CN108312137A - UAV Landing docking mechanism based on multi-joint mechanical arm - Google Patents
UAV Landing docking mechanism based on multi-joint mechanical arm Download PDFInfo
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- CN108312137A CN108312137A CN201810254705.4A CN201810254705A CN108312137A CN 108312137 A CN108312137 A CN 108312137A CN 201810254705 A CN201810254705 A CN 201810254705A CN 108312137 A CN108312137 A CN 108312137A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 92
- 238000003032 molecular docking Methods 0.000 title claims abstract description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 36
- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000001737 promoting effect Effects 0.000 claims 1
- 210000000323 shoulder joint Anatomy 0.000 description 18
- 238000004064 recycling Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 11
- 210000002310 elbow joint Anatomy 0.000 description 8
- 210000003857 wrist joint Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000036544 posture Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of UAV Landing docking mechanism based on multi-joint mechanical arm, the redundancy multi-joint mechanical arm for being provided with the binocular vision system for acquiring UAV Attitude image information on working plate and unmanned plane being captured, redundancy multi-joint mechanical arm is two, and the landing locking mechanism for unmanned plane to be fixed is provided on the working plate at the radius of clean-up intersection region of two redundancy multi-joint mechanical arms, it is provided with end capture mechanism on the end rod piece of redundancy multi-joint mechanical arm, the auxiliary clamp being arranged on its end capture mechanism and unmanned plane undercarriage carries out clearance fit use；The present invention simulates mankind's both hands by two multi-joint mechanical arms and is captured to unmanned machine support, pass through the dragging of multi-joint mechanical arm, unmanned plane is arranged to landing locking mechanism and is fixed, it realizes that the flexible of different posture unmanned planes lands in landing mission, there is the high UAV Landing docking mechanism based on multi-joint mechanical arm of different positions and pose compatibility.
Description
Technical field：
The present invention relates to a kind of unmanned vehicle field, more particularly to a kind of nobody based on multi-joint mechanical arm
Machine landing docking mechanism.
Background technology：
Unmanned plane (UAV) is the abbreviation of unmanned vehicle (Unmanned Aerial Vehicle), it both can profit
Hand manipulation flight is carried out with radio robot, autonomous flight can also be carried out using airborne computer and navigation equipment.
The course of work of unmanned plane can be divided into transmitting, operation flight and recycling three phases.Unmanned plane launch and flight skill
The development of art relative maturity.Unmanned plane radiation pattern includes mainly that small drone hand of the weight less than 10kg is thrown transmitting, slided
Rail launch and Vertical Launch, weight 10kg between 800kg medium-sized unmanned plane sliding rail transmitting, Vertical Launch, air-launched,
Car launcher transmitting, take off transmitting, and large-scale unmanned plane of the weight more than 800kg, which is slided, runs transmitting and rocket launching etc..Unmanned plane
Radiation pattern is varied, but unmanned plane lift-off technology is relatively easy, and process is reliable.Unmanned plane way of recycling includes miniature self-service
Air cushion recycling, the intercept net recycling of machine, the intercept net recycling of medium-sized unmanned plane, are recycled and are alightinged run in the air at parachute recycling
The recycling of alightinging run of recycling, large-scale unmanned plane splashes down recycling etc. with marine.And it is directed to medium-sized and large-scale unmanned plane, using rising and falling
It is its main direction of development that frame wheel, which carries out the recycling of takeoff launch and landing,.And the landing mission of wheeled unmanned plane is for nobody
The most complicated and accident rate highest stage in the entire flight course of machine.And utilize air cushion, parachute, intercept net etc. and nobody
When machine Elastic Contact realizes unmanned plane recycling, it is required to progress energy dress and changes, time-consuming for transfer process, though it can finally realize nobody
The recycling of machine, but its organic efficiency is relatively low, therefore the docking mechanism of unmanned plane will develop to having the characteristic direction quickly recycled,
I.e. by the way of rigidity, energy conversion time when shortening unmanned plane recycling.
UAV Landing docking mechanism is the auxiliary body that Process Design is landed for unmanned plane, it can overcome UAV Landing
The pose of process is uncertain, fatefully instruct the execution of unmanned plane landing point, to realize unmanned plane steadily accurately
Land is to source location.The pose that unmanned plane prepares before landing is ever-changing, and landing docking mechanism assists wanting when UAV Landing
Compatible all postures are sought, therefore unmanned plane docking mechanism must have the characteristics of high flexibility.Unmanned target location point
Due to the interference of the factors such as external environment or GPS signal during land, often there is landing actual displacement greatly from target point offset,
The inaccurate problem in land point position, therefore unmanned plane docking mechanism need to build a piece of landing preparation region, when unmanned plane flies to landing
Docking structure plays a role guiding UAV Landing to accurately land after preparing region.
In conclusion UAV Landing docking mechanism, which needs to meet first under multi-pose, guides UAV Landing, secondly require
A piece of landing can be formed and prepare region to correct unmanned plane landing positions deviation, finally require to be designed with UAV Landing mesh
Position is not shifting after cursor position point locking mechanism ensures UAV Landing.
Therefore, unmanned plane, which can accurately complete safely independent landing recycling, becomes the heavy difficult point of unmanned air vehicle technique development.
Invention content：
The technical problem to be solved by the present invention is to：Overcome the deficiencies of the prior art and provide it is a kind of it is simple in structure, by two
Multi-joint mechanical arm simulation mankind's both hands capture unmanned machine support, by the dragging of multi-joint mechanical arm, nobody
Machine setting is fixed to landing locking mechanism, realizes that the flexible of different posture unmanned planes lands in landing mission, has difference
The high UAV Landing docking mechanism based on multi-joint mechanical arm of pose compatibility.
The technical scheme is that：A kind of UAV Landing docking mechanism based on multi-joint mechanical arm, including by propping up
The rack that support frame frame and working plate are constituted, it is characterized in that：It is provided on the working plate for acquiring UAV Attitude figure
Binocular vision system as information and redundancy multi-joint mechanical arm that unmanned plane is captured, the redundancy multi-joint mechanical arm
It is two, and is provided with for nobody on the working plate at the radius of clean-up intersection region of two redundancy multi-joint mechanical arms
The landing locking mechanism that machine is fixed, the landing locking mechanism include locking mechanism holder and are slidably arranged in by guide rail
Guiding clamping block on locked and fixed holder is fixedly installed spring pressure on the locking mechanism holder of the guide fixed block side
Tight block is provided with the compressed spring being sleeved on spring guiding axis, the pressure between the spring compression block and guide fixed block
One end of contracting spring guiding axis screws mode by screw thread and is fixed on guiding clamping block, and the other end of the spring guiding axis is logical
It crosses through-hole and runs through the spring compression block, the through-hole setting is on spring compression block and coaxial with the spring guiding axis, and
The spring guiding axis can through-hole in it is free to slide；
The redundancy multi-joint mechanical arm includes a pedestal and seven sequentially connected rod pieces, and pedestal and rod piece, bar
It uses rotational motion pair to connect each other between part and rod piece, end is provided on the end rod piece of the redundancy multi-joint mechanical arm
Grasping mechanism, the end capture mechanism include the parallel air gripper and gripping finger using parallel folding form, the gripping finger installation
On the moving parts of parallel air gripper, and the gripping finger carries out clearance fit with the auxiliary clamp being arranged on unmanned plane undercarriage and makes
With.
The order of connection between the pedestal and seven rod pieces is pedestal, the first rod piece, the second rod piece, third rod piece, the
Four rod pieces, the 5th rod piece, the 6th rod piece, the 7th rod piece, and mounting base of the previous stage as rear stage rod piece, rear stage rod piece are equal
It is screwed to the reducer output shaft of previous stage rod piece by screw, the pedestal is fixedly mounted on working plate, the end
Grasping mechanism is held to be arranged on the 7th rod piece.
In the pedestal, the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th rod piece, the 6th rod piece respectively
The rimless motor of one separate type is set and uses the harmonic speed reducer that keyway is attached with driving motor.
The fixed end connecting flange of screw is provided on 7th rod piece, the end connecting flange passes through drive
Dynamic connecting plate is fixedly connected with the parallel air gripper.
The auxiliary clamp includes auxiliary clamp A and auxiliary clamp B, and auxiliary clamp A and auxiliary clamp B are stuck in unmanned plane and rise
It falls on frame, and is locked auxiliary clamp A and auxiliary clamp B by four bolt and nuts.
The locking mechanism holder is fixed on by screw on working plate, and the spring compression block is fixed on by screw
On locking mechanism holder, the guiding clamping block is two, and is provided with and realizes that the wedge shape of guiding and locking function is oriented to
Structure and half U-typed lock slot.
One end of the compressed spring is close to or is fixed with spring compression block always, and the other end and guiding clamping block are tight always
Patch is fixed.
The beneficial effects of the invention are as follows：
1, the present invention is interacted by binocular vision system with two redundancy multi-joint mechanical arms to adapt to UAV Landing standard
Different postures when standby, the end capture mechanism installed on two redundancy multi-joint mechanical arms, capture solid on unmanned plane undercarriage
Fixed auxiliary clamp, end capture mechanism capture auxiliary clamp after with redundancy multi-joint mechanical arm move adjustment UAV Attitude extremely
Final landing posture, while unmanned plane being adjusted to landing locking mechanism, landing locking mechanism will block nothing from both sides
Man-machine undercarriage realizes that unmanned plane is steadily accurately flexible to ensure that position no longer changes after UAV Landing
Land.
2, two redundancy multi-joint mechanical arms of the invention are controlled by independent 14 motors, wherein seven motors correspond to one
The electric system of redundancy multi-joint mechanical arm, it is independent to the control of two redundancy multi-joint mechanical arms, but due to two it is superfluous
The end capture mechanism installed on remaining multi-joint mechanical arm captures the undercarriage of unmanned plane both sides respectively, therefore two redundancies are closed more
Section mechanical arm need to carry out cooperative motion, and the intersection region of the radius of clean-up of two redundancy multi-joint mechanical arms is pair of unmanned plane
Connect working region.
3, for the present invention under the driving element control of end capture mechanism, gripping finger forms gap after being closed between auxiliary clamp
Shaft hole matching, wherein auxiliary clamp are fixed on undercarriage, and undercarriage can be around auxiliary clamp axis relative to end capture mechanism
Rotation, auxiliary clamp are fixed on unmanned plane undercarriage to change the structure asymmetry being crawled a little.
4, auxiliary clamp of the present invention is superfluous to make for changing the structure asymmetry being crawled on unmanned plane undercarriage a little
The end capture mechanism that remaining multi-joint mechanical arm carries can be closed along the arbitrary radial direction of auxiliary clamp to be risen to capture unmanned plane
Frame is fallen, after crawl, constitutes clearance fit between the gripping finger and auxiliary clamp of end capture mechanism closure, therefore end capture mechanism can
It is rotated around auxiliary clamp axis, reduces limitation of the end capture mechanism to redundancy multi-joint mechanical arm end, reach accurate traction
While function, the flexibility of UAV Landing docking mechanism will not be reduced.
5, clearance fit is constituted with end capture mechanism after auxiliary clamp A and auxiliary clamp B of the present invention is clamped, due to auxiliary
The relative position of fixture and undercarriage is constant always, that is, realizes that end capture mechanism can be rotated relative to undercarriage, reduce end
The end crawl just limitation to redundancy multi-joint mechanical arm end.
6, binocular vision system of the present invention monitors UAV Attitude in real time by two video cameras, is based on parallax
Principle simultaneously utilizes two images of the imaging device from different position acquisition testees, by calculating the position between image corresponding points
Deviation is set, to obtain object dimensional geological information.
Description of the drawings：
Fig. 1 is the principle schematic of the UAV Landing docking mechanism based on multi-joint mechanical arm.
Fig. 2 is the principle schematic of redundancy multi-joint mechanical arm.
Fig. 3 is the principle schematic of end capture mechanism.
Fig. 4 is the principle schematic of landing locking mechanism.
Fig. 5 is the structural schematic diagram of the UAV Landing docking mechanism based on multi-joint mechanical arm.
Fig. 6 is the structural schematic diagram of redundancy multi-joint mechanical arm.
Fig. 7 is the structural schematic diagram of redundancy multi-joint mechanical arm first axle.
Fig. 8 is the structural schematic diagram of end capture mechanism.
Fig. 9 is the structural schematic diagram of auxiliary clamp.
Figure 10 is the crawl schematic diagram of end capture mechanism, auxiliary clamp and unmanned plane undercarriage.
Figure 11 is the structural schematic diagram of landing locking mechanism.
Figure 12 is the structural schematic diagram for being oriented to clamping block.
Figure 13 is the crawl schematic diagram of end capture mechanism, auxiliary clamp and unmanned plane undercarriage.
Figure 14 is the structural schematic diagram of landing locking mechanism.
Figure 15 is the structural schematic diagram for being oriented to clamping block.
Specific implementation mode：
Embodiment：Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, figure
14 and Figure 15, in figure, 1- binocular vision systems, 2- redundancy multi-joint mechanical arms, 3- end capture mechanisms, 4- auxiliary clamps, 5-
Landing locking mechanism, 6- unmanned planes, 7- braced frames, 8- working plates, 9- pedestal motor shafts, 10- rotors, 11- motors
Stator, 12- bearing blocks, 13- angular contact ball bearings A, 14- pedestal retarder, 15- angular contact ball bearings B, 16- end ring,
17- lock nuts, 18- pedestal end caps, 19- shoulder joint A framves, 20- pedestal framves, 21- unmanned plane undercarriages；
201- pedestals, 202- shoulder joint A, 203- shoulder joint B, 204- shoulder joint C, 205- elbow joint A, 206- elbow joints B,
207- wrist joint A, 208- wrist joints B；
301- gripping fingers, 302- parallel air grippers, the ends 303- connecting flange, 304- are drivingly connected plate；
401- auxiliary clamp A, 402- auxiliary clamps B；
501- is oriented to clamping block, 502- compressed springs, 503- locking mechanisms holder, 504- the linear guides, 505- springs and leads
Slot is locked to axis, 506- spring compressions block, 507- blocks, 508- wedge shapes guide frame, 509-U types.
The present invention is described in detail below in conjunction with the accompanying drawings：
Shown in Fig. 5：Braced frame 7 and working plate 8 form the rack of the mechanism, and two redundancy multi-joint mechanical arms 2
Land locking mechanism 5 and binocular vision system 1 are mounted on working plate 8, and two end capture mechanisms 3 are respectively arranged in two
On the end rod piece of redundancy multi-joint mechanical arm 2, to end capture mechanism 3 will with 2 end movement of redundancy multi-joint mechanical arm,
Redundancy multi-joint mechanical arm 2 and binocular vision system 1 are all made of fixed installation, the UAV Attitude that binocular vision system 1 acquires
Image information is scaled to end by seven shaft mechanical arm algorithms, and two redundancy multi-joint mechanical arms 2 need to carry out cooperative motion, pass through
The end capture mechanism 3 installed on two redundancy multi-joint mechanical arms 2 captures the undercarriage 21 of 6 both sides of unmanned plane respectively, two
The intersection region of the radius of clean-up of redundancy multi-joint mechanical arm 2 is the mating operation region of unmanned plane 6, at mating operation region
Working plate 8 on be installed with landing locking mechanism 8, the locked workpiece of landing locking mechanism 8 is in two multi-joints
In the radius of clean-up intersection region of mechanical arm 2, unmanned plane 6 drop to landing under the collaboration traction of two multi-joint mechanical arms 2
Locked and fixed is carried out in locking mechanism 8.
Redundancy multi-joint mechanical arm 2, which is used to be compatible with unmanned plane 6 and lands, to be prepared the certainty of preceding posture and forms a certain range
Interior mating operation region, the redundancy multi-joint mechanical arm 2 are designed according to joint shaft contained on human arm, are to people
The true reduction of body arm, as shown in Figure 6：
Redundancy multi-joint mechanical arm 2 is made of a pedestal 201 and seven joints, and seven joints (rod piece) include shoulder joint
A202 (the first rod piece), shoulder joint B203 (the second rod piece), shoulder joint C204 (third rod piece), elbow joint A205 (the 4th bars
Part), elbow joint B206 (the 5th rod piece), wrist joint A207 (the 6th rod piece), wrist joint B208 (the 7th rod piece)；Pedestal 201 with
Joint, joint are all made of screw and screw mode and be quickly connected with interarticular connection, and the order of connection is followed successively by：Pedestal 201,
Shoulder joint A202, shoulder joint B203, shoulder joint C204, elbow joint A205, elbow joint B206, wrist joint A207, wrist joint B208,
Mounting base of the previous stage as rear stage joint, rear stage joint are screwed by screw to the retarder output in previous stage joint
On axis.
Pedestal 201, shoulder joint A202, shoulder joint B203, shoulder joint C204, elbow joint A205, elbow joint B206, wrist joint
The driving motor and retarder in a joint are separately included in A207；Due to the similitude of the forms of motion in each joint, the application
Redundancy multi-joint mechanical arm 2 each joint structure it is similar, the mechanical arm first that pedestal 201 and shoulder joint A202 are constituted at this
Axle construction is described in detail, remaining connection relation does not repeat.
It is illustrated in figure 7 the first axle construction of mechanical arm that pedestal 201 is constituted with shoulder joint A202, pedestal 201 includes pedestal
Frame 20, pedestal motor shaft 9 by the angular contact ball bearing A13 and angular contact ball bearing B15 of " back-to-back " installation of upper and lower ends with
Pedestal frame 20 is co-axially mounted, and lower end angular contact ball bearing B15 is directly installed on by shaft hole matching on pedestal frame 20, and passes through axis
The axial freedom for holding 17 diagonal contact ball bearing B15 of baffle ring 16 and lock nut is limited.Upper end angular contact ball bearing A13
It is coaxially mounted on pedestal frame 20 by bearing block 12.The driving motor used on each joint is the rimless motor of separate type, should
The motor stator 11 and rotor 10 of rimless motor can be installed separately, rotor 10 and the coaxial fixed peace of pedestal motor shaft 9
Dress, and motor stator 11 is co-axially mounted with pedestal frame 20, rotor 10 can be fixed in motor together with pedestal motor shaft 9 after installation
It is rotated in son 11, drives pedestal motor shaft 9 to be rotated around central axis under electromagnetic induction effect, output movement and torque；Pedestal
Retarder 14 is fixedly installed on pedestal frame 20, and the end of pedestal motor shaft 9 uses keyway with 14 input shaft of pedestal retarder
Connection, shoulder joint A framves 19 are fixed on the output shaft of pedestal retarder 14, and pedestal motor shaft 9 can pass to movement and torque
Shoulder joint A202, therefore under the rimless motor driving of separate type, shoulder joint A framves 19 will be rotated synchronously with pedestal motor shaft 9 to be become
The first axle of the redundancy multi-joint mechanical arm 2.The structure of 2 each axis of redundancy multi-joint mechanical arm has similitude, different joints
Bar length it is different, the torque value born also differs, and the bar in each joint is grown as shown in table 2-1.
Each articulated arm of table 2-1 redundancy multi-joint mechanical arms is long
It is long according to the bar in above each joint and calculate the weight in each joint, load and the torque value in each joint are analyzed, so
Different retarders and rimless motor are selected out afterwards, and the parameter of rimless motor and harmonic speed reducer selected by each joint is shown in respectively
Shown in table 2-2 and 2-3.
The rimless parameter of electric machine of table 2-2 redundancy multi-joint mechanical arms
Table 2-3 redundancy multi-joint mechanical arm harmonic speed reducer parameters
According to the structure of redundancy multi-joint mechanical arm 2, with reference to Fig. 6 it is found that the joint of 2 each axis of redundancy multi-joint mechanical arm
Angular region is as shown in Table 2-4.
Table 2-4 redundancy multi-joint mechanical arms joint angular region
As shown in Figure 8：Parallel air gripper 302 is fixed on by being drivingly connected plate 304 on end connecting flange 303, passes through spiral shell
End connecting flange 303 is fixed on the wrist joint B208 (the 7th rod piece) of 2 end of redundancy multi-joint mechanical arm by nail, two folders
Refer to 301 to be separately mounted on the moving parts of parallel air gripper 302, and can the inwardly movement simultaneously under the driving of parallel air gripper 302
It is closed or moves out simultaneously opening.
Gripping finger 301 under the driving of parallel air gripper 302, will realize the opening and closing of gripping finger 301 thus with mounted on nothing
Auxiliary clamp 4 on man-machine undercarriage 21 constitutes the crawl of clearance fit, the specifications parameter such as table 2-5 of selected parallel air gripper 302
It is shown.
Table 2-5 parallel air gripper characteristics
As shown in Figure 9：Auxiliary clamp 4 includes auxiliary clamp A401 and auxiliary clamp B402, auxiliary clamp A401 and auxiliary
Fixture B402 is stuck on unmanned plane undercarriage 21 and is locked auxiliary clamp A401 and auxiliary clamp B402 by four bolt and nuts
Tightly, auxiliary clamp A401 and auxiliary clamp B402 will hold unmanned plane undercarriage 21 tightly and constitute the auxiliary clamp of cylindrical type after locking
4。
Landing locking mechanism 5 is used to lock the unmanned plane 6 after precisely landing, and prevents 6 position of the unmanned plane after successfully landing
It changes again.The landing locking mechanism 5 realizes locking function, Figure 11 by way of compressing unmanned undercarriage 21 from both sides
It is shown：Landing locking mechanism 5 includes locking mechanism holder 503 and locked workpiece, and it includes two guiding to lock workpiece
Clamping block 501 and the compressed spring 502 being used cooperatively with guiding clamping block 501, locking mechanism holder 503 are fixed on by screw
On working plate 8, clamping block 501 is oriented to by 504 floating mount of the linear guide on locking mechanism holder 503, is oriented to locking
Mode is screwed by screw thread on block 501 and is respectively and fixedly provided with spring guiding axis 505, which can be in spring compression block 506
Free to slide in upper coaxial hole, spring compression block 506 is fixed on by screw on locking mechanism holder 503, spring guiding axis
Compressed spring 502 (specifications parameter of selected compressed spring 502 is as shown in table 2-6), 502 one end of compressed spring are set on 505
Always it is close to spring compression block 506, the other end is close to guiding clamping block 501, is fixed on locking mechanism holder 503 always
Block 507, restricted guidance clamping block 501 generate compressed spring 502 certain compression, and it includes realizing to lead to be oriented to clamping block 501
To the wedge-shaped guide frame 508 and the locked slot 509 (shown in Figure 12) of half U-typed with locking function.
Table 2-6 compressed spring characteristics
3 sports immunology of end capture mechanism on the working space of redundancy multi-joint mechanical arm 2, that is, redundancy multi-joint mechanical arm 2
Reference point attainable spatial point set, since redundancy multi-joint mechanical arm 2 has comprising a pedestal and seven rod pieces,
It is all made of the connection of rotational motion pair between rod piece and pedestal, rod piece and rod piece, i.e., will generate a rotation certainly in each junction
By spending, the joint angle between pedestal and rod piece one is θ1, the joint angle between rod piece one and rod piece two is θ2, between rod piece two and rod piece three
Joint angle be θ3, the joint angle between rod piece three and rod piece four is θ4, the joint angle between rod piece four and rod piece five is θ5, rod piece five
Joint angle between rod piece six is θ6, the joint angle between rod piece six and end rod piece (rod piece seven) is θ7, therefore the redundancy multi-joint
Mechanical arm includes 7 active degree of freedom altogether, is seven shaft mechanical arms, and when each rod piece moves, end capture mechanism should have one
A radius of clean-up, and form working space；Two redundancy multi-joint mechanical arms capture unmanned plane both sides simultaneously in the process of grasping
Undercarriage, realize UAV Landing docking.Therefore docking two redundancy multi-joint mechanical arms of area requirement are reachable, and every
Redundancy multi-joint mechanical arm has respective moving radius, it is hereby understood that the friendship of two redundancy multi-joint mechanical arm working spaces
Pitch the mating operation region that region will form UAV Landing docking mechanism.
Binocular vision system 1 monitors UAV Attitude in real time by two video cameras, and end capture mechanism 3 will be with
2 end movement of redundancy multi-joint mechanical arm, the UAV Attitude image information that binocular vision system 1 acquires pass through seven shaft mechanical arms
Algorithm is scaled to end, and two redundancy multi-joint mechanical arms 2 need to carry out cooperative motion, driving of the gripping finger 301 in parallel air gripper 302
Under, the opening and closing of gripping finger 301 are realized to constitute clearance fit with the auxiliary clamp 4 on unmanned plane undercarriage 21
Crawl, gripping finger 301 can be closed along the arbitrary radial direction of auxiliary clamp 4 and capture, after crawl, two multi-joint mechanical arms 2
Crawl posture constantly adaptively adjust, to which unmanned plane 6 can be drop under the collaboration traction of two multi-joint mechanical arms 2
5 top of land locking mechanism, unmanned plane undercarriage 21 will contact wedge-shaped guide frame 508 first, and then unmanned plane 6 continues landing production
Raw downward pressure, under the action of wedge-shaped guide frame 508, downward pressure will decomposite power in the x-direction, force guiding
Clamping block 501 slides in the linear guide 504 and compresses compressed spring 502 to make the landing locking mechanism open, and allows nothing
Man-machine 6 drop in place, and after the landing in place of unmanned plane 6, half U-typed locks the undercarriage that slot 509 blocks unmanned plane 6, in compression bullet
The unmanned plane 6 of the undercarriage of both sides in place to fixed landing is blocked under the flexible force effect of spring 502 rapidly.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, it is all
It is that any simple modification, equivalent change and modification made by above example are still fallen within according to the technical essence of the invention
In the range of technical solution of the present invention.
Claims (7)
1. a kind of UAV Landing docking mechanism based on multi-joint mechanical arm, includes being made of braced frame and working plate
Rack, it is characterized in that：Be provided on the working plate binocular vision system for acquiring UAV Attitude image information and
To the redundancy multi-joint mechanical arm that unmanned plane is captured, the redundancy multi-joint mechanical arm is two, and two redundancies are closed more
It is locked to save the landing being provided on the working plate at the radius of clean-up intersection region of mechanical arm for unmanned plane to be fixed
Mechanism, the landing locking mechanism include locking mechanism holder and are slidably arranged in the guiding on locked and fixed holder by guide rail
Clamping block is fixedly installed spring compression block, the spring compression block on the locking mechanism holder of the guide fixed block side
The compressed spring being sleeved on spring guiding axis is provided between guide fixed block, one end of the compressed spring guiding axis is logical
It crosses screw thread and screws mode and be fixed on and be oriented on clamping block, the other end of the spring guiding axis runs through the spring pressure by through-hole
Tight block, through-hole setting is on spring compression block and coaxial with the spring guiding axis, and the spring guiding axis can
It is free to slide in through-hole；
The redundancy multi-joint mechanical arm includes a pedestal and seven sequentially connected rod pieces, and pedestal and rod piece, rod piece with
It uses rotational motion pair to connect each other between rod piece, end crawl is provided on the end rod piece of the redundancy multi-joint mechanical arm
Mechanism, the end capture mechanism include the parallel air gripper and gripping finger using parallel folding form, and the gripping finger is mounted on flat
On the moving parts of promoting the circulation of qi pawl, and the auxiliary clamp being arranged on the gripping finger and unmanned plane undercarriage carries out clearance fit use.
2. the UAV Landing docking mechanism according to claim 1 based on multi-joint mechanical arm, it is characterized in that：The base
The order of connection between seat and seven rod pieces is pedestal, the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th bar
Part, the 6th rod piece, the 7th rod piece, and mounting base of the previous stage as rear stage rod piece, rear stage rod piece are screwed by screw
To the reducer output shaft of previous stage rod piece, the pedestal is fixedly mounted on working plate, and the end capture mechanism is set
It sets on the 7th rod piece.
3. the UAV Landing docking mechanism according to claim 2 based on multi-joint mechanical arm, it is characterized in that：The base
A separate type is respectively set in seat, the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th rod piece, the 6th rod piece
Rimless motor and the harmonic speed reducer being attached using keyway with driving motor.
4. the UAV Landing docking mechanism according to claim 2 based on multi-joint mechanical arm, it is characterized in that：Described
Be provided with the fixed end connecting flange of screw on seven rod pieces, the end connecting flange by be drivingly connected plate with it is described
Parallel air gripper is fixedly connected.
5. the UAV Landing docking mechanism according to claim 1 based on multi-joint mechanical arm, it is characterized in that：It is described auxiliary
It includes auxiliary clamp A and auxiliary clamp B to help fixture, and auxiliary clamp A and auxiliary clamp B are stuck on unmanned plane undercarriage, and are passed through
Four bolt and nuts lock auxiliary clamp A and auxiliary clamp B.
6. the UAV Landing docking mechanism according to claim 1 based on multi-joint mechanical arm, it is characterized in that：The lock
Dead mechanism rack is fixed on by screw on working plate, and the spring compression block is fixed on locking mechanism holder by screw
On, the guiding clamping block is two, and is provided with the wedge-shaped guide frame and half U-typed realized and be oriented to locking function
Locked slot.
7. the UAV Landing docking mechanism according to claim 6 based on multi-joint mechanical arm, it is characterized in that：The pressure
One end of contracting spring is close to or is fixed with spring compression block always, and the other end is close to or is fixed always with clamping block is oriented to.
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