CN106737759A - A kind of multipurpose overlength flexible aei mechanical arm operating system - Google Patents
A kind of multipurpose overlength flexible aei mechanical arm operating system Download PDFInfo
- Publication number
- CN106737759A CN106737759A CN201710108978.3A CN201710108978A CN106737759A CN 106737759 A CN106737759 A CN 106737759A CN 201710108978 A CN201710108978 A CN 201710108978A CN 106737759 A CN106737759 A CN 106737759A
- Authority
- CN
- China
- Prior art keywords
- flexible
- mechanical arm
- aei
- multipurpose
- operating system
- 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.)
- Pending
Links
- 239000007921 spray Substances 0.000 claims description 6
- 239000003795 chemical substances by application Substances 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 239000000843 powder Substances 0.000 claims description 3
- 239000008207 working material Substances 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 239000003905 agrochemical Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of multipurpose overlength flexible aei mechanical arm operating system, including node unit, service load and ground supporter.Node unit carries rotor, can be by instruction motion flight.One or more node units with rotor are used as elementary cell, by the mutual mechanical arm agent structure in series of flexible working cable, the head end of mechanical arm is connected by flexible working cable with ground supporter, the node unit carry service load of end turns into terminal job unit, ground supporter is powered for mechanical arm, and provides operation support.Multipurpose overlength flexible aei mechanical arm operating system of the invention can work long hours, realize simultaneously flexible and each to bending motion, both system can be made to be with good expansibility with independent assortment, can makes system that there are super large operating radius again, it is to avoid the defect of prior art.
Description
Technical field
Outdoor environment is can be applied to the present invention relates to mechanical arm application field, more particularly to one kind, when needs are in radius 50
Rice more than large area and spatial dimension carry out operation, can free flexible concertina, carry out for a long time uninterruptedly operation sky
Middle mechanical arm operating system.
Background technology
At present, it is being related to gardens, agricultural plant protection, monitoring environmental protection, fire protection patrol, the application field such as maintenance and repair to need one kind
Super large arm exhibition, the mechanical arm of flexible concertina is accomplished manually difficult job task that is heavy, being harmful to danger to substitute.Existing machinery
Arm operating radius are smaller, especially environment work out of doors, existing all kinds of when operation radius needs more than 50 meters
In mechanical arm technological approaches, feasible solution is there is no.Therefore a kind of new technical scheme is needed to solve to work as operating radius
Engineer operation problem when scope is more than 50 meters.
The content of the invention
It is not enough present in prior art in order to overcome, the invention provides a kind of by unit combination, convenient spirit
Work, good scalability, mobility strong, manipulation is convenient, can work long hours, while realizing flexible and each to many of bending motion
Purposes overlength flexible aei mechanical arm operating system.
The purpose of the present invention is achieved through the following technical solutions：A kind of multipurpose overlength flexible aei mechanical arm operation
System, it is made up of three below major part：Node unit, service load and ground supporter.Node unit is with rotation
The wing, can be by instruction motion flight.One or more node units with rotor are mutual by flexible working cable as elementary cell
The composition that is in series mechanical arm agent structure, the head end of mechanical arm is connected by flexible working cable with ground supporter, end
The node unit carry service load at end turns into terminal job unit.
Further, the node unit both can be single rotor structure, or many rotor structures.
Further, the node unit include body, rotor, flight motor module, flexible working cable interface module,
Flight controller, power module, cable winding-unwinding device module；The cable winding-unwinding device inside modules are equipped with can be flexible with freedom retractable
Flexible working cable, flexible working cable one end is connected with flexible working cable interface module, and the other end passes through cable connector
It is connected with the flexible working cable interface module or ground supporter of another node unit；The flight motor module and flight
Controller is connected；The flexible working cable interface module is connected with flight controller and power module；The flight controller
It is connected with power module.
Further, the arbitrary node unit beyond terminal job unit can carry service load turn into less important work list
Unit.
Further, the service load is selected from all kinds of manipulators, coating apparatus, spray appliance, remote sensing mapping equipment, light
Learn sensing equipment, cutting equipment, all kinds of pipelines.
Further, the ground supporter includes power supply or generator.
Further, the ground supporter also includes pipeline distributor module, gas tank, vapour tank, flow container, the height of auxiliary
Press pump, service load is connected by flexible duct.
Further, the ground supporter is that mechanical arm and service load are powered, and provides vapour, air-liquid, powder etc.
The support of working materials and operation power support, and can be sent between mechanical arm, service load, receive data-signal.
The beneficial effects of the invention are as follows：A kind of multipurpose overlength flexible aei mechanical arm operating system that the present invention is provided,
By one or more node units with rotor as elementary cell, by the mutual mechanical arm master in series of flexible working cable
Body structure, the head end of mechanical arm is connected by flexible working cable with ground supporter, the node unit carry work of end
Make load as terminal job unit.Present system both can make system be with good expansibility with independent assortment, again may be used
So that system has super large operating radius, the outdoor environment for being particluarly suitable for large space scope carries out long working.
Brief description of the drawings
Fig. 1 is a kind of multipurpose overlength flexible aei mechanical arm operating system schematic side view；
Fig. 2 is a kind of multipurpose overlength flexible aei mechanical arm operating system schematic top plan view；
Fig. 3 is a kind of node unit schematic diagram of many rotor structures；
Fig. 4 is a kind of node unit schematic diagram of single rotor structure；
Fig. 5 is a kind of multipurpose overlength flexible aei mechanical arm operating system application schematic side view；
Fig. 6 is a kind of multipurpose overlength flexible aei mechanical arm operating system application schematic top plan view；
In figure, node unit 1, service load 2, ground supporter 3, terminal job unit 4, flexible working cable 5, line
Cable distributor module 6, power module 7, flexible working cable interface module 8, Universal pulley 9, flexible duct 10, pipeline distributor
Module 11, Surface power drive and data cell module 12, operation flow container 13, flight motor module 14, cable connector 15.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention, but embodiments of the present invention are not
It is limited to this.
As shown in Figure 1, 2, a kind of multipurpose overlength flexible aei mechanical arm operating system that the present invention is provided, it is by following
Three major part compositions：Node unit 1, service load 2 and ground supporter 3.Node unit 1 carries rotor, can be by finger
Order motion flight.One or more node units 1 with rotor are mutually in series as elementary cell by flexible working cable 5
Mechanical arm agent structure is constituted, the head end of mechanical arm is connected by flexible working cable 5 with ground supporter 3, end
Node unit carry service load 2 turns into terminal job unit 4, and terminal job unit 4 is responsible for completing specific job task.
As shown in Figure 3,4, the node unit 1 both can be single rotor structure, or many rotor structures.
As shown in Figure 3,4, the node unit 1 can use following structure：Including body, rotor, flight motor module 14,
Flexible working cable interface module 8, flight controller, power module 7, cable winding-unwinding device module 6；The cable winding-unwinding device module
6 inside are equipped with the flexible working cable 5 that can be stretched with freedom retractable, the one end of flexible working cable 5 and flexible working cable interface
Module 8 is connected, and the other end passes through the flexible working cable interface module 8 or ground branch of cable connector 15 and another node unit 1
Unit 3 is held to be connected；The flight motor module 14 is connected with flight controller；The flexible working cable interface module 8 with fly
Line control unit and power module 7 are connected；The flight controller is connected with power module 7.Wherein, can in flexible working cable 5
Comprising power cable, reinforcement, protective layer, can also include data cable, optical fiber etc., protective layer is in flexible working cable
5 outermost layers, flexible working cable 5 is flexible by the folding and unfolding of cable winding-unwinding device module 6.
Further, the arbitrary node unit beyond terminal job unit can carry service load turn into less important work list
Unit.
The service load can be according to being selected, during as terminal job unit, frequently with each the need for job task
Class manipulator, coating apparatus, spray appliance, remote sensing mapping equipment, optical sensing equipment, cutting equipment etc., the service load
During as less important work unit, frequently with remote sensing mapping equipment, optical sensing equipment, all kinds of pipelines etc..
The ground supporter includes power supply or generator, and service load is connected by flexible working cable, can be with
Including the pipeline distributor module, gas tank, vapour tank, flow container, the high-pressure pump that aid in, service load is connected by flexible duct.It is described
Ground supporter is that mechanical arm and service load are powered, and provides the support and operation of the working materials such as vapour, air-liquid, powder
Power support, and can be sent between mechanical arm, service load, receive data-signal.
As shown in Figure 5,6, it is a kind of specific embodiment of the invention, for pesticide spraying, by the following technical programs
It is achieved：A kind of multipurpose overlength flexible aei mechanical arm operating system, including two node units 1, two node units 1
By the mutual mechanical arm agent structure in series of flexible working cable 5, the node unit 1 of mechanical arm head end divides into Universal pulley
9 carry flexible ducts 10, the service load that the node unit 1 of mechanical arm tail end is carried is agricultural chemicals spray boom, the section of mechanical arm tail end
Dot element 1 collectively forms terminal job unit 4 with service load, to complete pesticide spraying job task.Node unit 1 is many
Rotor structure.The node unit 1 of mechanical arm head end passes through flexible working cable 5 and flexible duct 10 and the phase of ground supporter 3
Connection.Agricultural chemicals in operation flow container 13, is sent on agricultural chemicals spray boom by pipeline distributor module 11 through flexible duct 10, implements spray
Spill operation.Surface power drive and data cell module 12 are powered by flexible working cable 5 to each node unit 1 of mechanical arm.
A kind of multipurpose overlength flexible aei mechanical arm operating system that the present invention is provided, is embodied the technology of the invention
Scheme is a lot, and embodiment described above is only one of the preferred embodiment of the present invention.It should be pointed out that for the art
For those of ordinary skill, on the premise of technical solution of the present invention is not departed from, some improvement and modification can also be made, these
Improve and modification also should be regarded as protection scope of the present invention, each part being not known in the present embodiment can use prior art
Realized.
Claims (8)
1. a kind of multipurpose overlength flexible aei mechanical arm operating system, it is characterised in that：It is by three below major part group
Into：Node unit, service load and ground supporter.Node unit carries rotor, can be by instruction motion flight.One more
The individual node unit with rotor as elementary cell, by flexible working cable mechanical arm agent structure in series, machine mutually
The head end of tool arm is connected by flexible working cable with ground supporter, and the node unit carry service load of end turns into
Terminal job unit.
2. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 1, it is characterised in that：The section
Dot element both can be single rotor structure, or many rotor structures.
3. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 1, it is characterised in that：The section
Dot element includes body, rotor, flight motor module, flexible working cable interface module, flight controller, power module, line
Cable distributor module；The cable winding-unwinding device inside modules are equipped with the flexible working cable that can be stretched with freedom retractable, flexible work
Make cable one end to be connected with flexible working cable interface module, the other end passes through the flexible work of cable connector and another node unit
Make cable interface module or ground supporter is connected；The flight motor module is connected with flight controller；The flexible work
Make cable interface module to be connected with flight controller and power module；The flight controller is connected with power module.
4. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 1, it is characterised in that：Terminal is made
Arbitrary node unit beyond industry unit can carry service load turn into less important work unit.
5. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 1, it is characterised in that：The work
Make load and be selected from all kinds of manipulators, coating apparatus, spray appliance, remote sensing mapping equipment, optical sensing equipment, cutting equipment, each
Class pipeline.
6. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 1, it is characterised in that：Describedly
Face supporter includes power supply or generator.
7. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 6, it is characterised in that：Describedly
Face supporter also includes pipeline distributor module, gas tank, vapour tank, flow container, the high-pressure pump of auxiliary, and work is connected by flexible duct
Make load.
8. a kind of multipurpose overlength flexible aei mechanical arm operating system as claimed in claim 7, it is characterised in that：Describedly
Face supporter is that mechanical arm and service load are powered, and it is dynamic to provide the support and operation of the working materials such as vapour, air-liquid, powder
Power is supported, and can be sent between mechanical arm, service load, be received data-signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108978.3A CN106737759A (en) | 2017-02-27 | 2017-02-27 | A kind of multipurpose overlength flexible aei mechanical arm operating system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710108978.3A CN106737759A (en) | 2017-02-27 | 2017-02-27 | A kind of multipurpose overlength flexible aei mechanical arm operating system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737759A true CN106737759A (en) | 2017-05-31 |
Family
ID=58960919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710108978.3A Pending CN106737759A (en) | 2017-02-27 | 2017-02-27 | A kind of multipurpose overlength flexible aei mechanical arm operating system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737759A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103754368A (en) * | 2014-01-25 | 2014-04-30 | 华南农业大学 | Air-ground combined agricultural spraying device and application thereof |
| CN105217044A (en) * | 2015-09-18 | 2016-01-06 | 上海长语信息科技有限公司 | Multi-axis aircraft DC machine speed regulation method in parallel and product |
| CN105292474A (en) * | 2015-11-06 | 2016-02-03 | 中国航空工业经济技术研究院 | Aerial queue type agricultural unmanned aerial vehicle system |
| CN205150248U (en) * | 2015-12-07 | 2016-04-13 | 刘俊宝 | From unmanned aerial vehicle system who takes electric supply cable |
| CN206623097U (en) * | 2017-02-27 | 2017-11-10 | 王旭东 | A kind of multipurpose overlength flexible aei mechanical arm operating system |
-
2017
- 2017-02-27 CN CN201710108978.3A patent/CN106737759A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103754368A (en) * | 2014-01-25 | 2014-04-30 | 华南农业大学 | Air-ground combined agricultural spraying device and application thereof |
| CN105217044A (en) * | 2015-09-18 | 2016-01-06 | 上海长语信息科技有限公司 | Multi-axis aircraft DC machine speed regulation method in parallel and product |
| CN105292474A (en) * | 2015-11-06 | 2016-02-03 | 中国航空工业经济技术研究院 | Aerial queue type agricultural unmanned aerial vehicle system |
| CN205150248U (en) * | 2015-12-07 | 2016-04-13 | 刘俊宝 | From unmanned aerial vehicle system who takes electric supply cable |
| CN206623097U (en) * | 2017-02-27 | 2017-11-10 | 王旭东 | A kind of multipurpose overlength flexible aei mechanical arm operating system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102013013530A1 (en) | Application system with cable-guided handling device for moving an application device | |
| KR101689036B1 (en) | Maintenance robot system based on modular climbing mechanism | |
| CN203092545U (en) | Transformer station live working robot | |
| CN108745728A (en) | A kind of full-automatic outfititem airless spraying equipment robot | |
| CN109702732A (en) | A kind of seven freedom cooperation robot | |
| Muzan et al. | Implementation of industrial robot for painting applications | |
| CN109318204A (en) | A kind of livewire work tow-armed robot intelligence control system | |
| CN206623097U (en) | A kind of multipurpose overlength flexible aei mechanical arm operating system | |
| DE102013101194A1 (en) | Method for e.g. coloring uneven surface of house wall with hover-enabled aircraft e.g. quadrocopter, involves filling tank with treatment agent, and carrying out continuous travel of aircraft at location proximity to treatment surface | |
| CN209222462U (en) | Robot is equipped in full-automatic outfititem airless spraying | |
| CN105835047A (en) | Cylindrical coordinate industrial mechanical arm with hydraulic control system | |
| CN106737759A (en) | A kind of multipurpose overlength flexible aei mechanical arm operating system | |
| CN105992677A (en) | A compact parallel kinematics robot | |
| CN108855706A (en) | A kind of ship robot spray apparatus | |
| JP2019127091A (en) | Flight device | |
| CN103143469B (en) | A kind of device and method from moving spray gun | |
| CN107178053A (en) | A kind of piping lane cleaning device and piping lane cleaning vehicle | |
| CN205497501U (en) | Mechanical hand of toy stoving | |
| CN208181421U (en) | A kind of intelligent patrol detection maintenance equipment | |
| CN206676616U (en) | A kind of new mobile type paint sprayer hand | |
| CN112944287B (en) | Air repair system with active light source | |
| CN107486838A (en) | A kind of tow-armed robot of special-shaped arm | |
| CN207469167U (en) | Environmental sanitation vehicles | |
| CN205247202U (en) | Device is protected to electromechanical device automatic control dimension | |
| CN207050664U (en) | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
|
| WD01 | Invention patent application deemed withdrawn after publication |