CN109552610A - A kind of quadrotor multipurpose flying robot - Google Patents
A kind of quadrotor multipurpose flying robot Download PDFInfo
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- CN109552610A CN109552610A CN201811233667.0A CN201811233667A CN109552610A CN 109552610 A CN109552610 A CN 109552610A CN 201811233667 A CN201811233667 A CN 201811233667A CN 109552610 A CN109552610 A CN 109552610A
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- controller
- chassis
- electrically connected
- mechanical arm
- quadrotor
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000003860 storage Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 8
- 239000000779 smoke Substances 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 238000004146 energy storage Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
Classifications
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- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- 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
- 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
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to a kind of quadrotor multipurpose flying robots, including rotor craft and control device, rotor craft includes chassis, propeller, wireless signal transceiver, driving device, controller and apparatus for storing electrical energy, propeller is sequentially connected by transmission mechanism and driving device, driving device and wireless signal transceiver are electrically connected with controller, controller and apparatus for storing electrical energy are electrically connected, anticollision ring is equipped on the outside of propeller, and anticollision ring is fixedly connected on the upside of the quadrangle on chassis, anticollision ring is equipped with ultrasonic sensor on the outer wall far from chassis side, ultrasonic sensor and controller are electrically connected, supporting leg is fixed on the downside of the quadrangle on chassis.The present invention is by being arranged ultrasonic sensor on traditional rotor craft, reduce the probability that flying robot collides in flight course, the controllability of flying robot is improved, while being conducive to flying robot and flying in narrow channel, improves the efficiency of execution task.
Description
The application is application number 2016103208161,16 days Mays 2016 applying date, a kind of denomination of invention " quadrotor
The divisional application of multipurpose flying robot ".
Technical field
The present invention relates to robotic technology field, in particular to a kind of quadrotor multipurpose flying robot.
Background technique
Currently, existing robot is to solve certain particular problems in life production and the simple function that designs mostly
Robot；However in real life, we generally require the robot for being able to carry out multiple-task, such as scientific investigation,
The tasks such as accident rescue, logistics transportation, public security supervision and rubbish cleaning, and traditional land robot is due to by orographic factor
It is affected, during actual task is carried out, not only working efficiency is difficult to be promoted, but also many place robots can not arrive
It reaches, limits the working range of robot.
For this purpose, we have proposed a kind of quadrotor multipurpose flying robots to solve the above problems.
Summary of the invention
A kind of quadrotor multipurpose flying robot proposed the purpose of the present invention is to solve background technique.
To achieve the goals above, present invention employs following technical solutions:
A kind of quadrotor multipurpose flying robot, including rotor craft and control device, the rotor craft include bottom
Disk, propeller, wireless signal transceiver, driving device, controller and apparatus for storing electrical energy, the propeller pass through transmission mechanism
It is sequentially connected with driving device, the driving device and wireless signal transceiver are electrically connected with controller, the controller
It is electrically connected with apparatus for storing electrical energy, anticollision ring is equipped on the outside of the propeller, and anticollision ring is fixedly connected on the quadrangle on chassis
Upside, the anticollision ring are equipped with ultrasonic sensor, the ultrasonic sensor and control on the outer wall far from chassis side
Device is electrically connected, and is fixed with supporting leg on the downside of the quadrangle on the chassis, and the downside on chassis is equipped with storage storehouse, before the storage storehouse
The first camera is fixed on the outer wall of two sides afterwards, the second camera shooting is respectively equipped on the outer wall at left and right sides of the storage storehouse
Head and sensor installation seat, first camera and second camera are electrically connected with controller, in the storage storehouse
Bottom is fixed with two mechanical arm mounting bases, and mechanical arm mounting base is equipped with mechanical arm, and the mechanical arm includes a plurality of turn
Swing arm, and every cursor is equipped with there are two electric expansion mechanism, electric expansion mechanism and controller are electrically connected, and electronic
Telescoping mechanism is symmetricly set on the two sides of cursor, and the cursor is rotatably connected to machinery far from one end of mechanical arm mounting base
Hand；The control device includes dual-mode antenna, and control device is wirelessly connected by dual-mode antenna and wireless signal transceiver, institute
Stating control device further includes display screen and control handle.
Based on the above technical solution, there can be technical solution further below:
The chassis is hollow structure, and driving device, controller and apparatus for storing electrical energy are installed in the inside on chassis.
Elastic rubber set is enclosed on the outside of the anticollision ring.
The supporting leg, cursor and manipulator are all made of aluminum alloy materials and are made.
First camera uses full-view camera.
Temperature sensor and smoke sensor device are installed, the temperature sensor and smog pass on the sensor installation seat
Sensor is electrically connected with controller.
The manipulator is rotatablely connected by rotating member and mechanical arm.
The apparatus for storing electrical energy uses lithium battery group.
The present invention reduces flying robot and was flying by the way that ultrasonic sensor is arranged on traditional rotor craft
The probability to collide in journey improves the controllability of flying robot, while being conducive to flying robot in narrow channel
Middle flight can replace people to go to execute the task of some danger by the manipulator of setting come cooperative mechanical arm, and be with aircraft
Carrier can reach conventional land robot and be difficult to the position reached, improve the practicability of robot, pass through the of setting
One camera and second camera, and the real-time video picture of shooting is sent to by control device by wireless signal transceiver
On display screen, manipulator can be controlled robot across barrier, effectively expand the working range of robot；This
Outside, the compatible a variety of environmental monitoring sensors of the controller of robot, user can sense according to the needs of actual task
The suitable sensor of Fast Installation in device mounting base goes to carry out environment on the spot prospecting and data acquisition, and information is shown
On the screen of control device, the efficiency of execution task is improved, while flying robot in advance sends out accident in rescue operations
Radix Rehmanniae point is reconnoitred, and the development of rescue work is conducive to, and also reduces the probability of contingency generation.
Detailed description of the invention
Fig. 1 is a kind of quadrotor multipurpose flying robot's structural schematic diagram proposed by the present invention；
Fig. 2 is that the mechanical arm of quadrotor multipurpose flying robot proposed by the present invention a kind of folds lateral side view；
Fig. 3 is that the mechanical arm of quadrotor multipurpose flying robot proposed by the present invention a kind of folds back view.
1 rotor craft, 2 control devices, 3 chassis, 4 propellers, 5 wireless signal transceivers, 6 anticollision rings, 7 ultrasonic waves pass
Sensor, 8 supporting legs, 9 storage storehouses, 10 first cameras, 11 second cameras, 12 sensor installation seats, 13 mechanical arm mounting bases, 14
Mechanical arm, 15 cursors, 16 electric expansion mechanisms, 17 manipulators, 18 dual-mode antennas, 19 display screens, 20 control handles.
Specific embodiment
It is next combined with specific embodiments below that the present invention is further described.
Referring to Fig.1-3, a kind of quadrotor multipurpose flying robot, including rotor craft 1 and control device 2, rotor
Aircraft 1 includes chassis 3, propeller 4, wireless signal transceiver 5, driving device, controller and apparatus for storing electrical energy, chassis 3
For hollow structure, and driving device, controller and apparatus for storing electrical energy are installed in the inside on chassis 3, and propeller 4 passes through transmission
Mechanism and driving device are sequentially connected, and driving device and wireless signal transceiver 5 are electrically connected with controller, controller and electricity
Energy storage device is electrically connected, and anticollision ring 6 is equipped on the outside of the propeller of rotor craft 1, wraps up flexible rubber on the outside of anticollision ring 6
Gum cover, and anticollision ring 6 is fixedly connected on the upside of the quadrangle on chassis 3, anticollision ring 6 is equipped with super on the outer wall far from 3 side of chassis
Sonic sensor 7, ultrasonic sensor 7 and controller are electrically connected, and apparatus for storing electrical energy uses lithium battery group, and the four of chassis 3
Supporting leg 8 is fixed on the downside of angle, and the downside on chassis 3 is equipped with storage storehouse 9, fixation is set on the outer wall of 9 front and rear sides of storage storehouse
There is the first camera 10, the first camera 10 uses full-view camera, is respectively equipped with second on the outer wall of 9 left and right sides of storage storehouse
Camera 11 and sensor installation seat 12, the first camera 10 and second camera 11 are electrically connected with controller, sensor
Temperature sensor and smoke sensor device are installed, temperature sensor and smoke sensor device electrically connect with controller in mounting base 12
It connecing, the bottom in storage storehouse 9 is fixed with two mechanical arm mounting bases 13, and mechanical arm mounting base 13 is equipped with mechanical arm 14,
Mechanical arm 14 includes a plurality of cursor 15, and every cursor 15 is equipped with there are two electric expansion mechanism 16, electric expansion machine
Structure 16 and controller are electrically connected, and electric expansion mechanism 16 is symmetricly set on the two sides of cursor 15, and cursor 15 is far from machine
One end of 14 mounting base 13 of tool arm is rotatably connected to manipulator 17, and manipulator 17 is rotatablely connected by rotating member and mechanical arm 14,
Supporting leg 8, cursor 15 and manipulator 17 are all made of aluminum alloy materials and are made；Control device 2 includes dual-mode antenna 18, and manipulates dress
It sets 2 to be wirelessly connected by dual-mode antenna 18 and wireless signal transceiver 5, control device 2 further includes display screen 19 and control handle
20, control handle 20 includes 14 control handle of flying vehicles control handle and mechanical arm, for controlling aircraft and mechanical arm 14
Running.
The present invention on the outside of the anticollision ring 6 of rotor craft 1 by being arranged ultrasonic sensor 7, if flying robot exists
Detect that there is barrier in front during flight, controller can control aircraft down, and aircraft is avoided to bump against barrier mistake
It goes to balance；Storage storehouse 9 is set by the downside on chassis 3, and mechanical arm 14 and manipulator 17 are set in storage storehouse 9, is utilized
Manipulator 17 can replace manpower to go to execute some high-risk tasks, by the way that one group of first camera 10 is arranged before and after storage storehouse 9,
Manipulator can control flying robot to continue to execute aerial mission by the video information that robot passes back after clear object,
It arrives at manpower and is difficult to the position reached, expand the working range of robot；By setting second camera 11 come cooperative mechanical
Arm 14 works, and real-time video pictures can be transferred on the display screen of control device 2 by second camera 11, makes manipulator can be into
The finer operation of row, while also improving machine task efficiency；In addition, by being installed on sensor installation seat 12
The sensor needed in task, such as temperature sensor, smoke sensor device and toxic gas detection sensor, in accident rescue
During, can the environmental information first to the scene of the accident detect, guarantee the smooth development of rescue work, while avoiding rescuing
The generation of accident.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of quadrotor multipurpose flying robot, including rotor craft (1) and control device (2), it is characterised in that: institute
Stating rotor craft (1) includes chassis (3), propeller (4), wireless signal transceiver (5), driving device, controller and electric energy
Storage device, the propeller (4) are sequentially connected by transmission mechanism and driving device, and the driving device and wireless signal are received
It sends out device (5) to be electrically connected with controller, the controller and apparatus for storing electrical energy are electrically connected, on the outside of the propeller (4)
Equipped with anticollision ring (6), and anticollision ring (6) is fixedly connected on the upside of the quadrangle on chassis (3), and the anticollision ring (6) is far from chassis (3)
It is equipped on the outer wall of side ultrasonic sensor (7), the ultrasonic sensor (7) and controller are electrically connected, the bottom
It is fixed with supporting leg (8) on the downside of the quadrangle of disk (3), and the downside of chassis (3) is equipped with storage storehouse (9), before and after the storage storehouse (9)
It is fixed on the outer wall of two sides the first camera (10), the outer wall on the left of the storage storehouse (9) is equipped with cooperative mechanical arm
(14) second camera (11) to work, the outer wall on the right side of the storage storehouse (9), which is equipped with, is equipped with temperature sensor and smog
The sensor installation seat (12) of sensor, on the sensor installation seat (12), the temperature sensor and smoke sensor device are equal
It is electrically connected with controller；First camera (10) and second camera (11) are electrically connected with controller, the receipts
Bottom in Na Cang (9) is fixed with two mechanical arm mounting bases (13), and mechanical arm mounting base (13) is equipped with mechanical arm
(14), the mechanical arm (14) includes a plurality of cursor (15), and every cursor (15) is equipped with that there are two electric expansion machines
Structure (16), the electric expansion mechanism (16) and controller are electrically connected, and electric expansion mechanism (16) is symmetricly set on rotation
The two sides of arm (15), the cursor (15) are rotatably connected to manipulator (17) far from the one end of mechanical arm mounting base (13)；Institute
Stating control device (2) includes dual-mode antenna (18), and control device (2) passes through dual-mode antenna (18) and wireless signal transceiver
(5) it is wirelessly connected, the control device (2) further includes display screen (19) and control handle (20), and the chassis (3) is hollow knot
Structure, and driving device, controller and apparatus for storing electrical energy are installed in the inside of chassis (3), the manipulator (17) is by turning
Moving part and mechanical arm (14) are rotatablely connected.
2. a kind of quadrotor multipurpose flying robot according to claim 1, it is characterised in that: the anticollision ring (6)
Outside is enclosed with elastic rubber set.
3. a kind of quadrotor multipurpose flying robot according to claim 1, it is characterised in that: the supporting leg (8) turns
Swing arm (15) and manipulator (17) are all made of aluminum alloy materials and are made.
4. a kind of quadrotor multipurpose flying robot according to claim 1, it is characterised in that: first camera
(10) full-view camera is used.
5. a kind of quadrotor multipurpose flying robot according to claim 1, it is characterised in that: the electric energy storage dress
It sets using lithium battery group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233667.0A CN109552610A (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811233667.0A CN109552610A (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
| CN201610320816.1A CN105857593B (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610320816.1A Division CN105857593B (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109552610A true CN109552610A (en) | 2019-04-02 |
Family
ID=56632057
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610320816.1A Active CN105857593B (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
| CN201811233667.0A Withdrawn CN109552610A (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610320816.1A Active CN105857593B (en) | 2016-05-16 | 2016-05-16 | A kind of quadrotor multipurpose flying robot |
Country Status (1)
| Country | Link |
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| CN (2) | CN105857593B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217389B (en) * | 2016-08-21 | 2018-08-31 | 南京陶特思软件科技有限公司 | A kind of monitoring camera clean robot |
| EP3515817B1 (en) | 2016-09-21 | 2021-05-19 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| CN107108030A (en) * | 2016-09-21 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN106347650B (en) * | 2016-10-09 | 2019-02-26 | 北京理工大学 | A kind of double culvert type flying robots of file and its dynamics cooperative control method |
| CN106598072A (en) * | 2016-12-22 | 2017-04-26 | 徐州飞梦电子科技有限公司 | Unmanned plane operating method for clearing garbage on water surface |
| CN106697287B (en) * | 2017-02-10 | 2023-09-12 | 四川中飞赛维航空科技有限公司 | Unmanned aerial vehicle applied to environmental protection |
| CN106864766B (en) * | 2017-03-16 | 2019-09-03 | 山东大学 | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane |
| CN107010198A (en) * | 2017-04-15 | 2017-08-04 | 上海量明科技发展有限公司 | Folding camera unmanned plane and its implementation |
| CN107235156B (en) * | 2017-06-26 | 2023-07-25 | 中国电建集团成都勘测设计研究院有限公司 | Unmanned aerial vehicle panoramic video acquisition camera mounting structure capable of being retracted and continuously adjusted |
| CN108082477A (en) * | 2017-12-15 | 2018-05-29 | 佛山市神风航空科技有限公司 | A kind of unmanned plane for acrophyta sampling |
| CN108482678A (en) * | 2018-04-07 | 2018-09-04 | 邢明的 | A kind of airflight crawl unmanned plane |
| DE102018114014A1 (en) * | 2018-06-12 | 2019-12-12 | Gustav Klauke Gmbh | Hand tool prepared for remote control and tool prepared for remote control |
| CN109108990A (en) * | 2018-07-24 | 2019-01-01 | 西北工业大学 | A kind of station module inner machine people with non-co-planar more rotors |
| CN116014656B (en) * | 2023-03-23 | 2023-09-08 | 国网山西省电力公司电力科学研究院 | Unmanned aerial vehicle control-based power transmission line deicing device and method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201136150Y (en) * | 2007-12-06 | 2008-10-22 | 朱建彬 | Free expanding and rotary lifting push and boosting mechanical arm |
| CN201800918U (en) * | 2010-09-16 | 2011-04-20 | 中国计量学院 | Rotating telescopic flying device with four rotor wings |
| KR101407722B1 (en) * | 2012-08-21 | 2014-06-13 | 경상대학교산학협력단 | Self-powered quadcopter |
| CN204297097U (en) * | 2014-11-26 | 2015-04-29 | 成都好飞机器人科技有限公司 | For four rotor wing unmanned aerial vehicles that agriculture Pesticides sprays |
| CN204452931U (en) * | 2015-02-14 | 2015-07-08 | 广东澄星航模科技股份有限公司 | One follows four-axle aircraft |
| CN104965516B (en) * | 2015-06-15 | 2017-10-10 | 东南大学 | A kind of view-based access control model and the quadrotor of force feedback carry out the control method of aerial crawl operation |
-
2016
- 2016-05-16 CN CN201610320816.1A patent/CN105857593B/en active Active
- 2016-05-16 CN CN201811233667.0A patent/CN109552610A/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| CN105857593B (en) | 2018-12-21 |
| CN105857593A (en) | 2016-08-17 |
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Application publication date: 20190402 |