CN106256684B - A kind of grasping mechanism for being equipped on unmanned plane - Google Patents
A kind of grasping mechanism for being equipped on unmanned plane Download PDFInfo
- Publication number
- CN106256684B CN106256684B CN201610701495.XA CN201610701495A CN106256684B CN 106256684 B CN106256684 B CN 106256684B CN 201610701495 A CN201610701495 A CN 201610701495A CN 106256684 B CN106256684 B CN 106256684B
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- China
- Prior art keywords
- steering engine
- grabbing device
- fixed
- unmanned plane
- installation frame
- 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.)
- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 title claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- 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
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
The invention discloses a kind of grasping mechanisms for being equipped on unmanned plane, two slide bars are arranged in parallel, four bearing blocks, which are uniformly distributed, is fixed on installation frame bottom, a linear bearing is respectively equipped in each bearing block, linear bearing is sleeved on two slide bars, so that installation frame is located above slide bar, rack is fixed on installation frame bottom centre, it is and parallel with slide bar, the both ends of gear steering engine mounting base are connected respectively with two slide bars, a pair of of grabbing device stent is fixed on one end of two slide bars, grabbing device is arranged on grabbing device stent, and it is rotatablely connected with it, crawl control steering engine is fixed on grabbing device stent, the output axis connection of grabbing device and crawl control steering engine；Gear steering engine is fixed in gear steering engine mounting base bottom, and the output shaft of gear steering engine is engaged by wheel and rack.The present invention can not only complete general transport task, can also complete capturing and launching for task, be conducive to adapt to more complicated handling situations.
Description
Technical field
The invention belongs to unmanned plane attachmentes, and in particular to a kind of grasping mechanism for being equipped on unmanned plane.
Background technology
At present, the application field of unmanned plane is more and more wider, and remote control flight is the essential characteristic of unmanned plane, based on this
Essential characteristic can derive multiple use, for example scout, and take photo by plane, plant protection, express transportation, disaster relief, observe wild move
Object, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making etc..Since unmanned plane has mobility again
Good, task response is fast, and information feeds back the characteristics of timely, and carrying out air transport using unmanned plane becomes an important development side
To.Existing unmanned plane air transport is mainly used for military purposes, can transport the wounded, weapons and ammunitions, food and water etc., nobody
The wounded can be quickly sent to hospital by the high efficiency of machine；Civilian transport unmanned plane can be used for transporting medical article, express delivery goods
Object etc., but not yet obtain real extensive utilization at present.It is generally desirable to freight is bigger, the build of unmanned plane
Bigger, military transport unmanned plane is substantially with the general size of helicopter, and civilian transport unmanned plane is then relatively more compact.It is existing
Unmanned plane is transported in the task of execution, solely cargo from one can only often be transported anotherly, during which can not carry out volume
Outer action, for example selectively capture article, launch article etc. in locality, which limits the Transportation Efficiencies of unmanned plane
The development of raising and the transport automation of rate.
Invention content
The purpose of the present invention is to provide a kind of grasping mechanisms for being equipped on unmanned plane, can not only complete general transport and appoint
Business, can also complete capturing and launching for task, be conducive to adapt to more complicated handling situations.
Realize the object of the invention technical solution be：A kind of grasping mechanism for being equipped on unmanned plane, including gear, tooth
Take turns steering engine, rack, installation frame, grabbing device, crawl control steering engine, gear steering engine mounting base, linear bearing, two slide bars,
A pair of of grabbing device stent and four bearing blocks, two slide bars are arranged in parallel, and four bearing blocks are uniformly distributed and are fixed on fitting machine
Frame bottom is respectively equipped with a linear bearing in each bearing block, and linear bearing is sleeved on two slide bars so that installation frame position
Above slide bar, rack is fixed on installation frame bottom centre, and parallel with slide bar, the both ends of gear steering engine mounting base respectively with
Two slide bars are connected, and a pair of of grabbing device stent is fixed on one end of two slide bars, and grabbing device is arranged on grabbing device stent
On, and be rotatablely connected with it, crawl control steering engine is fixed on grabbing device stent, and grabbing device is defeated with crawl control steering engine
Go out axis connection；Gear steering engine is fixed in gear steering engine mounting base bottom, and the output shaft of gear steering engine is engaged by wheel and rack.
The installation frame includes a stringer board and at least two transverse slats being arranged in parallel, and stringer board both ends are flat with two respectively
The transverse slat of row setting is connected, and two transverse slat bottoms both ends difference fixed bearing block, top is connected with unmanned plane.
The grabbing device uses scoop, dustpan or the box body with opening.
Compared with prior art, the present invention its remarkable advantage is：The article of dispersion is effectively captured in destination, and will
It is collected in storing bin, in the task process for performing transport, ensures that article is not fallen out, and can pinpoint dispensing object,
With obvious effects, simple in structure, lighter weight is suitble to be equipped on unmanned plane.
Description of the drawings
Fig. 1 is the overall structure diagram for the grasping mechanism that the present invention is equipped on unmanned plane.
Fig. 2 is partial enlarged view at the rack pinion of grasping mechanism of the invention for being equipped on unmanned plane.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to Fig. 1 and Fig. 2, a kind of grasping mechanism for being equipped on unmanned plane, including gear 1, gear steering engine 2, rack 3, peace
Installation frame 4, grabbing device 8, crawl control steering engine 10, gear steering engine mounting base 12, linear bearing 13, two slide bars 6, a pair are grabbed
Appliance stand 7 and four bearing blocks 5 are taken, two slide bars 6 are arranged in parallel, and four bearing blocks 5, which are uniformly distributed, is fixed on installation frame 4
Bottom is respectively equipped with a linear bearing 13 in each bearing block 5, and linear bearing 13 is sleeved on two slide bars 6 so that fitting machine
Frame 4 is located at 6 top of slide bar, and rack 3 is fixed on 4 bottom centre of installation frame, and parallel with slide bar 6, gear steering engine mounting base 12
Both ends be connected respectively with two slide bars 6 by bolt, a pair of of grabbing device stent 7 is bolted on two slide bars 6
One end, grabbing device 8 are arranged on grabbing device stent 7, and are rotatablely connected with it, and crawl control steering engine 10 is fixed on crawl dress
It puts on stent 7, the output axis connection of grabbing device 8 and crawl control steering engine 10.Gear is fixed in 12 bottom of gear steering engine mounting base
Steering engine 2, the output shaft of gear steering engine 2 are engaged by gear 1 with rack 3.
The gear steering engine 2, purchased in market, the 1501MG model steering engines produced using Power HD.
The crawl control steering engine 10, it is purchased in market.The 1501MG model steering engines produced using Power HD.
The installation frame 4 include a stringer board and at least two transverse slats being arranged in parallel, stringer board both ends respectively with two
The transverse slat being arranged in parallel is connected by bolt, and two transverse slat bottoms both ends are connected respectively by bolt and bearing block 5, top with
Unmanned plane is connected.
The grabbing device 8 is using scoop, dustpan or box body with opening etc..
The course of work is as follows：
After installation frame 4 and unmanned plane are connected, start unmanned plane to designated position, gear steering engine 2 passes through gear 1 and tooth
Item engages, and band moving slide-bar 6 is moved forward and backward, so as to adjust the position of the grabbing device stent 7 on slide bar 6 so that grabbing device 8 arrives
Up to designated position, crawl control steering engine 10 drives grabbing device 8 to do pitching movement, it would be desirable to which the object of crawl scoops up and pocket
Firmly, and certain elevation angle posture is maintained.Then gear steering engine 2 inverts, and band moving slide-bar 6 is retracted, and is not primary when retracting
Property be fully retracted into, but every time retract a bit, grabbing device 8 is retracted several times, with prevent retract when object fall.
After grabbing device 8 is retracted, unmanned plane takes off, and flies to a certain specific region, then by 8 bottom of grabbing device, according to
Object is cast by weight.
The present invention effectively captures the article of dispersion in destination, and is collected in storing bin, is performing transport
In task process, ensure that article is not fallen out, and dispensing object can be pinpointed, with obvious effects, simple in structure, lighter weight is fitted
Conjunction is equipped on unmanned plane.
Claims (3)
1. a kind of grasping mechanism for being equipped on unmanned plane, it is characterised in that：Including gear（1）, gear steering engine（2）, rack（3）、
Installation frame（4）, grabbing device（8）, crawl control steering engine（10）, gear steering engine mounting base（12）, linear bearing（13）, two pieces
Slide bar（6）, a pair of of grabbing device stent（7）With four bearing blocks（5）, two slide bars（6）It is arranged in parallel, four bearing blocks（5）
It is uniformly distributed and is fixed on installation frame（4）Bottom, each bearing block（5）Inside it is respectively equipped with a linear bearing（13）, linear axis
It holds（13）It is sleeved on two slide bars（6）On so that installation frame（4）Positioned at slide bar（6）Top, rack（3）It is fixed on installation frame
（4）Bottom centre, and and slide bar（6）It is parallel, gear steering engine mounting base（12）Both ends respectively with two slide bars（6）It is connected, one
To grabbing device stent（7）It is fixed on two slide bars（6）One end, grabbing device（8）It is arranged on grabbing device stent（7）On,
And it is rotatablely connected with it, crawl control steering engine（10）It is fixed on grabbing device stent（7）On, grabbing device（8）It is controlled with crawl
Steering engine（10）Output axis connection；Gear steering engine mounting base（12）Gear steering engine is fixed in bottom（2）, gear steering engine（2）Output
Axis passes through gear（1）With rack（3）Engagement.
2. the grasping mechanism according to claim 1 for being equipped on unmanned plane, it is characterised in that：The installation frame（4）Packet
It includes a stringer board and at least two transverse slats being arranged in parallel, the transverse slat that stringer board both ends are arranged in parallel respectively with two is connected, two
Distinguish fixed bearing block in transverse slat bottom both ends（5）, top is connected with unmanned plane.
3. the grasping mechanism according to claim 1 for being equipped on unmanned plane, it is characterised in that：The grabbing device（8）It adopts
With scoop, dustpan or box body with opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610701495.XA CN106256684B (en) | 2016-08-22 | 2016-08-22 | A kind of grasping mechanism for being equipped on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610701495.XA CN106256684B (en) | 2016-08-22 | 2016-08-22 | A kind of grasping mechanism for being equipped on unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106256684A CN106256684A (en) | 2016-12-28 |
| CN106256684B true CN106256684B (en) | 2018-06-12 |
Family
ID=57713947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610701495.XA Expired - Fee Related CN106256684B (en) | 2016-08-22 | 2016-08-22 | A kind of grasping mechanism for being equipped on unmanned plane |
Country Status (1)
| Country | Link |
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| CN (1) | CN106256684B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628248B (en) * | 2017-09-14 | 2024-01-26 | 上海电力学院 | Multi-rotor unmanned aerial vehicle mechanical arm device |
| CN108438223B (en) * | 2018-04-25 | 2024-03-26 | 浙江工业大学 | Unmanned aerial vehicle full-automatic grabbing device based on visual identification system |
| CN109229385A (en) * | 2018-10-19 | 2019-01-18 | 浙江工业大学 | A kind of crawl cargo transparting device certainly |
| CN109110129A (en) * | 2018-10-19 | 2019-01-01 | 浙江工业大学 | A kind of flight handling device from crawl cargo |
| CN109110128A (en) * | 2018-10-19 | 2019-01-01 | 浙江工业大学 | A kind of double four link types are from grabbing cargo transparting device |
| CN109733133B (en) * | 2018-12-18 | 2022-04-01 | 南京理工大学 | Flexible trailer for assisting alignment and traction |
| CN112046746A (en) * | 2020-08-27 | 2020-12-08 | 山东理工职业学院 | Unmanned aerial vehicle express delivery device |
| CN112810819B (en) * | 2021-02-09 | 2024-06-18 | 庆安集团有限公司 | Unmanned aerial vehicle air drop air freight device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8162263B2 (en) * | 2009-03-31 | 2012-04-24 | Honeywell International Inc. | Payload quick release for an aerial system |
| CN104097773A (en) * | 2014-06-13 | 2014-10-15 | 芜湖特源鑫复合材料科技有限公司 | Multi-rotor-wing aircraft for dropping goods and materials |
| CN105292479B (en) * | 2015-12-11 | 2017-12-01 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of unmanned plane lifebuoy delivery device |
| CN105712077A (en) * | 2016-04-11 | 2016-06-29 | 上海发那科机器人有限公司 | Hub carrying paw and hub carrying device |
| CN205931262U (en) * | 2016-08-22 | 2017-02-08 | 南京理工大学 | Equip in unmanned aerial vehicle's mechanism of snatching |
-
2016
- 2016-08-22 CN CN201610701495.XA patent/CN106256684B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN106256684A (en) | 2016-12-28 |
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Granted publication date: 20180612 Termination date: 20200822 |