CN108994873A - Manipulator and unmanned plane for unmanned plane - Google Patents
Manipulator and unmanned plane for unmanned plane Download PDFInfo
- Publication number
- CN108994873A CN108994873A CN201811081783.5A CN201811081783A CN108994873A CN 108994873 A CN108994873 A CN 108994873A CN 201811081783 A CN201811081783 A CN 201811081783A CN 108994873 A CN108994873 A CN 108994873A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- mounting base
- connecting rod
- unmanned plane
- mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 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 abstract description 20
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 241000237858 Gastropoda Species 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to air vehicle technique fields, disclose a kind of manipulator and unmanned plane for unmanned plane, to provide the shooting angle or crawl function of non-angular limitation, to improve the product quality of unmanned plane.Manipulator for unmanned plane includes that mounting base, driving device and the mechanical arm and manipulator being electrically connected respectively with the driving device are grabbed, in which: the mechanical arm includes and the sequentially connected shaft of the mounting base and at least two connecting rods；The manipulator packet capturing includes pedestal and at least three mechanical fingers, guiding axis and the transmission component that are set to the pedestal, the transmission component are slidably connected with the guiding axis, and at least three mechanical finger is connect with the transmission component；The driving device is rotated for the shaft and at least two connecting rod relative to the mounting base；And for driving the transmission component to slide along the guiding axis, so that at least three mechanical finger opens and closes.
Description
Technical field
The present invention relates to air vehicle technique fields, more particularly to a kind of manipulator and unmanned plane for unmanned plane.
Background technique
Unmanned plane is using the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation, with tradition
Manned aircraft compare, unmanned plane has many advantages, such as small in size, low cost, easy to use, is gradually applied to the daily of people
In life.
However, existing common unmanned plane is mainly used for taking photo by plane, function is more single, even if being equipped with hand grabs device, by
In its structure is complicated, assembling is more difficult, to reduce the reliability and stability of unmanned plane, and is architectural limitation, hand
The scope of activities grabbed is smaller.
Summary of the invention
The embodiment of the present invention provides a kind of manipulator and unmanned plane for unmanned plane, to provide the shooting of non-angular limitation
Angle or crawl function, to improve the product quality of unmanned plane.
The embodiment of the invention provides a kind of manipulators for unmanned plane, including mounting base, driving device and difference
The mechanical arm and manipulator being electrically connected with the driving device are grabbed, in which:
The mechanical arm includes and the sequentially connected shaft of the mounting base and at least two connecting rods；
The manipulator packet capturing includes pedestal and at least three mechanical fingers, guiding axis and the biography that are set to the pedestal
Dynamic component, the transmission component are slidably connected with the guiding axis, and at least three mechanical finger and the transmission component connect
It connects；
The driving device is rotated for the shaft and at least two connecting rod relative to the mounting base；And it uses
In driving the transmission component to slide along the guiding axis, so that at least three mechanical finger opens and closes.
Manipulator provided in an embodiment of the present invention be applied to unmanned plane, when driving device driving mechanical arm shaft relative to
When pedestal rotates, drive the manipulator grasping operation connecting with mechanical arm dynamic, so as to so that manipulator moves with grabbing non-angular limitation.
The shooting angle or crawl function of non-angular limitation may be implemented in the unmanned plane of manipulator application, to provide unmanned plane
Product quality.It is connect in addition, manipulator is grabbed with mechanical arm, when needing unmanned plane to grab object, driving device driving manipulator
The mechanical finger folding grabbed, to realize crawl function, in addition the structure of the manipulator is relatively simple and lighter in weight, further
Improve the reliability and stability of unmanned plane.
In the above-described embodiments, optionally, each mechanical finger that the manipulator is grabbed includes end finger and difference
The hinged connecting rod with the end finger and the transmission component, the one end and institute of the end finger close to the connecting rod
It is hinged to state pedestal, the connecting rod is between the end finger and the transmission component.It is designed using structure, driving device
It drives transmission component to slide along guiding axis, so that connecting rod driven to rotate around transmission component, and then drives end finger around base
Seat rotation, realizes the folding that manipulator is grabbed.
In any of the above-described embodiment, optionally, the transmission component includes worm gear and the worm screw of engagement assembly, the snail
Bar is connect with the driving device, the worm gear and the guiding axis slidable fit, at least three mechanical finger respectively with
The worm gear is hinged；
The driving device is for driving the worm screw to rotate, to make the turbine for engaging assembly with the worm screw described in
Guiding axis sliding, so that at least three mechanical finger opens and closes.
In any of the above-described embodiment, optionally, the shaft includes the first support bar with mounting base pivot dress, institute
It states first support bar and is articulated at least two connecting rod far from the side of the mounting base；Or
The shaft includes second for being set to the rotating sphere of the mounting base and connecting with the rotating sphere
Strut；
The mounting base is provided with the groove for accommodating the rotating sphere, and the rotating sphere can be in the groove
Interior rotation, the second support bar extend the groove and hinged at least two connecting rod.
In any of the above-described embodiment, optionally, the mechanical arm further includes first locking mechanism, the first locking machine
Structure is for locking the position of the shaft and at least two connecting rod relative to the mounting base；And/or
It further includes the second locking mechanism for being set to the pedestal that the manipulator, which is grabbed, and the second locking mechanism is for locking
The opening angle of fixed at least three mechanical finger.In this embodiment, first locking mechanism can by the shaft of mechanical arm and
The position of connecting rod locks；And/or after manipulator grabs object, second locking mechanism locks the position of mechanical finger,
With prevent object from manipulator grab in fall off.
In any of the above-described embodiment, optionally, the manipulator further includes the video camera for shooting.Utilize video camera
The movement of manipulator can be monitored, so as to adjust the position of manipulator in time.In addition, video camera can also be shot
External environment.
In any of the above-described embodiment, optionally, the manipulator further includes the balance weight mechanism for center-of-gravity regulating.This is matched
The center of gravity of the adjustable unmanned plane of heavy-duty machine structure, thus balanced capacity when improving unmanned plane during flying, and then improve shadow of taking photo by plane
Image quality amount.
In any of the above-described embodiment, optionally, the quantity of the connecting rod is two, and described two connecting rods include edge
The first connecting rod and the second connecting rod that direction far from the mounting base is set gradually.
In any of the above-described embodiment, optionally, the quantity of the mechanical finger is three.
Second aspect, the embodiment of the invention also provides a kind of unmanned planes, including described in drone body and first aspect
Manipulator, in which:
The mounting base of the manipulator is set to the drone body, and the mounting base is located at the drone body
Between the mechanical arm of the manipulator.
Unmanned plane provided in an embodiment of the present invention, when the shaft of driving device driving mechanical arm is rotated relative to pedestal,
Drive the manipulator grasping operation connecting with mechanical arm dynamic, so as to so that manipulator moves with grabbing non-angular limitation.The unmanned plane can
To realize the shooting angle or crawl function of non-angular limitation, to provide the product quality of unmanned plane.In addition, manipulator with
Mechanical arm connection, when needing unmanned plane to grab object, the mechanical finger folding that driving device driving manipulator is grabbed, to realize
Function is grabbed, and the structure of the unmanned plane is relatively simple, further improves the reliability and stability of unmanned plane.
Detailed description of the invention
Fig. 1 is a schematic diagram of manipulator in the embodiment of the present invention；
Fig. 2 is another schematic diagram of manipulator in the embodiment of the present invention；
Fig. 3 is another schematic diagram of manipulator in the embodiment of the present invention.
Appended drawing reference:
10- manipulator
1- mounting base
2- mechanical arm
3- manipulator is grabbed
4- fourth drive device
21- shaft
22- connecting rod
31- pedestal
32- mechanical finger
33- guiding axis
34- transmission component
211- first support bar
221- first connecting rod
The second connecting rod of 222-
The articulated section 223-
The rotation section 224-
The end 321- finger
322- manipulator connecting rod
341- worm screw
342- worm gear
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
In order to provide the shooting angle or crawl function of non-angular limitation, to improve the product quality of unmanned plane, this hair
Bright embodiment provides a kind of manipulator and unmanned plane for unmanned plane.
It is worth noting that, when the application refers to the ordinal numbers such as " first " or " second ", unless based on context its
The meaning of certain order of representation, it is appreciated that being only to distinguish to be used.
As depicted in figs. 1 and 2, the embodiment of the invention provides a kind of manipulators 10 for unmanned plane, including mounting base
1, driving device and the mechanical arm 2 and manipulator that are electrically connected to the drive respectively grab 3, in which: mechanical arm 2 includes and peace
Fill the sequentially connected shaft 21 of seat 1 and at least two connecting rods 22；3 packet capturing of manipulator includes pedestal 31 and is set to pedestal 31
At least three mechanical fingers 32, guiding axis 33 and transmission component 34, transmission component 34 is slidably connected with guiding axis 33, it is aforementioned extremely
Few three mechanical fingers 32 are connect with transmission component 34；Driving device is opposite for shaft 21 and aforementioned at least two connecting rod 22
It is rotated in mounting base 1；And for driving transmission component 34 to slide along guiding axis 33, so that aforementioned at least three mechanical finger 32 is opened
It closes.
Manipulator 10 provided in an embodiment of the present invention is applied to unmanned plane, when the shaft 21 of driving device driving mechanical arm 2
When relative to pedestal rotation, the manipulator connecting with mechanical arm 2 is driven to grab 3 movements, so as to so that manipulator grabs 3 non-angulars limit
The movement of system ground.The shooting angle or crawl function of non-angular limitation may be implemented in the unmanned plane of the manipulator 10 application, to mention
The product quality of unmanned plane is supplied.It is connect in addition, manipulator grabs 3 with mechanical arm 2, when needing unmanned plane to grab object, driving
The mechanical finger 32 that device driving manipulator grabs 3 opens and closes, to realize crawl function, in addition the structure of the manipulator 10 is more simple
List and lighter in weight further improve the reliability and stability of unmanned plane.In the present embodiment, guiding axis 33 and mechanical arm
2 connecting rod 22 connects, and the mechanical finger 32 and pedestal 31 that manipulator grabs 3 hingedly, leading by driving device driving transmission component 34
It is slided on axis 33, so that mechanical finger 32 be driven to be opened and closed.
In an embodiment of the present invention, optionally, the quantity of the connecting rod 22 of mechanical arm 2 is two, and this two connections
Bar 22 is the first connecting rod 221 set gradually along the direction far from mounting base 1 and the second connecting rod 222.When mechanical arm 2 uses
The movement of non-angular limitation can be realized in structure design, and structure is relatively simple, lighter in weight.
In any of the embodiments of the present invention, optionally, the second connecting rod 222 includes hinged with first connecting rod 221
Articulated section 223 and it is set to rotation section 224 of the articulated section 223 far from 221 one end of first connecting rod, the rotation section 224 and hinge
223 pivot of socket part dress.In the present embodiment, the pivot center of rotation section 224 is the extending direction of the second connecting rod 222, manipulator
33 pivot of guiding axis for grabbing 3 fills the rotation section 224, and when rotation of the rotation section 224 relative to articulated section 223 can drive the manipulator
Grab 3 rotations, the further expansion manipulator grabs 3 rotation angle range and movement position range.
In an embodiment of the present invention, the specific structure of shaft 21 is unlimited.For example, in one embodiment, shaft 21 includes
With the first support bar 211 of 1 pivot of mounting base dress, first support bar 211 is articulated with aforementioned at least two far from the side of mounting base 1
Connecting rod 22.In the present embodiment, at least two connecting rods 22 of mechanical arm 2 can be driven when first support bar 211 rotates
Rotation since at least two connecting rod 22 and first support bar 211 are hinged, and is mutually cut with scissors between at least two connecting rod 22
It connects, so as to realize the non-angular limitation movement of mechanical arm 2.
Optionally, in another embodiment, shaft 21 includes the rotating sphere and and rotating ball for being set to mounting base 1
The second support bar of body connection；Mounting base 1 is provided with the groove for accommodating the rotating sphere, and rotating sphere can be in groove
Rotation, second support bar extend groove and hinged with aforementioned at least two connecting rod 22.When rotating sphere rotates in groove
When, second support bar rotates in the opening range of groove, so that first connecting rod 221 be driven to move.In the present embodiment,
Two support rods are fixedly connected with rotating sphere, and optionally, second support bar is integrally formed with rotating sphere.
In an embodiment of the present invention, driving device may include rotating for drive shaft 21 relative to mounting base 1
First driving device (not shown), the second driving device for driving first connecting rod 221 to rotate relative to shaft 21 (are not shown
Out), third driving device (not shown), the Yi Jiyong for driving the second connecting rod 222 to rotate relative to first connecting rod 221
In the fourth drive device 4 that driving transmission component 34 is slided along guiding axis 33, first driving device, the second driving device, third
Driving device and fourth drive device 4 are mutually indepedent, thus can individually each connecting rod 22 of adjusting mechanical arm 2 and
Manipulator grabs 3, the in this way position convenient for accurately adjusting mechanical arm 2 and mechanical finger 32, and then can more accurately control
Unmanned plane.
In any of the embodiments of the present invention, mechanical arm 2 further includes first locking mechanism (not shown), first locking mechanism
For locking the position of shaft 21 and aforementioned at least two connecting rod 22 relative to mounting base 1, first locking mechanism is by mechanical arm 2
Shaft 21, each connecting rod 22 position locking, enable mechanical arm 2 is relatively stable to be located in a certain state, further mention
The high stability of unmanned plane；And/or it further includes the second locking mechanism (not shown) for being set to pedestal 31 that manipulator, which grabs 3, it should
Second locking mechanism is used to lock the opening angle of aforementioned at least three mechanical finger 32.After manipulator grabs 3 crawl object, the
Two locking mechanisms lock the position of mechanical finger 32, are fallen off with preventing object from grabbing in 3 from manipulator.Certainly, in order to simplify nothing
Man-machine structure, when using motor in an embodiment of the present invention as driving device, locking function is also may be implemented in motor itself
Energy.
In any of the embodiments of the present invention, it is preferred that the quantity of mechanical finger 32 is three.It is designed using the structure,
It so that manipulator is grabbed 3 and tively firm grab object, and since the end of three mechanical fingers 32 forms one
Landing plane makes the center of gravity of unmanned plane keep stablizing, so that unmanned plane be made more smoothly to land when being landed；Work as machinery
When the quantity of finger 32 is greater than three, need more flat and horizontal landing plane that unmanned plane smoothly lands.
As shown in figure 3, in any of the above-described embodiment, optionally, each mechanical finger 32 include end finger 321, with
And the manipulator connecting rod 322 hinged with end finger 321 and transmission component 34, end finger 321 connect close to manipulator respectively
One end of extension bar 322 and pedestal 31 are hinged, and manipulator connecting rod 322 is between end finger 321 and transmission component 34.Using
Structure design, driving device drives transmission component 34 to slide along guiding axis 33, to drive manipulator connecting rod 322 around transmission group
Part 34 rotates, and then end finger 321 is driven to rotate around pedestal 31, realizes the folding that manipulator grabs 3.
In any of the embodiments of the present invention, optionally, transmission component 34 includes worm screw 341 and the worm gear of engagement assembly
342, worm screw 341 connect with driving device, and worm gear 342 and 33 slidable fit of guiding axis, aforementioned at least three mechanical finger 32 divide
It is not hinged with worm gear 342；Driving device is for driving worm screw 341 to rotate, to drive the turbine for engaging assembly with worm screw 341
342 slide along guiding axis 33, to drive mechanical finger 32 to move, so that aforementioned at least three mechanical finger 32 opens and closes.Wherein,
The concrete type of driving device is unlimited, such as can be motor or cylinder.
In any of the embodiments of the present invention, optionally, manipulator 10 further includes the video camera (not shown) for shooting.
The movement of manipulator 10 can be monitored using video camera, so as to adjust the position of manipulator 10 in time.In addition, taking the photograph
Camera can also shoot external environment.
In any of the embodiments of the present invention, optionally, manipulator 10 further include for center-of-gravity regulating balance weight mechanism (not
It shows).The center of gravity of the adjustable unmanned plane of the balance weight mechanism, thus balanced capacity when improving unmanned plane during flying, Jin Erti
High aerial images quality.
Second aspect, the embodiment of the invention also provides a kind of unmanned planes, the machine including drone body and first aspect
Tool hand, in which: the mounting base of manipulator is set to drone body, and mounting base is located at the machinery of drone body and manipulator
Between arm.
Unmanned plane provided in an embodiment of the present invention, when the shaft of driving device driving mechanical arm is rotated relative to pedestal,
Drive the manipulator grasping operation connecting with mechanical arm dynamic, so as to so that manipulator moves with grabbing non-angular limitation.The unmanned plane can
To realize the shooting angle or crawl function of non-angular limitation, to provide the product quality of unmanned plane.In addition, manipulator with
Mechanical arm connection, when needing unmanned plane to grab object, the mechanical finger folding that driving device driving manipulator is grabbed, to realize
Function is grabbed, and the structure of the unmanned plane is relatively simple, further improves the reliability and stability of unmanned plane.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of manipulator for unmanned plane, which is characterized in that including mounting base, driving device and respectively with the drive
The mechanical arm and manipulator of dynamic device electrical connection are grabbed, in which:
The mechanical arm includes and the sequentially connected shaft of the mounting base and at least two connecting rods；
The manipulator packet capturing includes pedestal and at least three mechanical fingers, guiding axis and the transmission group that are set to the pedestal
Part, the transmission component are slidably connected with the guiding axis, and at least three mechanical finger is connect with the transmission component；
The driving device is rotated for the shaft and at least two connecting rod relative to the mounting base；And for driving
It moves the transmission component to slide along the guiding axis, so that at least three mechanical finger opens and closes.
2. manipulator as described in claim 1, which is characterized in that each mechanical finger that the manipulator is grabbed includes end hand
Finger and connecting rod hinged with the end finger and the transmission component respectively, the end finger is close to the connection
One end of bar and the pedestal are hinged, and the connecting rod is between the end finger and the transmission component.
3. manipulator as described in claim 1, which is characterized in that the transmission component includes worm gear and the snail of engagement assembly
Bar, the worm screw connect with the driving device, the worm gear and the guiding axis slidable fit, at least three manipulator
Refer to hinged with the worm gear respectively；
The driving device is for driving the worm screw to rotate, to make the turbine for engaging assembly with the worm screw along the guiding
Axis sliding, so that at least three mechanical finger opens and closes.
4. manipulator as described in claim 1, which is characterized in that the shaft includes first with mounting base pivot dress
Strut, the first support bar are articulated at least two connecting rod far from the side of the mounting base；Or
The shaft includes the second support for being set to the rotating sphere of the mounting base and connecting with the rotating sphere
Bar；
The mounting base is provided with the groove for accommodating the rotating sphere, and the rotating sphere can turn in the groove
Dynamic, the second support bar extends the groove and hinged at least two connecting rod.
5. manipulator as described in claim 1, which is characterized in that the mechanical arm further includes first locking mechanism, and described
One locking mechanism is for locking the position of the shaft and at least two connecting rod relative to the mounting base；And/or
It further includes the second locking mechanism for being set to the pedestal that the manipulator, which is grabbed, and the second locking mechanism is for locking institute
State the opening angle of at least three mechanical fingers.
6. manipulator as claimed in any one of claims 1 to 5, which is characterized in that further include the video camera for shooting.
7. manipulator as claimed in any one of claims 1 to 5, which is characterized in that further include the counter weight machine for center-of-gravity regulating
Structure.
8. manipulator as claimed in any one of claims 1 to 5, which is characterized in that the quantity of the connecting rod is two, described
Two connecting rods include the first connecting rod set gradually along the direction far from the mounting base and the second connecting rod.
9. manipulator as claimed in any one of claims 1 to 5, which is characterized in that the quantity of the mechanical finger is three.
10. a kind of unmanned plane, which is characterized in that including drone body and manipulator according to any one of claims 1 to 9,
Wherein:
The mounting base of the manipulator is set to the drone body, and the mounting base is located at the drone body and institute
It states between the mechanical arm of manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811081783.5A CN108994873A (en) | 2018-09-17 | 2018-09-17 | Manipulator and unmanned plane for unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811081783.5A CN108994873A (en) | 2018-09-17 | 2018-09-17 | Manipulator and unmanned plane for unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108994873A true CN108994873A (en) | 2018-12-14 |
Family
ID=64591871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811081783.5A Pending CN108994873A (en) | 2018-09-17 | 2018-09-17 | Manipulator and unmanned plane for unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108994873A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039562A (en) * | 2019-04-01 | 2019-07-23 | 清华大学 | A kind of magnetic fluid manipulator |
| CN110243630A (en) * | 2019-06-26 | 2019-09-17 | 深圳市宇驰检测技术股份有限公司 | Sampling apparatus and unmanned plane in situ sampling system |
| CN112345991A (en) * | 2020-11-02 | 2021-02-09 | 上海交通大学 | Magnetic resonance elastography excitation device and magnetic resonance elastography system |
| KR20220156342A (en) * | 2021-05-18 | 2022-11-25 | 인천대학교 산학협력단 | Drone that can reduce impact when landing on the ground |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965516A (en) * | 2015-06-15 | 2015-10-07 | 东南大学 | Method for controlling four-rotor aircraft to perform grabbing operation in the air based on visual and force feedback |
| CN206277408U (en) * | 2016-10-31 | 2017-06-27 | 上海未来伙伴机器人有限公司 | Unmanned plane hand grabs device |
| CN107538464A (en) * | 2017-10-31 | 2018-01-05 | 李刚 | A kind of substation bus bar cylinder inwall clean robot driving arm assembly |
| FR3053600A1 (en) * | 2016-06-22 | 2018-01-12 | Parrot Drones | GRIPPING DEVICE FOR DRONE AND DRONE COMPRISING SUCH A GRIPPING DEVICE |
| CN206954511U (en) * | 2017-07-28 | 2018-02-02 | 济南职业学院 | A kind of forest extinguishing unmanned plane |
-
2018
- 2018-09-17 CN CN201811081783.5A patent/CN108994873A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965516A (en) * | 2015-06-15 | 2015-10-07 | 东南大学 | Method for controlling four-rotor aircraft to perform grabbing operation in the air based on visual and force feedback |
| FR3053600A1 (en) * | 2016-06-22 | 2018-01-12 | Parrot Drones | GRIPPING DEVICE FOR DRONE AND DRONE COMPRISING SUCH A GRIPPING DEVICE |
| CN206277408U (en) * | 2016-10-31 | 2017-06-27 | 上海未来伙伴机器人有限公司 | Unmanned plane hand grabs device |
| CN206954511U (en) * | 2017-07-28 | 2018-02-02 | 济南职业学院 | A kind of forest extinguishing unmanned plane |
| CN107538464A (en) * | 2017-10-31 | 2018-01-05 | 李刚 | A kind of substation bus bar cylinder inwall clean robot driving arm assembly |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039562A (en) * | 2019-04-01 | 2019-07-23 | 清华大学 | A kind of magnetic fluid manipulator |
| CN110243630A (en) * | 2019-06-26 | 2019-09-17 | 深圳市宇驰检测技术股份有限公司 | Sampling apparatus and unmanned plane in situ sampling system |
| CN112345991A (en) * | 2020-11-02 | 2021-02-09 | 上海交通大学 | Magnetic resonance elastography excitation device and magnetic resonance elastography system |
| KR20220156342A (en) * | 2021-05-18 | 2022-11-25 | 인천대학교 산학협력단 | Drone that can reduce impact when landing on the ground |
| KR102538809B1 (en) | 2021-05-18 | 2023-06-02 | 주식회사 라스트마일 | Drone that can reduce impact when landing on the ground |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108994873A (en) | Manipulator and unmanned plane for unmanned plane | |
| US8770055B2 (en) | Multi-axis pivot assembly for control sticks and associated systems and methods | |
| US20200148338A1 (en) | Unmanned aerial vehicle and undercarriage | |
| CN104859857A (en) | Single-lens panoramic unmanned aerial vehicle system | |
| WO2019128401A1 (en) | Undercarriage and unmanned aerial vehicle provided with same | |
| WO2017097021A1 (en) | Wearable unmanned aerial vehicle | |
| CN108323191A (en) | Holder and its control method, unmanned plane | |
| CN108298084A (en) | A kind of armed unmanned plane of autonomous crawl object | |
| WO2019242225A1 (en) | Unmanned aerial vehicle, arm assembly and rotary shaft mechanism thereof | |
| US20170349272A1 (en) | Tricopter-type rotary wing drone | |
| KR101449095B1 (en) | Pan tilt system | |
| CN108994874A (en) | Mechanical arm and unmanned plane for unmanned plane | |
| CN208305055U (en) | UAV Landing docking facilities based on multi-joint mechanical arm | |
| CN109835485A (en) | A kind of unmanned flight's device convenient for storage for taking photo by plane | |
| CN207953921U (en) | A kind of multifunction manipulator | |
| CN112109901B (en) | Unmanned aerial vehicle snatchs mechanism | |
| CN204726672U (en) | A kind of single-lens panorama Unmanned Aircraft Systems (UAS) | |
| CN206398287U (en) | A kind of rotating limit device, head and unmanned plane of taking photo by plane | |
| CN108994875A (en) | Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane | |
| CN109606662B (en) | Foldable quad-rotor unmanned aerial vehicle | |
| CN207983374U (en) | The instant genlocing device of under-driving robot finger multi-joint any angle | |
| CN109606661B (en) | Folding four rotor unmanned aerial vehicle | |
| WO2019137078A1 (en) | Unmanned aerial vehicle | |
| CN111661327B (en) | Many rotors of flexible fuselage flight device | |
| CN108609180B (en) | A kind of advertising unmanned plane for shooting |
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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 264200 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Applicant after: Zhendi Technology Co.,Ltd. Address before: 100086 3rd floor, block a, Zhizhen building, 7 Zhichun Road, Haidian District, Beijing Applicant before: POWERVISION TECH Inc. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181214 |