CN106927047A - A kind of unmanned plane grabbing device - Google Patents
A kind of unmanned plane grabbing device Download PDFInfo
- Publication number
- CN106927047A CN106927047A CN201710174508.7A CN201710174508A CN106927047A CN 106927047 A CN106927047 A CN 106927047A CN 201710174508 A CN201710174508 A CN 201710174508A CN 106927047 A CN106927047 A CN 106927047A
- Authority
- CN
- China
- Prior art keywords
- internal weapon
- weapon bays
- unmanned plane
- pitching
- arm
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/36—Training appliances or apparatus for special sports for golf
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
- A63B2102/32—Golf
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of unmanned plane grabbing device, including the mechanical arm installed in unmanned plane bottom, mechanical arm lower end is connected with internal weapon bays, internal weapon bays includes the internal weapon bays upper plate and the internal weapon bays lower plate that are connected by connecting pole, spring is additionally provided between internal weapon bays upper plate and internal weapon bays lower plate, spring and connecting pole interval setting, diameter of the clear distance less than spheroid to be taken between adjacent spring and connecting pole.A kind of unmanned plane grabbing device provided by the present invention, using spring performance, parallel mechanical arm drives internal weapon bays directly to take ball, and internal weapon bays has pitching function again, full-featured.Device overall structure is simple, and weight is controllable, can be used for the movement of golf and pickup, or spherical parcel pickup and dispensing.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, and in particular to a kind of unmanned plane grabbing device.
Background technology
Have benefited from technological progress and capital is promoted, unmanned plane shows unprecedented development, and extensive use in recent years
In industries such as industry, agricultural, military affairs.Medicine-chest, spray appliance or prison for example can be carried by the use of unmanned plane as flying platform
Measurement equipment, is sprayed or data acquisition to farmland.Or using the unmanned plane of camera system is carried, carry out extensive boat
Clap, realize the aerial effect looked down.The unmanned plane of high-definition digital video camera and camera and GPS positioning system is equipped with, can
Positioning autonomous cruise is carried out along power network, filmed image is transmitted in real time, monitoring personnel can be watched synchronously and manipulation on computers.May be used also
Parcel is delivered with the unmanned plane manipulated using radio robot and the presetting apparatus provided for oneself, destination is sent to automatically.
As unmanned plane is more and more widely used in all trades and professions, picked up or crawl work(in the urgent need to some have now
The unmanned plane of energy and the servicing unit of unmanned plane, particularly pick up the unmanned plane of spherical body, can be used for the movement of golf
And pickup, or spherical parcel pickup.
The content of the invention
Present invention aim to address above mentioned problem, there is provided the unmanned plane that can be picked up spherical body and deliver spherical body is grabbed
Take device.
In order to solve the above technical problems, the technical scheme is that：A kind of unmanned plane grabbing device, including installed in nothing
The mechanical arm of man-machine bottom, mechanical arm lower end is connected with internal weapon bays, and internal weapon bays includes the internal weapon bays upper plate and internal weapon bays that are connected by connecting pole
Lower plate, is additionally provided with spring, spring and connecting pole interval setting, adjacent spring and connecting pole between internal weapon bays upper plate and internal weapon bays lower plate
Between clear distance less than spheroid to be taken diameter.
Preferably, the mechanical arm includes mechanical arm steering wheel, and the output end of mechanical arm steering wheel is connected and machinery with master arm
The axis of arm steering wheel is vertical with master arm, and master arm is rotatably connected and master arm and the first joint with the middle part of the first joint shaft
Axle is vertical；The two ends of the first joint shaft are connected by slave arm with second joint axle so that the first joint shaft, two slave arms with
And second joint axle constitutes deformable parallelogram sturcutre, middle part and the internal weapon bays upper plate of second joint axle are rotatably connected.
Preferably, one end of the master arm is fixedly connected by master arm connector with the output end of mechanical arm steering wheel；
The other end of master arm is fixedly connected with master arm shaft coupling, and master arm shaft coupling is provided with bearing, and the first joint shaft is arranged on
On bearing inner race.
Preferably, slave arm connector is fixedly installed on the internal weapon bays upper plate, slave arm connector is provided with bearing, the
Two joint shafts are arranged on bearing inner race.
Preferably, the internal weapon bays lower plate offers pitching hole, and internal weapon bays lower plate is provided with pitching rotating disk, pitching is provided with internal weapon bays
Steering wheel, the output end of pitching steering wheel is connected with pitching rotating disk, and ball-dropping hole is offered on pitching rotating disk.
Preferably, the pitching steering wheel is arranged on internal weapon bays upper plate lower surface, output end and the pitching rotating disk of pitching steering wheel
The center of circle is connected, and the pitching rotating disk center of circle is formed around vertical limiting plate.
Preferably, the pitching hole is identical with ball-dropping hole size, is all higher than spheroid to be taken.
Preferably, the quantity of the mechanical arm is three, and angle is 120 ° between adjacent mechanical arm two-by-two.
The beneficial effects of the invention are as follows：A kind of unmanned plane grabbing device provided by the present invention, it is in parallel using spring performance
Mechanical arm drives internal weapon bays directly to take ball, and internal weapon bays has pitching function again, full-featured.Device overall structure is simple, and weight is controllable,
Can be used for the movement of golf and pickup, or spherical parcel pickup and dispensing.
Brief description of the drawings
Fig. 1 is the schematic diagram that unmanned plane grabbing device of the present invention is arranged under unmanned plane.
Fig. 2 is the structural representation of unmanned plane grabbing device of the present invention.
Fig. 3 is the structural representation of mechanical arm of the present invention.
Fig. 4 is the structural representation of internal weapon bays of the present invention.
Fig. 5 is the front view of internal weapon bays of the present invention.
Fig. 6 is the structural representation of internal weapon bays lower plate of the present invention.
Fig. 7 is the structural representation of pitching rotating disk of the present invention.
Fig. 8 is the cooperation schematic diagram of pitching rotating disk of the present invention and internal weapon bays lower plate.
Description of reference numerals：1st, mechanical arm；11st, mechanical arm steering wheel；12nd, steering wheel installing plate；13rd, master arm connector；14、
Master arm；15th, master arm shaft coupling；16th, the first joint shaft；17th, slave arm；18th, second joint axle；19th, slave arm connector；
2nd, internal weapon bays；21st, internal weapon bays upper plate；22nd, internal weapon bays lower plate；23rd, connecting pole；24th, spring；25th, pitching steering wheel；26th, pitching rotating disk；27、
Pitching hole；28th, ball-dropping hole；29th, limiting plate；3rd, unmanned plane.
Specific embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings：
As shown in Figure 1, Figure 2 and Figure 4, a kind of unmanned plane grabbing device that the present invention is provided, installed under unmanned plane 3
Portion, including mechanical arm 1 and the two parts of internal weapon bays 2, the lower end of mechanical arm 1 are connected with internal weapon bays 2, and for driving internal weapon bays 2 to move, internal weapon bays 2 is wrapped
The internal weapon bays upper plate 21 and internal weapon bays lower plate 22 be arrangeding in parallel are included, the phase of connecting pole 23 is passed through between internal weapon bays upper plate 21 and internal weapon bays lower plate 22
Even, spring 24 is provided with vertically between connecting pole 23 two-by-two, so that spring 24 and the interval setting of connecting pole 23, the adjacent He of spring 24
Diameter of the clear distance less than spheroid to be taken between connecting pole 23.
The method that grabbing device takes ball using side, using spring performance, as long as have around spheroid to be taken can be with spacing
Barrier, mechanical arm just may move internal weapon bays and spheroid be pushed into barrier, and further firmly spheroid is pressed into internal weapon bays, and spheroid enters
After internal weapon bays, spheroid movement in itself is not enough to cause camber of spring to be dropped out from internal weapon bays.
In the present embodiment, the quantity of mechanical arm 1 is three, and angle is 120 ° in circumference between mechanical arm 1 adjacent two-by-two
Direction is uniformly arranged.The method for taking ball using side needs the mechanical arm to have a larger scope of activities, therefore mechanical arm 1 is using following
Structure：
As shown in figure 3, mechanical arm 1 includes mechanical arm steering wheel 11, mechanical arm steering wheel 11 is arranged on steering wheel installing plate 12, rudder
Machine installing plate 12 is fixed on the bottom of unmanned plane 3.The output end of mechanical arm steering wheel 11 is by master arm connector 13 and master arm 14
One end be fixedly connected, and the axis of mechanical arm steering wheel 11 is vertical with master arm 14.The other end of master arm 14 joins with master arm
Axle device 15 is fixedly connected, and master arm shaft coupling 15 is provided with bearing, and the first joint shaft 16 is arranged on bearing inner race, so that actively
Arm 14 is only rotatably connected with the middle part of the first joint shaft 16, and master arm 14 is vertical with the first joint shaft 16.
The two ends of the first joint shaft 16 are connected by slave arm 17 with second joint axle 18, so that the first joint shaft 16, two
Individual slave arm 17 and second joint axle 18 constitute deformable parallelogram sturcutre, the middle part of second joint axle 18 and internal weapon bays
Upper plate 21 is rotatably connected.
Slave arm connector 19 is fixedly installed on internal weapon bays upper plate 21, slave arm connector 19 is provided with bearing, and second closes
Nodal axisn 18 is arranged on bearing inner race, and second joint axle 18 is only rotatably connected with slave arm connector 19.Master arm shaft coupling
15 and slave arm connector 19 reduce friction and joint shaft between using bearing, axial limit is carried out to joint shaft using axle card
Position, simple and practical, easy disassembly.
Mechanical arm releases angle to greatest extent due to using the presence of said structure, particularly parallelogram sturcutre
Degree limitation, reachable -56 ° to+56 ° of angular range increases the scope of activities of mechanical arm, is easy to drive internal weapon bays side to take ball.
In the selection of master arm and slave arm material, hollow carbon fiber pipe rather than aluminium bar are selected.Carbon fiber density is small, by force
Degree is high, is unlikely to deform, and easily changes, so selection carbon fiber pipe.
As shown in Fig. 5, Fig. 6 and Fig. 7, in order to realize taking the function that spherical body is delivered after ball, set in internal weapon bays lower plate 22
Put pitching rotating disk 26, internal weapon bays lower plate 22 and pitching rotating disk 26 are discoid, and the diameter of pitching rotating disk 26 is slightly less than internal weapon bays lower plate
22, both fit and be arranged in parallel.Pitching steering wheel 25 is provided with internal weapon bays, pitching steering wheel 25 is arranged on the lower surface of internal weapon bays upper plate 21,
The output end of pitching steering wheel 25 is connected with the center of circle of pitching rotating disk 26, and internal weapon bays lower plate 22 offers pitching hole 27, pitching rotating disk 26
On offer ball-dropping hole 28, pitching hole 27 is identical with the size of ball-dropping hole 28, and is all higher than spheroid to be taken.
Rotated using the control pitching of pitching steering wheel 25 rotating disk 26 during pitching, when ball-dropping hole 28 and internal weapon bays on pitching rotating disk 26
Spheroid falls when pitching hole 27 in lower plate 22 overlaps.As shown in figure 8, when pitching rotating disk 26 and pitching hole 27 misplace, spheroid
It is stored in internal weapon bays.
In order to mitigate the load of unmanned plane, internal weapon bays upper plate 21, internal weapon bays lower plate 22 and pitching rotating disk 26 are made using carbon plate,
And engraved structure is made, and combined with storage bullet by taking bullet, simplify the internal structure of an organization, alleviate weight.
Spheroid is set to be always positioned at ball-dropping hole 28 and the top of pitching hole 27 in order to further, in the center of circle four of pitching rotating disk 26
It is provided with vertical limiting plate 29 week, pitching steering wheel 25 is located in the space that limiting plate 29 is surrounded, spheroid is located at limiting plate 29 and connects
Connect between post 23.
A kind of unmanned plane grabbing device of the invention, simple structure, weight is controllable, can be used for the movement of golf and picks up
Take, or spherical parcel pickup and dispensing.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can according to these technical inspirations disclosed by the invention make it is various do not depart from essence of the invention other are each
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (8)
1. a kind of unmanned plane grabbing device, it is characterised in that：Including the mechanical arm (1) installed in unmanned plane (3) bottom, mechanical arm
(1) lower end is connected with internal weapon bays (2), and internal weapon bays (2) includes the internal weapon bays upper plate (21) being connected by connecting pole (23) and internal weapon bays lower plate
(22) spring (24), is additionally provided between internal weapon bays upper plate (21) and internal weapon bays lower plate (22), spring (24) and connecting pole (23) interval set
Put, diameter of the clear distance between adjacent spring (24) and connecting pole (23) less than spheroid to be taken.
2. unmanned plane grabbing device according to claim 1, it is characterised in that：The mechanical arm (1) includes mechanical arm rudder
Machine (11), the output end of mechanical arm steering wheel (11) be connected with master arm (14) and mechanical arm steering wheel (11) axis and master arm
(14) vertical, master arm (14) is rotatable with the middle part of the first joint shaft (16) to be connected and master arm (14) and the first joint shaft
(16) it is vertical；The two ends of the first joint shaft (16) are connected by slave arm (17) with second joint axle (18), so that the first joint
Axle (16), two slave arms (17) and second joint axle (18) constitute deformable parallelogram sturcutre, second joint axle
(18) middle part is rotatably connected with internal weapon bays upper plate (21).
3. unmanned plane grabbing device according to claim 2, it is characterised in that：One end of the master arm (14) is by master
Swing arm connector (13) is fixedly connected with the output end of mechanical arm steering wheel (11)；The other end of master arm (14) and master arm shaft coupling
Device (15) is fixedly connected, and master arm shaft coupling (15) is provided with bearing, and the first joint shaft (16) is on bearing inner race.
4. unmanned plane grabbing device according to claim 2, it is characterised in that：It is fixedly installed on the internal weapon bays upper plate (21)
There is slave arm connector (19), slave arm connector (19) is provided with bearing, and second joint axle (18) is on bearing inner race.
5. unmanned plane grabbing device according to claim 1, it is characterised in that：The internal weapon bays lower plate (22) offers pitching
Hole (27), internal weapon bays lower plate (22) is provided with pitching rotating disk (26), is provided with pitching steering wheel (25) in internal weapon bays, pitching steering wheel (25) it is defeated
Go out end to be connected with pitching rotating disk (26), ball-dropping hole (28) is offered on pitching rotating disk (26).
6. unmanned plane grabbing device according to claim 5, it is characterised in that：The pitching steering wheel (25) is installed in internal weapon bays
Upper plate (21) lower surface, the output end of pitching steering wheel (25) is connected with the center of circle of pitching rotating disk (26), pitching rotating disk (26) center of circle
It is formed around vertical limiting plate (29).
7. unmanned plane grabbing device according to claim 5, it is characterised in that：The pitching hole (27) and ball-dropping hole (28)
Size is identical, is all higher than spheroid to be taken.
8. unmanned plane grabbing device according to claim 1, it is characterised in that：The quantity of the mechanical arm (1) is three, two
Angle is 120 ° between two adjacent mechanical arms (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710174508.7A CN106927047B (en) | 2017-03-22 | 2017-03-22 | Unmanned aerial vehicle grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710174508.7A CN106927047B (en) | 2017-03-22 | 2017-03-22 | Unmanned aerial vehicle grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106927047A true CN106927047A (en) | 2017-07-07 |
| CN106927047B CN106927047B (en) | 2021-01-26 |
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ID=59432159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710174508.7A Expired - Fee Related CN106927047B (en) | 2017-03-22 | 2017-03-22 | Unmanned aerial vehicle grabbing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN106927047B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432725A (en) * | 2018-11-02 | 2019-03-08 | 浙江海洋大学 | A kind of unmanned thermomechanical components of auxiliary for tennis |
| CN110316378A (en) * | 2019-07-23 | 2019-10-11 | 河南农业大学 | A kind of trichogramma ball delivery device based on unmanned plane |
| CN110733642A (en) * | 2019-10-24 | 2020-01-31 | 华南农业大学 | biomass sphere throwing system and throwing method for unmanned aerial vehicle |
| CN111056324A (en) * | 2018-01-20 | 2020-04-24 | 渤海大学 | Cargo grabbing system for unmanned aerial vehicle |
| CN111821668A (en) * | 2019-04-19 | 2020-10-27 | 株式会社山彦 | Ball collecting cylinder and ball picker |
| CN112090043A (en) * | 2020-09-12 | 2020-12-18 | 广东寻夏科技有限公司 | Golf ball recovery system and method based on unmanned aerial vehicle |
| US20210253264A1 (en) * | 2016-08-20 | 2021-08-19 | Modern Technology Solutions, Inc. | Ordnance delivery |
| CN113636079A (en) * | 2021-10-18 | 2021-11-12 | 西南石油大学 | Logistics unmanned aerial vehicle and cargo delivery method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110733642A (en) * | 2019-10-24 | 2020-01-31 | 华南农业大学 | biomass sphere throwing system and throwing method for unmanned aerial vehicle |
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| CN113636079B (en) * | 2021-10-18 | 2021-12-21 | 西南石油大学 | Logistics unmanned aerial vehicle and cargo delivery method thereof |
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| CN106927047B (en) | 2021-01-26 |
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