CN108928483A - A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm - Google Patents
A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm Download PDFInfo
- Publication number
- CN108928483A CN108928483A CN201810784984.5A CN201810784984A CN108928483A CN 108928483 A CN108928483 A CN 108928483A CN 201810784984 A CN201810784984 A CN 201810784984A CN 108928483 A CN108928483 A CN 108928483A
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- China
- Prior art keywords
- mechanical arm
- steering engine
- camera
- connecting rod
- supporting plate
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention discloses a kind of unmanned planes of taking photo by plane of energy automatic telescopic mechanical arm, including drone body, it is characterized in that: further including the video camera being mounted in drone body, camera platform and the mechanical arm that unmanned aerial vehicle body bottom is arranged in, mechanical arm of the present invention can stretch, it axially rotates, it is deep into the danger zone that people cannot reach, assist or people is replaced to complete special duty, there is the ability to work in the presence of a harsh environment；When upper animal organism characteristic is set in shooting, unmanned plane can tightly be gripped on trunk by mechanical arm tail end gripper, similar birds inhabit movement, shoot the life habit etc. set and moved with this；On camera head, camera head is scalable in camera cabin video camera setting, reduction windage, energy saving, and can be with waterproof；It when unmanned plane executes aerial mission, is rotated by the cooperation of steering engine, mechanical arm is retracted to uav bottom, reduces front face area and flight resistance, achievees the purpose that energy saving.
Description
Technical field
The present invention relates to air-robot field, specifically a kind of special type with mechanical arm and automatically retractable camera is taken photo by plane
Unmanned plane.
Background technique
With the extensive use of unmanned plane in real life, requirement of the people to it be not limited to simply manipulate take pictures,
Flight etc..In some special occasions, need unmanned plane that can play special function to assist the mankind to complete a series of activities.
There are many need of work people to carry out high altitude operation at present, works extremely dangerous, and its is small in size for unmanned plane, and sensitivity is high, is real
The now simple aloft work in part, while the development of the prior art of existing machinery arm and manipulator is also very mature, by three
Combine the simple work that can solve high-altitude crawl.
For this purpose, Chinese patent CN107902089A discloses a kind of unmanned plane of scalable crawl, this unmanned plane be
Battery and the camera being electrical connected with battery and flight control system are provided in operating room, below operating room successively
It is provided with the first brushless motor, pedestal, threaded shaft, the first brushless motor and pedestal are electrical connected with battery；Mechanical arm group
Part by be set in the first mechanical arm matched outside threaded shaft with threaded shaft and be arranged in below first mechanical arm the
Two mechanical arms are constituted, and manipulator is arranged below second mechanical arm.
Chinese patent CN107902079A discloses a kind of unmanned plane that rubbish is picked up on Yushan Hill, it is on unmanned plane
It is provided with camera and mechanical arm, while increasing the operator operation visual field, also facilitates the observation to crawl object, mechanical arm is set
It is set to telescopic mechanical arm, increases its flexibility, makes the operating space that mechanical arm is as big as possible in vertical direction.It is this nobody
If owner grabs absorption rubbish by the vacuum breathing apparatus that mechanical arm bottom is arranged in, since vacuum breathing apparatus is applicable in model
It is with limit, is only limitted to the biggish rubbish of the lighter weights such as adsorption plastic refuse bag, area, it is small for some quality weight, area
Rubbish does not play how many, restricted application.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, and provide a kind of with mechanical arm and automatically retractable camera
Special type is taken photo by plane unmanned plane, this unmanned plane of taking photo by plane have have a wide range of application, flexibility is good, at low cost, the activity duration is long, high-efficient
The features such as.
Realizing the technical solution of the object of the invention is:
A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm, including drone body, unlike the prior art: further including
Video camera, camera platform and the mechanical arm that unmanned aerial vehicle body bottom is set being mounted in drone body, in which:
The video camera is mounted on camera head, and camera head is mounted in camera cabin by apparatus for automatically lifting, by certainly
Video camera is sent out, is sent into camera cabin by dynamic lifting device；
The mechanical arm includes supporting plate, mechanical arm chute board, T-slot, T-type item, rack gear, steering engine, mechanical arm mounting plate and machinery
Arm connecting rod, mechanical arm are fixed on unmanned aerial vehicle body bottom by supporting plate, mechanical arm chute board, and supporting plate and T-type item pass through T-slot
Connection, T-type item are connected as one with rack gear, and rack gear is engaged with the first steering engine, by between the rotation and rack gear of the first steering engine
Gear motion drives supporting plate to move forward and backward, entire mechanical arm is allow to stretch in unmanned plane front-rear direction；Supporting plate and mechanical arm are pacified
Loading board connection, is fixed with the second steering engine on mechanical arm mounting plate, and the second steering engine is connect with first mechanical arm connecting rod, by the
The rotational angle of two steering engines rotation control first mechanical arm connecting rod, and control the collapsing length of first mechanical arm connecting rod；?
It is equipped with third steering engine and the 4th steering engine between first mechanical arm connecting rod and second mechanical arm connecting rod, passes through third steering engine and the
The rotational angle of the rotation control second mechanical arm connecting rod of four steering engines, and adjust the collapsing length of second mechanical arm connecting rod；
Second mechanical arm connecting rod end is equipped with the 5th steering engine and the 6th steering engine, and the axis of control mechanical arm tail end is rotated by the 5th steering engine
To steering, the rotation of the 6th steering engine is driven, the opening or closure of mechanical arm tail end gripper are controlled.
The apparatus for automatically lifting includes the sliding slot being arranged in camera cabin, gas spring and connecting rod, and sliding slot is fixed on camera
Storehouse inner wall, and connect by 7 type parts with camera cabin supporting plate, 7 type parts are arranged in sliding slot, move up and down along the chute, drive camera
Storehouse supporting plate moves up and down, so that the video camera on camera cabin supporting plate be driven to move up and down, gas spring both ends respectively with camera cabin support
Plate, the connection of camera cabin upper cover plate, connecting rod two end is hinged with camera cabin supporting plate, camera cabin upper cover plate respectively, passes through gas spring, connecting rod
Telescopic moving, drive camera cabin supporting plate to move up and down, while the camera cabin upper cover plate open or close that links.
The length ratio of the first mechanical arm connecting rod and second mechanical arm connecting rod is 3: 2.
First steering engine is also separately positioned on two medial surface of supporting plate, and connection is engaged with rack, and passes through the first steering engine and tooth
The gear motion of item controls mechanical arm stretching motion.
The mechanical arm tail end gripper uses apery hand the five fingers structure, facilitates grasping.
The beneficial effects of the present invention are: adding mechanical arm on the basis of existing unmanned plane, pass through unmanned plane autonomous flight
Function carry the mechanical arm of special construction, mechanical arm can stretch, axially rotate, and be deep into the danger that people cannot reach
Area assists or people is replaced to complete special duty, has the ability to work in the presence of a harsh environment；Upper animal organism is set in shooting
When characteristic, unmanned plane can tightly be gripped on trunk by mechanical arm tail end gripper, similar birds inhabit movement, be clapped with this
Take the photograph the life habit etc. moved on tree；On camera head, camera head is scalable in camera cabin video camera setting, reduces wind
Battery power consumption is saved in resistance, and can be with waterproof；When unmanned plane executes aerial mission, pass through the second steering engine, third steering engine, the
The cooperation of four steering engines rotates, and mechanical arm is retracted to uav bottom, when unmanned plane carries out rectilinear flight, reduces front face area
And flight resistance, achieve the purpose that energy saving.
Detailed description of the invention
Fig. 1 is take photo by plane unmanned plane overview of the embodiment of the present invention with mechanical arm；
Fig. 2 is the connection view of unmanned plane of the embodiment of the present invention and mechanical arm；
Fig. 3 is the overview of mechanical arm of the embodiment of the present invention；
Fig. 4 is the partial view of mechanical arm tail end of the embodiment of the present invention；
Fig. 5 is the partial view of mechanical arm tail end of the embodiment of the present invention；
Fig. 6 is the structural schematic diagram of camera cabin of the embodiment of the present invention；
Fig. 7 is the connection schematic diagram of camera cabin of the embodiment of the present invention and unmanned plane.
In figure: 0. camera platform, 1. unmanned aerial vehicle body, 2. 3. first steering engine of mechanical arm, 4. rack gear, 5. supporting plate
9. mechanical arm tail end of 6.T type outer groove 7.T 8. mechanical arm mounting plate of profile bar, 10. first mechanical arm connecting rod 11.
The 5th steering engine 17 of the 4th steering engine 16 of two steering engines, 12. steering engine seat, 13. mechanical arm chute board, 14 third steering engine 15
Six steering engines, 18 second mechanical arm connecting rod, 19 half gear, 20. camera cabin mounting plate, 21.7 type part, 22. sliding slot 23.
26. gas spring lower bottom base of camera cabin upper cover plate 24. gas spring, 25. gas spring upper bed-plate, 27. connecting rod upper bed-plate 28.
29. connecting rod of camera cabin cover board connecting component, 30. connecting rod lower bottom base, 31. camera cabin supporting plate.
Specific embodiment
The content of present invention is further elaborated with reference to the accompanying drawings and examples, but is not limitation of the invention.
Embodiment:
As shown in Fig. 1,7, a kind of unmanned plane of taking photo by plane with mechanical arm of the present invention by unmanned aerial vehicle body 1, is located at unmanned aerial vehicle body 1
On camera platform 0 and positioned at 1 bottom of unmanned aerial vehicle body mechanical arm 2 constitute, camera platform 0 pass through apparatus for automatically lifting and phase
Cabin connection.Apparatus for automatically lifting is made of sliding slot 22, gas spring 24 and the connecting rod 29 being arranged in camera cabin, and camera cabin passes through
Camera cabin mounting plate 20 is fixed on unmanned aerial vehicle body 1, and sliding slot 22 is fixed by screws in the inner wall of camera cabin, and sliding slot 22 passes through
7 type parts 21 are slidably connected with camera cabin supporting plate 31；24 upper end of gas spring passes through gas spring upper bed-plate 25 and camera cabin upper cover plate 23
It is fixedly connected, lower end is fixedly connected by gas spring lower bottom base 26 with camera cabin supporting plate 31；29 upper end of connecting rod passes through bottom on connecting rod
Seat 27 is hinged with camera cabin upper cover plate 23, and lower end is hinged by connecting rod lower bottom base 30 and camera cabin supporting plate 31, and video camera setting exists
On camera cabin supporting plate, by the telescopic moving of gas spring 24, camera cabin supporting plate 31 is driven to move up and down on sliding slot 22, same to time control
23 open or close of camera cabin upper cover plate processed, when not needing camera work, video camera can be retractable to by apparatus for automatically lifting
In camera cabin, achieve the purpose that reduce windage, waterproof (as shown in Figure 6).
As shown in Figure 2-5, mechanical arm chute board 13 is fixed by screws in 1 bottom of unmanned aerial vehicle body, supporting plate 5 and T-type item 7
By being fixedly connected, is laterally fixed with positioning pin, prevent from sliding axially.Mechanical arm chute board 13 is mounted on unmanned plane by screw
1 bottom of fuselage, rack gear 4 are connected as one with T-type item 7, by the gear motion between the rotation and rack gear 4 of the first steering engine 3, from
And the movement for the T-type item 7 that links, it drives supporting plate 5 to move forward and backward, entire manipulator is allow to move in unmanned plane front-rear direction, stretch
Contracting.
Mechanical arm mounting plate 8 is mounted on supporting plate 5 by screw, and the second steering engine 11 is fixed by screws in steering engine seat 12
On, by the rotation of the second steering engine 11, the rotation of first mechanical arm connecting rod 10 is controlled, third steering engine 14, the 4th steering engine 15 divide
It is not mounted between first mechanical arm connecting rod 10 and second mechanical arm connecting rod 18, first mechanical arm connecting rod 10 and the second machine
The length ratio of tool arm connecting rod 18 is 3: 2, rotation linkage the first mechanical arm connecting rod 10, second mechanical arm of the second steering engine 11
Connecting rod 18 rotates together, stops after the second steering engine 11 turns to the angle of needs, locks；Then third steering engine 14,
The rotation of four steering engines 15 drives the rotation of second mechanical arm connecting rod 18, when second mechanical arm connecting rod 18 reaches the angle of needs
When, it is motionless that the 4th steering engine 15 will lock angle；5th steering engine 16 be arranged in 18 end of second mechanical arm connecting rod, and with the 6th rudder
Machine 17 connects, and drives mechanical arm tail end 9 to make axial rotation by the rotation of the 5th steering engine 16, turn to suitable angle it
Afterwards, it is motionless will to lock angle for the 5th steering engine 16, drive mechanical arm in the rotation for after target object, passing through the 6th steering engine 17
Half gear 19 of end 9 is intermeshed, and controls the opening or closure of mechanical arm gripper.
Application Example:
Fire occurs for some commercial office building, and ground fireman cannot reach the scene of fire of high-storey in time, at this moment fireman
Unmanned plane vertical ascent is taken photo by plane to the fire floor window side of high-storey using the present invention, and the video camera of 360 degree rotation shows fire
The case where real-time transmission to ground, while unmanned plane of taking photo by plane can be flown among fire, by the included vision of unmanned plane, red
Outer line apparatus can during search active avoiding obstacles, fire source etc. danger route, will actively select P Passable
Route；People search is carried out by 360 degree of vision cameras free of discontinuities rotated automatically, camera can have recognition of face skill
Whether art is observed in room and does not rescue to come there are also personnel, such as has found personnel to be rescued, and unmanned plane passes through at the first time wirelessly to be passed
Broadcasting device to the ground rescuer earth station send warning message give ground fire fighter, then unmanned plane is by oneself according to original
Road returns to ground, and the one end for rope of saving somebody's life is hung over mechanical arm tail end by ground staff at this time, unmanned plane be again introduced into discovery to
The rope of carrying is thrown to personnel to be rescued, is then again introduced into next by the place for rescuing personnel, the mechanical arm designed through the invention
A search condition.
Take photo by plane unmanned plane of the present invention with mechanical arm, can be also used for the safety patrol inspection of power equipment.Locating for high-tension apparatus
In high mountain mountain top, whether power ampere crew will inspect periodically route safe, it is no longer necessary to as climbing up high high pressure in the past
Electric wire tower more can check route to avoid walking about on high-tension bus-bar.Power ampere crew only needs to carry the present invention and takes photo by plane nothing
It is man-machine, it takes off in terrestrial operation, along high-tension line successively inspection.The picture sent back by camera can accurately judge line
Road problem.There are barrier, such as kite, balloon etc. on discovery high-voltage line simultaneously, such as handles not in time, can bring about electricity consumption
At this moment security risk can be purged barrier by the mechanical arm section for unmanned plane of taking photo by plane.
The machinery arm section overall dimension is greater than the bottom of four foot of unmanned plane to the distance of uav bottom.Such as in the modern times
In the city of metropolis, outside the wall of high buildings and large mansions, the balloon that may there is wind to scrape up, various plastic products etc..This
When can use unmanned plane of taking photo by plane these barriers be removed.When taking photo by plane unmanned plane close to barrier, the second rudder will be passed through
Machine 11, third steering engine 14, the 4th steering engine 15, the 5th steering engine 16, the 6th steering engine 17 joint rotation remove mansion wall face
Barrier.Unmanned plane will pass through engaging for the first steering engine 3 and rack gear 4 in face of hovering herein after the wall close to barrier
Movement, mechanical arm will be stretched out towards the direction of barrier, and the first steering engine 3 stops engaging fortune with rack gear 4 after reaching suitable position
It is dynamic；Flexible length is controlled by the angle of linkage first mechanical arm connecting rod 10 is rotated by the second steering engine 11 later, is passed through
The collapsing length of second mechanical arm connecting rod 18 is finely tuned in the rotation of third steering engine 14, the 4th steering engine 15, finally by the 5th rudder
Machine 16 rotates the axial direction of mechanical arm tail end 9, passes through the opening of rotation control 9 gripper of mechanical arm tail end of the 6th steering engine 17
With closure, the process of primary cleaning barrier is completed.
Claims (5)
1. a kind of unmanned plane of taking photo by plane with mechanical arm, including drone body, it is characterized in that: further including being mounted on drone body
On video camera, camera platform and the mechanical arm that unmanned aerial vehicle body bottom is set, in which:
The video camera is mounted on camera head, and camera head is mounted in camera cabin by apparatus for automatically lifting, by certainly
Video camera is sent out, is sent into camera cabin by dynamic lifting device；
The mechanical arm includes supporting plate, mechanical arm chute board, T-slot, T-type item, rack gear, steering engine, mechanical arm mounting plate and machinery
Arm connecting rod, mechanical arm are fixed on unmanned aerial vehicle body bottom by supporting plate, mechanical arm chute board, and supporting plate is fixedly connected with T-type item,
T-type item is connected as one with rack gear, and rack gear is engaged with the first steering engine, by engaging fortune between the rotation and rack gear of the first steering engine
It is dynamic, it drives supporting plate to move forward and backward, entire mechanical arm is allow to stretch in unmanned plane front-rear direction；Supporting plate and mechanical arm mounting plate connect
It connects, the second steering engine is fixed on mechanical arm mounting plate, the second steering engine is connect with first mechanical arm connecting rod, passes through the second steering engine
The rotational angle of rotation control first mechanical arm connecting rod, and control the collapsing length of first mechanical arm connecting rod；In the first machine
It is equipped with third steering engine and the 4th steering engine between tool arm connecting rod and second mechanical arm connecting rod, passes through third steering engine and the 4th steering engine
Rotation control second mechanical arm connecting rod rotational angle, and adjust the collapsing length of second mechanical arm connecting rod；Second machine
Tool arm connecting rod end is equipped with the 5th steering engine and the 6th steering engine, is turned by the axial direction that the 5th steering engine rotates control mechanical arm tail end
To drive the 6th steering engine rotation controls the opening or closure of mechanical arm tail end gripper.
2. the unmanned plane of taking photo by plane according to claim 1 with mechanical arm, it is characterized in that: the first mechanical arm connecting rod with
The length ratio of second mechanical arm connecting rod is 3: 2.
3. the unmanned plane of taking photo by plane according to claim 1 with mechanical arm, it is characterized in that: first steering engine is also respectively set
In two medial surface of supporting plate, connection is engaged with rack, by the gear motion of the first steering engine and rack gear, controls the flexible fortune of mechanical arm
It is dynamic.
4. the unmanned plane of taking photo by plane according to claim 1 with mechanical arm, it is characterized in that: the mechanical arm tail end gripper uses
Apery hand the five fingers structure.
5. the unmanned plane of taking photo by plane according to claim 1 with mechanical arm, it is characterized in that: the apparatus for automatically lifting includes setting
Sliding slot, gas spring and connecting rod in camera cabin are set, sliding slot is fixed on camera cabin inner wall, and passes through 7 type parts and camera cabin supporting plate
Connection, 7 type parts are arranged in sliding slot, move up and down along the chute, drive camera cabin supporting plate to move up and down, to drive camera cabin support
Video camera on plate moves up and down, and gas spring both ends are connect with camera cabin supporting plate, camera cabin upper cover plate respectively, connecting rod two end difference
It is hinged with camera cabin supporting plate, camera cabin upper cover plate, by gas spring, the telescopic moving of connecting rod, drives and moved down on camera cabin supporting plate
It is dynamic, while the camera cabin upper cover plate open or close that links.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784984.5A CN108928483A (en) | 2018-07-17 | 2018-07-17 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784984.5A CN108928483A (en) | 2018-07-17 | 2018-07-17 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
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| Publication Number | Publication Date |
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| CN108928483A true CN108928483A (en) | 2018-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810784984.5A Pending CN108928483A (en) | 2018-07-17 | 2018-07-17 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878749A (en) * | 2019-04-15 | 2019-06-14 | 安徽大学 | A kind of detection unmanned plane |
| CN110182375A (en) * | 2019-06-10 | 2019-08-30 | 深圳市智旋科技有限公司 | A kind of unmanned plane imaging sensor control device and its control method |
| CN110466760A (en) * | 2019-08-09 | 2019-11-19 | 国网天津市电力公司 | A kind of power patrol unmanned machine auxiliary mechanical arm and its control system |
| CN111169628A (en) * | 2019-11-22 | 2020-05-19 | 西安理工大学 | Rotor unmanned aerial vehicle ceiling perches mechanism |
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| CN111169628A (en) * | 2019-11-22 | 2020-05-19 | 西安理工大学 | Rotor unmanned aerial vehicle ceiling perches mechanism |
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Application publication date: 20181204 |