CN110341954B - Free multi-angle mechanical arm for aircraft - Google Patents
Free multi-angle mechanical arm for aircraft Download PDFInfo
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- CN110341954B CN110341954B CN201910507076.6A CN201910507076A CN110341954B CN 110341954 B CN110341954 B CN 110341954B CN 201910507076 A CN201910507076 A CN 201910507076A CN 110341954 B CN110341954 B CN 110341954B
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- 210000000078 claw Anatomy 0.000 claims abstract description 65
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000003068 static effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 230000005484 gravity Effects 0.000 abstract description 6
- 230000007547 defect Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a free type multi-angle mechanical arm for an aircraft, which belongs to the technical field of aircraft clamping jaw devices and comprises two large steering engines, two parallel four-bar mechanisms, two jaw mounting frames, two universal joints, two disc jaws and a mounting frame. The invention is different from the traditional sucker suction, overcomes the defect of clumsy and single grabbing of the traditional machinery, and adopts a mechanical structure and a universal joint skillfully combined as a main body structure, and the length of the top end on the claw surface is controlled by a steering engine, thereby realizing multi-angle, safer and more reliable grabbing. The invention can be self-locked through gravity, can grab articles without applying external force, and can freely adjust the attitude of the articles after grabbing the articles through the universal joint, so that the gravity center of the articles and the gravity center of the aircraft are on the same vertical line, thereby avoiding the influence on the flight attitude of the aircraft caused by the deviation of the overall gravity center of the aircraft due to the deviation of the grabbing position.
Description
Technical Field
The invention belongs to the technical field of aircraft clamping jaw devices, and particularly relates to a free type multi-angle mechanical arm for an aircraft.
Background
At present, the application field of unmanned aerial vehicles is wider and wider, remote control flight is the basic characteristic of unmanned aerial vehicles, and based on the basic characteristic, multiple purposes can be derived, such as reconnaissance, aerial photography, plant protection, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief movie and television shooting and the like. Because unmanned aerial vehicle has mobility again and is good, the task response is fast, the timely characteristics of information feedback, utilize unmanned aerial vehicle to carry out air transportation become an important development direction. The current unmanned aerial vehicle air transportation is mainly used for military purposes, can transport wounded, weapon ammunition, food and water etc. unmanned aerial vehicle's high efficiency can deliver wounded to the hospital sooner. Civil transport unmanned aerial vehicle can be used for transporting medical article, express delivery goods etc. but has not obtained real wide application at present yet. With the rapid development of e-commerce, unmanned aerial vehicle delivery has become a hotspot. At present, the research of unmanned aerial vehicle transportation is still in a starting stage, the unmanned aerial vehicle is only primarily applied to the transportation in a few short-distance fields, and the unmanned aerial vehicle cannot selectively grab articles, put the articles in a specific place and the like, so that the improvement of the transportation efficiency of the unmanned aerial vehicle and the development of transportation automation are limited. Reliable use and firm the adding of grabbing device are the important assurance that unmanned aerial vehicle transportation accomplished smoothly. The existing grabbing device is provided with a sucker for sucking and mechanical grabbing, the sucker is limited by the roughness of the surface of an object and the grabbing angle, the mechanical grabbing is limited by the size and the grabbing angle, the grabbing mode is clumsy, single and unstable, the existing requirement cannot be met, and the improvement of the transportation efficiency of the unmanned aerial vehicle and the realization of automation are limited.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a free type multi-angle mechanical arm for an aircraft, which is different from a common sucking disc sucking and simple mechanical grabbing device.
The invention is realized by adopting the following technical scheme:
a free type multi-angle mechanical arm for an aircraft comprises two large steering engines, two parallel four-bar mechanisms, two claw mounting frames, two universal joints, two disc claws and a mounting frame; wherein the content of the first and second substances,
the two parallel four-bar linkage mechanisms are symmetrically arranged, one end of each long rod of each parallel four-bar linkage mechanism is hinged with the mounting frame, the other end of each long rod of each parallel four-bar linkage mechanism is hinged with one end of the corresponding claw mounting frame, the mounting frame is used as a short rod of each parallel four-bar linkage mechanism, the claw mounting frame is used as the other short rod of each parallel four-bar linkage mechanism, and the two large steering engines are arranged on the mounting frame and used for synchronously driving the two parallel four-bar linkage mechanisms to rotate so as to enable the two parallel four-bar linkage mechanisms to be opened; the other end of each claw mounting rack is connected with one end of a corresponding universal joint, and the other end of the universal joint is connected with a corresponding disc claw.
The invention is further improved in that the longitudinal section of the mounting frame is in an inverted U shape.
The invention is further improved in that a plurality of lightening holes are uniformly formed on the mounting rack.
The invention is further improved in that the universal joint adopts a ball head rod end joint bearing L-shaped universal joint.
The invention is further improved in that the disc claw is connected with a rod with a complete ball in the L-shaped universal joint of the ball head rod end joint bearing, and a rod without the complete ball in the L-shaped universal joint of the ball head rod end joint bearing is connected with the claw mounting frame.
The invention has the further improvement that the two long rods of each parallel four-bar linkage mechanism are respectively two thrust rods and two connecting rods which are symmetrically arranged at the two sides of the mounting rack, the thrust rods and the connecting rods at the same side are arranged in parallel, and each large steering engine is used for driving the thrust rods of the corresponding parallel four-bar linkage mechanism to rotate.
The invention has the further improvement that the end surface of each disk claw connected with the universal joint is provided with a plurality of small steering engines, and each small steering engine penetrates through the disk claw and is connected with a tip.
The invention has the further improvement that when the unmanned aerial vehicle is used, after the mounting frame is fixedly connected with the unmanned aerial vehicle, the unmanned aerial vehicle flies above a grabbed object, the two large steering engines synchronously rotate outwards to drive the thrust rod to move, the claw mounting frame can only translate due to the limitation of the connecting rod, so that the disc claw is opened, the small steering engine rotates to enable the length of the tip extending out of the claw surface to be zero, the unmanned aerial vehicle descends to a proper height, the large steering engines rotate inwards to reduce the distance between the two claws, the claw surface is in contact with the object, and at the moment, due to the action of force and the existence of the L-shaped universal joint of the ball head rod end joint bearing, the claws can rotate around the spherical center within a space preset angle range, so that the claw surface; then the small steering engine rotates to enable the tip to extend out of a proper length, so that the maximum static friction force between the tip and an article is increased, and the article is not easy to fall off; when unmanned aerial vehicle risees, the disc claw is rotatory, and the focus of adjusting article and unmanned aerial vehicle's focus realize the transfer of article on same vertical straight line.
The invention has the following beneficial technical effects:
the free multi-angle mechanical arm for the aircraft is bilaterally symmetrical, the two parallel four-bar linkage mechanisms are respectively driven to rotate by the two large steering engines, the two disc claws are further opened and closed sequentially through the claw mounting frame and the universal joint, and the large steering engines do not provide power in the grabbing process and can grab a grabbed object only by self-locking of the gravity of the whole mechanical arm, so that the free multi-angle mechanical arm can freely and flexibly grab goods at multiple angles even under the condition of no external force, the posture of the goods is adjusted, the free multi-angle mechanical arm is suitable for grabbing complicated and various goods, the transportation efficiency and the transportation safety and reliability of the unmanned aerial vehicle are improved, and the goods delivery of the unmanned aerial vehicle is more intelligent.
Furthermore, the disc claw is connected with a rod with a complete ball in the L-shaped universal joint of the ball head rod end joint bearing, so that the disc claw rotates within a spatial preset angle range by taking the ball center of the L-shaped universal joint of the ball head rod end joint bearing as the center. After the object is grabbed, the disc claw can rotate to adjust the posture of the object under the action of gravity. A rod without a complete ball in the L-shaped universal joint of the ball head rod end joint bearing is connected with the claw mounting frame and is in a plumb state in the whole grabbing process.
Furthermore, a small rudder on the disk claw can control a tip and linearly move through a limit space on the disk claw, and the tip is in contact with the surface of a grabbed object, so that the maximum static friction force can be increased.
Drawings
FIG. 1 is a schematic structural diagram of a free-form multi-angle robotic arm for use on an aircraft.
FIG. 2 is an enlarged view of a claw of a free-form multi-angle robotic arm for use on an aircraft.
Description of reference numerals:
1-large steering engine, 2-thrust rod, 3-connecting rod, 4-claw mounting rack, 5-universal joint, 6-disc claw, 7-small steering engine, 8-tip, 9-mounting rack and 10-lightening hole.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the free type multi-angle mechanical arm for the aircraft provided by the invention comprises two large steering engines 1, four thrust rods 2, four connecting rods 3, two claw mounting frames 4, two ball head rod end joint bearings L-shaped universal joints 5, two disc claws 6, eight small steering engines 7, eight tip ends 8, one mounting frame 9 and a plurality of lightening holes 10 formed in the mounting frame 9.
Two big steering wheel 1 are connected and link firmly in same one side at mounting bracket 9 with two distance rod 2 respectively for distance rod 2 can be along with the rotation of steering wheel and do the dead axle and rotate, and two distance rod 2 lug connection are in the opposite side of mounting bracket 9 in addition, and two distance rod 2 of different side symmetries pass through bolted connection with same claw mounting bracket 4, and claw mounting bracket 4 can rotate around the bolt dead axle. Four connecting rods 3 one end and mounting bracket 9 pass through bolted connection, the other end passes through bolted connection with claw mounting bracket 4, two bulb rod end joint bearing L type universal joints 5 link firmly with two 4 lower extremes of claw mounting bracket respectively, two disc claws 6 do not link firmly with two bulb rod end joint bearing L type universal joints 5 again, every four little steering wheel 7 link firmly with a disc claw 6, eight most advanced 8 pass through the spacing hole on the disc claw 6, link to each other with eight little steering wheel 7 respectively, can control most advanced when making little steering wheel 7 rotate and do sharp telemechanical through spacing hole, adjust the length that stretches out the claw face.
The working process of the invention is as follows:
after mounting bracket 9 links firmly with unmanned aerial vehicle, unmanned aerial vehicle flies to being grabbed article top, two big steering wheel 1 are outwards rotatory in step, drive the motion of thrust rod 2, because the restriction of connecting rod 3, claw mounting bracket 4 can only the translation, make disc claw 6 open, little steering wheel 7 is rotatory, make the length that most advanced 8 stretches out the claw face be zero, unmanned aerial vehicle descends to suitable height, big steering wheel 1 is rotatory inwards, make the distance between two claws reduce, the claw face contacts with the object, effect of force and bulb rod end joint bearing L type universal joint 5's existence this moment, can make the claw rotate in the angle range is predetermine in the space around the centre of sphere, make the better laminating in claw face and article surface. Then the small steering engine 7 rotates to enable the tip 8 to extend out of a proper length, so that the maximum static friction force between the tip 8 and the article is increased, and the article is not easy to fall off. When unmanned aerial vehicle risees, disc claw 6 is rotatory, and the focus of adjusting article and unmanned aerial vehicle's focus realize the transfer of article on same vertical straight line.
Claims (4)
1. A free type multi-angle mechanical arm for an aircraft is characterized by comprising two large steering engines (1), two parallel four-bar mechanisms, two claw mounting frames (4), two universal joints (5), two disc claws (6) and a mounting frame (9); wherein the content of the first and second substances,
the two parallel four-bar linkage mechanisms are symmetrically arranged, one end of each long rod of each parallel four-bar linkage mechanism is hinged with the mounting frame (9), the other end of each long rod of each parallel four-bar linkage mechanism is hinged with one end of the corresponding claw mounting frame (4), the mounting frame (9) serves as a short rod of each parallel four-bar linkage mechanism, the claw mounting frame (4) serves as the other short rod of each parallel four-bar linkage mechanism, and the two large steering engines (1) are arranged on the mounting frame (9) and used for synchronously driving the two parallel four-bar linkage mechanisms to rotate so that the two parallel four-bar linkage mechanisms are opened or closed; the other end of each claw mounting frame (4) is connected with one end of a corresponding universal joint (5), and the other end of each universal joint (5) is connected with a corresponding disc claw (6);
the universal joint (5) adopts a ball head rod end joint bearing L-shaped universal joint;
two long rods of each parallel four-bar linkage mechanism are respectively two thrust rods (2) and two connecting rods (3) which are symmetrically arranged at two sides of the mounting frame (9), the thrust rods (2) and the connecting rods (3) at the same side are arranged in parallel, and each large steering engine (1) is used for driving the thrust rod (2) of the corresponding parallel four-bar linkage mechanism to rotate;
a plurality of small steering engines (7) are arranged on the end face of each disc claw (6) connected with the universal joint (5), and each small steering engine (7) penetrates through the disc claw (6) and is connected with a tip (8);
when the unmanned aerial vehicle is used, after the mounting frame (9) is fixedly connected with the unmanned aerial vehicle, the unmanned aerial vehicle flies above a grabbed object, the two large steering engines (1) synchronously rotate outwards to drive the thrust rod (2) to move, the claw mounting frame (4) only can translate to open the disc claws (6), the small steering engines (7) rotate to enable the lengths of the tips (8) extending out of the claw surfaces to be zero, the unmanned aerial vehicle descends to a proper height, the large steering engines (1) rotate inwards to enable the distance between the two claws to be reduced, the claw surfaces are in contact with the object, and at the moment, due to the action of force and the existence of the L-shaped universal joint (5) of the ball head rod end joint bearing, the claws can rotate around the spherical center within a space preset angle range, so that the claw surfaces can be better attached to the surface of the object; then the small steering engine (7) rotates to enable the tip (8) to extend out of a proper length, so that the maximum static friction force between the tip and an article is increased, and the article is not easy to fall off; when unmanned aerial vehicle risees, disc claw (6) are rotatory, and the focus of adjusting article and unmanned aerial vehicle's focus realize the transfer of article on same vertical straight line.
2. A freeform multi-angle arm for an aircraft according to claim 1, characterized in that the longitudinal section of the mounting frame (9) is in the shape of an inverted U.
3. The free type multi-angle mechanical arm for the aircraft as claimed in claim 2, wherein a plurality of lightening holes (10) are uniformly formed on the mounting frame (9).
4. A freeform multi-angle robot arm for an aircraft according to claim 1, characterized in that the disc claw (6) is connected to a rod with a full ball in a ball head rod end joint bearing L-joint, and a rod without a full ball in a ball head rod end joint bearing L-joint is connected to the claw mount (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507076.6A CN110341954B (en) | 2019-06-12 | 2019-06-12 | Free multi-angle mechanical arm for aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507076.6A CN110341954B (en) | 2019-06-12 | 2019-06-12 | Free multi-angle mechanical arm for aircraft |
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| Publication Number | Publication Date |
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| CN110341954A CN110341954A (en) | 2019-10-18 |
| CN110341954B true CN110341954B (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910507076.6A Active CN110341954B (en) | 2019-06-12 | 2019-06-12 | Free multi-angle mechanical arm for aircraft |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112677176A (en) * | 2020-12-09 | 2021-04-20 | 丁翠芳 | Auxiliary equipment for machining workshop of irregular cylindrical part |
| CN113479331B (en) * | 2021-07-19 | 2024-01-30 | 北京航空航天大学 | Be applied to many rotor robots's passive arm of modularization |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101452473B1 (en) * | 2013-04-05 | 2014-10-16 | 김명호 | Unmanned Aerial Vehicle Equipped With Engine Type Electric Genarator |
| CN105314102B (en) * | 2015-12-04 | 2017-09-15 | 哈尔滨云控机器人科技有限公司 | A kind of unmanned plane for equipping mechanical arm |
| CN107520859B (en) * | 2017-08-29 | 2023-12-01 | 重庆交通大学 | High-precision pose positioning mechanical arm |
| CN107628248B (en) * | 2017-09-14 | 2024-01-26 | 上海电力学院 | Multi-rotor unmanned aerial vehicle mechanical arm device |
| CN207389544U (en) * | 2017-10-02 | 2018-05-22 | 翼航东升东莞航空实业集团有限公司 | A kind of crawl quadrotor unmanned plane |
| CN108820224B (en) * | 2018-07-31 | 2024-01-16 | 拓攻（南京）机器人有限公司 | Grabbing mechanism for unmanned aerial vehicle and unmanned aerial vehicle |
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| CN110341954A (en) | 2019-10-18 |
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