CN109795691A - A kind of unmanned plane during flying grasping system - Google Patents
A kind of unmanned plane during flying grasping system Download PDFInfo
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- CN109795691A CN109795691A CN201910058231.0A CN201910058231A CN109795691A CN 109795691 A CN109795691 A CN 109795691A CN 201910058231 A CN201910058231 A CN 201910058231A CN 109795691 A CN109795691 A CN 109795691A
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Abstract
The present invention relates to air vehicle technique fields.Purpose is to provide a kind of unmanned plane during flying grasping system, which should have the characteristics that wide coverage, service speed are high, control is simple, big posture crawl can be achieved.Technical solution is: a kind of unmanned plane during flying grasping system, including central control system, battery, handgrip and the tongs driving device being mounted in unmanned plane；It is characterized by: the grasping system includes several rope drive systems that the pedestal for being fixed on uav bottom, top are connected to the cylinder column of base center position, are connected to the moving platform of cylinder column bottom end and are connected in parallel between pedestal and moving platform, the handgrip and tongs driving device are mounted on moving platform；Each rope drive system includes the motor being fixed on the base, rope, is mounted on annulus on motor output shaft to batch the volume rope pulley of rope and be fixed on moving platform；One end of rope is wound in the race of volume rope pulley, and the other end is connected on annulus.
Description
Technical field
The present invention relates to air vehicle technique field, specifically a kind of unmanned plane during flying grasping system.
Background technique
In recent years, unmanned air vehicle technique is advanced by leaps and bounds.Since, the speed of service good with mobility is fast, can wide coverage etc.
Advantage, unmanned plane have been widely used in fields such as investigation, military affairs, logistics, inspections.Article carrying is carried out using unmanned plane
It has a good application prospect.The handgrip on unmanned plane, which needs to adjust posture and deacclimatizes, in the process of grasping is crawled object not
Same feature.The unmanned plane grasping system proposed at present is all that manipulator (handgrip) is mounted on uav bottom.Handgrip itself is no
Have the ability of pose adjustment, need central control system to UAV Attitude carry out control variation come realize handgrip grab appearance
The variation of state, control difficulty are big, it is difficult to realize a wide range of attitudes vibration.It is therefore proposed that a kind of control is simple, big posture can be achieved
The unmanned plane during flying grasping system of crawl is necessary.
Summary of the invention
The purpose of the present invention is overcoming deficiency existing for background technique, a kind of unmanned plane during flying grasping system is provided, this is grabbed
Take system that should have the characteristics that wide coverage, service speed are high, control is simple, big posture crawl can be achieved.
The technical scheme is that
A kind of unmanned plane during flying grasping system, including be mounted in unmanned plane central control system, battery, handgrip and
Tongs driving device；It is characterized by: the grasping system includes that the pedestal for being fixed on uav bottom, top are connected in pedestal
If the cylinder column of heart position, the moving platform for being connected to cylinder column bottom end and being connected in parallel between pedestal and moving platform
Dry rope drive system, the handgrip and tongs driving device are mounted on moving platform；
Each rope drive system includes the motor being fixed on the base, rope, is mounted on motor output shaft to batch rope
The volume rope pulley of rope and the annulus being fixed on moving platform；One end of rope is wound in the race of volume rope pulley, and the other end connects
It connects on annulus；
The bottom end of the cylinder column is connected by the center of spherical pair or Hooke's hinge and moving platform, cylinder column
Top is fixed on the center of pedestal vertically；Alternatively, the top of cylinder column passes through in spherical pair or Hooke's hinge and pedestal
The connection of heart position, the bottom end of cylinder column is fixed on the center of moving platform vertically；
The driving power of all motors is the battery, and motor also connects the central control system, is controlled by center
System processed is uniformly controlled.
A kind of unmanned plane during flying grasping system, including be mounted in unmanned plane central control system, battery, handgrip and
Tongs driving device；It is characterized by: the grasping system includes that the pedestal for being fixed on uav bottom, top are fixed on pedestal
The fixed moving platform in center and under external force flexible elastic rod, center and elastic rod bottom end, company in parallel
Several rope drive systems between pedestal and moving platform are connect, the handgrip and tongs driving device are mounted on moving platform
On；
Each rope drive system includes the motor being fixed on the base, rope, is mounted on motor output shaft to batch rope
The volume rope pulley of rope and the annulus for being fixed on moving platform；One end of rope is wound in the race of volume rope pulley, other end connection
On annulus；
The driving power of all motors is the battery, and motor also connects the central control system, is controlled by center
System processed is uniformly controlled.
The top of the elastic rod is fixedly linked by the first fixing seat with pedestal, and bottom end is by the second fixing seat and moves flat
Platform is fixedly linked.
The elastic rod is fiberglass pole or rubber rods.
The pedestal hangs two-by-two from center toward radial several quantity of stretching of surrounding cantilever identical with rope drive system
Angle between arm is all equal.
All motors are mounted on the outer end of cantilever one by one respectively, the axis of all volume rope pulleys be tangential on same circumference and
The wheel groove center of all volume rope pulleys is equal at a distance from base center.
All annulus are uniformly mounted on moving platform and installation site is located at the same circle coaxial with moving platform.
Each motor passes through motor cabinet and is mounted on cantilever.
The quantity of the rope drive system is three, four or six.
Unmanned plane during flying grasping system proposed by the present invention realizes a wide range of positioning by unmanned plane, passes through drive system of restricting
It drives moving platform to realize a wide range of attitudes vibration, so that handgrip can realize a wide range of, big posture crawl, can be used for article and remove
Fortune, sorting field.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the embodiment of the present invention one.
Fig. 2 is the schematic perspective view of the embodiment of the present invention two.
Fig. 3 is the schematic perspective view of the embodiment of the present invention three.
Fig. 4 is the schematic perspective view of the embodiment of the present invention four.
Fig. 5 is the schematic perspective view of the embodiment of the present invention five.
Fig. 6 is the schematic perspective view of the embodiment of the present invention six.
Fig. 7 is the schematic perspective view of the embodiment of the present invention seven.
Fig. 8 is the schematic perspective view of the embodiment of the present invention eight.
Fig. 9 is the schematic perspective view of the embodiment of the present invention nine.
Figure 10 is the elastic rod structural schematic diagram in the embodiment of the present invention seven, eight, nine.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
Embodiment one
Unmanned plane during flying grasping system as shown in Figure 1 including unmanned plane 1, moving platform 3, is fixed on grabbing on moving platform
Hand 4 and tongs driving device；It is also equipped with central control system in unmanned plane and drives the battery of tongs driving device (in figure
Omit tongs driving device, central control system and tongs driving device；It is the same below).
The above structure and existing unmanned plane during flying grasping system are similar.
Improvement of the invention is: provided unmanned plane during flying grasping system further includes the bottom for being fixed on uav bottom
Seat 2, top are fixed on 5 (the preferably plane of the axis of the first cylinder column and pedestal of the first cylinder column of base center position
Vertically) and three rope drive systems being connected in parallel between pedestal and moving platform；
The rope drive system includes the motor cabinet 11 being connected in turn between pedestal and moving platform, motor 12, volume rope cunning
Wheel 13, rope 14 and annulus 15；The motor cabinet is fixed on pedestal, and motor is mounted on motor cabinet, and volume rope pulley is mounted on
On motor output shaft, rope one end is wound in the race of volume rope pulley, and the other end is connected to annulus, and annulus is fixed on moving platform 3
On.
The motor is directly using the battery in unmanned plane as driving power, and motor connects the center control of unmanned plane
System processed uniformly carries out crawl operation by central control system.
The pedestal is from center toward surrounding three cantilevers of radial stretching, and the angle between cantilever is 120 degree two-by-two；Three
Motor is mounted on the outer end of cantilever by motor cabinet one by one respectively, and the axis of three volume rope pulleys is tangential on same circumference and three
The wheel groove center of a volume rope pulley is equal at a distance from base center；Three annulus are uniformly mounted on moving platform and (justify two-by-two
Angle between ring and the line at moving platform center is equal), and installation site is located at the same circle coaxial with moving platform.
The bottom end of the first cylinder column 5 is connected to the center of moving platform 3 by the first spherical pair 6.
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by three motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment two
The present embodiment is as shown in Fig. 2, structure and embodiment one are similar；Difference is: in the present embodiment, using being connected in parallel
Three rope drive systems of four between the pedestal and moving platform rope drive systems instead of embodiment 1.
Thus: pedestal is from center toward surrounding four cantilevers of radial stretching, and the angle between cantilever is 90 degree two-by-two；Four
Motor is mounted on the outer end of cantilever by motor cabinet one by one respectively, and the axis of four volume rope pulleys is tangential on same circumference and four
The wheel groove center of a volume rope pulley is equal at a distance from base center；Four annulus are uniformly mounted on moving platform, and are pacified
Holding position is located at the same circle coaxial with moving platform.
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by four motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment three
The present embodiment is as shown in figure 3, structure and embodiment one are similar；Difference is: in the present embodiment, the first cylinder column
5 bottom end is connected to the center of moving platform 3 by the first Hooke's hinge 7, and (in embodiment 1, the bottom end of the first cylinder column 5 is logical
Cross the center that the first spherical pair 6 is connected to moving platform 3).
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by three motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Example IV
The present embodiment is as shown in figure 4, structure and embodiment one are similar；Difference is: in the present embodiment, the second cylinder column
8 top is connected to the center of pedestal by the second spherical pair 9, the bottom end of the second cylinder column then with the center of moving platform
Position is fixed；Preferably, the axis of the second cylinder column it is vertical with the plane of moving platform (in embodiment 1, the first cylinder column
The center of pedestal is fixed on 5 top, and the bottom end of the first cylinder column 5 is connected to moving platform 3 by the first spherical pair 6
Center).
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by three motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment five
The present embodiment is as shown in figure 5, structure and embodiment two are similar；Difference is: in the present embodiment, the second cylinder column
8 top is connected to the center of pedestal by the second spherical pair 9, the bottom end of the second cylinder column then with the center of moving platform
Position is fixed；Preferably, the axis of the second cylinder column is vertical with the plane of moving platform, (structure of embodiment 2 is: the first circle
The center of pedestal is fixed on the top of column column 5, and the bottom end of the first cylinder column then connect with by the first spherical pair 6 dynamic
The center of platform).
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by four motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment six
The present embodiment is as shown in fig. 6, structure is similar with example IV；Difference is: in the present embodiment, the second cylinder column
8 top by the second Hooke's hinge 10 is connected to the center of pedestal, and (structure of embodiment 4 is: the top of the second cylinder column 8
End is connected to the center of pedestal by the second spherical pair 9).
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by three motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment seven
The present embodiment is as shown in fig. 7, structure and embodiment one are similar；Difference is: in the present embodiment, using elastic rod 17
Instead of the first cylinder column 5 in embodiment 1；Also, the top of elastic rod is fixed on pedestal by the first fixing seat 16
Center, the bottom end of elastic rod are fixed on by the second fixing seat 18 center of moving platform (preferably, elastic rod
Axis is vertical with the plane of the plane of moving platform and pedestal).
The elastic rod is recommended as fiberglass pole or rubber rods.
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by three motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment eight
The present embodiment is as shown in figure 8, structure and embodiment two are similar；Difference is: in the present embodiment, using elastic rod 17
Instead of the first cylinder column 5 in embodiment 2；Also, the top of elastic rod is fixed on pedestal by the first fixing seat 16
Center, the bottom end of elastic rod are fixed on by the second fixing seat 18 center of moving platform (preferably, elastic rod
Axis is vertical with the plane of the plane of moving platform and pedestal).
The elastic rod is fiberglass pole or rubber rods.
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by four motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Embodiment nine
The present embodiment is as shown in figure 9, structure and embodiment eight are similar；Difference is: in the present embodiment, using being connected in parallel
Four rope drive systems of six between the pedestal and moving platform rope drive systems instead of embodiment 8.
Thus: pedestal is from center toward surrounding six cantilevers of radial stretching, and the angle between cantilever is 60 degree two-by-two；Six
Motor passes through the outer end that motor cabinet is mounted on cantilever one by one respectively, and the axis of six volume rope pulleys is tangential on same circumference and six
The wheel groove center of a volume rope pulley is equal at a distance from base center；Six annulus are uniformly mounted on moving platform, and are pacified
Holding position is located at the same circle coaxial with moving platform.
The present embodiment realizes a wide range of positioning by unmanned plane, volume rope pulley rotation is driven by six motors, to adjust
Rope lengths are saved, the attitudes vibration of moving platform is controlled, realize big posture crawl.
Claims (8)
1. a kind of unmanned plane during flying grasping system, including be mounted on unmanned plane central control system, battery, handgrip (4) with
And tongs driving device；It is characterized by: the grasping system includes the pedestal (2) for being fixed on unmanned plane (1) bottom, top connection
In base center position cylinder column, be connected to the moving platform (3) of cylinder column bottom end and be connected in pedestal and dynamic in parallel
Handgrip (4) described in several rope drive systems between platform and tongs driving device are mounted on moving platform；
Each rope drive system includes the motor (12) being fixed on the base, rope (14), is mounted on motor output shaft to roll up
The annulus (15) for taking the volume rope pulley (13) of rope and being fixed on moving platform；One end of rope is wound on the race of volume rope pulley
Interior, the other end is connected on annulus；
The bottom end of the cylinder column is connect by spherical pair or Hooke's hinge with the center of moving platform (3), cylinder column
Top is fixed on the center of pedestal vertically；Alternatively, the top of cylinder column passes through in spherical pair or Hooke's hinge and pedestal
The connection of heart position, the bottom end of cylinder column is fixed on the center of moving platform vertically；
The driving power of all motors is the battery, and motor also connects the central control system, by center control system
It is uniformly controlled.
2. a kind of unmanned plane during flying grasping system, including be mounted on unmanned plane central control system, battery, handgrip (4) with
And tongs driving device；It is characterized by: the grasping system is including being fixed on the pedestal (2) of unmanned plane (1) bottom, top is fixed
In the center of pedestal and moving for flexible elastic rod (8), center and the fixation of elastic rod bottom end under external force
Platform (3) and several rope drive systems being connected in parallel between pedestal and moving platform, the handgrip and handgrip driving
Mechanism is mounted on moving platform；
Each rope drive system includes the motor (12) being fixed on the base, rope (14), is mounted on motor output shaft to roll up
It takes the volume rope pulley (13) of rope and is fixed on the annulus (15) of moving platform；One end of rope is wound on the race of volume rope pulley
Interior, the other end is connected on annulus；
The driving power of all motors is the battery, and motor also connects the central control system, by center control system
It is uniformly controlled.
3. unmanned plane during flying grasping system according to claim 2, it is characterised in that: the top of the elastic rod passes through the
One fixing seat (7) is fixedly linked with pedestal, and bottom end is fixedly linked by the second fixing seat (9) with moving platform.
4. unmanned plane during flying grasping system according to claim 3, it is characterised in that: the elastic rod is fiberglass pole
Or rubber rods.
5. unmanned plane during flying grasping system according to claim 1 or 2 or 3 or 4, it is characterised in that: the pedestal is in
The heart is toward radial several quantity of stretching of surrounding cantilever identical with rope drive system, and the angle between cantilever is all equal two-by-two.
6. unmanned plane during flying grasping system according to claim 5, it is characterised in that: all motors are mounted on one by one respectively
The outer end of cantilever, the axis of all volume rope pulleys are tangential in the wheel groove center and pedestal of same circumference and all volume rope pulleys
The distance of the heart is equal.
7. unmanned plane during flying grasping system according to claim 6, it is characterised in that: each motor passes through motor cabinet
(11) it is mounted on cantilever.
8. unmanned plane during flying grasping system according to claim 7, it is characterised in that: it is described rope drive system quantity be
Three, four or six.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058231.0A CN109795691A (en) | 2019-01-22 | 2019-01-22 | A kind of unmanned plane during flying grasping system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910058231.0A CN109795691A (en) | 2019-01-22 | 2019-01-22 | A kind of unmanned plane during flying grasping system |
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| CN201910058231.0A Pending CN109795691A (en) | 2019-01-22 | 2019-01-22 | A kind of unmanned plane during flying grasping system |
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Cited By (2)
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| CN111483605A (en) * | 2020-04-26 | 2020-08-04 | 重庆大学 | Grabbing device suitable for flying perching robot |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
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Application publication date: 20190524 |