ES2508990B1 - GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM. - Google Patents

GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM. Download PDF

Info

Publication number
ES2508990B1
ES2508990B1 ES201330537A ES201330537A ES2508990B1 ES 2508990 B1 ES2508990 B1 ES 2508990B1 ES 201330537 A ES201330537 A ES 201330537A ES 201330537 A ES201330537 A ES 201330537A ES 2508990 B1 ES2508990 B1 ES 2508990B1
Authority
ES
Spain
Prior art keywords
robotic arm
untripulated
gravity center
load handling
displacement compensation
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.)
Active
Application number
ES201330537A
Other languages
Spanish (es)
Other versions
ES2508990A1 (en
Inventor
Jesus MARTIN SANCHEZ
Guillermo HEREDIA BENOT
Anibal Ollero Baturone
Raul CANO BAZAGA
Alvaro ESPIN GARCIA
Carlos PEREZ MARTINEZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA
FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL
Invest Y Cooperacion Ind De Andalucia Asoc De
Universidad de Sevilla
Original Assignee
ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA
FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL
Invest Y Cooperacion Ind De Andalucia Asoc De
Universidad de Sevilla
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA, FUNDACION ANDALUZA PARA EL DESARROLLO AEROESPACIAL, Invest Y Cooperacion Ind De Andalucia Asoc De, Universidad de Sevilla filed Critical ASOCIACION DE INVESTIGACION Y COOPERACION INDUSTRIAL DE ANDALUCIA
Priority to ES201330537A priority Critical patent/ES2508990B1/en
Publication of ES2508990A1 publication Critical patent/ES2508990A1/en
Application granted granted Critical
Publication of ES2508990B1 publication Critical patent/ES2508990B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Sistema de compensación de desplazamiento del centro de gravedad por manipulación de cargas para sistema aéreo no tripulado, equipado con brazo robótico, que permite manipular cargas, y que incluye un sistema de control capaz de detectar o prever las variaciones del centro de gravedad del sistema realizando un control que aumente la estabilidad y precisión, incluyendo partes móviles para compensar total o parcialmente los desplazamientos del centro de gravedad del sistema provocados por los movimientos del sistema robótico y por las cargas manipuladas.Center of gravity offset displacement system for cargo handling for unmanned aerial system, equipped with robotic arm, which allows handling loads, and which includes a control system capable of detecting or anticipating variations of the center of gravity of the system by performing a control that increases stability and precision, including moving parts to compensate all or part of the displacements of the center of gravity of the system caused by the movements of the robotic system and the manipulated loads.

Description

imagen1image 1

imagen2image2

imagen3image3

imagen4image4

imagen5image5

imagen6image6

imagen7image7

imagen8image8

imagen9image9

imagen10image10

Claims (1)

imagen1image 1
ES201330537A 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM. Active ES2508990B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ES201330537A ES2508990B1 (en) 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201330537A ES2508990B1 (en) 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.

Publications (2)

Publication Number Publication Date
ES2508990A1 ES2508990A1 (en) 2014-10-16
ES2508990B1 true ES2508990B1 (en) 2015-07-29

Family

ID=51688495

Family Applications (1)

Application Number Title Priority Date Filing Date
ES201330537A Active ES2508990B1 (en) 2013-04-16 2013-04-16 GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.

Country Status (1)

Country Link
ES (1) ES2508990B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064378A (en) * 2016-06-07 2016-11-02 南方科技大学 The control method of a kind of unmanned plane mechanical arm and device

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3036381B1 (en) * 2015-05-19 2017-05-12 Airbus Operations Sas FLYING DRONE
CN105014687A (en) * 2015-08-07 2015-11-04 东北电力大学 Mechanical arm with multi-rotor-wing unmanned aerial vehicle
CN105375398A (en) * 2015-12-21 2016-03-02 国网河南宝丰县供电公司 Device applied to fixed-point patrol and charged cleaning platform
EP3526119B1 (en) * 2016-10-13 2021-12-01 Alexander Poltorak Apparatus and method for balancing aircraft with robotic arms
JP6994406B2 (en) * 2018-02-23 2022-01-14 本田技研工業株式会社 Flying object
FR3083774B1 (en) * 2018-07-12 2022-04-29 Safran VERTICAL TAKE-OFF AND LANDING AIRCRAFT

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2270510B (en) * 1992-09-11 1996-07-17 Charles John Cochrane Lift device
DE102005012744A1 (en) * 2004-06-24 2006-04-06 Räder, Hermann Vertical take-off and landing aircraft used as a type of helicopter in the military comprises devices for shifting the center of gravity of the aircraft within a plane running normal to the rotary axis
US8251307B2 (en) * 2007-06-11 2012-08-28 Honeywell International Inc. Airborne manipulator system
FR2926787B1 (en) * 2008-01-29 2010-06-04 Jacques Joniot DRONE WITH SPHERICAL BODY AND TWO CONTROROTATIVE EQUATORIAL PROPELLERS, PILOT BY DISPLACEMENT OF A SOUTH-POLAR TROLLEY
US20110084162A1 (en) * 2009-10-09 2011-04-14 Honeywell International Inc. Autonomous Payload Parsing Management System and Structure for an Unmanned Aerial Vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064378A (en) * 2016-06-07 2016-11-02 南方科技大学 The control method of a kind of unmanned plane mechanical arm and device

Also Published As

Publication number Publication date
ES2508990A1 (en) 2014-10-16

Similar Documents

Publication Publication Date Title
ES2508990B1 (en) GRAVITY CENTER DISPLACEMENT COMPENSATION SYSTEM FOR LOAD HANDLING FOR UNTRIPULATED AIR SYSTEM EQUIPPED WITH ROBOTIC ARM.
BR112018069453A2 (en) method for queuing robots intended for a target location in an environment, robot queuing system intended for a target location, and robot capable of navigating to predefined locations in an environment containing at least one additional robot
BR112015007476A2 (en) load handling by load handling device
EP3271788A4 (en) Flight planning for unmanned aerial tower inspection with long baseline positioning
ES1286914Y (en) A load handling device for retrieving units from a storage system
ES2525738A1 (en) Procedure of supervision and control of vehicle routes to optimize the use of their load capacities (Machine-translation by Google Translate, not legally binding)
EA201490366A1 (en) MODULAR CENTRAL STRUCTURE FOR THE JOINT START OF SPACE AIRCRAFT
BR112018070462A2 (en) crane
UY36959A (en) BIOMIMETIC AND ZOOSEMIOTIC UNMISSED AIR VEHICLE DIRECTED BY AUTOMATIC PILOT FOR PRECISION FLIGHTS AND / OR PERSECUTION
ES2482265B1 (en) CONTROL SYSTEM OF UNTRIPULATED AIRCRAFT OF ROTARY WING FOR VERTICAL LANDING ON MOBILE SURFACES THROUGH PRE-FEEDING OF FORCES IN THE CONTROL SYSTEM
BR112018076252A2 (en) wind farm aircraft beacon system, wind farm, and method for a wind farm beacon.
DK3222529T3 (en) OPTIMIZATION OF THE RANGE OF AN AIRCRAFT DOCKING SYSTEM
FR3008206B1 (en) SYSTEM FOR INSPECTING AN AT LEAST TRANSLUCENT OBJECT HAVING AT LEAST ONE MARKING
BR112016022404A2 (en) MOBILE CRANE
ES2483816B1 (en) Positioning control system, speed limitation and uncontrolled cabin movements, or counterweight, of an elevator.
FR3039269B1 (en) SENSOR FOR MEASURING THE ABSOLUTE POSITION OF A MOBILE
ES2444315B1 (en) Shooting crane balance weights device
FR3017601B1 (en) AFTER-STOP RETRIEVAL SYSTEM FOR A DYNAMIC AIR TURBINE
ES2607430A1 (en) Procedure for obtaining a micrography state in a controlled area (Machine-translation by Google Translate, not legally binding)
IT201900004071A1 (en) SYSTEM FOR MEASURING THE POSITIONING OF AN OBJECT WITH RESPECT TO A FIXED REFERENCE
PL3330110T3 (en) Bearing block for fixing a beam axle longitudinal arm with component affecting operating load case
ES2656194T3 (en) Procedure for the reactivation of a train and device for the execution of the procedure
FR3056134B1 (en) ROBOTIC DEVICE FOR INSPECTING AN AIRCRAFT STRUCTURE
ES2970631T3 (en) Device for determining the position of an object that can move with respect to a vehicle and a vehicle equipped with the same
FR3016156B1 (en) STRUCTURE FOR REGULATING THE AEROACOUSTIC ENVIRONMENT IN AN AIRCRAFT ARMOR

Legal Events

Date Code Title Description
FG2A Definitive protection

Ref document number: 2508990

Country of ref document: ES

Kind code of ref document: B1

Effective date: 20150729