CN109911190A - Multi-rotor unmanned aerial vehicle - Google Patents
Multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN109911190A CN109911190A CN201910296862.6A CN201910296862A CN109911190A CN 109911190 A CN109911190 A CN 109911190A CN 201910296862 A CN201910296862 A CN 201910296862A CN 109911190 A CN109911190 A CN 109911190A
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Abstract
A kind of multi-rotor unmanned aerial vehicle is related to flying robot field, and heavier object can be grabbed with a distance from object farther out, brings lesser interference to the flight of unmanned plane.A kind of multi-rotor unmanned aerial vehicle includes ontology aircraft, controller, the extension type manipulator of image processor and the driving of single motor line；The first sleeve of extension type manipulator is connect with ontology aircraft, is equipped with motor and first switch sensor；Second sleeve and first sleeve are connected and installed with the first magnetic patch, can slide axially in first sleeve；3rd sleeve and second sleeve are connected and installed with the second magnetic patch, can slide axially in second sleeve；Mechanical claw assembly is connected and installed with second switch sensor by structural member and 3rd sleeve, can slide axially in 3rd sleeve；First rod piece group of mechanical claw assembly is flexibly connected with 3rd sleeve, and the second rod piece group is flexibly connected with structural member, and third rod piece group is flexibly connected with the first, second rod piece group.
Description
Technical field
The present invention relates to flying robot's technical fields, in particular to a kind of multi-rotor unmanned aerial vehicle.
Background technique
Unmanned plane (also referred to as flying robot) can be motor-driven in the progress of wide airspace, and therefore, unmanned plane is in forest fire protection
Monitoring, crops large area pesticide spraying, exhibitions relay monitoring in the air, and the civil fields such as disaster area the condition of a disaster observing and controlling are just obtaining quickly
Using.
With the expansion to small drone potential application range requirement, recent years is realized based on flying robot and is grabbed
The purpose for taking specific objective object, before the small-sized rotor flying robot with manipulator is just becoming the research of international well-known research institution
Along one of direction.Flight manipulator, which refers to, installs manipulator additional to complete special objective crawl, movement below rotor wing unmanned aerial vehicle fuselage
Task.
Currently mainly there are four research institutions to carry out research more outstanding in this regard in the world:
First, carrying the crawl that mechanical pliers carries out small articles in three-dimensional space using small-sized quadrotor flying robot；
Its movement for simulating birds underriding moment predation prey, devises the structure of mechanical pliers.
Second, the lightweight under-driven adaptive mechanical of install compact clamps to grab and remove on electronic rotor flying robot
Transport object；The dynamics when material and mounting structure characteristic of this mechanical pliers make flying robot clamp lightweight object is special
Property has not undergone great changes.
Third, proposing the concept for installing the unmanned rotary wing flight system of two mechanical arms additional, it is substantially carried out simple machine early period
The trial-production of tool hooked hand and the simulating, verifying work of system, currently carry out in individually development subsystem engineering prototype, mainly
Manipulation including double mechanical arms system material object, and tentatively realize quadrotor flying robot and install lightweight three freedom degree manipulator additional
Principle prototype modeling and control.
Fourth, be for six degree of freedom flight manipulator carried out complication system control study in quadrotor flying machine
Two manipulators are installed on device people additional to complete the function of imitative claws of a hawk crawl object.
Manipulator in above-mentioned flight manipulator is mostly using the motor-driven form of multi-joint, such machinery
Hand has following shortcoming:
(1) each joint of multi-joint manipulator requires motor driven, causes manipulator weight big, has limited grasping object
The size of body；
(2) limitation of multi-joint manipulator own wt causes its structure to design upper maximum elongation limited length, also just limits
The distance of flight manipulator crawl target object is made；
(3) multi-joint manipulator is in spatial movement, first is that variation of the center of gravity in three directions in space, second is that three sides
To producing disturbance torque；The two variations bring challenge to the stabilized flight control of unmanned plane.
In conclusion how to provide it is a it is light, heavier target can be grabbed with a distance from object farther out
Object, while small manipulator is interfered to unmanned plane bring and is installed in multi-rotor unmanned aerial vehicle, constitute flight manipulator
The technical issues of being those skilled in the art's urgent need to resolve.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-rotor unmanned aerial vehicles, can grab with a distance from object farther out
Heavier object is taken, while lesser interference is brought to the flight of unmanned plane.
The embodiment of the present invention is achieved in that
A kind of multi-rotor unmanned aerial vehicle comprising: ontology aircraft, and it is mounted on the carry-on control of the ontology
The extension type manipulator of device, image processor and the driving of single motor line；The extension type manipulator includes: first sleeve,
The first sleeve is connect with the ontology aircraft, and the inside of the first sleeve is equipped with motor, the first sleeve
Side wall first switch sensor is installed；Second sleeve, the second sleeve are connect with the first sleeve, and described second
Sleeve can only slide axially in the inside of the first sleeve, and the side wall of the second sleeve is equipped with the first magnetic patch；The
Three sleeves, the 3rd sleeve are connect with the second sleeve, and the 3rd sleeve can be in the inside of the second sleeve
It only slides axially, the side wall of the 3rd sleeve is equipped with the second magnetic patch；Mechanical claw assembly, the machinery claw assembly have knot
The component and mechanical claw assembly is connect by the structural member with the 3rd sleeve, the structural member can be described the
The inside of three sleeves only slides axially, and the side wall of the structural member is equipped with second switch sensor；The machinery claw assembly
Further include: the first rod piece group, the second rod piece group and third rod piece group；The first rod piece group and the 3rd sleeve activity connect
It connects, the second rod piece group is flexibly connected with the structural member, the third rod piece group and the first rod piece group and described the
Two rod piece groups are flexibly connected.
In preferred embodiments of the present invention, above-mentioned first sleeve has the first mounting base, and the first sleeve passes through
First mounting base is connect with the rack of the ontology aircraft；The inside of the first sleeve is equipped with the second mounting base, institute
The second mounting base is stated for installing the motor.
In preferred embodiments of the present invention, the inside of above-mentioned first sleeve has first sliding groove, the second sleeve
Outer surface have the first raised line, first raised line be used for the first sliding groove clearance fit so that the second sleeve exists
The inside of the first sleeve only slides axially.
In preferred embodiments of the present invention, the inside both ends of above-mentioned first sleeve are respectively provided with the first projection seat and second convex
Seat, for preventing the second sleeve by skidding off above the first sleeve, second projection seat is used for first projection seat
Prevent the second sleeve by skidding off below the first sleeve.
In preferred embodiments of the present invention, one end that above-mentioned second sleeve closes on the first sleeve has the first convex
Edge and the first outer convex edge, the first convex edge is for preventing the 3rd sleeve by skidding off above the second sleeve, institute
The first evagination is stated along for preventing the second sleeve by skidding off below the first sleeve；The second sleeve is far from described
One end of first sleeve has third projection seat, and the third projection seat is for preventing the 3rd sleeve by under the second sleeve
Side skids off；The 3rd sleeve close on the second sleeve one end have second in convex edge and the second outer convex edge, described second
Convex is along for preventing the structural member by skidding off above the 3rd sleeve, and second evagination is along for preventing described the
Three sleeves below the second sleeve by skidding off.
In preferred embodiments of the present invention, the inside of above-mentioned second sleeve has second sliding slot, the 3rd sleeve
Outer surface have the second raised line, second raised line be used for the second sliding slot clearance fit so that the 3rd sleeve exists
The inside of the second sleeve only slides axially.
In preferred embodiments of the present invention, the inner surface of above-mentioned 3rd sleeve has third raised line, the structural member
Outer surface have third sliding slot, the third raised line be used for the third sliding slot clearance fit so that the structural member is in institute
The inside for stating 3rd sleeve only slides axially.
In preferred embodiments of the present invention, the one end of above-mentioned 3rd sleeve far from the second sleeve is convex with the 4th
Seat, the 4th projection seat is for preventing the structural member by skidding off below the 3rd sleeve；The structural member closes on described
One end of 3rd sleeve has the outer convex edge of third, and the third evagination is along for preventing the structural member by the 3rd sleeve
Lower section skids off.
In preferred embodiments of the present invention, above-mentioned structural member has groove mounting base, and the groove mounting base is for pacifying
Fill the second switch sensor.
In preferred embodiments of the present invention, above-mentioned first switch sensor and the second switch sensor are all made of suddenly
That switch sensor；Described image processor uses binocular vision image processing module.
The first magnetic patch center and first when the manipulator of multi-rotor unmanned aerial vehicle is in contraction state, above second sleeve
It is same radially that the center of effective receiving plane of first switch sensor above sleeve is in sleeve, both at this time in most short
Distance；The second magnetic patch center and knot when the manipulator of multi-rotor unmanned aerial vehicle is in maximum elongation state, below 3rd sleeve
It is same radially that the center of the effective receiving plane for the second switch sensor installed on component is in sleeve, both at this time in most
Short distance.
The beneficial effect of the embodiment of the present invention is:
One, the manipulator of single motor line driving, compact-sized, center of gravity unidirectionally changes, relative to traditional aircraft mechanical
For hand, manipulator of the invention does not have intermediate motor, therefore weight is significantly reduced, the bearing capacity of such aircraft
It is stronger, it is possible thereby to heavier object be driven, while center of gravity only changes in vertical direction, conducive to the stability contorting of unmanned plane；
Two, telescopic manipulator can grab object distance it is farther, the present invention can be extended to 4,5 it is even more
Sleeve；
Three, picture recognition module is fixed at a distance from the horizontal direction with manipulator, is conducive to identification object and manipulator
In the relative position of horizontal plane, and then control manipulator behavior.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the configuration schematic diagram of multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of first sleeve in multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of second sleeve in multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention；
Fig. 4 is the first viewing angle constructions schematic diagram of 3rd sleeve in multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention；
Fig. 5 is the second viewing angle constructions schematic diagram of 3rd sleeve in multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention；
Fig. 6 is the first viewing angle constructions schematic diagram of structural member in multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention；
Fig. 7 is the second viewing angle constructions schematic diagram of structural member in multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention.
In figure:
1- ontology aircraft；2- controller；3- image processor；4- motor；5- first sleeve；Second set of 6-
Cylinder；7- 3rd sleeve；8- machinery claw assembly；9- nylon wire；10- first switch sensor；The first magnetic patch of 11-；12-
Two magnetic patch；13- second switch sensor；8-0- structural member；8-1- the first rod piece group；8-2- the second rod piece group；8-
3- third rod piece group；The first mounting base of 5-1-；The second mounting base of 5-2-；5-3- first sliding groove；5-4- first is convex
Seat；The second projection seat of 5-5-；The first raised line of 6-1-；Convex edge in 6-2- first；The outer convex edge 6-3- first；6-4- third
Projection seat；6-5- second sliding slot；Convex edge in 7-1- second；The outer convex edge 7-2- second；The second raised line of 7-3-；7-4-
Three raised lines；The 4th projection seat of 7-5-；The first auricle of 7-6-；8-0-1- third sliding slot；The outer convex edge of 8-0-2- third；
8-0-3- groove mounting base；The second auricle of 8-0-4-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is please referred to, the present embodiment provides a kind of multi-rotor unmanned aerial vehicles, comprising: ontology aircraft 1, and it is mounted on this
The extension type manipulator of controller 2, image processor 3 and the driving of single motor line on body aircraft 1；Extension type manipulator
It include: first sleeve 5, first sleeve 5 is connect with ontology aircraft 1, and the inside of first sleeve 5 is equipped with motor 4, first set
The side wall of cylinder 5 is equipped with first switch sensor 10；Second sleeve 6, second sleeve 6 is connect with first sleeve 5, and second sleeve
6 can only do the axis direction sliding (without rotating) along first sleeve 5, the side wall of second sleeve 6 in the inside of first sleeve 5
First magnetic patch 11 is installed；3rd sleeve 7,3rd sleeve 7 are connect with second sleeve 6, and 3rd sleeve 7 can be in second sleeve
The axis direction sliding (without rotating) along second sleeve 6 is only done in 6 inside, and the side wall of 3rd sleeve 7 is equipped with the second magnetic patch
12；Mechanical claw assembly 8, mechanical claw assembly 8 has structural member 8-0 and mechanical claw assembly 8 passes through structural member 8-0 and third set
Cylinder 7 connects, and structural member 8-0 can only do the axis direction sliding along 3rd sleeve 7 (without turning in the inside of 3rd sleeve 7
It is dynamic), the side wall of structural member 8-0 is equipped with second switch sensor 13；Mechanical claw assembly 8 further include: the first rod piece group 8-1,
Second rod piece group 8-2 and third rod piece group 8-3；First rod piece group 8-1 is flexibly connected with 3rd sleeve 7, the second rod piece group
8-2 is flexibly connected with structural member 8-0, and third rod piece group 8-3 and the first rod piece group 8-1 and the second rod piece group 8-2 activity connect
It connects.
In preferred embodiments of the present invention, above-mentioned first switch sensor 10 and second switch sensor 13 can be adopted
Use honeywell switch sensor；Above-mentioned image processor 3 can use binocular vision image processing module.
Referring to figure 2., the present embodiment provides in a kind of multi-rotor unmanned aerial vehicle, the top of first sleeve 5 is equipped with four hole of band
First mounting base 5-1 is mainly used for being fixedly connected by the rack of screw and ontology aircraft 1；First sleeve 5 it is interior
Portion includes the second mounting base 5-2 of motor 4, is mainly used for installing the use of motor 4；The inside of first sleeve 5 is sliding there are two first
Slot 5-3 is mainly used for the clearance fit with second sleeve 6, while second sleeve 6 being made only to do axial direction inside first sleeve 5
Sliding, without can rotate；The first projection seat 5-4 inside first sleeve 5 is mainly used for preventing second sleeve 6 from first sleeve 5
Side skids off；The second projection seat 5-5 inside first sleeve 5 is mainly used for preventing second sleeve 6 from skidding off below first sleeve 5；
One hole is arranged at 5 top of first sleeve, is mainly used for installing first switch sensor 10.
Referring to figure 3., the present embodiment provides in a kind of multi-rotor unmanned aerial vehicle, there is inside and outside two convex edges above second sleeve 6,
Namely the outer convex edge 6-3 of convex edge 6-2 and first in first, convex edge 6-2 is mainly used for preventing 3rd sleeve 7 from first
It is skidded off above two sleeves 6, the first outer convex edge 6-3 is mainly used for preventing second sleeve 6 from skidding off below first sleeve 5；Second
The outer surface of sleeve 6 there are two bumping square namely the first raised line 6-1, be for 5 inside first sliding groove 5- of first sleeve
3 clearance fit；There are two sliding slot namely second sliding slot 6-5 for 6 inside of second sleeve, are mainly used between 3rd sleeve 7
Clearance fit, while 3rd sleeve 7 is only slid axially inside second sleeve 6, without can rotate；Second sleeve 6
Internal third projection seat 6-4 mainly prevents 3rd sleeve 7 from skidding off below second sleeve 6；6 top of second sleeve has one
Circular hole is mainly used for installing the first magnetic patch 11.
Referring to figure 4. and Fig. 5, two inside and outside the present embodiment provides having in a kind of multi-rotor unmanned aerial vehicle above 3rd sleeve 7
The outer convex edge 7-2 of convex edge 7-1 and second in convex edge namely second, in second convex edge 7-1 mainly prevent structural member 8-0 from
It is skidded off above 3rd sleeve 7, the second outer convex edge 7-2 mainly prevents 3rd sleeve 7 from skidding off below second sleeve 6；Third set
7 outer surfaces of cylinder there are two bumping square namely the second raised line 7-3, be for 6 inside second sliding slot 6-5 of second sleeve
Clearance fit；There are bumping square namely third raised line 7-4 inside 3rd sleeve 7, is mainly used for the structure with mechanical claw assembly 8
Clearance fit between the third sliding slot 8-0-1 of the outer surface of part 8-0, while making structural member 8-0 in 3rd sleeve 7
Portion only slides axially, and without can rotate, that is, entire mechanical claw assembly 8 not can rotate；There are 4 below 3rd sleeve 7
The first auricle 7-6 with single hole, the riveting being mainly used between the first rod piece group 8-1 of mechanical claw assembly 8 and 3rd sleeve 7
It is fixed；7 lower inside of 3rd sleeve has the 4th projection seat 7-5, is mainly used for preventing the structural member 8-0 of mechanical claw assembly 8 from
It is skidded off below three sleeves 7；There is a hole below 3rd sleeve 7, is mainly used for that the second magnetic patch 12 is installed.
Fig. 6 and Fig. 7 are please referred to, the present embodiment provides in a kind of multi-rotor unmanned aerial vehicle, the structural member 8-0 of mechanical claw assembly 8
There is the outer convex edge 8-0-2 of third in top, and wherein the outer convex edge 8-0-2 of third is mainly used for preventing the structural member of mechanical claw assembly 8
8-0 is skidded off below 3rd sleeve 7；There are third sliding slot 8-0-1 in the two sides structural member 8-0, be mainly used for in 3rd sleeve 7
The clearance fit of portion third raised line 7-4；Fluted mounting base 8-0-3 above structural member 8-0 is mainly used for installation second and opens
Sensor 13 is closed to use；There are two the second auricle 8-0-4 in two holes of each band below structural member 8-0, it is mainly used for gripper
Riveting between the second rod piece group 8-2 and structural member 8-0 of component 8 is fixed.
When the manipulator of multi-rotor unmanned aerial vehicle is in contraction state, 11 center of the first magnetic patch of the top of second sleeve 6 with
It is same radially that the center of effective receiving plane of the first switch sensor 10 of the top of first sleeve 5 be in sleeve, at this time the two
In the shortest distance；When the manipulator of multi-rotor unmanned aerial vehicle is in maximum elongation state, the second magnetic patch of 7 lower section of 3rd sleeve
The center of the effective receiving plane for the second switch sensor 13 installed on 12 centers and structural member 8-0 is in the same radial direction of sleeve
On, the two is in the shortest distance at this time.
A kind of work flow of multi-rotor unmanned aerial vehicle provided in this embodiment is described in detail below:
Firstly, detecting object by the image processor 3 of binocular vision module therein, then controller 2 is controlled automatically
Airflight manipulator processed is flown to above object, when the distance between the position of object in image space and setting position
When within the set threshold range, airflight manipulator is hovered at certain altitude above the object, and manipulator, which is in, at this time receives
Contracting state.
Then, controller 2 controls the rotation release nylon wire 9 of motor 4, at this time second sleeve 6,3rd sleeve 7, gripper group
Part 8 lands simultaneously under self gravitation effect, when the external convex edge of second sleeve 6 is in contact with the inside projection seat of first sleeve 5,
The landing of second sleeve 6 at this time is in place；3rd sleeve 7 then continues to decline under the effect of gravity with mechanical claw assembly 8, works as 3rd sleeve
7 external convex edge is in contact with the inside projection seat of second sleeve 6, and the landing of 3rd sleeve 7 at this time is in place；Mechanical claw assembly 8 is certainly
Continue to decline under body gravity, while mechanical claw assembly 8 is opened since promptly state under the action of gravity structure part 8-0
It opens, when the top convex edge of gravity structure part 8-0 is in contact with the inside projection seat of 3rd sleeve 7, mechanical claw assembly 8 lands at this time
In place, while claw opens up into utmostly, at this time 12 center of the second magnetic patch and the effective receiving plane of second switch sensor 13
Center is in that sleeve is same radially, and second switch sensor 13 experiences the magnetic field signal of the second magnetic patch 12, and is fed back
To controller 2, controller 2 controls motor 4 and stops operating.
On the basis of the above, controller 2 controls unmanned plane in vertical direction by the image processor 3 of binocular vision module
It slowly moves to after manipulator touches object, controller 2 is inverted in control motor 4, at this time mechanical claw assembly 8,3rd sleeve
7, second sleeve 6 successively rises, and is first after mechanical claw assembly 8 rises to certain position, due to grabbing object, mechanical claw assembly
8 block 3rd sleeve 7, and mechanical claw assembly 8 and 3rd sleeve 7 rise together at this time；After rising to certain position, gripper group
Part 8 blocks second sleeve 6 again, and mechanical claw assembly 8,3rd sleeve 7 and second sleeve 6 rise together at this time；When second sleeve 6
Rise to 11 center of the first magnetic patch and the effective receiving plane of first switch sensor 10 center be in sleeve it is same radially when, the
One switch sensor 10 experiences the magnetic field signal of the first magnetic patch 11, and is fed back to controller 2, and controller 2 controls motor 4
It stops operating.Target object crawl at this time finishes.
It is that mechanical 8 side rising edge of claw assembly is shunk first if manipulator does not grab object when shrinking from elongation state,
When the upper surface for rising to structural member 8-0 touches convex edge in the top of 3rd sleeve 7,3rd sleeve 7 and mechanical claw assembly
8 continue to rise together；Second sleeve 6 is touched when mechanical claw assembly 8 and 3rd sleeve 7 rise to 7 upper surface of 3rd sleeve
In top when convex edge, second sleeve 6 then rises with mechanical claw assembly 8 and 3rd sleeve 7 together；When second sleeve 6 rises to
The center of one magnetic patch, 11 center and the effective receiving plane of first switch sensor 10 be in sleeve it is same radially when, first switch biography
Sensor 10 experiences the magnetic field signal of the first magnetic patch 11, and is fed back to controller 2, and controller 2, which controls motor 4, to be stopped turning
It is dynamic.
In conclusion multi-rotor unmanned aerial vehicle provided by the invention mainly has following advantage:
One, the manipulator of single motor line driving, compact-sized, center of gravity unidirectionally changes, relative to traditional aircraft mechanical
For hand, manipulator of the invention does not have intermediate motor, therefore weight is significantly reduced, the bearing capacity of such aircraft
It is stronger, it is possible thereby to heavier object be driven, while center of gravity only changes in vertical direction, conducive to the stability contorting of unmanned plane；
Two, telescopic manipulator can grab object distance it is farther, the present invention can be extended to 4,5 it is even more
Sleeve；
Three, picture recognition module is fixed at a distance from the horizontal direction with manipulator, is conducive to identification object and manipulator
In the relative position of horizontal plane, and then control manipulator behavior.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle characterized by comprising ontology aircraft, and be mounted on the ontology aircraft
Extension type manipulator；The extension type manipulator includes:
First sleeve, the first sleeve is connect with the ontology aircraft, and the inside of the first sleeve is equipped with motor,
For the motor for driving the extension type manipulator flexible, the side wall of the first sleeve is equipped with first switch sensing
Device；
Second sleeve, the second sleeve are connect with the first sleeve, and the second sleeve can be in the first sleeve
Inside only slide axially, the side wall of the second sleeve is equipped with the first magnetic patch, and the first switch sensor is for feeling
Answer the magnetic field of first magnetic patch；
3rd sleeve, the 3rd sleeve are connect with the second sleeve, and the 3rd sleeve can be in the second sleeve
Inside only slide axially, the side wall of the 3rd sleeve is equipped with the second magnetic patch；
Mechanical claw assembly, the machinery claw assembly there is structural member and the mechanical claw assembly by the structural member with it is described
3rd sleeve connection, the structural member can only slide axially in the inside of the 3rd sleeve, the side wall of the structural member
Second switch sensor is installed, the second switch sensor is used to incude the magnetic field of second magnetic patch；
The machinery claw assembly further include: the first rod piece group, the second rod piece group and third rod piece group；The first rod piece group and institute
3rd sleeve flexible connection is stated, the second rod piece group is flexibly connected with the structural member, the third rod piece group and described the
One rod piece group and the second rod piece group are flexibly connected.
2. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the first sleeve has the first mounting base,
And the first sleeve is connect by first mounting base with the rack of the ontology aircraft；
The inside of the first sleeve is equipped with the second mounting base, and second mounting base is for installing the motor.
3. multi-rotor unmanned aerial vehicle according to claim 1 or 2, which is characterized in that the inside of the first sleeve has the
One sliding slot, the outer surface of the second sleeve have the first raised line, and first raised line with the first sliding groove gap for matching
It closes, so that the second sleeve only slides axially in the inside of the first sleeve.
4. multi-rotor unmanned aerial vehicle according to claim 3, which is characterized in that the inside both ends of the first sleeve have respectively
There are the first projection seat and the second projection seat, first projection seat is used to prevent the second sleeve sliding by the top of the first sleeve
Out, second projection seat is for preventing the second sleeve by skidding off below the first sleeve.
5. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the second sleeve closes on the first sleeve
One end there is convex edge and the first outer convex edge in first, first convex is along being used to prevent the 3rd sleeve by described second
It is skidded off above sleeve, first evagination is along for preventing the second sleeve by skidding off below the first sleeve；
The second sleeve has third projection seat far from one end of the first sleeve, and the third projection seat is for preventing described the
Three sleeves below the second sleeve by skidding off；
One end that the 3rd sleeve closes on the second sleeve has convex edge and the second outer convex edge in second, second convex
Along for preventing the structural member by skidding off above the 3rd sleeve, second evagination is along for preventing the third set
Cylinder below the second sleeve by skidding off.
6. multi-rotor unmanned aerial vehicle according to claim 1 or 5, which is characterized in that the inside of the second sleeve has the
Two sliding slots, the outer surface of the 3rd sleeve have the second raised line, and second raised line with the second sliding slot gap for matching
It closes, so that the 3rd sleeve only slides axially in the inside of the second sleeve.
7. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that the inner surface of the 3rd sleeve has third
Raised line, the outer surface of the structural member have a third sliding slot, the third raised line be used for the third sliding slot clearance fit, make
The structural member is obtained only to slide axially in the inside of the 3rd sleeve.
8. multi-rotor unmanned aerial vehicle according to claim 1 or claim 7, which is characterized in that the 3rd sleeve is far from described second
One end of sleeve has the 4th projection seat, and the 4th projection seat is used to prevent the structural member sliding by the lower section of the 3rd sleeve
Out；
One end that the structural member closes on the 3rd sleeve has the outer convex edge of third, and the third evagination is along described for preventing
Structural member below the 3rd sleeve by skidding off.
9. multi-rotor unmanned aerial vehicle according to claim 8, which is characterized in that the structural member has groove mounting base, institute
Groove mounting base is stated for installing the second switch sensor.
10. multi-rotor unmanned aerial vehicle according to claim 1, which is characterized in that further include: it is mounted on the ontology aircraft
On controller and binocular vision image processing module；
The first switch sensor and the second switch sensor are all made of honeywell switch sensor.
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| CN109911190B (en) | 2024-03-29 |
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