CN105563514B - A kind of robot device - Google Patents
A kind of robot device Download PDFInfo
- Publication number
- CN105563514B CN105563514B CN201610162820.XA CN201610162820A CN105563514B CN 105563514 B CN105563514 B CN 105563514B CN 201610162820 A CN201610162820 A CN 201610162820A CN 105563514 B CN105563514 B CN 105563514B
- Authority
- CN
- China
- Prior art keywords
- robot device
- mechanical arm
- steering engine
- lifter plate
- connector
- 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
Links
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The present invention provides a kind of robot device, it includes at least a pair of of grasping mechanism of rack and synchronous on-off, and two grasping mechanisms in each pair grasping mechanism are symmetrical arranged；Each grasping mechanism includes mechanical arm above and underlying gripper, and the upper end of mechanical arm is articulated with rack, and gripper is connected to the lower end of mechanical arm；Mechanical arm is equipped with ducted fan.By setting two control mechanisms, change the maximum of traditional standard configuration manipulator crawl article diameter, crawl article that can be flexible and changeable；There is provided ducted fan, by the control to ducted fan when capturing article, realizes horizontal direction movement orientation crawl, overcome is influenced that the awkward situation of article can not be captured by natural cause or other factors；By upper backup pad fixing bearing, rope is fixed on bearing, even if manipulator spins in the air rope will not be made to be broken because of rotation；Bolster is additionally provided with rope, strengthens rope stress value.
Description
Technical field
The present invention relates to a kind of robot device.
Background technology
Manipulator is that can imitate some holding functions of human hand and arm object or operation are captured, carried by fixed routine
Instrument, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest.Manipulator research starts from 20 generation
Discipline mid-term, develops First manipulator from American Association Heat ＆ Control Pty Ltd. in 1958, is opened to phase early 1970s manufacturing industry
Begin to introduce the use of manipulator, then exploitation to China's First manipulator in 1972 and thing followed the whole country are all opened
Begin to develop and using manipulator, after this short decades, what is welcome is manufacturing brand-new looks for the development of manipulator.Work
Industry manipulator is widely used by the remarkable advantage of its own.
Chinese patent 201020163658.1 discloses a kind of quadrotor flight catching hand, quadrotor flight catching hand top
There is a quadrotor system lower part to have a manipulator.
Chinese patent 201410341528.5 has opened a kind of scenic spot remote control distributor and has picked up garbage apparatus automatically, is set on its casing
There are four propellers, each propeller is connected with a driving motor respectively, air pump and pneumatic cylinder is provided with casing, air pump leads to
Cross tracheae and reversal valve is connected with pneumatic cylinder, the piston rod outer end of pneumatic cylinder is grabbed with manipulator to be connected, the middle part of pneumatic cylinder and machine
Shell is hingedly fixed, and the rear end of pneumatic cylinder is connected with swing mechanism, and controller and storage battery are provided with casing, and storage battery is driving
Motor, controller and air pump provide power supply, and controller controls the operating of four driving motors and air pump respectively, and controller is also with connecing
Antenna connection is received, manipulator, which is grabbed, to be stretched out outside casing.
Chinese patent 201520113123.6 discloses a kind of anti-terror explosive removing robot based on more gyroplanes, including machinery
Arm and mechanical paw, mechanical paw are connected to mechanical arm top, and for carrying out the crawl of explosion object, it further includes rotor and flies
Row part, rotor flying part includes rotor platform and multiple rotor arms for being evenly distributed on platform edges, in each rotor arm
Top be each provided with a propeller, by flight motor drive rotor wing rotation；Mechanical arm is fixedly connected on rotor platform.
Chinese patent 201520113125.5 discloses a kind of air-ground amphibious anti-terror explosive removing robot, including mechanical arm and ground
Face walking mechanism, manipulator is connected with mechanical arm top and is grabbed includes rack, is placed in rotor flying part, rotor flying part
Rotor platform and multiple rotor arms for being evenly distributed on platform edges thereon, one is each provided with the top of each rotor arm
Rotor, rotor wing rotation is driven by flight motor；Mechanical arm is fixedly connected on rotor platform；Ground running mechanism include three with
On omni-directional wheel, each omni-directional wheel drives by an omnidirectional turbin generator, and omni-directional wheel is placed in the bottom of rack.
Manipulator is typically directly installed on aircraft in the prior art, by aircraft power device when manipulator captures article
The influence of air-flow cannot accurately capture article；It is another that manipulator is hung by rope, but aircraft transfers meeting after manipulator
There is swing angle, also can not accurately capture article, and rope spin also easily makes cord break.
The content of the invention
In view of the problems of the existing technology, it is an object of the invention to provide one kind can orient crawl, and size is adjustable, stablize
Property high, the strong robot device of environmental suitability.
To achieve these goals, the present invention provides a kind of robot device, the robot device is including rack and together
Walk at least a pair of of grasping mechanism of folding；Each grasping mechanism includes mechanical arm above and underlying gripper,
The upper end of mechanical arm is articulated with rack, and gripper is connected to the lower end of mechanical arm；Mechanical arm is equipped with ducted fan.
In the present invention, manipulator is installed on unmanned plane or unmanned vehicle, and the manipulator is mainly for overcoming natural cause
Influence, on unmanned plane, by rope suspensions manipulator, manipulator realizes fixed point crawl by ducted fan；It is installed on
On unmanned vehicle, the manipulator to the article on overhanging cliff primarily to carry out fixed point crawl.
In the present invention, the number of grasping mechanism be it is at least a pair of, more preferably 2-4 pairs on this basis, in this base
It is more preferably 2 pairs on plinth.
In the present invention, speed regulating control is carried out to ducted fan when capturing article, robot device is moved in the horizontal direction
Orientation crawl is realized to article upper end.
In the present invention, ducted fan is provided with mechanical arm, by the control to ducted fan when capturing article, realizes water
Square to mobile orientation crawl, the problem of beam wind, gravity and spatial occlusion etc. influence article crawl is overcome.
Another embodiment according to the present invention, two grasping mechanisms in each pair grasping mechanism are symmetrical arranged；Rotor
Unit includes rotor and duct, and duct is around the outside for being arranged at rotor.
Another embodiment according to the present invention, the shaft of at least a pair of of rotor is on robot device short transverse
Center line is symmetrical, and the extending line intersection point of shaft is located above rotor.Setting in this way, air-flow supporting span is big, and flight is steady
Fixed, be not easy the mechanical at hand portion of interference is grabbed thing.
Another embodiment according to the present invention, at least a pair of of grasping mechanism synchronous on-off.Grasping mechanism synchronous on-off,
It can realize crawl article.
Another embodiment according to the present invention, robot device further comprise the first control mechanism, the first control
Mechanism includes the first steering engine, the first lifter plate, upper connecting rod, and the first steering engine is arranged in rack；First steering engine has the first output
Axis, the first output shaft are extended downwardly from the bottom of the first steering engine；First lifter plate is sleeved on the first output shaft, and is exported with first
Axle thread connects；Upper connecting rod correspond to mechanical arm set (consistent with the number of mechanical arm), its both ends respectively with the first lifter plate
It is hinged with mechanical arm.In the program, when the first steering engine rotates forward (such as rotating clockwise), the positive rotation of the first output shaft is driven
Turn, and then drive the first lifter plate to rise, the posture of upper connecting rod is switched to horizontal or close level, so that grasping mechanism
Open bottom.When first steering engine reversely rotates (such as counterclockwise rotation), drive the first output shaft to reversely rotate, and then drive the
One lifter plate declines, and the posture of upper connecting rod is switched to vertical or is approached vertically, so that the bottom closure of grasping mechanism.Cause
And the first steering engine when rotating forward grasping mechanism level-one open, grasping mechanism closes when the first steering engine reversely rotates.It can realize
Crawl to article.
Another embodiment according to the present invention, robot device further comprise the second control mechanism, the second control
Mechanism includes lower supporting plate, the second steering engine, the second lifter plate, lower link；Lower supporting plate is located at the lower section of the first lifter plate, passes through
Lower fixed column is fixedly connected with the first lifter plate；Second steering engine is arranged on lower supporting plate；Second steering engine has the second output shaft,
Second output shaft is extended downwardly from the bottom of the second steering engine；Second lifter plate is sleeved on the second output shaft, and with the second output shaft
It is threadedly coupled；Lower link correspond to mechanical arm set (consistent with the number of mechanical arm), its both ends respectively with the second lifter plate and
Gripper is hinged.In the program, lower supporting plate is located at the lower section of the first lifter plate, is fixed by lower fixed column and the first lifter plate
Connection, the second steering engine are arranged on lower supporting plate；The thus rotation of the second steering engine, it is possible to achieve grasping mechanism two level is opened, i.e.,
Further opened on the basis of level-one opening, to capture the article being relatively large in diameter.Specifically, the second steering engine rotates forward
When (such as rotating clockwise), drive the second output shaft to rotate forward, and then drive the second lifter plate to rise, make the appearance of lower link
State switchs to horizontal or close level, so that the bottom of grasping mechanism is further opened.The reverse rotation of second steering engine (such as it is inverse
Hour hands rotate) when, drive the second output shaft to reversely rotate, and then drive the second lifter plate to decline, switch to the posture of upper connecting rod
It is vertical or close vertical, so that the bottom closure of grasping mechanism.Thus, grasping mechanism opening when the second steering engine rotates forward
Expand, grasping mechanism opening reduces when the second steering engine reversely rotates.
In the program, by setting two control mechanisms, change the maximum of traditional standard configuration manipulator crawl article diameter,
Crawl article that can be flexible and changeable.When article diameter is smaller, the level-one of grasping mechanism is realized by the control of the first control mechanism
Open (half opens)；When article diameter is larger, realize that the two level of grasping mechanism opens (complete by the control of the second control mechanism
Open).And steering engine rotates forward grasping mechanism and opens, steering engine reversion grasping mechanism closure, can smoothly realize the crawl to article.
Another embodiment according to the present invention, robot device further comprise suspension mechanism, and suspension mechanism includes
Lower connector, upper backup pad；Upper backup pad is located at the top of rack, is fixedly connected by upper fixed column with rack；Upper backup pad
Be fixedly arranged in the middle of bearing, lower connector passes through the centre bore of bearing, and the bottom of lower connector connects a limited block, limited block position
In the lower section of bearing.In this way, during suspension, even if robot device is spinned by external force factor, rope can also be absorbed by bearing to be turned round
Square, will not cause to be broken, so as to improve security because of spin.
Another embodiment according to the present invention, suspension mechanism further comprise bolster and upper connector, bolster
Between upper connector and lower connector；Upper connector is flexible connecting member (such as rope)；Lower connector is flexible connection
Part or rigid connector.By setting bolster, the stress value of upper connector and lower connector can be strengthened.
Another embodiment according to the present invention, lower connector are rigid connector (such as reinforcing bar), lower connector bag
Underlying vertical section and bending segment above are included, vertical section and bending segment are hinged；It is worth noting that, bending segment
It is straight-bar, simply bending segment can carry out such as 180 ° of rotation relative to vertical section.This multi-segment structure is primarily to solve
When aircraft transfers manipulator, rope is long to cause rope misplaced onto ducted fan, and rope is moved by reinforcing bar joint structure
Move on the outside of mechanical arm, even if rope is long rope will not be caused to be wound with manipulator.
Another embodiment according to the present invention, gripper include corpus unguis, cross bar, brace, corpus unguis, cross bar, brace that
This is hinged, triangle structure.
Another embodiment according to the present invention, the lower end of mechanical arm are articulated with cross bar；The both ends difference of lower link
It is hinged with the second lifter plate and cross bar.
Another embodiment according to the present invention, is provided with pressure sensor on grasping mechanism, is captured for detecting
Pressure used during object；Camera and distance measuring sensor are installed in the centre bottom of robot device, easy to capture article.
Another embodiment according to the present invention, grasping mechanism have two pairs four, 90 ° of adjacent grasping mechanism spacing.
Another embodiment according to the present invention, adds control module, have in control module fly control plate, receive it is mechanical, electrical
Tune and power supply, for controlling rotating speed, the speed change of ducted fan.In addition, stand-by power supply is installed in upper fixed column, pre- prevention and control
The power-off of molding block causes manipulator out of control.
Another embodiment according to the present invention, ducted fan are installed on upper fixed column surrounding, coordinate with control module
Realize displacement, 2,3,4,6 can be coordinated to realize multijoint control fixed point movement.
Another embodiment according to the present invention, flight robot device further comprise suspension mechanism, suspension mechanism
Including the first connecting portion being connected with rack and the second connecting portion being connected with lifting rope, between first connecting portion and second connecting portion
Force cell is provided with, which can be used for detecting the weight for being grabbed thing.Prevent manipulator or overhead mechanical hand
Equipment and lifting rope overload.
On the other hand, the present invention is supplied to a kind of control method using above-mentioned manipulator, which is included such as
Lower step：
A, thing is grabbed in crawl；
B, lifting rope is progressively tightened, and detects the value of feedback of force cell；
C, when the value of feedback is more than predetermined threshold, stop tightening lifting rope and unclamp to be grabbed thing；When value of feedback is not more than
During predetermined threshold, continue to tighten lifting rope until value of feedback no longer rises.
The program effectively prevents the equipment and lifting rope overload of manipulator or overhead mechanical hand.
The present invention changes the maximum of traditional standard configuration manipulator crawl article diameter, energy by setting two control mechanisms
Enough flexible and changeable crawl articles；There is provided ducted fan, by the control to ducted fan when capturing article, realizes level side
To mobile orientation crawl, overcome wire-hanging type manipulator and be difficult to position, lacking for the object beside immediately below point of suspension can not be captured
Point；By upper backup pad fixing bearing, rope is fixed on bearing, even if manipulator spins in the air will not make rope because of rotation
Turn fracture；Bolster is additionally provided with rope, strengthens rope stress value.
Brief description of the drawings
Fig. 1 is the structure diagram of the robot device of embodiment 1；
Fig. 2 is the profile that axial plane is crossed on Fig. 1 edges；
Fig. 3 is the schematic diagram that the robot device of embodiment 1 closes；
Fig. 4 is the schematic diagram that the robot device half of embodiment 1 opens；
Fig. 5 is the schematic diagram that the robot device of embodiment 1 opens entirely；
Fig. 6 is the structure diagram of the robot device of embodiment 2；
Fig. 7 is the part-structure schematic diagram of the robot device of embodiment 4, and which show lifting rope, first connecting portion, second
Connecting portion, force cell.
Embodiment
Embodiment 1
As shown in Figure 1, the robot device of the present embodiment includes：At least a pair of (such as two pairs) of rack 1, synchronous on-off
Grasping mechanism 2, the first control mechanism 3, the second control mechanism 4, suspension mechanism 5.
Grasping mechanism has two pairs four, 90 ° of adjacent grasping mechanism spacing.Two grasping mechanisms in each pair grasping mechanism
It is symmetrical arranged；Each grasping mechanism includes mechanical arm 201 and underlying gripper 202 above, mechanical arm 201
Upper end is articulated with rack 1, and gripper 202 is connected to the lower end of mechanical arm 201；Mechanical arm is equipped with rotor unit 6.Gripper
202 include corpus unguis 203, cross bar 204, brace 205, and corpus unguis 203, cross bar 204, brace 205 are mutually hinged, triangle knot
Structure.The lower end of mechanical arm is articulated with cross bar.Rotor unit 6 includes rotor and duct, and duct is around the outside for being arranged at rotor.
The shaft of two pairs of rotors is symmetrical on the center line of robot device short transverse, and the extending line intersection point of shaft is located on rotor
Side.
As shown in Fig. 2, the first control mechanism includes 303, four the first steering engine 301, the first lifter plate upper connecting rods 304, the
One steering engine 301 is arranged in rack 1；First steering engine 301 has the first output shaft 302, and the first output shaft 302 is from the first steering engine
301 bottom extends downwardly；First lifter plate 303 is sleeved on the first output shaft 302, and is threadedly coupled with the first output shaft 302；
Upper connecting rod 304 is set corresponding to mechanical arm 201, its both ends is hinged with the first lifter plate 303 and mechanical arm 201 respectively.
As shown in Fig. 2, the second control mechanism includes lower supporting plate 405, the second steering engine 401, the second lifter plate 403, four
Lower link 404；Lower supporting plate 405 is located at the lower section of the first lifter plate 303, solid by lower 406 and first lifter plate 303 of fixed column
Fixed connection；Second steering engine 401 is arranged on lower supporting plate 405；Second steering engine 401 has the second output shaft 402, the second output shaft
402 extend downwardly from the bottom of the second steering engine 401；Second lifter plate 403 is sleeved on the second output shaft 402, and is exported with second
Axis 402 is threadedly coupled；Lower link 404 is set corresponding to mechanical arm 201, its both ends respectively with the second lifter plate 403 and cross bar 204
It is hinged.
Suspension mechanism 5 includes rope 501, upper backup pad 502, and upper backup pad 502 is located at the top of rack 1, by upper solid
Fixed column 503 is fixedly connected with rack 1；Upper backup pad 502 is fixedly arranged in the middle of bearing 504, and rope 501 is passed through in bearing 504
Heart hole, the bottom of rope 501 connect a limited block 505, and limited block 505 is located at the lower section of bearing 504.Rope 501 is equipped with slow
Stamping 506, to strengthen rope stress value.
The robot device of the present embodiment can be flexible and changeable crawl article, its close state it is as shown in Figure 3.Work as thing
When product diameter is smaller, realize that the level-one of grasping mechanism is opened (half opens, as shown in Figure 4) by the control of the first control mechanism；Work as thing
When product are relatively large in diameter, realize that the two level of grasping mechanism is opened (complete to open, as shown in Figure 5) by the control of the second control mechanism.
Embodiment 2
As shown in fig. 6, the present embodiment and embodiment 1 difference lies in：
1st, suspension mechanism 6 includes bolster 601, upper connector 602, lower connector 603, upper backup pad；Upper backup pad position
In the top of rack, it is fixedly connected by upper fixed column with rack；Upper backup pad is fixedly arranged in the middle of bearing, and lower connector passes through
The centre bore of bearing, the bottom of lower connector connect a limited block, and limited block is located at the lower section of bearing.Bolster 601 is positioned at upper
Between connector 602 and lower connector 603；Upper connector is flexible connecting member (such as rope)；Lower connector 603 connects for rigidity
Fitting (such as reinforcing bar), lower connector 603 include underlying vertical section 604 and bending segment 605 above, vertical section
604 and bending segment 605 it is hinged；Bending segment 605 can carry out such as 180 ° of rotation relative to vertical section 604.
2nd, add control module 7, have winged control center and power supply in control module, for control ducted fan rotating speed,
Speed change.In addition, installing stand-by power supply 8 in upper fixed column, the power-off of prevention and control module causes manipulator out of control.
Embodiment 3
The present embodiment and embodiment 1 difference lies in：Pressure sensor is provided with grasping mechanism, is captured for detecting
Pressure used during object；Camera and distance measuring sensor are installed in the centre bottom of robot device, easy to capture article.
Embodiment 4
As shown in fig. 7, the present embodiment and embodiment 1 difference lies in：Suspension mechanism includes the first company being connected with rack
Socket part 801 and the second connecting portion 802 being connected with lifting rope 804, are provided with dynamometry biography between first connecting portion and second connecting portion
Sensor 803, the force cell can be used for detecting the weight for being grabbed thing.
The control method of the manipulator of the present embodiment includes the following steps：
A, thing is grabbed in crawl；
B, lifting rope is progressively tightened, and detects the value of feedback of force cell；
C, when value of feedback is more than predetermined threshold, stop tightening lifting rope and unclamp to be grabbed thing；When value of feedback is no more than predetermined
During threshold value, continue to tighten lifting rope until value of feedback no longer rises.
Above is the exemplary description done to the present invention, all simple changes made in the case where not departing from core of the present invention
Shape or modification each fall within protection scope of the present invention.
Claims (14)
1. a kind of robot device, it is characterised in that the robot device includes rack, at least a pair of of grasping mechanism；Each
The grasping mechanism includes mechanical arm above and underlying gripper, and the upper end of the mechanical arm is connected to described
In rack, the gripper is articulated with the lower end of the mechanical arm；The mechanical arm is equipped with rotor unit, the rotor unit
For making the robot device move in the horizontal direction.
2. robot device as claimed in claim 1, it is characterised in that two grasping mechanisms in grasping mechanism described in each pair
It is symmetrical arranged；The rotor unit includes rotor and duct, and the duct is around the outside for being arranged at the rotor.
3. robot device as claimed in claim 2, it is characterised in that the shaft of at least a pair of rotor is on the machine
The center line of tool arm device short transverse is symmetrical, and the extending line intersection point of the shaft is located above rotor.
4. robot device as claimed in claim 1, it is characterised in that at least a pair of of grasping mechanism synchronous on-off.
5. robot device as claimed in claim 1, it is characterised in that the robot device further comprises the first control
Mechanism, first control mechanism include the first steering engine, the first lifter plate, upper connecting rod, and first steering engine is arranged at the machine
On frame；First steering engine has the first output shaft, and first output shaft is extended downwardly from the bottom of first steering engine；Institute
State the first lifter plate to be sleeved on first output shaft, and be threadedly coupled with first output shaft；The upper connecting rod corresponds to
The mechanical arm is set, its both ends is hinged with first lifter plate and the mechanical arm respectively.
6. robot device as claimed in claim 5, it is characterised in that the robot device further comprises the second control
Mechanism, second control mechanism include lower supporting plate, the second steering engine, the second lifter plate, lower link；The lower supporting plate is located at
The lower section of first lifter plate, is fixedly connected by lower fixed column with first lifter plate；Second steering engine is arranged at
On the lower supporting plate；Second steering engine has the second output shaft, and second output shaft is from the bottom of second steering engine
Extend downwardly；Second lifter plate is sleeved on second output shaft, and is threadedly coupled with second output shaft；Under described
Connecting rod is set corresponding to the mechanical arm, its both ends is hinged with second lifter plate and the gripper respectively.
7. robot device as claimed in claim 1, it is characterised in that the robot device further comprises suspension machine
Structure, the suspension mechanism include lower connector, upper backup pad；The upper backup pad is located at the top of the rack, by upper solid
Fixed column is fixedly connected with the rack；The upper backup pad is fixedly arranged in the middle of bearing, and the lower connector passes through the bearing
Centre bore, the bottom of the lower connector connects a limited block, and the limited block is located at the lower section of the bearing.
8. robot device as claimed in claim 7, it is characterised in that the suspension mechanism further comprises bolster and upper
Connector, the bolster is between the upper connector and the lower connector；The upper connector is flexible connecting member；
The lower connector is flexible connecting member or rigid connector.
9. robot device as claimed in claim 7 or 8, it is characterised in that the lower connector is rigid connector, described
Lower connector includes underlying vertical section and bending segment above, and the vertical section and the bending segment are hinged.
10. robot device as claimed in claim 6, it is characterised in that the gripper includes corpus unguis, cross bar, brace, institute
It is mutually hinged to state corpus unguis, the cross bar, the brace, triangle structure.
11. robot device as claimed in claim 10, it is characterised in that the lower end of the mechanical arm is articulated with the cross bar
On；The both ends of the lower link are hinged with second lifter plate and the cross bar respectively.
12. robot device as claimed in claim 1, it is characterised in that be provided with pressure sensing on the grasping mechanism
Device, pressure used during object is captured for detecting；Camera and ranging are installed in the centre bottom of the robot device
Sensor.
13. robot device as claimed in claim 1, it is characterised in that the robot device further comprises suspension machine
Structure, the suspension mechanism include the first connecting portion being connected with rack and the second connecting portion being connected with lifting rope, and described first connects
Force cell is provided between socket part and the second connecting portion.
14. a kind of control method using one of the claim 1-12 robot devices, the robot device is further
Including suspension mechanism, the suspension mechanism includes the first connecting portion being connected with rack and the second connecting portion being connected with lifting rope,
Force cell is provided between the first connecting portion and the second connecting portion；It is characterized in that, the control method bag
Include following steps：
A, thing is grabbed in crawl；
B, lifting rope is progressively tightened, and detects the value of feedback of force cell；
C, when the value of feedback is more than predetermined threshold, stop tightening lifting rope and unclamp to be grabbed thing；When the value of feedback is not more than
During the predetermined threshold, continue to tighten lifting rope until the value of feedback no longer rises.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810276816.5A CN108673550A (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
| CN201610162820.XA CN105563514B (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610162820.XA CN105563514B (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810276816.5A Division CN108673550A (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563514A CN105563514A (en) | 2016-05-11 |
| CN105563514B true CN105563514B (en) | 2018-05-08 |
Family
ID=55874422
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810276816.5A Pending CN108673550A (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
| CN201610162820.XA Active CN105563514B (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810276816.5A Pending CN108673550A (en) | 2016-03-21 | 2016-03-21 | A kind of robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108673550A (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106245560B (en) * | 2016-08-24 | 2017-11-24 | 合肥凌翔信息科技有限公司 | One kind picks up rubbish robotic vision identification device |
| EP3526119B1 (en) * | 2016-10-13 | 2021-12-01 | Alexander Poltorak | Apparatus and method for balancing aircraft with robotic arms |
| CN108583974B (en) * | 2018-02-09 | 2023-05-23 | 仲恺农业工程学院 | Net sleeving machine |
| CN108297057A (en) * | 2018-03-09 | 2018-07-20 | 云南农业大学 | A kind of rescue combined apparatus |
| CN110282137B (en) * | 2019-06-19 | 2022-11-11 | 西北工业大学 | Intelligent air capture device based on tether connection and control method |
| CN110479649B (en) * | 2019-08-21 | 2021-09-14 | 嘉兴久珥科技有限公司 | Improved double-guide-rail sorting device based on gantry manipulator |
| CN110763590A (en) * | 2019-11-28 | 2020-02-07 | 合肥荣佳电气自动化科技有限公司 | Method for detecting moisture of mixture |
| CN111618897A (en) * | 2020-04-26 | 2020-09-04 | 广州富港万嘉智能科技有限公司 | Claw changing mechanism capable of automatically correcting transverse deviation and manipulator equipment |
| CN111717391B (en) * | 2020-06-28 | 2022-11-22 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN112670783B (en) * | 2020-12-10 | 2023-02-21 | 广东电网有限责任公司 | Earth connection dismouting device |
| EP4197909A1 (en) * | 2021-12-15 | 2023-06-21 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A human and/or non-human cargo attachment device for use with a rotorcraft |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3314806C1 (en) * | 1983-04-23 | 1984-08-23 | Nukem Gmbh, 6450 Hanau | Gripping device for pressed articles |
| US5593113A (en) * | 1995-02-06 | 1997-01-14 | Cox; Donald P. | Methods and apparatus for selectively attaching and releasing multiple payloads suspended from an aircraft |
| JP5522439B2 (en) * | 2009-09-30 | 2014-06-18 | 国立大学法人九州工業大学 | Gripping device |
| CN102756625B (en) * | 2011-03-29 | 2018-02-23 | 郑鹏 | Mud stream flies to hang the amphibious ambulance of rescue and its control method |
| CN202175198U (en) * | 2011-07-21 | 2012-03-28 | 苏一 | Multifunctional rescue aircraft |
| CN103692443B (en) * | 2014-01-06 | 2015-10-07 | 西安航空学院 | Visible remote control based on four-rotor helicopter tears quick-fried device open |
| CN204136055U (en) * | 2014-10-21 | 2015-02-04 | 山东鲁能智能技术有限公司 | A kind of multi link formula grabbing device |
| CN204713423U (en) * | 2015-03-26 | 2015-10-21 | 安徽中医药大学 | A kind of small-sized aerial photography device of control formula of restricting |
| CN204507291U (en) * | 2015-03-31 | 2015-07-29 | 马鞍山市赛迪智能科技有限公司 | A kind of lubricated maintenance equipment based on aircraft |
| CN104965516B (en) * | 2015-06-15 | 2017-10-10 | 东南大学 | A kind of view-based access control model and the quadrotor of force feedback carry out the control method of aerial crawl operation |
| CN104919981A (en) * | 2015-07-13 | 2015-09-23 | 绍兴文理学院 | Unmanned aerial vehicle Chinese torreya fruit picker |
| CN204837127U (en) * | 2015-08-06 | 2015-12-09 | 毛麟飞 | Ware is picked to high branch fruit |
| CN105014687A (en) * | 2015-08-07 | 2015-11-04 | 东北电力大学 | Mechanical arm with multi-rotor-wing unmanned aerial vehicle |
-
2016
- 2016-03-21 CN CN201810276816.5A patent/CN108673550A/en active Pending
- 2016-03-21 CN CN201610162820.XA patent/CN105563514B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563514A (en) | 2016-05-11 |
| CN108673550A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105563514B (en) | A kind of robot device | |
| CN106542092A (en) | One kind can flight formula work high above the ground robot and its method | |
| CN204640239U (en) | A kind of flexible adaptive manipulator | |
| CN104088249B (en) | Scenic spot remote control distributor picks up garbage apparatus automatically | |
| CN110371291B (en) | Stable wire feeding and discharging mechanism of high-voltage transmission line flying inspection robot | |
| CN206313365U (en) | It is a kind of with recessed box structure can flight formula work high above the ground robot | |
| CN204686886U (en) | A kind of flexible adaptive manipulator control system | |
| CN204641938U (en) | A kind of measuring robots based on negative-pressure adsorption | |
| CN108357687B (en) | Four rotor crafts can hang based on bat is bionical | |
| CN206455651U (en) | A kind of crawler type rescue robot | |
| CN205407115U (en) | High wire pressing machine ware people patrols and examines | |
| CN208979118U (en) | A kind of continuous arm group capture mechanism towards noncooperative target | |
| CN107140185A (en) | A kind of intelligent multi-rotor unmanned aerial vehicle | |
| CN107792358B (en) | Wheel-leg type jumping mechanism and flapping-wing type robot | |
| CN108860355A (en) | A kind of Y humanoid robot control method | |
| CN205870532U (en) | Panel is got and is put manipulator | |
| CN115352624A (en) | Bionic unmanned aerial vehicle | |
| CN106628134B (en) | A kind of rotor flight device and its control method | |
| CN108552153A (en) | A kind of high emulation eagle for bird repellent | |
| CN106625710A (en) | Robot | |
| CN211592914U (en) | Electronic undercarriage device that receive and releases of unmanned aerial vehicle | |
| CN207104914U (en) | A kind of adaptive robot visual inspection webcam driver structure | |
| CN210707885U (en) | Unmanned aerial vehicle is patrolled and examined to electric power | |
| CN207773481U (en) | A kind of unmanned plane | |
| CN106826794A (en) | A kind of adaptive robot visual inspection webcam driver structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |