CN105945910A - Clamping mechanical arm of unmanned aerial vehicle - Google Patents

Clamping mechanical arm of unmanned aerial vehicle Download PDF

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Publication number
CN105945910A
CN105945910A CN201610324148.XA CN201610324148A CN105945910A CN 105945910 A CN105945910 A CN 105945910A CN 201610324148 A CN201610324148 A CN 201610324148A CN 105945910 A CN105945910 A CN 105945910A
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CN
China
Prior art keywords
installed
arranged
described
operating board
bearing pin
Prior art date
Application number
CN201610324148.XA
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Chinese (zh)
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CN105945910B (en
Inventor
储茂松
潘春燕
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安庆米锐智能科技有限公司
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Priority to CN201610324148.XA priority Critical patent/CN105945910B/en
Publication of CN105945910A publication Critical patent/CN105945910A/en
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Publication of CN105945910B publication Critical patent/CN105945910B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends

Abstract

The invention relates to a clamping mechanical arm of an unmanned aerial vehicle. The clamping mechanical arm of the unmanned aerial vehicle comprises a fixing table; four parallel-connection branch chains are symmetrically installed on the upper end face of the fixing table; an operating table is installed at the top ends of the four parallel-connection branch chains; each parallel-connection branch chain comprises a first lug base welded to the upper end face of the fixing table; first hydraulic cylinders are installed between the first lug bases through pin shafts; the top ends of the first hydraulic cylinders are installed on second lug bases through pin shafts; the second lug bases are installed on the lower end face of the operating table; rotating pairs R formed when the first lug bases rotate, movement pairs P formed when the first hydraulic cylinders stretch out and draw back, and rotating pairs R formed when the second lug bases rotate form the parallel-connection branch chains of the RPR structure; and four locking branch chains are evenly arranged on the upper end face of the operating table in the axis direction. According to the clamping mechanical arm of the unmanned aerial vehicle, the function of intelligent distribution logistics can be achieved through the unmanned aerial vehicle, the beneficial effects that the distribution speed is high, the distribution time is short, the intelligent degree is high, manual work is not needed, cost is low, and work efficiency is high are achieved, and a new path for intelligent distribution logistics is provided.

Description

A kind of unmanned plane clamping manipulator

Technical field

The present invention relates to unmanned plane field, a kind of unmanned plane clamping manipulator.

Background technology

UAV is called for short " unmanned plane ", is to utilize radio robot and the presetting apparatus provided for oneself to handle not Manned aircraft.The feature that unmanned plane has that volume is little, lightweight, expense is low, flexible operation, safety are high, is widely used in Take photo by plane, detect, search and rescue, the field such as resource exploration and logistics distribution.

Existing logistics distribution is substantially all as artificial dispensing, artificial Distribution logistics exists that dispensing speed is slow, distribution time length, people Work cost is high, intelligence degree is low and the inferior defect of inefficiency, in consideration of it, be badly in need of a kind of and existing intelligent science and technology combine, The logistics unmanned plane that can automatically provide and deliver.

Summary of the invention

In order to solve the problems referred to above, the invention provides a kind of unmanned plane clamping manipulator, existing artificial Distribution logistics can be solved and deposit Dispensing speed slow, distribution time length, cost of labor high, intelligence degree is low and the inferior difficult problem of inefficiency, by nothing The man-machine function that can realize intelligent Distribution logistics, there is dispensing speed be fast, distribution time is short, intelligence degree is high, without Artificial success and work efficiency advantages of higher, it is provided that the new way of a kind of intelligent Distribution logistics.

To achieve these goals, the present invention realizes by the following technical solutions: a kind of unmanned plane clamping manipulator, including fixed station, The upper surface of fixed station is symmetrically installed with four side chains in parallel, and the top of four side chains in parallel is provided with operating board;Described parallel connection is propped up Chain includes the ear mount being welded on fixed station upper surface, is provided with a hydraulic cylinder, a liquid by bearing pin between an ear mount The top of cylinder pressure is arranged in No. two ear mount by bearing pin, and No. two ear mount are arranged on the lower surface of operating board, when an ear mount rotates Revolute pair R, a hydraulic cylinder extension time moving sets P and No. two ear mount revolute pair R when rotating define RPR structure Side chain in parallel, fixed station, the side chain in parallel of four RPR structures and operating board form 4-RPR parallel institution, 4-RPR parallel machine Structure has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, is propped up by four parallel connections Four hydraulic cylinders on chain drive operating board to make lift adjustment, it is possible to achieve the present invention lifts the merit capturing sending objects Energy;The upper surface of described operating board is evenly arranged with four locking side chains in the axial direction, is used for clamping between four locking side chains The article of required dispensing.

As a preferred technical solution of the present invention, described locking side chain includes two mounting ears being arranged on operating board upper surface, Being provided with a connecting rod by bearing pin between two mounting ears, the end of a connecting rod is provided with two lower hangers, two lower hangers Between by bearing pin, upper hanger is installed, upper hanger is welded on No. two connecting rods, and the end of No. two connecting rods is welded with matrix support, Matrix mid-stent is provided with lock shaft by bearing, and the right-hand member of rotary shaft is provided with locking motor, locking motor by shaft coupling Being provided with fixed plate by motor cabinet, fixed plate is welded on the right side of matrix support;It is fixed with gripper on described lock shaft, Driving lock shaft to rotate by locking motor, lock shaft driving mechanical pawl rotates, and is captured by gripper and locks sending objects; Between a described connecting rod back and operating board, a governor motion is installed, regulates a connecting rod by a governor motion and exist Rotational angle on mounting ear;Between a described connecting rod inwall and No. two connecting rods, No. two governor motions are installed, by No. two tune Joint mechanism regulates No. two connecting rods rotational angle on lower hanger.

As a preferred technical solution of the present invention, a described governor motion includes the bugle being arranged on operating board upper surface Seat, is provided with No. two hydraulic cylinders by bearing pin between a bugle seat, and No. two hydraulic cylinder tops are arranged on two bugle seats by bearing pin, Two bugle seats are arranged on the back of a connecting rod, carry out connecting rod rotational angle on mounting ear by No. two hydraulic cylinders;Described No. two governor motions include the three bugle seats being arranged on a connecting rod inwall, are provided with No. three liquid by bearing pin between three bugle seats Cylinder pressure, the top of No. three hydraulic cylinders is arranged on four bugle seats by bearing pin, and four bugle seats are arranged on the inwall of No. two connecting rods, No. two connecting rods rotational angle on lower hanger is regulated by No. three hydraulic cylinders.

As a preferred technical solution of the present invention, described fixed station and operating board are circular configuration, and the center of fixed station The advantages such as axis coincides with the central axis of operating board, and the rigidity by 4-RPR parallel institution is high and stability is good can begin Make fixed station and operating board keeping parallelism eventually, so that sending objects can be with held stationary during unmanned plane during flying.

Described gripper includes two the locking ears being fixed on lock shaft, and two locking ears are fixed on stay, on stay End face is evenly arranged with calvus, is captured by calvus and locks sending objects.

During work, first the present invention is arranged on unmanned plane, when unmanned plane needs to provide and deliver express delivery, first reduces by four lockings Chain makes to be more prone to capture sending objects, is driven on operating board by four hydraulic cylinders on four side chains in parallel Four locking side chains make lift adjustment, and after moving to properly capture height, a hydraulic cylinder quits work;Locking side chain starts Work, first pass through No. two hydraulic cylinders come a connecting rod rotate on mounting ear and by No. three hydraulic cylinders regulate No. two connecting rods under Rotating on hanger, start to capture article when the angle of a connecting rod and No. two connecting rods is suitable, locking motor is started working, locking Driven by motor lock shaft rotate, lock shaft driving mechanical pawl rotate, captured by gripper and lock sending objects, then without Man-machine beginning sending objects, owing to fixed station, the side chain in parallel of four RPR structures and operating board define 4-RPR parallel institution, Have that dynamic response is good, rigidity is high, bearing capacity is big by 4-RPR parallel institution, good stability and kinematic accuracy advantages of higher Make the whole delivery process of unmanned plane can remain plateau, it is achieved thereby that the function of intelligent Distribution logistics.

The invention has the beneficial effects as follows:

1, the present invention drives operating board to make lift adjustment by four hydraulic cylinders on four side chains in parallel, it is possible to achieve The present invention lifts the function capturing sending objects;

2, the fixed station in the present invention, the side chain in parallel of four RPR structures and operating board define 4-RPR parallel institution, by 4-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher make The whole delivery process of unmanned plane can remain plateau;

3, the present invention is regulated a connecting rod and the rotational angle of No. two connecting rods by No. two hydraulic cylinders, No. three hydraulic cylinders, and is passed through Locking motor controls gripper and captures and lock sending objects, and intelligence degree is high, it is not necessary to manual operation;

4, the present invention solves that the dispensing speed that existing artificial Distribution logistics exists is slow, distribution time length, cost of labor are high, intelligent Change degree is low and the inferior difficult problem of inefficiency, can be realized the function of intelligent Distribution logistics by unmanned plane, has dispensing speed Degree is fast, distribution time is short, intelligence degree is high, without artificial success and work efficiency advantages of higher, it is provided that a kind of intelligent The new way of Distribution logistics.

Accompanying drawing explanation

The present invention is further described with embodiment below in conjunction with the accompanying drawings.

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the full sectional view of the present invention;

Fig. 3 is the structural representation of operating board of the present invention and locking side chain.

Specific embodiment

For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool Body illustrates, and the present invention is expanded on further.

As shown in Figure 1, Figure 2, Figure 3 shows, a kind of unmanned plane clamping manipulator, including fixed station 1, the upper surface of fixed station 1 is symmetrical Being provided with four side chains 2 in parallel, the top of four side chains 2 in parallel is provided with operating board 3;Described side chain 2 in parallel includes being welded on A number ear mount 21 of fixed station 1 upper surface, is provided with a hydraulic cylinder 22, a hydraulic pressure by bearing pin between an ear mount 21 The top of cylinder 22 is arranged in No. two ear mount 23 by bearing pin, and No. two ear mount 23 are arranged on the lower surface of operating board 3, an ear Revolute pair R when moving sets P when stretching of revolute pair R when seat 21 rotates, a hydraulic cylinder 22 and No. two ear mount 23 rotate Defining the side chain in parallel 2 of RPR structure, side chain in parallel 2 and the operating board 3 of 1, four RPR structures of fixed station form 4-RPR Parallel institution, 4-RPR parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy high Etc. advantage, operating board 3 is driven to make lift adjustment by four hydraulic cylinder 22 motions on four side chains 2 in parallel, Ke Yishi The existing present invention lifts the function capturing sending objects;The upper surface of described operating board 3 is evenly arranged with four lockings in the axial direction Side chain 4, for clamping the article of required dispensing between four locking side chains 4.

Described locking side chain 4 includes two mounting ears 41 being arranged on operating board 3 upper surface, passes through between two mounting ears 41 Bearing pin is provided with a connecting rod 42, and the end of a connecting rod 42 is provided with two lower hangers 43, passes through between two lower hangers 43 Bearing pin is provided with hanger 44, and upper hanger 44 is welded on No. two connecting rods 45, and the end of No. two connecting rods 45 is welded with matrix and props up Frame 46, is provided with lock shaft 47 by bearing in the middle part of matrix support 46, and the right-hand member of rotary shaft 47 is provided with locking by shaft coupling Motor 48, locking motor 48 is provided with fixed plate 49 by motor cabinet, and fixed plate 49 is welded on the right side of matrix support 46 On;It is fixed with gripper 410 on described lock shaft 47, drives lock shaft 47 to rotate by locking motor 48, lock shaft 47 Driving mechanical pawl 410 rotates, and is captured by gripper 410 and locks sending objects;Described connecting rod 42 back and operation A number governor motion 411 is installed between platform 3, regulates a connecting rod 42 at mounting ear 41 by a governor motion 411 On rotational angle;No. two governor motions 412 are installed, by two between described connecting rod 42 inwall and No. two connecting rods 45 Number governor motion 412 regulates No. two connecting rods 45 rotational angle on lower hanger 43.

A described governor motion 411 includes the bugle seat 4111 being arranged on operating board 3 upper surface, a bugle seat 4111 it Between by bearing pin, No. two hydraulic cylinders 4112 are installed, No. two hydraulic cylinder 4112 tops are arranged on two bugle seats 4113 by bearing pin, Two bugle seats 4113 are arranged on the back of a connecting rod 42, carry out a connecting rod 42 at mounting ear 41 by No. two hydraulic cylinders 4112 On rotational angle;Described No. two governor motions 412 include the three bugle seats 4121 being arranged on connecting rod 42 inwall, three Being provided with No. three hydraulic cylinders 4122 by bearing pin between bugle seat 4121, the top of No. three hydraulic cylinders 4122 is arranged on by bearing pin On four bugle seats 4123, four bugle seats 4123 are arranged on the inwall of No. two connecting rods 45, are adjusted by No. three hydraulic cylinders 4122 Save No. two connecting rods 45 rotational angle on lower hanger 43.

Described fixed station 1 and operating board 3 are circular configuration, and the central axis of the central axis of fixed station 1 and operating board 3 Coinciding, the advantages such as the rigidity by 4-RPR parallel institution is high and stability is good can make fixed station 1 and operating board 3 all the time Keeping parallelism, so that sending objects can be with held stationary during unmanned plane during flying.

Described gripper 410 includes two the locking ears 4101 being fixed on lock shaft 47, and two locking ears 4101 are fixed on lock On tight sheet 4102, stay 4102 upper surface is evenly arranged with calvus 4103, is captured by calvus 4103 and locks dispensing Article.

During work, first the present invention is arranged on unmanned plane, when unmanned plane needs to provide and deliver express delivery, first reduces by four lockings Chain 4 makes to be more prone to capture sending objects, drives operation by four hydraulic cylinder 22 motions on four side chains 2 in parallel Four locking side chains 4 on platform 3 make lift adjustment, and after moving to properly capture height, a hydraulic cylinder 22 quits work; Locking side chain 4 is started working, and first passes through No. two hydraulic cylinders 4112 and carrys out a connecting rod 42 and rotate on mounting ear 41 and pass through No. three Hydraulic cylinder 4122 regulates No. two connecting rods 45 and rotates on lower hanger 43, when the angle of a connecting rod 42 and No. two connecting rods 45 is closed Starting to capture article, locking motor 48 is started working in good time, and locking motor 48 drives lock shaft 47 to rotate, and lock shaft 47 carries Dynamic gripper 410 rotates, and is captured by gripper 410 and locks sending objects, and then unmanned plane starts sending objects, by Side chain in parallel 2 and operating board 3 in 1, four RPR structures of fixed station define 4-RPR parallel institution, by 4-RPR also Online structure has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher make unmanned plane whole Individual delivery process can remain plateau, it is achieved thereby that the function of intelligent Distribution logistics, solve existing manually The dispensing speed that Distribution logistics exists is slow, distribution time length, cost of labor are high, intelligence degree is low and the inferior difficulty of inefficiency Topic, has reached purpose.

The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry, The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description, Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.

Claims (3)

1. a unmanned plane clamping manipulator, it is characterised in that: include that fixed station (1), the upper surface of fixed station (1) are symmetrically installed with four Individual side chain (2) in parallel, the top of four side chains in parallel (2) is provided with operating board (3);The upper surface of described operating board (3) is along axis Direction is evenly arranged with four lockings side chain (4);Described side chain (2) in parallel includes the ear mount being welded on fixed station (1) upper surface (21), being provided with a hydraulic cylinder (22) by bearing pin between an ear mount (21), bearing pin is passed through on the top of a hydraulic cylinder (22) Being arranged on No. two ear mount (23), No. two ear mount (23) are arranged on the lower surface of operating board (3);
Described locking side chain (4) includes two mounting ears (41) being arranged on operating board (3) upper surface, between two mounting ears (41) Being provided with a connecting rod (42) by bearing pin, the end of a connecting rod (42) is provided with two lower hangers (43), two lower hangers (43) Between by bearing pin, upper hanger (44) is installed, upper hanger (44) is welded on No. two connecting rods (45), the end of No. two connecting rods (45) Being welded with matrix support (46), matrix support (46) middle part is provided with lock shaft (47) by bearing, and the right-hand member of rotary shaft (47) leads to Crossing shaft coupling and be provided with locking motor (48), locking motor (48) is provided with fixed plate (49) by motor cabinet, and fixed plate (49) is welded It is connected on the right side of matrix support (46);Gripper (410) it is fixed with on described lock shaft (47);A described connecting rod (42) A number governor motion (411) is installed between back and operating board (3);Described connecting rod (42) inwall and No. two connecting rods (45) it Between No. two governor motions (412) are installed;
A described governor motion (411) includes the bugle seat (4111) being arranged on operating board (3) upper surface, a bugle seat (4111) Between by bearing pin, No. two hydraulic cylinders (4112) are installed, No. two hydraulic cylinder (4112) tops are arranged on two bugle seats by bearing pin (4113), on, two bugle seats (4113) are arranged on the back of a connecting rod (42);Described No. two governor motions (412) include being arranged on Three bugle seats (4121) on number connecting rod (42) inwall, are provided with No. three hydraulic cylinders by bearing pin between three bugle seats (4121) (4122), the top of No. three hydraulic cylinders (4122) is arranged on four bugle seats (4123) by bearing pin, and four bugle seats (4123) are installed On the inwall of No. two connecting rods (45).
A kind of unmanned plane clamping manipulator the most according to claim 1, it is characterised in that: described fixed station (1) and operating board (3) It is circular configuration, and the central axis of the central axis of fixed station (1) and operating board (3) coincides.
A kind of unmanned plane clamping manipulator the most according to claim 1, it is characterised in that: described gripper (410) includes fixing Two lockings ear (4101) on lock shaft (47), two lockings ear (4101) are fixed on stay (4102), stay (4102) upper surface is evenly arranged with calvus (4103).
CN201610324148.XA 2016-05-16 2016-05-16 A kind of unmanned plane clamping manipulator CN105945910B (en)

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Application Number Priority Date Filing Date Title
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CN105945910B CN105945910B (en) 2017-11-21

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107139165A (en) * 2017-06-23 2017-09-08 中国科学院上海光学精密机械研究所 The Six-freedom-degree space docking mechanism of series-parallel connection
CN107839349A (en) * 2016-09-19 2018-03-27 施乐公司 For in three-dimensional(3D)The system and method printed on curved face object

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CN104858886A (en) * 2015-06-11 2015-08-26 安庆市华鑫重工股份有限公司 Four-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism
CN104858887A (en) * 2015-06-11 2015-08-26 安庆市华鑫重工股份有限公司 Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism
CN104891332A (en) * 2015-06-11 2015-09-09 安庆市华鑫重工股份有限公司 Three degree-of-freedom self-stabilizing box body grab bucket based on parallel mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7673384B2 (en) * 2006-04-27 2010-03-09 Genesis Systems Group, Llc Nut runner and hexabot robot
CN102935639A (en) * 2012-10-17 2013-02-20 燕山大学 Triple-claw 3 SPR+3RPS type series-parallel robot
CN103085060A (en) * 2012-12-31 2013-05-08 中国科学院自动化研究所 Butt joint / separating device and method based on force sense and visual sense mixture detection
CN204036464U (en) * 2014-08-02 2014-12-24 泉州市永茂电子科技有限公司 Shock absorption type stacking gripper
CN104174733A (en) * 2014-09-17 2014-12-03 安徽理工大学 Four-degree-of-freedom series-parallel multi-point flexible shape pulling machine
CN104858886A (en) * 2015-06-11 2015-08-26 安庆市华鑫重工股份有限公司 Four-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107839349A (en) * 2016-09-19 2018-03-27 施乐公司 For in three-dimensional(3D)The system and method printed on curved face object
CN107139165A (en) * 2017-06-23 2017-09-08 中国科学院上海光学精密机械研究所 The Six-freedom-degree space docking mechanism of series-parallel connection

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