CN110450943A - A kind of mobile capture mechanism of UAV flight - Google Patents
A kind of mobile capture mechanism of UAV flight Download PDFInfo
- Publication number
- CN110450943A CN110450943A CN201910635389.XA CN201910635389A CN110450943A CN 110450943 A CN110450943 A CN 110450943A CN 201910635389 A CN201910635389 A CN 201910635389A CN 110450943 A CN110450943 A CN 110450943A
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- branch
- bracket
- steering engine
- cradle head
- screw
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
-
- 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
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the mobile capture mechanisms of UAV flight a kind of, including the first branch (A), second branch (B), third branch (C), 4th branch (D), upper junction plate (8), lower connecting plate (4), support rod (5), electromagnet (6) and connector (7)；The design of part of first to fourth branch (A, B, C, D), composition, connection type are identical, and four unbranched symmetrics are arranged on lower connecting plate (4), and each branch includes three cradle heads, by three steering engine control rotations；The mechanism can cooperate unmanned plane to realize the function of arresting object, and four branches can change the capture that arranged direction realizes the shaped objects such as cylindrical body, sphere；The mechanism can also work independently, and realize the multiple types of floors locomotive functions such as turning, step, slope by the wheel of the deformation cooperation branch terminals of branch；The mechanism is deformable, foldable, movement flexibly, dexterously will it is mobile with arrest operation and blend, expanded the function and application range of unmanned plane significantly.
Description
Technical field
The present invention relates to the wheel type mobile of UAV flight a kind of and composite structure is arrested, it is specifically a kind of to have ten
The wheeled deformation mechanism of two freedom degrees, the mechanical arm that can be used as unmanned plane carry out arresting object, can also carry unmanned plane
Or individually in ground moving.
Background technique
The mechanical arm of unmanned plane is that one kind can allow unmanned plane to arrest the mechanism of object operation, can expand the work of unmanned plane
Make ability, completes the task of various complexity.108994873 A of Chinese patent CN devises a kind of mechanical arm of unmanned plane, into
The operation of row crawl object, but the patent narrow scope of application and has a single function grasp mode, and does not have and energy is individually moved
Power.
Summary of the invention
The technical problems to be solved by the invention: a kind of mobile capture mechanism of unmanned plane is proposed, there is capture operation one
The function of body, can arrest object and to carry unmanned plane mobile, it is mobile with arrest operation and blend, expanded unmanned plane significantly
Function；Adaptation range is wider, and movement flexibly, while can be deformed, be folded to adapt to complex environment.
Technical solution of the present invention:
A kind of mobile capture mechanism of UAV flight, which is characterized in that including the first branch, the second branch, third branch
Chain, the 4th branch.Upper junction plate, lower connecting plate, support rod, electromagnet, connector composition.
Wherein the first branch is by steering engine one, steering engine two, steering engine three.Motor, wheel, L bracket, the first steering engine bracket, the
One U-bracket, triangular supports, the second steering engine bracket, the second U-bracket, third steering engine bracket, cross bracket, linear type
Bracket, short U-bracket, wheel, motor, electric machine support composition.There are three cradle heads altogether by branch A: the first cradle head, the
Two cradle heads, third cradle head.The design of part of wherein, the second branch, third branch, the 4th branch and the first branch,
Composition, connection type are identical.
Steering engine one is fixedly connected on the first steering engine bracket left end and the right end of the first steering engine bracket, while first by screw
The intermediate ends of steering engine bracket are fixedly connected on one end of L bracket by screw, and the other end of L bracket is connected by screw to
On lower connecting plate.Steering engine one is connected on the left end and right end of the first U-bracket by steering wheel, and the first cradle head is constituted.
The intermediate ends of first U-bracket are fixedly connected on one end of triangular supports by screw.The other end of triangular supports is logical
Cross the intermediate ends that screw is fixedly connected on the second steering engine bracket.Steering engine two is fixedly connected on a left side for the second steering engine bracket by screw
End and right end, steering engine are connected on the left end and right end of the second U-bracket by steering wheel, and the second cradle head is constituted.Second U-shaped
The intermediate ends of bracket are fixedly connected on the intermediate ends of third steering engine bracket by screw.Steering engine three is connected to third rudder by screw
The left end of machine support and right end, steering engine three are connected on one end of cross bracket by steering wheel, constitute the second cradle head.Ten
The other end of font bracket is fixedly connected on one end of two linear type brackets, the other end of two linear type brackets by screw
It is fixedly connected simultaneously with the left end of short U-bracket with right end by screw.Motor is connected by six screws with L shape electric machine support
It connects, the axis of motor is connected by shaft coupling with wheel, and electric machine support is fixedly connected on the intermediate ends of short U-bracket by screw
On, this completes the assemblings of the first branch.First branch passes through the first cradle head, the second cradle head, third rotation
Joint deforms to realize.The mechanism arrests object, movement, walking function with this to realize.
Arrange that four through-holes, the screwed support rod in both ends are fixedly connected on by upper and lower double nut above lower connecting plate
Above lower connecting plate.Upper junction plate arranges four through-holes simultaneously, and there is the boss for having through-hole in centre, and support rod passes through double spiral shells
Mother is connected on upper junction plate.Connector is cylindrical, and there are two through-holes for lower section, and in 180 ° of distributions, outer ring and upper junction plate are solid
Surely it is connected on upper junction plate.Unmanned plane connector is cylindrical, and centre is provided with annular groove a, and chamfering b is arranged at bottom.Two electromagnetism
Iron is bonded on the lower surface of upper junction plate, the axis collinear of two electromagnet.By electromagnet it is flexible with connector clamping, release
It puts to realize and be docked with unmanned plane.
The axis of first cradle head and the axis of the second cradle head are vertical, the axis of third cradle head and second turn
Diarthrodial axis is parallel.The axis of first cradle head is mutually perpendicular to lower connecting plate plane.Second to the 4th branch is under
The connection type of connecting plate (4) is identical with the first branch.
The present invention is compared with prior art and is had the advantages that
Described in the invention a kind of unmanned plane wheel type mobile and arresting agency combine mobile and catching function, can be with
Manipulator as unmanned plane arrests the object of different shape and size, can also be used as the ground moving mechanism of unmanned plane, takes
It carries unmanned plane and realizes ground moving function.The transport operation that can be widely applicable under industrial production and hazardous environment.
Detailed description of the invention
A kind of mobile arresting agency overview of unmanned plane of Fig. 1
The overview of Fig. 2 branch A
Fig. 3 connector overview
The overview of Fig. 4 unmanned plane connector
Fig. 5 unmanned plane coupling part overview
Fig. 6 motor, electric machine support, wheel connection schematic diagram
Fig. 7 linear type bracket overview
Fig. 8 the first steering engine bracket overview
Fig. 9 triangle connector overview
Figure 10 cross bracket overview
Figure 11 the first U-bracket overview
Figure 12 the second steering engine bracket overview
Figure 13 third steering engine bracket overview
Figure 14 the second U-bracket overview
The short U-bracket overview of Figure 15
One overview of Figure 16 connector
Two overview of Figure 17 connector
Move schematic diagram in the level land Figure 18
Figure 19 turns to schematic diagram
The slope Figure 20 walking schematic diagram
Figure 21 height step walking schematic diagram
Figure 22 unmanned plane and mobile capture mechanism connection schematic diagram
Figure 23 arrests one schematic diagram of object motion
Figure 24 arrests two schematic diagram of object motion
Specific embodiment
The present invention is described in further details with reference to the accompanying drawing.
Embodiments of the present invention: a kind of mobile capture mechanism of UAV flight, as shown in figure, which is characterized in that
Including the first branch (A), the second branch (B), third branch (C), the 4th branch (D).Upper junction plate (8), lower connecting plate (4),
Support rod (5), electromagnet (6), connector (7) composition.
Wherein the first branch (A), as shown in Figure 2, by steering engine one (1), steering engine two (2), steering engine three (3).Motor (A12),
Wheel (A11), L bracket (A1), the first steering engine bracket (A2), the first U-bracket (A3), triangular supports (A4), the second rudder
Machine support (A5), the second U-bracket (A6), third steering engine bracket (A7), cross bracket (A8), linear type bracket (A9), short U
Shape bracket (A10), wheel (A11), motor (A12), electric machine support (A13) composition.There are three cradle heads altogether by branch A: the
One cradle head (X1), the second cradle head (X2), third cradle head (X3).Wherein, the second branch (B), third branch
(C), the 4th branch (D) is identical with the design of part of the first branch (A), composition, connection type.
Steering engine one (1) is fixedly connected on the first steering engine bracket left end (a1) and the right side of the first steering engine bracket (A2) by screw
It holds (c1), while the intermediate ends (b1) of the first steering engine bracket (A2) are fixedly connected on one end of L bracket (A1) by screw,
The other end of L bracket (A1) is connected by screw on lower connecting plate (4).Steering engine one (1) is connected to the first U-shaped by steering wheel
On the left end (a3) and right end (c3) of bracket (A3), constitute the first cradle head (X1).The intermediate ends of first U-bracket (A3)
(b3) it is fixedly connected on by screw on one end of triangular supports (A4).The other end of triangular supports (A) is solid by screw
Surely the intermediate ends (b4) of the second steering engine bracket (A5) are connected to.Steering engine two (2) is fixedly connected on the second steering engine bracket by screw
(A5) left end (a4) and right end (c4), steering engine two (2) are connected to the left end (a6) and the right side of the second U-bracket (A6) by steering wheel
It holds on (c6), constitutes the second cradle head (X2).The intermediate ends (b6) of second U-bracket (A6) are fixedly connected on by screw
The intermediate ends (b5) of three steering engine brackets (A7).Steering engine three (3) is connected by screw in the left end (a5) of third steering engine bracket (A7)
With right end (c5), steering engine three (3) is connected on one end (a2, b2) of cross bracket (A8) by steering wheel, constitutes the second rotation
Joint (X2).The other end (c2, d2) of cross bracket (A8) is fixedly connected on two linear type brackets (A9) by screw
The other end of one end, two linear type brackets (A9) passes through spiral shell with the left end (a7) of short U-bracket (A10) and right end (c7) simultaneously
Nail is fixedly connected.As shown in Figure 6: motor (A12) is connected by six screws with L shape electric machine support (A13), motor (A12)
Axis be connected with wheel (A11) by shaft coupling, electric machine support (A13) is fixedly connected on short U-bracket (A10) by screw
Intermediate ends (b7) on, this completes the assemblings of the first branch (A).First branch (A) passes through the first cradle head (X1),
Second cradle head (X2), third cradle head (X3) deform to realize.The mechanism arrests object, movement, row with this to realize
Walk function.
As shown in Figure 5: lower connecting plate (4) arranges that four through-holes, the screwed support rod in both ends (5) pass through up and down above
Double nut is fixedly connected on lower connecting plate (4) above.Upper junction plate (8) arranges four through-holes simultaneously, centre have one with logical
The boss in hole, support rod (5) are connected on upper junction plate (8) by double nut.As shown in figure 3, connector (7) is cylindrical,
There are two through-holes for lower section, and in 180 ° of distributions, outer ring and upper junction plate are fixedly connected on upper junction plate (8).As shown in figure 4, nothing
Man-machine connector (9) is cylindrical, and centre is provided with annular groove (a), and chamfering (b) is arranged at bottom.Two electromagnet (6) companies of being bonded in
On the lower surface of fishplate bar (8), the axis collinear of two electromagnet (6).By electromagnet (6) it is flexible with connector (7) clamping, release
It puts to realize and be docked with unmanned plane.
Specific application method:
A kind of mobile arresting agency of unmanned plane mainly includes two kinds of working methods.Unmanned plane can be carried on ground in the mechanism
Object is arrested in upper walking, the manipulator realization that can be used as unmanned plane.Meanwhile it being stretched and connector card by electromagnet
Tightly, release is to realize the docking with unmanned plane and separate.
As shown in figure 18, when the mechanism walks on relatively flat ground, branch A and branch D are coplanar, branch B and
Branch C is coplanar, while two planes are parallel to each other.
As shown in figure 19, when the mechanism turns in the plane, branch A is parallel with the plane where branch B, branch C and
Plane where branch D is parallel, while plane where branch A and branch C is at an angle, to realize turning function.
As shown in figure 20, when the mechanism walks on inclined-plane, branch A and branch D are coplanar, and branch B and branch C are coplanar,
Two planes are parallel to each other simultaneously, and two steering engines of the lower part branch A, B, C, D rotate simultaneously, reach posture shown in the figure, simultaneously
Lower connecting plate (4) keeps horizontal always.
As shown in figure 21, when the mechanism is when height step uplink is walked, branch A and branch D are coplanar, and branch B and branch C are total
Face；A and D are lifted, B and C branch is put down, and guarantee that lower connecting plate (4) keep horizontal always.
As shown in figure 22, unmanned plane and the mechanism are docked, to complete arresting for object.
As shown in figure 23, when the mechanism arrests circular object, branch A and branch D are coplanar；Branch B and branch C are coplanar,
The plane where branch A and branch B is parallel to each other simultaneously, is arrested to similar with circular object with realizing
As shown in figure 24, when the mechanism arrests cylindrical object, branch A and branch C are coplanar；Branch B and branch D is total
Face, while the plane where branch A and branch C is mutually perpendicular to, and has realized arresting for cylindrical object.
When unmanned plane and the mechanism are docked, as shown in figure 5, leading in unmanned plane connector (9) insertion connector (7)
Cross electromagnet (6) it is flexible with connector (7) clamping, discharge to realize and be docked with unmanned plane.
Claims (3)
1. the mobile capture mechanism of UAV flight a kind of, which is characterized in that including the first branch (A), the second branch (B),
Three branches (C), the 4th branch (D)；Upper junction plate (8), lower connecting plate (4), support rod (5), electromagnet (6), connector (7) group
At；
Wherein the first branch (A) is by steering engine one (1), steering engine two (2), steering engine three (3), motor (A12), wheel (A11), L shape branch
Frame (A1), the first steering engine bracket (A2), the first U-bracket (A3), triangular supports (A4), the second steering engine bracket (A5), the 2nd U
Shape bracket (A6), third steering engine bracket (A7), cross bracket (A8), linear type bracket (A9), short U-bracket (A10), wheel
(A11), motor (A12), electric machine support (A13) composition；There are three cradle heads altogether for first branch (A): the first cradle head
(X1), the second cradle head (X2), third cradle head (X3)；Wherein, the second branch (B), third branch (C), the 4th branch
(D) identical with the design of part of the first branch (A), composition, connection type；
Steering engine one (1) is fixedly connected on the first steering engine bracket left end (a1) and the right end of the first steering engine bracket (A2) by screw
(c1), while the intermediate ends (b1) of the first steering engine bracket (A2) are fixedly connected on one end of L bracket (A1) by screw, L
The other end of shape bracket (A1) is connected by screw on lower connecting plate (4)；Steering engine one (1) is connected to the first U-shaped by steering wheel
On the left end (a3) and right end (c3) of bracket (A3), constitute the first cradle head (X1)；The intermediate ends of first U-bracket (A3)
(b3) it is fixedly connected on by screw on one end of triangular supports (A4)；The other end of triangular supports (A) is solid by screw
Surely the intermediate ends (b4) of the second steering engine bracket (A5) are connected to；Steering engine two (2) is fixedly connected on the second steering engine bracket by screw
(A5) left end (a4) and right end (c4), steering engine two (2) are connected to the left end (a6) and the right side of the second U-bracket (A6) by steering wheel
It holds on (c6), constitutes the second cradle head (X2)；The intermediate ends (b6) of second U-bracket (A6) are fixedly connected on by screw
The intermediate ends (b5) of three steering engine brackets (A7)；Steering engine three (3) is connected by screw in the left end (a5) of third steering engine bracket (A7)
With right end (c5), steering engine three (3) is connected on one end (a2, b2) of cross bracket (A8) by steering wheel, constitutes the second rotation
Joint (X2)；The other end (c2, d2) of cross bracket (A8) is fixedly connected on two linear type brackets (A9) by screw
The other end of one end, two linear type brackets (A9) passes through spiral shell with the left end (a7) of short U-bracket (A10) and right end (c7) simultaneously
Nail is fixedly connected；Motor (A12) is connected by six screws with L shape electric machine support (A13), and the axis of motor (A12) passes through connection
Axis device is connected with wheel (A11), and electric machine support (A13) is fixedly connected on the intermediate ends of short U-bracket (A10) by screw
(b7) on, this completes the assemblings of the first branch (A)；First branch (A) passes through the first cradle head (X1), the second rotation
Joint (X2), third cradle head (X3) deform to realize；The mechanism arrests object, movement, walking function with this to realize.
2. a kind of mobile capture mechanism of UAV flight as described in claim 1, it is characterised in that:
Lower connecting plate (4) arranges that four through-holes, the screwed support rod in both ends (5) are fixedly connected by upper and lower double nut above
Lower connecting plate (4) above；Upper junction plate (8) arranges four through-holes simultaneously, and there are the boss for having through-hole, support rod in centre
(5) it is connected on upper junction plate (8) by double nut；Connector (7) is cylindrical, and there are two through-holes for lower section, is distributed in 180 °,
Outer ring and upper junction plate are fixedly connected on upper junction plate (8)；Unmanned plane connector (9) is cylindrical, and centre is provided with annular groove
(a), chamfering (b) is arranged at bottom；Two electromagnet (6) are bonded on the lower surface of upper junction plate (8), the axis of two electromagnet (6)
Line is conllinear；Unmanned plane connector (9) is a cylindrical boss；It is stretched and connector (7) clamping, release by electromagnet (6)
It is docked to realize with unmanned plane.
3. a kind of mobile capture mechanism of UAV flight as described in claim 1, it is characterised in that:
The axis of first cradle head (X1) and the axis of the second cradle head (X2) are vertical, the axis of third cradle head (X3)
It is parallel with the axis of the second cradle head (X2)；The axis of first cradle head (X1) is mutually perpendicular to lower connecting plate (4) plane；
Second to the 4th branch (B, C, D) is identical with the first branch (A) with the connection type of lower connecting plate (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910635389.XA CN110450943B (en) | 2019-07-15 | 2019-07-15 | Mechanism is caught in removal that unmanned aerial vehicle carried on |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910635389.XA CN110450943B (en) | 2019-07-15 | 2019-07-15 | Mechanism is caught in removal that unmanned aerial vehicle carried on |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450943A true CN110450943A (en) | 2019-11-15 |
| CN110450943B CN110450943B (en) | 2021-07-27 |
Family
ID=68481184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910635389.XA Active CN110450943B (en) | 2019-07-15 | 2019-07-15 | Mechanism is caught in removal that unmanned aerial vehicle carried on |
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| Country | Link |
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| CN (1) | CN110450943B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111137441A (en) * | 2020-01-20 | 2020-05-12 | 华南农业大学 | Folding type walking device, field walking frame, unmanned aerial vehicle and walking operation method |
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| US20170113797A1 (en) * | 2015-07-20 | 2017-04-27 | Allison Aviation Corp. | Convertible Aircraft |
| CN106739890A (en) * | 2016-12-01 | 2017-05-31 | 天津农学院 | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode |
| CN106976493A (en) * | 2017-04-05 | 2017-07-25 | 昆明理工大学 | A kind of sufficient tow-armed robot of multi-joint bionical six |
| CN206766332U (en) * | 2017-03-15 | 2017-12-19 | 昆明理工大学 | One kind four rotor wing unmanned aerial vehicles of crawl |
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| CN103273983A (en) * | 2013-05-29 | 2013-09-04 | 华南理工大学 | Robot wheel moving module for plane advancing and linear advancing |
| CN105848999A (en) * | 2013-12-26 | 2016-08-10 | 空中客车公司 | Aircraft part with robot arm |
| US20170113797A1 (en) * | 2015-07-20 | 2017-04-27 | Allison Aviation Corp. | Convertible Aircraft |
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| CN206766332U (en) * | 2017-03-15 | 2017-12-19 | 昆明理工大学 | One kind four rotor wing unmanned aerial vehicles of crawl |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111137441B (en) * | 2020-01-20 | 2024-04-12 | 华南农业大学 | Folding walking device, field walking frame, unmanned aerial vehicle and walking operation method |
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| Publication number | Publication date |
|---|---|
| CN110450943B (en) | 2021-07-27 |
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