CN108674640B - Rotor flying robot - Google Patents
Rotor flying robot Download PDFInfo
- Publication number
- CN108674640B CN108674640B CN201810304464.XA CN201810304464A CN108674640B CN 108674640 B CN108674640 B CN 108674640B CN 201810304464 A CN201810304464 A CN 201810304464A CN 108674640 B CN108674640 B CN 108674640B
- Authority
- CN
- China
- Prior art keywords
- tail end
- joint
- shell
- rope
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000245 forearm Anatomy 0.000 claims description 15
- 230000007704 transition Effects 0.000 claims description 11
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a rotor wing flying robot, which comprises an aircraft shell, wherein the aircraft shell is hollow, an aircraft controller is fixedly connected to the top of the aircraft shell, a lower supporting plate is arranged on the lower part of the aircraft shell, a hole in the lower supporting plate is matched with a waist torsion joint of a rope-driven mechanical arm, the rope-driven mechanical arm comprises a waist unit, a large arm unit, a small arm unit and a tail end platform unit, the waist unit is connected with the large arm unit through a rotating shaft, the large arm unit is connected with the small arm unit through a rotating shaft, the small arm unit is connected with the tail end platform unit through a rotating shaft, a view screen acquisition device is embedded in the front end of the lower part of the aircraft shell, and the remote end of the view screen acquisition device is connected. The invention expands the application range of the rotor craft, and the rotor craft with the rope driving mechanical arm has the advantages of light weight, compact structure, low driving power, good expansibility of the tail end platform, capability of adapting to various task requirements and wide application range.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a novel rotor flying robot.
Background
With the development of science and technology and the progress of society, the working environment of people is more and more changeable, the environmental condition is more and more abominable, especially many important operations are not on the ground, bring very big inconvenience for the operation of workers and operating efficiency and precision can not be guaranteed. Therefore, the rotor craft with the mechanical arm is more and more widely applied to dangerous places, places with bad conditions and places which are difficult to reach and replace manual work for operation. However, conventional rotorcraft with manipulators face a number of problems that need to be solved: first, rotorcraft overall weight, weight being a matter of great concern in current research, with decreasing weight, and with the consequent increase in dexterity and concealment, has been a constant pursuit; secondly, the problem in the aspect of the energy consumption, because its size of aircraft itself of tape mechanical arm is not big, the energy that so carries is necessarily limited, and the operation of carrying on is bound to receive the restriction of corresponding operating time duration, and how to reduce power is the problem that awaits the solution urgently.
Therefore, a new technical solution is needed to solve the above problems.
Disclosure of Invention
In order to solve the above problems, the present invention provides a new rotor flying robot, which is used to solve the problem of how to reduce the weight of the flying robot and miniaturize the whole structure under the condition of adding a mechanical arm, and further solve the problem of how to reduce the power of the mechanical arm operation.
In order to achieve the purpose, the rotor flying robot can adopt the following technical scheme:
a rotor wing flying robot comprises an aircraft shell, a rotor wing arranged on the aircraft shell and a rope driving mechanical arm arranged on the aircraft shell; the rope-driven mechanical arm comprises a waist unit fixedly connected with an aircraft shell, a large arm unit connected with the waist unit and extending out of the waist unit, a small arm unit combination connected with the front end of the large arm unit and extending out of the front end of the small arm unit combination, a tail end platform unit installed at the front end of the small arm unit combination, a large arm driving motor and a plurality of small arm driving motors, wherein the large arm driving motor and the small arm driving motors are positioned in the aircraft shell; an output shaft of the large arm driving motor is provided with a large arm rope winch; an output shaft of each small arm driving motor is provided with a small arm rope winch;
the large arm unit comprises a large arm shell, and the rear end of the large arm shell is hinged with the waist unit through a large arm joint rotating shaft; the large arm shell and the large arm joint driven winch are both relatively fixed with the large arm joint rotating shaft; a large arm rope is wound on the large arm rope winch, the other end of the large arm rope is wound on the large arm joint driven winch, and the large arm rope winch rotates and drives the large arm joint driven winch to rotate through the large arm rope, so that the large arm shell swings relative to the side plate; the large arm unit also comprises a small arm joint rotating shaft which is transversely arranged at the front end of the large arm shell and is parallel to the large arm joint rotating shaft, and a small arm joint driven winch which is coaxially arranged on the small arm joint rotating shaft;
the small arm unit combination comprises N small arm units which are sequentially connected, wherein N is an integer larger than 0; each small arm unit corresponds to a small arm driving motor; the first small arm unit is hinged with the large arm shell through a small arm joint rotating shaft; the small arm rope winch corresponding to the first small arm unit rotates and drives the corresponding small arm joint driven winch to rotate through the rope, so that the first small arm unit swings relative to the large arm shell; if N is larger than 1, the front end of the Nth small arm unit is hinged with the previous small arm unit through the corresponding small arm joint rotating shaft, a corresponding small arm joint driven winch is arranged on each small arm joint rotating shaft, the small arm rope winch corresponding to the N small arm units rotates, and the corresponding small arm joint driven winch is driven to rotate through the rope, so that the Nth small arm unit swings relative to the previous small arm unit.
Compared with the prior art, the invention has the beneficial effects that:
the mechanical arm of the rotor craft with the rope-driven mechanical arm is driven by the rope, the joint driving motor can be arranged on the lower abutting plate of the craft, and the driving force is transmitted to the joint by the free wiring configuration of the rope, so that the movement of the mechanical joint is realized. The rear driving mechanism can reduce the self weight of the mechanical arm, which is beneficial to the realization of miniaturization of a carrying platform of the mechanical arm, namely a rotor craft, improves the concealment of the aircraft and can be used for executing confidential tasks; on the other hand, the rear driving mechanism can greatly reduce the weight of the mechanical arm, reduce the joint inertia, reduce the power required by the driving mechanical arm, greatly help to prolong the working time of the aircraft and improve the application range of the aircraft.
The other technical scheme of the invention is as follows:
a rotor wing flying robot comprises an aircraft shell, a rotor wing arranged on the aircraft shell and a rope driving mechanical arm arranged on the aircraft shell; the rope-driven mechanical arm comprises a waist unit fixedly connected with an aircraft shell, a large arm unit connected with the waist unit and extending out of the waist unit, a small arm unit connected with the front end of the large arm unit and extending out of the front end of the small arm unit, a tail end platform unit installed at the front end of the small arm unit, a large arm driving motor, a small arm driving motor, a tail end pitching driving motor and a tail end rotating driving motor, wherein the large arm driving motor, the small arm driving motor, the tail end pitching driving motor and the tail end; an output shaft of the large arm driving motor is provided with a large arm rope winch; a small arm rope winch is arranged on an output shaft of the small arm driving motor; a pitching winch is arranged on an output shaft of the tail end pitching driving motor; the tail end rotation driving motor is provided with a rotation winch;
the waist unit comprises a waist rotating shaft, a waist driving motor, a driving rotating wheel and a waist rope, wherein the waist rotating shaft is arranged on the aircraft shell and rotates relative to the aircraft shell; the waist unit further comprises a pair of side plates arranged below the waist rotating shaft, a large arm joint rotating shaft transversely arranged between the pair of side plates, a large arm joint driven winch coaxially arranged on the large arm joint rotating shaft, a small arm joint pulley, a first tail end pitching joint pulley and a first tail end rotating joint pulley;
the large arm unit comprises a large arm shell, and the rear end of the large arm shell is hinged with the side plate through a large arm joint rotating shaft; the large arm shell and the large arm joint driven winch are both relatively fixed with the large arm joint rotating shaft; a large arm rope is wound on the large arm rope winch, the other end of the large arm rope is wound on the large arm joint driven winch, and the large arm rope winch rotates and drives the large arm joint driven winch to rotate through the large arm rope, so that the large arm shell swings relative to the side plate; the large arm unit also comprises a small arm joint rotating shaft which is transversely arranged at the front end of the large arm shell and is parallel to the large arm joint rotating shaft, a small arm joint driven winch which is coaxially arranged on the small arm joint rotating shaft, a second tail end pitching joint pulley and a second tail end rotating joint pulley;
the forearm unit comprises a forearm housing; the small arm shell is hinged with the large arm shell through a small arm joint rotating shaft; the forearm shell and the forearm joint driven winch are both relatively fixed with the forearm joint rotating shaft; a small arm rope is wound on the small arm rope winch, the other end of the small arm rope is wound on the small arm joint driven winch in a transition mode through the small arm joint pulley, the small arm rope winch rotates and drives the small arm joint driven winch to rotate through the rope, and therefore the small arm shell swings relative to the large arm shell; the small arm unit also comprises a tail end joint rotating shaft which is transversely arranged at the front end of the small arm shell and is parallel to the large arm joint rotating shaft, a tail end pitching joint driven winch which is coaxially arranged on the tail end joint rotating shaft and a tail end rotating joint pulley;
the tail end platform unit comprises a tail end shell, a tail end waist shaft and a tail end rotary joint driven winch, wherein the tail end waist shaft is installed on the front surface of the tail end shell and rotates on the tail end shell; the axial direction of the tail end waist shaft is vertical to the axial direction of the tail end joint rotating shaft; the tail end shell and the tail end pitching joint driven capstan are fixedly connected with the tail end joint rotating shaft; a tail end pitching rope is wound on the pitching winch, and the other end of the tail end pitching rope is wound on the tail end pitching joint driven winch in a transition mode through the first tail end pitching joint pulley and the second tail end pitching joint pulley in sequence; the pitching winch rotates and drives the tail end pitching joint to rotate from the driven winch through the tail end pitching rope, so that the tail end shell swings relative to the small arm shell;
a tail end rotating rope is wound on the rotating winch, and the other end of the tail end rotating rope is wound on the tail end rotating joint driven winch in a transition mode through the first tail end rotating joint pulley, the second tail end rotating joint pulley and the tail end rotating joint pulley in sequence; the rotating winch rotates and drives the tail end rotating joint to rotate from the driven winch through the tail end rotating rope, so that the tail end waist shaft rotates relative to the tail end shell.
Has the advantages that: similarly, the mechanical arm of the rotorcraft with the rope-driven mechanical arm is rope-driven, the joint driving motor can be arranged on the lower abutting plate of the rotorcraft, and the driving force is transmitted to the joint by the free wiring configuration of the rope, so that the movement of the mechanical joint is realized. The rear driving mechanism can reduce the self weight of the mechanical arm, which is beneficial to the realization of miniaturization of a carrying platform of the mechanical arm, namely a rotor craft, improves the concealment of the aircraft and can be used for executing confidential tasks; on the other hand, the rear driving mechanism can greatly reduce the weight of the mechanical arm, reduce the joint inertia, reduce the power required by the driving mechanical arm, greatly help to prolong the working time of the aircraft and improve the application range of the aircraft.
Drawings
Fig. 1 is a schematic structural diagram of a rotor flying robot according to the present invention.
Fig. 2 is a bottom view of a rotary wing flying robot of the present invention.
Fig. 3 is a perspective view of the rope driven robotic arm of the present invention (without showing the respective large arm housing, small arm housing, end housing).
Fig. 4 is a perspective view of a waist joint in the present invention.
Fig. 5 is a perspective view of the distal joint of the present invention.
Fig. 6 is a schematic, diagrammatic view of a rotorcraft fitted with a single forearm, respectively.
Fig. 7 is a schematic, diagrammatic view of a rotorcraft to which two small arms may be mounted, respectively.
Fig. 8 is a schematic, diagrammatic view of a rotorcraft to which N arms may be mounted.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example one
Referring to fig. 1 and 2, the present invention discloses a rotor flying robot, including an aircraft housing and a rotor mounted on the aircraft housing, and further including a rope-driven mechanical arm mounted on the aircraft housing; the rope-driven mechanical arm comprises a waist unit fixedly connected with an aircraft shell, a large arm unit connected with the waist unit and extending out of the waist unit, a small arm unit connected with the front end of the large arm unit and extending out of the front end of the large arm unit, a tail end platform unit installed at the front end of the small arm unit, a large arm driving motor 35-2, a small arm driving motor 35-3, a tail end pitching driving motor 35-4 and a tail end rotating driving motor 35-5 which are located in the aircraft shell; an output shaft of the large arm driving motor 35-2 is provided with a large arm rope winch 101; the output shaft of the small arm driving motor 35-3 is provided with a small arm rope winch 102; an output shaft of the tail end pitching driving motor 35-4 is provided with a pitching winch 103; the tail end rotation driving motor 35-5 is provided with a rotation winch 104;
the waist unit comprises a waist rotating shaft 9 which is arranged on the aircraft shell and rotates relative to the aircraft shell, a waist driving motor 35-1 which is arranged in the aircraft shell and drives the waist rotating shaft to rotate, a driving rotating wheel which is arranged on an output shaft of the waist driving motor, and a waist rope 28 which is wound on the driving rotating wheel and the waist rotating shaft; the waist unit further comprises a pair of side plates 205 arranged below the waist rotating shaft, a large arm joint rotating shaft 10 transversely arranged between the pair of side plates 205, a large arm joint driven capstan 11 coaxially arranged on the large arm joint rotating shaft 10, a small arm joint pulley 14, a first tail end pitching joint pulley 13 and a first tail end rotating joint pulley 12;
the big arm unit comprises a big arm shell 201, and the rear end of the big arm shell 201 is hinged with a side plate 205 through a big arm joint rotating shaft 10; the large arm shell 201 and the large arm joint driven winch 11 are both relatively fixed with the large arm joint rotating shaft 10; the big arm rope 27 is wound on the big arm rope winch 101, the other end of the big arm rope 27 is wound on the big arm joint driven winch 11, the big arm rope winch 101 rotates and drives the big arm joint driven winch 11 to rotate through the big arm rope 27, and therefore the big arm shell 201 swings relative to the side plate 205; the large arm unit further comprises a small arm joint rotating shaft 17 which is transversely arranged on the front end of the large arm shell 201 and is parallel to the large arm joint rotating shaft, a small arm joint driven capstan 20 which is coaxially arranged on the small arm joint rotating shaft 17, a second tail end pitching joint pulley 19 and a second tail end rotating joint pulley 18;
the forearm unit includes a forearm housing 202; the small arm shell 202 is hinged with the large arm shell 201 through a small arm joint rotating shaft; the forearm shell 202 and the forearm joint driven capstan 20 are both relatively fixed with the forearm joint rotating shaft 17; the small arm rope winch 102 is wound with the small arm rope 29, the other end of the small arm rope 29 is wound on the small arm joint driven winch 20 through the small arm joint pulley 14 in a transition mode, the small arm rope winch 102 rotates and drives the small arm joint driven winch 11 to rotate through the rope, and therefore the small arm shell 202 swings relative to the large arm shell 201; the small arm unit further comprises a tail end joint rotating shaft 21 which is transversely arranged on the front end of the small arm shell 202 and is parallel to the large arm joint rotating shaft, a tail end pitching joint driven capstan 23 which is coaxially arranged on the tail end joint rotating shaft 21 and a tail end rotating joint pulley 22;
the tip platform unit includes a tip housing 203, a tip waist shaft 204 mounted on a front surface of the tip housing 203 and rotating on the tip housing 203, a tip revolute joint driven capstan 26 coaxially connected to the tip waist shaft 204 and extending into the tip housing 203; the axial direction of the tail end waist shaft 204 is vertical to the axial direction of the tail end joint rotating shaft 21; the tail end shell 203 and the tail end pitching joint driven capstan 23 are fixedly connected with the tail end joint rotating shaft 21; the end pitch winch 103 is wound with an end pitch rope 30, and the other end of the end pitch rope 30 is wound on the end pitch joint driven winch 23 through transition of the first end pitch joint pulley 13 and the second end pitch joint pulley 19 in sequence; the pitch capstan 103 rotates and drives the end pitch joint driven capstan 23 to rotate through the end pitch rope 30, so that the end housing 203 swings relative to the arm housing 202;
the rotating winch 104 is wound with a terminal rotating rope 31, and the other end of the terminal rotating rope 31 is wound on the terminal rotating joint driven winch 26 through the transition of the first terminal rotating joint pulley 12, the second terminal rotating joint pulley 18 and the terminal rotating joint pulley 22 in sequence; the rotating capstan 104 rotates and drives the end rotating joint driven capstan 26 to rotate through the end rotating rope 31, so that the end waist shaft 204 rotates relative to the end housing 203. The end lumbar shaft 204 has an actuator extending forwardly therefrom. The actuators as in fig. 5 are gripper fingers, enabling the gripping operation.
Referring to fig. 3, a tension wheel and a tension shaft are further disposed in the rope-driven robot arm. A large arm tensioning wheel rotating shaft 15 is arranged in the large arm shell 201, and a small arm tensioning wheel 24 is arranged in the small arm shell 202.
Further, please refer to fig. 1, 2, and 3, a lower abutting plate 33 is provided at the lower part of the aircraft shell 4, and a circular hole is provided on the lower abutting plate 33 to form a fit with the waist torsion joint of the rope-driven mechanical arm; a screen acquisition device 34 is embedded in the lower supporting plate 33, and the remote end of the screen acquisition device 34 is connected with a mobile control device; there is cross crossbeam 1 on 4 upper portions of aircraft casing, and four tip of crossbeam respectively have a rotor 2, installs driving motor 3 below the rotor, has linked firmly the control unit on the shells inner wall, and the control unit comprises signal receiver, signal transmitter and controller, the input of controller is connected in signal receiver's output and look screen collection system's input respectively, the output of controller is connected with signal transmitter's input, and the casing lower part left and right sides is equipped with the undercarriage 5 of two symmetries, connects through connecting rod 6 respectively. The front section part of the lower supporting plate 33 is lower than the rear section part to form a ladder shape, and the front section part is provided with a circular hole; the rear section part is higher than the front section part and is provided with a T-shaped boss, the part of the boss extending out of the lower abutting plate is respectively provided with three circular holes corresponding to three threaded holes at the bottom of the shell, and the lower abutting plate 33 is connected with the aircraft shell 4 through bolts.
The above is only one common embodiment of the present invention, but the scope of the present invention is not limited thereto, and the rope-driven robot arm may be expanded to a multi-degree-of-freedom configuration according to actual needs.
Example two
Further, as shown in fig. 6, 7 and 8, the rope-driven robot arm is equipped with one, two and N arms. That is, on the basis of the first embodiment, the forearm unit combination 200 includes N sequentially connected forearm units, where N is an integer greater than 0; each small arm unit corresponds to a small arm driving motor 35-3; the first small arm unit is hinged with the large arm shell 201 through a small arm joint rotating shaft; the small arm rope winch 102 corresponding to the first small arm unit rotates and drives the corresponding small arm joint driven winch 11 to rotate through the rope, so that the first small arm unit swings relative to the large arm shell 201; in this embodiment, N is greater than 1 (i.e. there are at least two articulated small arms), the front end of the nth small arm unit is also hinged to the previous small arm unit through the corresponding small arm joint rotating shaft, and each small arm joint rotating shaft is provided with a corresponding small arm joint driven capstan, and the small arm rope capstan 102 corresponding to the N small arm units rotates and drives the corresponding small arm joint driven capstan to rotate through a rope, so that the nth small arm unit swings relative to the previous small arm unit.
The rotorcraft described above are within the technical scope of the present disclosure, and the technical solutions and concepts according to the present disclosure may be equally replaced or modified and are intended to be covered by the scope of the present disclosure.
Claims (9)
1. A rotor flying robot comprises an aircraft shell and a rotor mounted on the aircraft shell, and is characterized by further comprising a rope-driven mechanical arm mounted on the aircraft shell; the rope-driven mechanical arm comprises a waist unit fixedly connected with an aircraft shell, a large arm unit connected with the waist unit and extending out of the waist unit, a small arm unit combination connected with the front end of the large arm unit and extending out of the front end of the small arm unit combination, a tail end platform unit installed at the front end of the small arm unit combination, a large arm driving motor (35-2) and a plurality of small arm driving motors (35-3) which are positioned in the aircraft shell; an output shaft of the large arm driving motor is provided with a large arm rope winch (101); the output shaft of each small arm driving motor (35-3) is provided with a small arm rope winch (102);
the large arm unit comprises a large arm shell (201), and the rear end of the large arm shell (201) is hinged with the waist unit through a large arm joint rotating shaft (10); the big arm shell (201) and the big arm joint driven winch (11) are both relatively fixed with the big arm joint rotating shaft (10);
a large arm rope (27) is wound on the large arm rope winch (101), the other end of the large arm rope (27) is wound on the large arm joint driven winch (11), the large arm rope winch (101) rotates and drives the large arm joint driven winch (11) to rotate through the large arm rope (27), and therefore the large arm shell (201) swings relative to the side plate (205); the large arm unit also comprises a small arm joint rotating shaft (17) which is transversely arranged at the front end of the large arm shell (201) and is parallel to the large arm joint rotating shaft, and a small arm joint driven winch (20) which is coaxially arranged on the small arm joint rotating shaft (17);
the small arm unit combination comprises N small arm units (200) which are connected in sequence, wherein N is an integer larger than 0; each small arm unit corresponds to a small arm driving motor (35-3); a first small arm unit in the small arm unit combination is hinged with the large arm shell (201) through a small arm joint rotating shaft (17); a small arm rope winch (102) corresponding to the first small arm unit rotates and drives a corresponding small arm joint driven winch (11) to rotate through a rope, so that the first small arm unit swings relative to a large arm shell (201); if N is larger than 1, the front end of the Nth small arm unit in the small arm unit combination is hinged with the previous small arm unit through the corresponding small arm joint rotating shaft, each small arm joint rotating shaft is provided with a corresponding small arm joint driven winch, a small arm rope winch (102) corresponding to the N small arm units rotates and drives the corresponding small arm joint driven winch (20) to rotate through a rope, and therefore the Nth small arm unit swings relative to the previous small arm unit;
the front end of the Nth small arm unit is provided with a tail end platform unit; a tail end pitching drive motor (35-4) and a tail end rotating drive motor (35-5) are also arranged in the aircraft shell; an output shaft of the tail end pitching driving motor (35-4) is provided with a pitching winch (103); the tail end rotation driving motor (35-5) is provided with a rotation winch (104); the end platform unit comprises an end shell (203), an end waist shaft (204) which is arranged on the front surface of the end shell (203) and rotates on the end shell (203), and an end rotary joint driven capstan (26) which is coaxially connected with the end waist shaft (204) and extends into the end shell (203); the axial direction of the tail end waist shaft (204) is vertical to the axial direction of the tail end joint rotating shaft (21); the tail end shell (203) and the tail end pitching joint driven winch (23) are fixedly connected with the tail end joint rotating shaft (21); a tail end pitching rope (30) is wound on the pitching winch (103), and the other end of the tail end pitching rope (30) is wound on the tail end pitching joint driven winch (23) through transition of the first tail end pitching joint pulley (13) and the second tail end pitching joint pulley (19) in sequence;
the pitching winch (103) rotates and drives the tail end pitching joint driven winch (23) to rotate through the tail end pitching rope (30), so that the tail end shell (203) swings relative to the small arm shell (202); a tail end rotating rope (31) is wound on the rotating winch (104), and the other end of the tail end rotating rope (31) is wound on a tail end rotating joint driven winch (26) in a transition mode through a first tail end rotating joint pulley (12), a second tail end rotating joint pulley (18) and a tail end rotating joint pulley (22) in sequence; the rotating winch (104) rotates and drives the tail end rotating joint driven winch (26) to rotate through the tail end rotating rope (31), so that the tail end waist shaft (204) rotates relative to the tail end shell (203).
2. A rotor flying robot according to claim 1 wherein: and joint pulleys matched with the ropes passing through the large arm joint rotating shaft or the small arm joint rotating shaft are arranged on the large arm joint rotating shaft and each small arm joint rotating shaft.
3. A rotor flying robot according to claim 2 wherein: the waist unit comprises a waist rotating shaft (9) which is arranged on the aircraft shell and rotates relative to the aircraft shell, a waist driving motor (35-1) which is arranged in the aircraft shell and drives the waist rotating shaft to rotate, a driving rotating wheel which is arranged on an output shaft of the waist driving motor, and a waist rope (28) which is wound on the driving rotating wheel and the waist rotating shaft; the waist unit also comprises a pair of side plates (205) arranged below the waist rotating shaft, and the large arm joint rotating shaft (10) is transversely arranged between the pair of side plates (205).
4. A rotor flying robot according to claim 1 wherein: a lower supporting plate (33) is arranged at the lower part of the aircraft shell (4), and a round hole formed in the lower supporting plate (33) is matched with a waist torsion joint of the rope-driven mechanical arm; the lower supporting plate (33) is embedded with a view screen acquisition device (34), and the remote end of the view screen acquisition device (34) is connected with a mobile control device.
5. A rotor flying robot according to claim 2 wherein: there is cross crossbeam (1) on aircraft casing (4) upper portion, and four tip of crossbeam respectively have a rotor (2), installs driving motor (3) below the rotor, has linked firmly the control unit on the shells inner wall, and the control unit comprises signal receiver, signal transmitter and controller, the input of controller is connected in signal receiver's output and the input of looking screen collection system respectively, the output of controller is connected with signal transmitter's input, and the casing lower part left and right sides is equipped with undercarriage (5) of two symmetries, connects through connecting rod (6) respectively.
6. A rotor flying robot comprises an aircraft shell and a rotor arranged on the aircraft shell, and is characterized in that,
the rope driving mechanical arm is arranged on the aircraft shell; the rope-driven mechanical arm comprises a waist unit fixedly connected with an aircraft shell, a large arm unit connected with the waist unit and extending out, a small arm unit connected with the front end of the large arm unit and extending out, a tail end platform unit installed at the front end of the small arm unit, a large arm driving motor (35-2), a small arm driving motor (35-3), a tail end pitching driving motor (35-4) and a tail end rotating driving motor (35-5) which are located in the aircraft shell; an output shaft of the large arm driving motor is provided with a large arm rope winch (101); the output shaft of the small arm driving motor (35-3) is provided with a small arm rope winch (102); an output shaft of the tail end pitching driving motor (35-4) is provided with a pitching winch (103); the tail end rotation driving motor (35-5) is provided with a rotation winch (104);
the waist unit comprises a waist rotating shaft (9) which is arranged on the aircraft shell and rotates relative to the aircraft shell, a waist driving motor (35-1) which is arranged in the aircraft shell and drives the waist rotating shaft to rotate, a driving rotating wheel which is arranged on an output shaft of the waist driving motor, and a waist rope (28) which is wound on the driving rotating wheel and the waist rotating shaft; the waist unit further comprises a pair of side plates (205) arranged below the waist rotating shaft, a large arm joint rotating shaft (10) transversely arranged between the side plates (205), a large arm joint driven winch (11) coaxially arranged on the large arm joint rotating shaft (10), a small arm joint pulley (14), a first tail end pitching joint pulley (13) and a first tail end rotating joint pulley (12);
the large arm unit comprises a large arm shell (201), and the rear end of the large arm shell (201) is hinged with a side plate (205) through a large arm joint rotating shaft (10); the big arm shell 201 and the big arm joint driven winch (11) are both relatively fixed with the big arm joint rotating shaft (10);
a large arm rope (27) is wound on the large arm rope winch (101), the other end of the large arm rope (27) is wound on the large arm joint driven winch (11), the large arm rope winch (101) rotates and drives the large arm joint driven winch (11) to rotate through the large arm rope (27), and therefore the large arm shell (201) swings relative to the side plate (205); the large arm unit also comprises a small arm joint rotating shaft (17) which is transversely arranged on the front end of the large arm shell (201) and is parallel to the large arm joint rotating shaft, a small arm joint driven winch (20) which is coaxially arranged on the small arm joint rotating shaft (17), a second tail end pitching joint pulley (19) and a second tail end rotating joint pulley (18);
the forearm unit comprises a forearm housing (202); the small arm shell (202) is hinged with the large arm shell (201) through a small arm joint rotating shaft; the small arm shell (202) and the small arm joint driven winch (20) are both relatively fixed with the small arm joint rotating shaft (17); a small arm rope (29) is wound on the small arm rope winch (102), the other end of the small arm rope (29) is wound on the small arm joint driven winch (20) in a transition mode through the small arm joint pulley (14), the small arm rope winch (102) rotates and drives the small arm joint driven winch (11) to rotate through the rope, and therefore the small arm shell (202) swings relative to the large arm shell (201); the small arm unit also comprises a tail end joint rotating shaft (21) which is transversely arranged at the front end of the small arm shell (202) and is parallel to the large arm joint rotating shaft, a tail end pitching joint driven capstan (23) and a tail end rotating joint pulley (22) which are coaxially arranged on the tail end joint rotating shaft (21);
the end platform unit comprises an end shell (203), an end waist shaft (204) which is arranged on the front surface of the end shell (203) and rotates on the end shell (203), and an end rotary joint driven capstan (26) which is coaxially connected with the end waist shaft (204) and extends into the end shell (203); the axial direction of the tail end waist shaft (204) is vertical to the axial direction of the tail end joint rotating shaft (21); the tail end shell (203) and the tail end pitching joint driven winch (23) are fixedly connected with the tail end joint rotating shaft (21); a tail end pitching rope (30) is wound on the pitching winch (103), and the other end of the tail end pitching rope (30) is wound on the tail end pitching joint driven winch (23) through transition of the first tail end pitching joint pulley (13) and the second tail end pitching joint pulley (19) in sequence; the pitching winch (103) rotates and drives the tail end pitching joint driven winch (23) to rotate through the tail end pitching rope (30), so that the tail end shell (203) swings relative to the small arm shell (202);
a tail end rotating rope (31) is wound on the rotating winch (104), and the other end of the tail end rotating rope (31) is wound on a tail end rotating joint driven winch (26) in a transition mode through a first tail end rotating joint pulley (12), a second tail end rotating joint pulley (18) and a tail end rotating joint pulley (22) in sequence; the rotating winch (104) rotates and drives the tail end rotating joint driven winch (26) to rotate through the tail end rotating rope (31), so that the tail end waist shaft (204) rotates relative to the tail end shell (203).
7. A rotor flying robot according to claim 6 wherein: the tail end waist shaft (204) extends forwards to form an executing device; and a tension wheel and a tension shaft are also arranged in the rope driving mechanical arm.
8. A rotor flying robot according to claim 6 or 7 wherein: a lower supporting plate (33) is arranged at the lower part of the aircraft shell (4), and a round hole formed in the lower supporting plate (33) is matched with a waist torsion joint of the rope-driven mechanical arm; a view screen acquisition device (34) is embedded in the lower supporting plate (33), and the remote end of the view screen acquisition device (34) is connected with a mobile control device; there is cross crossbeam (1) on aircraft casing (4) upper portion, and four tip of crossbeam respectively have a rotor (2), installs driving motor (3) below the rotor, has linked firmly the control unit on the shells inner wall, and the control unit comprises signal receiver, signal transmitter and controller, the input of controller is connected in signal receiver's output and the input of looking screen collection system respectively, the output of controller is connected with signal transmitter's input, and the casing lower part left and right sides is equipped with undercarriage (5) of two symmetries, connects through connecting rod (6) respectively.
9. A rotor flying robot according to claim 8, wherein: the front section part of the lower supporting plate (33) is lower than the rear section part to form a ladder shape, and the front section part is provided with a circular hole; the rear section part is higher than the front section part and is provided with a T-shaped boss, the part of the boss extending out of the lower abutting plate is respectively provided with three circular holes corresponding to three threaded holes at the bottom of the shell, and the lower abutting plate (33) is connected with the aircraft shell (4) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810304464.XA CN108674640B (en) | 2018-04-08 | 2018-04-08 | Rotor flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810304464.XA CN108674640B (en) | 2018-04-08 | 2018-04-08 | Rotor flying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108674640A CN108674640A (en) | 2018-10-19 |
| CN108674640B true CN108674640B (en) | 2021-06-15 |
Family
ID=63800855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810304464.XA Active CN108674640B (en) | 2018-04-08 | 2018-04-08 | Rotor flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674640B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722315B (en) * | 2021-01-07 | 2023-02-03 | 南京航空航天大学 | Mooring flying mechanical arm based on cable tension control and cable tension control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105375398A (en) * | 2015-12-21 | 2016-03-02 | 国网河南宝丰县供电公司 | Device applied to fixed-point patrol and charged cleaning platform |
| CN106347650A (en) * | 2016-10-09 | 2017-01-25 | 北京理工大学 | Tandem double-duct type flight robot and dynamics cooperative control method thereof |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
| JP2018034284A (en) * | 2016-09-02 | 2018-03-08 | 株式会社プロドローン | Robot arm and unmanned aircraft including the same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2067581B1 (en) * | 2007-12-05 | 2011-01-12 | Korea Atomic Energy Research Institute | Cable-driven manipulator with a cable compensation device |
| US9554512B2 (en) * | 2014-09-12 | 2017-01-31 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
-
2018
- 2018-04-08 CN CN201810304464.XA patent/CN108674640B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105375398A (en) * | 2015-12-21 | 2016-03-02 | 国网河南宝丰县供电公司 | Device applied to fixed-point patrol and charged cleaning platform |
| JP2018034284A (en) * | 2016-09-02 | 2018-03-08 | 株式会社プロドローン | Robot arm and unmanned aircraft including the same |
| CN106347650A (en) * | 2016-10-09 | 2017-01-25 | 北京理工大学 | Tandem double-duct type flight robot and dynamics cooperative control method thereof |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108674640A (en) | 2018-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112476478B (en) | Bionic rope-driven four-degree-of-freedom arm oriented to man-machine cooperation | |
| CN110315511B (en) | Cable-driven parallel sorting robot tensioned by passive springs | |
| KR100812755B1 (en) | Quadro copter | |
| EP0829660A2 (en) | Apparatus for interconversion of circular and reciprocal motion | |
| CN104647398A (en) | Collaborative double manipulators used for fruit picking | |
| CN104669290A (en) | Under-actuated spatial manipulator end effector | |
| CN108406726A (en) | A kind of wheel type movable machine explosive-removal robot | |
| CN108706097A (en) | A kind of captive rotor flying robot with double-manipulator | |
| CN108673550A (en) | A kind of robot device | |
| CN103240737B (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN108858256A (en) | A kind of small-sized form adaptive drive lacking two refers to that hand grabs device | |
| CN108674640B (en) | Rotor flying robot | |
| CN109048988A (en) | A kind of mechanical wrist constructional device | |
| CN112894780A (en) | Rope-driven wrist module based on three-degree-of-freedom series-parallel mechanism and using method thereof | |
| CN112357047A (en) | Unmanned aerial vehicle with telescopic arm variable rotor wing | |
| CN109551514B (en) | Grabbing operation-oriented rotor flying mechanical arm system | |
| CN110842968A (en) | Antagonistic driving device adopting capstan and tendon transmission | |
| CN112722224B (en) | Over-constrained double-branch two-rotating spherical parallel vector propeller | |
| CN108423155B (en) | Aerial work robot | |
| CN107272513B (en) | Three dimensional rotation force feedback equipment | |
| CN215618127U (en) | Manipulator system with multi-rope driving unit | |
| CN210189787U (en) | Mobile platform parallel robot | |
| CN210307803U (en) | Electric power insulation manipulator | |
| CN113232013A (en) | Manipulator system with multi-rope driving unit | |
| CN218614081U (en) | Robot head rotary mechanism |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |