CN114593639B - Unmanned aerial vehicle capturing manipulator, system thereof and working method - Google Patents
Unmanned aerial vehicle capturing manipulator, system thereof and working method Download PDFInfo
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- CN114593639B CN114593639B CN202210121489.2A CN202210121489A CN114593639B CN 114593639 B CN114593639 B CN 114593639B CN 202210121489 A CN202210121489 A CN 202210121489A CN 114593639 B CN114593639 B CN 114593639B
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- knuckle
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- aerial vehicle
- controllable deformation
- claw
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an unmanned aerial vehicle capturing manipulator, a system and a working method thereof; the unmanned aerial vehicle capturing manipulator system mainly comprises a manipulator and external control equipment; the manipulator consists of a base and a grabbing mechanism; a grabbing mechanism of the manipulator is arranged on the base through a bolt, and the grabbing mechanism comprises a plurality of opposite claws; the claw hand consists of knuckle, controllable deformation material, induction sheet, spring, etc.; each claw is driven by a controllable deformation material to realize grabbing and releasing; the surfaces of the claws are provided with induction sheets; when the unmanned aerial vehicle works, when the induction sheet senses that the claw hands touch the target, an electric signal is immediately generated and transmitted to the external control equipment, and the external control equipment applies an excitation signal to the controllable deformation material to drive the claw hands to bend and capture the unmanned aerial vehicle; when the electric signal is stopped being applied to the controllable deformation material, the controllable deformation material restores to the original straightening state, and the claw is loosened under the action of the spring to release the target.
Description
Technical Field
The invention relates to an unmanned aerial vehicle capturing device, in particular to an unmanned aerial vehicle capturing manipulator system driven by a controllable deformable material and a working method thereof.
Background
In recent years, the development of unmanned aerial vehicle technology is very rapid, and the application field of unmanned aerial vehicles is more extensive in military field and civil field. In the card receiving conflict that erupts in 2020, the unmanned aerial vehicle becomes the leading role of the battlefield, shows an unusually significant effect, and influences the result of the war to a certain extent. In order to build modern national defense, the destruction and capture of unmanned aerial vehicles in the battlefield also become a problem to be solved. The existing common unmanned aerial vehicle counter-braking technology has two modes of hard killing and soft killing, wherein the hard killing mainly uses a laser weapon and an anti-aircraft weapon to directly destroy a target unmanned aerial vehicle, and the soft killing generally uses a high-power electronic signal transmitter to implement electronic interference on the target unmanned aerial vehicle so as to force the unmanned aerial vehicle to crash, force to land or return to the air. However, with the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle is difficult to capture by the methods while being not damaged, so that the purposes of air defense and acquisition of related information parameters are achieved, and the required investment cost of the methods is relatively high.
Disclosure of Invention
The invention aims to provide a manipulator device and a system which can be safely captured on the basis of not damaging a target unmanned aerial vehicle, and a working method of the device.
The invention adopts the following technical scheme for solving the technical problems:
an unmanned aerial vehicle capturing manipulator system comprises an unmanned aerial vehicle capturing manipulator and external control equipment, wherein the unmanned aerial vehicle capturing manipulator comprises a base and a grabbing mechanism; the grabbing mechanism is arranged on the base and comprises N claws with the same structure, and N is a natural number more than or equal to 3; every cleft hand adopts controllable deformation mechanism to realize actuating, and the response piece is installed on the cleft hand surface, and when response piece perception cleft hand touched target unmanned aerial vehicle, controllable deformation mechanism control cleft hand bending caught unmanned aerial vehicle.
The manipulator device disclosed by the invention is based on the cooperative matching of the induction mechanism and the controllable deformation mechanism, so that the unmanned aerial vehicle can be captured quickly and safely, and the defect that the existing soft and hard killing mode can damage the unmanned aerial vehicle is overcome; and the problems of complex structure and slow reaction caused by the traditional motor driving method can be effectively avoided, the complexity of the device is effectively reduced, the device has simpler and more portable structure, and the manufacturing cost of the device is relatively low.
Furthermore, the claw comprises a first knuckle, a second knuckle and a third knuckle which are sequentially connected through pins, and the lower part of the first knuckle is fixed on the base; springs are respectively connected between the outer side surface of the first knuckle and the bottom end of the second knuckle, and between the outer side surface of the second knuckle and the bottom end of the third knuckle; the inner side surface of the first knuckle is connected with the inner side surface of the second knuckle, and the inner side surface of the second knuckle is connected with the inner side surface of the third knuckle through a controllable deformation mechanism. The spring is used for providing a certain force for the second knuckle and the third knuckle, and the second knuckle and the third knuckle can be maintained at a certain angle and position at the initial stage of the working process, so that the grabbing mechanism is in an open state.
The controllable deformation mechanism comprises joints at two ends and a controllable deformation material block arranged between the joints; the inner sides of the second knuckle and the third knuckle are respectively provided with a guide ring, and a joint at one end of the controllable deformation mechanism is arranged in the guide rings through a first pin and can move along the guide rings, so that the second knuckle and the third knuckle can rotate in a certain angle.
The controllable deformation material block is an intelligent material such as a piezoelectric bimorph, magnetostriction or shape memory alloy and the like.
The sensing piece is a piezoelectric ceramic piece or a piezoelectric film and other sensing elements, and rectangular grooves are formed in the inner side and the outer side of the upper portion of the third knuckle and used for positioning the sensing piece. The piezoelectric ceramic piece is used as the sensor, so that the device is more sensitive and has higher response speed. To rotor type unmanned aerial vehicle, its flying speed is relatively slow, and the device catches the ability higher.
And the upper end part of the third knuckle is provided with a hook-shaped structure which is used for preventing the object from slipping off when being grabbed.
In addition, the invention also provides an unmanned aerial vehicle capturing mechanical arm system which comprises an unmanned aerial vehicle capturing mechanical arm and external control equipment, wherein an induction sheet on the unmanned aerial vehicle capturing mechanical arm is electrically connected with the control equipment, the control equipment is simultaneously and electrically connected with the controllable deformation material block in the controllable deformation mechanism, the control equipment receives an electric signal input by the induction sheet and outputs a direct current signal to control the bending of the controllable deformation material block, and the target unmanned aerial vehicle is captured.
The invention also provides a working method of the unmanned aerial vehicle capturing manipulator, which is characterized by comprising the following steps:
1) The grabbing process comprises the following steps:
when the claw of the device touches a target to be grabbed, the induction sheet on the claw can generate micro deformation and transmit an excitation electric signal to external control equipment, and the external control equipment immediately outputs a direct current electric signal to the controllable deformation material to drive the controllable deformation material to generate bending deformation; the deformation of the controllable deformation material can drive the second knuckle and the third knuckle to rotate within a certain angle range, so that the claw is driven to bend, and the target is grabbed in real time;
2) And (3) releasing:
when the control equipment stops applying the electric signal to the controllable deformation material block, the controllable deformation material can restore to the original straightening state, and the grabbing mechanism can restore to the original initial state under the action of the spring force, so that the target is released.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. intelligent materials such as piezoelectric bimorph and magnetostrictive or shape memory alloy and the like) are adopted as driving elements, and the direct driving of the manipulator is realized. The technical scheme avoids the use of a speed reducing mechanism, has simpler and lighter overall structure, and is easy to realize the miniaturization of the device.
2. The direct current signal is adopted to control the static deformation of the controllable deformation material to realize driving, and compared with a mechanical arm which utilizes piezoelectric excitation micro-amplitude vibration and is driven by friction, the technical scheme avoids friction loss and vibration loss and has quick response.
3. And sensing elements such as piezoelectric ceramic pieces or piezoelectric films are used as sensing pieces and fed back to the controllable deformation material in real time, so that rapid capture is realized.
Drawings
Fig. 1 is a schematic view of an unmanned aerial vehicle capture robot system of the present invention;
FIG. 2 is a schematic structural view of a capture manipulator of an unmanned aerial vehicle according to the present invention;
FIG. 3 is a front view of a capture robot of the present invention;
FIG. 4 is a schematic view of the structure of the base of the present invention;
FIG. 5 is a schematic view of the gripping mechanism of the present invention;
FIG. 6 is a schematic view of a first knuckle according to the present invention;
FIG. 7 is a schematic diagram of a second embodiment of the present invention;
FIG. 8 is a schematic view of a third knuckle according to the present invention;
FIG. 9 is a schematic structural view of the controllably deformable material and joint of the present invention in a non-operative state;
FIG. 10 is a schematic view of the controllably deformable material and connector bent after application of current thereto;
FIG. 11 is a schematic diagram of the grabbing process of the gripper according to the present invention;
FIG. 12 is a schematic view of a grabbing process of an unmanned aerial vehicle capturing manipulator system of the present invention;
FIG. 13 is a schematic view of a release process of a unmanned aerial vehicle capturing manipulator system of the present invention;
in the figure, 1-base, 2-grabbing mechanism, 2.1-first knuckle, 2.2-second knuckle, 2.3-spring, 2.4-third knuckle, 2.5-sensing piece, 2.6-controllable deformable material, 2.7-joint, 2.8-pin, 2.1.1-pin hole, 2.1.2-pin hole, 2.1.3-first knuckle outer spring hook hole, 2.1.4-through hole, 2.2.1-second knuckle inner spring hook hole, 2.2.2-pin hole, 2.2.3-guide ring, 2.2.4-pin hole, 2.2.5-pin hole, 2.2.6-second knuckle outer spring hook hole, 2.4.1-third knuckle inner spring hook hole, 2.4.2-pin hole, 2.4.3-guide ring, 2.4.4-hook structure, 2.4.4-rectangular groove.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
as shown in fig. 1, the unmanned aerial vehicle capturing manipulator system mainly comprises an unmanned aerial vehicle capturing manipulator and an external control device.
As shown in fig. 2 and 3, which are schematic structural diagrams of a capturing manipulator of an unmanned aerial vehicle, the capturing manipulator mainly comprises a base 1 and a grabbing mechanism 2; the grabbing mechanism 2 comprises N claws with the same structure, and N is a natural number which is more than or equal to 3.
As shown in fig. 4, which is a schematic structural diagram of the base 1, the grabbing mechanism 2 is installed on the base 1.
As shown in fig. 5, the gripper comprises a first knuckle 2.1, a second knuckle 2.2, a spring 2.3, a third knuckle 2.4, a sensing piece 2.5, a controllably deformable material 2.6, a joint 2.7 and a pin 2.8.
As shown in fig. 6, the first knuckle is provided with a first pin hole 2.1.1, a second pin hole 2.1.2, a first outer spring hook hole 2.1.3, and a through hole 2.1.4.
As shown in fig. 7, the second finger joint is provided with a first inner spring hook hole 2.2.1, a third pin hole 2.2.2, a guide ring 2.2.3, a fourth pin hole 2.2.4, a fifth pin hole 2.2.5 and a second outer spring hook hole 2.2.6.
As shown in fig. 8, the third knuckle is provided with an inner spring hook hole 2.4.1, a sixth pin hole 2.4.2, a guide ring 2.4.3, a hook structure 2.4.4 and a rectangular groove 2.4.5.
The first knuckle is provided with a through hole 2.1.4, and the first knuckle 2.1 is fixed on the base 1 by using a bolt; the upper part of the first knuckle 2.1 is provided with a first pin hole 2.1.2, the lower part of the second knuckle 2.2 is provided with a second pin hole 2.2.2, and the two pin holes are matched through a pin 2.8, so that the first knuckle 2.1 is movably connected with the second knuckle 2.2; a first outer spring hook hole 2.1.3 is formed in the outer side of the first knuckle 2.1, a first inner spring hook hole 2.2.1 is formed in the inner side of the second knuckle 2.2, and the first outer spring hook hole and the second inner spring hook hole are connected through a spring 2.3; a guide ring 2.2.3 is arranged on the inner side of the second knuckle 2.2; the controllable deformation material 2.6 is fixedly connected with the joint 2.7; the joint is mounted in the guide ring 2.2.3 by a pin 2.8 and can move in the guide groove of the guide ring; the cooperation of the second and third knuckles 2.2, 2.4 is similar to that described above.
The number of the knuckles can be M, wherein M is a natural number more than or equal to 3; the controllable deformation material 2.6 is a piezoelectric bimorph, a magnetostrictive material or a shape memory alloy material and other intelligent materials.
The sensing piece 2.5 is a piezoelectric ceramic piece or a piezoelectric film and other sensing elements, and rectangular grooves 2.4.5 are formed in the inner side and the outer side of the third knuckle 2.4 and used for positioning the sensing piece. The upper end of the third knuckle 2.4 is provided with a hook-shaped structure 2.4.4 which is used for preventing slipping when grabbing an object.
As shown in fig. 9, a notch is provided in the middle of the joint 2.7, and the controllable deformable material is fixed in the notch by adhesion.
The invention also discloses a working method of the unmanned aerial vehicle capturing manipulator system, and the specific working process of the device is as follows:
an unmanned aerial vehicle catches mode of actuating of manipulator system and divide into and snatchs the process and release the process. The unmanned aerial vehicle capturing manipulator system grabbing mechanism 2 comprises a plurality of claws with the same structure, and the working principle of the device grabbing process and releasing process is analyzed by taking one claw as an example in combination with the attached drawings.
1, a grabbing process:
as shown in fig. 1, a bold straight line in the figure represents the lower landing gear of the unmanned aerial vehicle, when a claw of the device touches a target to be grabbed, an induction sheet 2.5 on the claw generates a micro deformation and transmits an excitation electric signal to external control equipment, and the control equipment immediately outputs a direct current electric signal to the controllable deformable material 2.6 to drive the controllable deformable material 2.6 to generate bending deformation; the deformation of the controllable deformation material 2.6 can drive the second knuckle 2.2 and the third knuckle 2.4 to rotate within a certain angle range, so that the claw is driven to bend, and the target can be grabbed in real time.
As shown in fig. 10, the controllably deformable material 2.6 will deform in a bending manner after being applied with a dc electrical signal having a certain frequency.
As shown in fig. 11, a dc signal with a certain frequency is applied to the controllably deformable material to bend the controllably deformable material, which drives the paw to bend.
As shown in fig. 12, the bent claws can realize real-time grabbing of the target by the manipulator.
2, releasing process:
as shown in fig. 13, it is a schematic diagram of the overall action of the unmanned aerial vehicle capturing manipulator system in the release process; when the control equipment stops applying the electric signal to the controllable deformation material 2.6, the controllable deformation material 2.6 can restore to the original straightening state, and the grabbing mechanism 2 can restore to the initial state under the tension of the spring 2.3, so that the target is released.
It will be understood by those skilled in the art that, unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The unmanned aerial vehicle capturing manipulator system is characterized by comprising an unmanned aerial vehicle capturing manipulator and external control equipment, wherein the unmanned aerial vehicle capturing manipulator comprises a base (1) and a grabbing mechanism (2); the grabbing mechanism (2) is arranged on the base (1), the grabbing mechanism (2) comprises N claws with the same structure, and N is a natural number more than or equal to 3; each claw adopts a controllable deformation mechanism to realize actuation, an induction sheet (2.5) is arranged on the surface of each claw, and when the induction sheet (2.5) senses that the claws touch a target unmanned aerial vehicle, the controllable deformation mechanism controls the claws to bend and capture the unmanned aerial vehicle;
the claw comprises a first knuckle (2.1), a second knuckle (2.2) and a third knuckle (2.4) which are sequentially connected by pins, and the lower part of the first knuckle (2.1) is fixed on the base (1); the outer side surface of the first knuckle (2.1) is connected with the bottom end of the second knuckle (2.2), and the outer side surface of the second knuckle (2.2) is connected with the bottom end of the third knuckle (2.4) through springs (2.3); the inner side surface of the first knuckle (2.1) is connected with the inner side surface of the second knuckle (2.2), and the inner side surface of the second knuckle (2.2) is connected with the inner side surface of the third knuckle (2.4) by adopting a controllable deformation mechanism;
the controllable deformation mechanism comprises joints (2.7) at two ends and a controllable deformation material (2.6) arranged between the joints (2.7); guide rings (2.2.3) are arranged on the inner sides of the second knuckle (2.2) and the third knuckle (2.4), and a joint (2.7) at one end of the controllable deformation mechanism is mounted in the guide rings through a first pin (2.8) and can move along the guide rings.
2. Unmanned catch robot system according to claim 1, characterized in that the controllably deformable material (2.6) is a piezoelectric bimorph, magnetostrictive or shape memory alloy.
3. The unmanned aerial vehicle capturing manipulator system of claim 1 or 2, wherein the sensing piece (2.5) is a piezoelectric ceramic piece, and rectangular grooves are formed in the inner side and the outer side of the upper portion of the third knuckle (2.4) and used for positioning the sensing piece.
4. The unmanned aerial vehicle capturing manipulator system of claim 3, wherein the third knuckle (2.4) is provided with a hook-shaped structure at the upper end.
5. The unmanned aerial vehicle capturing manipulator system of claim 1, wherein the sensing piece (2.5) on the unmanned aerial vehicle capturing manipulator is communicated with an external control device, the control device is simultaneously connected with the controllable deformable material (2.6), the control device receives an electric signal input by the sensing piece (2.5), and then outputs a direct current signal to control the bending of the controllable deformable material, so that the target unmanned aerial vehicle is captured.
6. A method of operating the unmanned aerial vehicle capturing manipulator system of claim 1, comprising the steps of:
1) And (3) a grabbing process:
when the claw of the manipulator capturing system of the unmanned aerial vehicle touches the unmanned aerial vehicle to be captured, the induction sheet (2.5) on the claw can generate micro deformation and transmit an excitation electric signal to the external control equipment, and the external control equipment immediately outputs a direct current signal to the controllable deformation material (2.6) to drive the controllable deformation material (2.6) to generate bending deformation; the deformation of the controllable deformation material (2.6) can drive the second knuckle (2.2) and the third knuckle (2.4) to rotate within a certain angle range, so that the claw is driven to bend, and the target can be grabbed in real time;
2) And (3) a release process:
when the control equipment stops applying the electric signal to the controllable deformation material (2.6), the controllable deformation material (2.6) can restore to the original straightening state, and the grabbing mechanism (2) can restore to the initial state under the tension of the spring (2.3), so that the target is released.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1557610A (en) * | 2004-01-16 | 2004-12-29 | 清华大学 | Shape memory alloy differential spring driven manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7410125B2 (en) * | 2005-05-05 | 2008-08-12 | Lockheed Martin Corporation | Robotically assisted launch/capture platform for an unmanned air vehicle |
| CN205544624U (en) * | 2016-01-19 | 2016-08-31 | 刘勇 | Unmanned vehicles descending capture device |
| CN107538510A (en) * | 2016-06-28 | 2018-01-05 | 中国科学院沈阳自动化研究所 | A kind of lightweight apery five-needle pines blister rust mechanism |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
| CN207606868U (en) * | 2017-12-25 | 2018-07-13 | 南京工程学院 | A kind of simple activation lacking mechanical finger |
| CN108791937A (en) * | 2018-06-12 | 2018-11-13 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle retracting device and method based on machinery crawl |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1557610A (en) * | 2004-01-16 | 2004-12-29 | 清华大学 | Shape memory alloy differential spring driven manipulator |
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