first rack 213 is preferably arranged along the rail direction. Through the meshing setting of first gear and first rack to increase the frictional force that the gyro wheel starts and stops, overcome the phenomenon of skidding.
Meanwhile, as shown in fig. 5, the clamping unit of the present invention further provides a second embodiment, that is, the clamping unit includes a second gear 214 that can move in a guide rail, the second gear 214 is connected to the motor shaft 31 of the motor 3, a second rack 215 is disposed at the bottom of the guide rail 11 corresponding to the second gear 214, and the second gear 214 drives the clamping unit 2 to move along the direction of the guide rail 11. Through this embodiment, need not to set up the gyro wheel, only need a pair of gear and rack, can realize the removal in the guide rail and overcome the phenomenon of skidding, simple structure, the cost is reduced.
In addition, a positioning member, which can detect the movement position of the clamping unit 2, is disposed in the guide rail 11, and the positioning member is one of a travel switch, a pressure sensor, and a torque sensor.
With continued reference to fig. 2, the clamping unit 2 is provided with a clamping portion 24 for clamping the workpiece to be clamped when the workpiece to be clamped is fixed.
The invention also provides an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 4 and a clamping device for clamping the unmanned aerial vehicle body 4 when the unmanned aerial vehicle body 4 lands, wherein the clamping device is the clamping device in any embodiment. Simultaneously, unmanned aerial vehicle leg 41 is provided with to the bottom of unmanned aerial vehicle body 4, unmanned aerial vehicle leg 41 is last to correspond the card establishes portion 24 and is provided with cooperation portion 42. The clamping portion 24 is preferably a groove to prevent the unmanned aerial vehicle body from being moved away from the landing surface by external force to cause damage to the unmanned aerial vehicle hardware; the matching part 42 adopts a flying saucer structure, so that the smooth appearance is not blocked when the matching part is in contact with the clamping unit or separated from the clamping unit, and the unmanned aerial vehicle can be smoothly pushed to the center of the panel and clamped.
To further illustrate the clamping process of the present invention, as shown in fig. 6, the following is specifically described:
the wireless power transmitting end takes power from a power supply and controls the wireless transmitting coil to transmit energy, the wireless power receiving end controls the wireless power receiving wire to pick up energy to provide power for the motor driver and the motor, and the wireless power receiving end is used for dynamic transmission, namely the wireless power receiving coil moves along the long side direction of the long-strip-shaped wireless power transmitting coil, continuously provides power for the motor and the motor driver in the moving process, and does not have an energy storage battery, so that the load of the motor and the weight of the clamping device are reduced, and the wireless power receiving end can stop energy transmission through the wireless power transmitting end, namely all equipment of the wireless power receiving end is powered off;
the wireless electric energy transmitting end is communicated with the wireless electric energy receiving end through the wireless communication module, when the clamping action is required to be executed, the wireless electric energy transmitting end transmits a motor forward rotation instruction to the wireless electric energy receiving end, the wireless electric energy receiving end transmits the instruction to the motor driver and the motor to control the motor to rotate forward, the motor rotates to drive the motor shaft to drive the roller to rotate in the guide rail, the clamping unit is driven to clamp the unmanned aerial vehicle, then the roller can touch a travel switch or a pressure sensor, a torque sensor and other position finding parts in the guide rail or the wireless electric energy transmitting end is utilized to detect that after the clamping unit clamps the unmanned aerial vehicle, the load becomes larger due to the fact that the motor cannot rotate continuously, the input current of the wireless electric energy transmitting end becomes larger, and signal acquisition is carried out, and taking the travel switch as an example, after the wireless electric energy transmitting end receives the clamping signal, the wireless electric energy receiving end loses electric energy to stop working, and at the moment, the motor stops rotating and self-locks; when the unmanned aerial vehicle is required to be loosened by the clamping unit, the wireless electric energy transmitting end can transmit energy and instructions of loosening the clamping device to the wireless electric energy receiving end, then the idler wheel rotates in the opposite direction, when the travel switch at the end of the guide rail is touched, the transmitting end stops energy transmission, and the idler wheel stops rotating and self-locks.
After the unmanned aerial vehicle falls down, the unmanned aerial vehicle sends landing instruction information of the unmanned aerial vehicle to a wireless electric energy transmitting end through a wireless communication module, the wireless electric energy transmitting end starts to transmit energy after receiving the instruction, and after receiving the energy and the motor forward signal, the wireless electric energy receiving end supplies electric energy to a motor driver and a motor inside a clamping device, the motor starts to forward rotate to drive a clamping unit to clamp the unmanned aerial vehicle, at the moment, the wireless electric energy transmitting end judges whether the unmanned aerial vehicle is clamped or not, when the unmanned aerial vehicle is clamped, a roller touches a travel switch, the travel switch transmits signals to the wireless electric energy transmitting end, the wireless electric energy transmitting end receives the signal and then considers that the unmanned aerial vehicle is clamped, at the moment, energy transmission is stopped, and because of a wireless power supply system, after the wireless electric energy transmitting end stops energy transmission, the whole clamping device does not have electricity, and the unmanned aerial vehicle is in a clamped state due to the self-locking characteristic of power failure of the motor; if not, the wireless power receiving end continues to transmit energy.
When the unmanned aerial vehicle is about to take off, the unmanned aerial vehicle sends a clamping device loosening instruction to a wireless electric energy transmitting end, the wireless electric energy transmitting end starts to transmit energy and a motor reversing signal after receiving the instruction, the wireless electric energy receiving end transmits the energy and the motor reversing signal to a motor driver and a motor, the motor starts to reverse, the clamping device is driven to recover, the unmanned aerial vehicle is released, after the clamping device moves to a track end position to touch a travel switch, the wireless electric energy transmitting end can judge whether the clamping device has loosened the unmanned aerial vehicle and returns to the track end position, if so, the travel switch can send a level signal to the wireless electric energy transmitting end, the wireless transmitting end stops energy transmission after receiving the signal, the clamping device stops moving, and the motor is self-locked; if not, the wireless power transmitting end continues to transmit energy.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A clamping device, characterized in that: the wireless power transmission device comprises a base, a clamping unit and a wireless power transmission unit, wherein the clamping unit is arranged on the base, the base is provided with a guide rail for the clamping unit to move on the base, the clamping unit comprises a power component which can provide power for the clamping unit, and the power component is electrically connected with the wireless power transmission unit; the wireless power transmission unit starts the power assembly, the power assembly drives the clamping unit to move on the base along the guide rail so as to clamp the unmanned aerial vehicle, and the clamping unit is provided with a clamping part so as to clamp the unmanned aerial vehicle when the unmanned aerial vehicle is fixed;
the wireless power transmission unit comprises a wireless power transmitting end and a wireless power receiving end, wherein the wireless power transmitting end is parallel to the guide rail and extends in the direction of the guide rail, the wireless power receiving end is arranged on the clamping unit, and the wireless power receiving end moves along the guide rail along with the clamping unit.
2. The clamping device as claimed in claim 1, wherein: the power assembly comprises a motor driver electrically connected with the wireless electric energy receiving end and a motor connected with the motor driver.
3. The clamping device as claimed in claim 2, wherein: the clamping unit comprises a roller capable of moving in the guide rail, the roller is connected to a motor shaft of the motor, and the roller drives the clamping unit to move along the guide rail through a wheel shaft.
4. A clamping device as claimed in claim 3, characterized in that: the wheel axle of the roller is provided with a first gear, and a first rack is arranged in the guide rail corresponding to the first gear.
5. The clamping device as claimed in claim 2, wherein: the clamping unit comprises a second gear which can move in the guide rail, the second gear is connected to a motor shaft of the motor, a second rack is arranged at the bottom of the guide rail corresponding to the second gear, and the second gear drives the clamping unit to move along the guide rail.
6. The clamping device as claimed in claim 1, wherein: a positioning piece capable of detecting the movement position of the clamping unit is arranged in the guide rail.
7. An unmanned aerial vehicle, its characterized in that: comprising an unmanned aerial vehicle body, and a clamping device for clamping the unmanned aerial vehicle body when the unmanned aerial vehicle body lands, the clamping device being according to any one of claims 1-6.
8. The unmanned aerial vehicle of claim 7, wherein: the bottom of unmanned aerial vehicle body is provided with unmanned aerial vehicle leg, be provided with cooperation portion on the unmanned aerial vehicle leg corresponding to the card is established the portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910093851.8A CN109660028B (en) | 2019-01-30 | 2019-01-30 | Clamping device and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910093851.8A CN109660028B (en) | 2019-01-30 | 2019-01-30 | Clamping device and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN109660028A CN109660028A (en) | 2019-04-19 |
| CN109660028B true CN109660028B (en) | 2023-10-20 |
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| CN201910093851.8A Active CN109660028B (en) | 2019-01-30 | 2019-01-30 | Clamping device and unmanned aerial vehicle |
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| CN (1) | CN109660028B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112925300B (en) * | 2019-12-06 | 2024-02-20 | 临颍县爬杆机器人有限公司 | Carrying platform and pole-climbing robot assembly |
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| JP2009233761A (en) * | 2008-03-26 | 2009-10-15 | Iai:Kk | Gripper |
| CN106787231A (en) * | 2016-12-30 | 2017-05-31 | 中海阳能源集团股份有限公司 | A kind of unmanned plane automatic charge device and its charging method |
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| KR20180032075A (en) * | 2016-09-21 | 2018-03-29 | 한국전력공사 | Wireless charging device and control method for unmanned aerial vehicle |
| CN109204858A (en) * | 2018-10-26 | 2019-01-15 | 福州大学 | A kind of unmanned plane having precision approach auxiliary automatically charges airplane parking area system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8167522B2 (en) * | 2005-03-30 | 2012-05-01 | Brooks Automation, Inc. | Substrate transport apparatus with active edge gripper |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009233761A (en) * | 2008-03-26 | 2009-10-15 | Iai:Kk | Gripper |
| KR20180032075A (en) * | 2016-09-21 | 2018-03-29 | 한국전력공사 | Wireless charging device and control method for unmanned aerial vehicle |
| CN206272149U (en) * | 2016-12-26 | 2017-06-20 | 三峡大学 | Power transmission line unmanned machine patrols and examines continuation of the journey platform |
| CN106787231A (en) * | 2016-12-30 | 2017-05-31 | 中海阳能源集团股份有限公司 | A kind of unmanned plane automatic charge device and its charging method |
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| CN109660028A (en) | 2019-04-19 |
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