CN110466765A - A kind of accurate control system of hovering - Google Patents
A kind of accurate control system of hovering Download PDFInfo
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- CN110466765A CN110466765A CN201910805268.5A CN201910805268A CN110466765A CN 110466765 A CN110466765 A CN 110466765A CN 201910805268 A CN201910805268 A CN 201910805268A CN 110466765 A CN110466765 A CN 110466765A
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- Prior art keywords
- gripper
- aerial vehicle
- unmanned aerial
- bionic flexible
- rotor wing
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 131
- 230000003592 biomimetic effect Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000008878 coupling Effects 0.000 claims description 25
- 238000010168 coupling process Methods 0.000 claims description 25
- 238000005859 coupling reaction Methods 0.000 claims description 25
- 230000003028 elevating effect Effects 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 4
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- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000252233 Cyprinus carpio Species 0.000 description 1
- 241000233805 Phoenix Species 0.000 description 1
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- 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
-
- 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
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
-
- 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
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
A kind of accurate control system of hovering, including rotor wing unmanned aerial vehicle flying platform, Bionic flexible mechanical gripper device and earth station；Bionic flexible mechanical gripper device is mounted on the lower section of rotor wing unmanned aerial vehicle flying platform, and rotor wing unmanned aerial vehicle flying platform control biomimetics flexible mechanical jaw arrangement realizes the crawl and release to target object.Earth station and rotor wing unmanned aerial vehicle flying platform communication connection, rotor wing unmanned aerial vehicle flying platform receives the control signal from earth station, for controlling the state of flight of rotor wing unmanned aerial vehicle flying platform, the working condition of the camera holder equipped with high-definition camera is controlled, the working condition of control biomimetics flexible mechanical jaw arrangement is gone back in control lifting.The video image data that rotor wing unmanned aerial vehicle flying platform takes high-definition camera is by Wireless transceiver to earth station, in earth station by image procossing realization to the automatic identification of target.The flight track of unmanned plane can be set in earth station simultaneously, realize the functions such as spot takeoff, hovering, key return.
Description
Technical field
The present invention is to be related to technical field of aircraft design, is configured with Bionic flexible mechanical gripper device more particularly to one kind
The accurate control system of hovering.
Background technique
Manipulator can imitate the certain functions and movement of manpower and arm, can be used for grabbing target object,
The operation such as carrying and release, is a kind of automatic operation device, is applied in fields such as machine-building, logistics transportation, medical instruments
Extensively.
But currently, common gripper is mostly clipping, usually rigid structure and there is more complicated configuration,
It is generally used for external hard, regular shape the object of crawl.However, when crawl object is frangible, easily-deformable or in irregular shape,
The gripper of this rigid structure is easy for causing object damage and failure, or is difficult to adapt to complex appearance, and crawl effect is not
It is good.
Current unmanned handling system mostly uses " unmanned vehicle+manipulator " technical solution, and unmanned vehicle is as mobile platform.When
Preceding common unmanned handling system --- there are following limitation and deficiencies for the scheme of " unmanned vehicle+manipulator ":
1) it is mostly and big not adapt to unstructured, barrier for the depression that can only adapt to general level land or minor grade
The complicated landforms such as the gradient, environmental suitability are poor；
2) manipulator is usually rigid mechanical device, and is difficult to securely grab to the object of irregular shape, versatility
It is limited；
3) the imaging devices limited height such as camera, imaging detection field range are limited, to target acquisition recognition efficiency compared with
It is low, it is weaker that task ability is independently completed under complicated environmental condition.
Summary of the invention
For limitation present in existing unmanned handling system and insufficient, the present invention provides a kind of hovering and precisely manipulates
System is configured at Bionic flexible mechanical gripper device and video on rotor wing unmanned aerial vehicle using rotor wing unmanned aerial vehicle as flying platform
Reason system, with solve target under complex environment identification, crawl, transhipment and release the problems such as.Wherein Bionic flexible gripper fills
It sets with the tail fin of dragon and phoenix fancy carp as bionical object, by studying its morphosis and motion mode, is designed according to bionical thinking soft
Property gripper, pass through topology layout and stepper motor driving, formed the feasible Bionic flexible mechanical gripper device of complete set, with solution
Crawl, clamping and the carrying problem of object certainly easily-deformable, frangible and in irregular shape.
Purpose to realize the present invention, is achieved using following technical scheme:
A kind of accurate control system of hovering, including rotor wing unmanned aerial vehicle flying platform, Bionic flexible mechanical gripper device and
Earth station；Earth station and rotor wing unmanned aerial vehicle flying platform communication connection；Rotor wing unmanned aerial vehicle flying platform can realize VTOL and
Spot hover can carry various mission payloads；Bionic flexible mechanical gripper device is mounted under rotor wing unmanned aerial vehicle flying platform
It is square, the control module of control biomimetics flexible mechanical jaw arrangement, control biomimetics flexible machine are provided on rotor wing unmanned aerial vehicle flying platform
Machinery claw device realizes the crawl and release to target object.Rotor wing unmanned aerial vehicle flying platform of the present invention such as use quadrotor without
It is man-machine, it can VTOL and spot hover.
As a preferred solution of the present invention, the rotor wing unmanned aerial vehicle flying platform is equipped with camera pan-tilt, high-definition camera
Machine is mounted on rotor wing unmanned aerial vehicle flying platform by camera pan-tilt.Specifically camera pan-tilt setting flies in rotor wing unmanned aerial vehicle
The side of row platform, high-definition camera are mounted in the side of rotor wing unmanned aerial vehicle flying platform by camera pan-tilt.
As a preferred solution of the present invention, Bionic flexible mechanical gripper device be mounted on rotor wing unmanned aerial vehicle flying platform just under
Side.Further, the lifting for carrying Bionic flexible mechanical gripper device is installed immediately below rotor wing unmanned aerial vehicle flying platform
Mechanism, Bionic flexible mechanical gripper device are rigidly attached on elevating mechanism, and rotor wing unmanned aerial vehicle flying platform controls elevating mechanism
Raising and lowering, and then the synchronous raising and lowering for realizing Bionic flexible mechanical gripper device.
As a preferred solution of the present invention, the accurate control system of hovering of the invention further includes earth station, earth station
With rotor wing unmanned aerial vehicle flying platform communication connection, rotor wing unmanned aerial vehicle flying platform receives the control signal from earth station, is used for
The state of flight of rotor wing unmanned aerial vehicle flying platform is controlled, the working condition of the camera holder equipped with high-definition camera is controlled,
The working condition of control biomimetics flexible mechanical jaw arrangement is gone back in control lifting.Rotor wing unmanned aerial vehicle flying platform shoots high-definition camera
Automatic knowledge of the video image data arrived by Wireless transceiver to earth station, in earth station by image procossing realization to target
Not.The flight track of unmanned plane can be set in earth station simultaneously, realize the functions such as spot takeoff, hovering, key return.
As a preferred solution of the present invention, earth station includes remote controler and portable computer, and remote controler can control rotor
The state of flight of unmanned plane during flying platform, the working condition for controlling the camera holder equipped with high-definition camera (are controlled and are taken the photograph
As the rotation of head holder), the raising and lowering of the elevating mechanism equipped with Bionic flexible mechanical gripper device is controlled, while also controlling
The working condition of Bionic flexible mechanical gripper device.Portable computer can receive the video image number that high-definition camera takes
According to by image procossing realization to the automatic identification of target, raising working efficiency.Nothing can be set on portable computer simultaneously
Man-machine flight track realizes the functions such as spot takeoff, hovering, key return.
As the preferred technical solution of the present invention, the Bionic flexible mechanical gripper device, including motor mounting surface, lifting platform
Face and Bionic flexible gripper.Motor mounting surface is oppositely arranged with Lifting platform, and motor mounting surface is arranged in Lifting platform
Top, motor are mounted on motor mounting surface, and the control mould of control electric machine operation state is equipped on rotor wing unmanned aerial vehicle flying platform
Block.The threaded shaft coupling of appearance is connected on the output shaft of motor, Lifting platform is provided centrally with the mounting base with screw hole, rises
Drop table top is threadedly coupled by mounting base with shaft coupling.When rotor wing unmanned aerial vehicle flying platform controls motor rotating forward, the output of motor
Axis rotates clockwise, and then shaft coupling is driven to rotate clockwise, and Lifting platform declines in the case where the screw thread of shaft coupling drives.Rotor without
When man-machine flying platform control motor reversal, the output shaft of motor rotates counterclockwise, and then shaft coupling is driven to rotate counterclockwise, rises
Drop table top rises in the case where the screw thread of shaft coupling drives.The periphery of Lifting platform has been evenly arranged multiple for connecting Bionic flexible machine
The connecting rod of machinery claw.The top of each connecting rod is movably connected on Lifting platform, and it is bionical soft that the end of each connecting rod is movably connected with one
Property gripper, the upper surface of Bionic flexible gripper are provided with close to the position of its outer for being flexibly connected with connecting rod end
The end of attachment base, connecting rod is flexibly connected with the attachment base on Bionic flexible gripper.The upper surface of each Bionic flexible gripper
Inner side edge edge is movably arranged on the lower end surface of motor mounting surface.Rotor wing unmanned aerial vehicle flying platform controls motor and rotates forward, lifting platform
When face declines, by each link transmission to each Bionic flexible gripper, make each Bionic flexible gripper around end face inner side edge thereon
Along closure is moved downward, when the load-carrying surface of Bionic flexible gripper is contacted with target object, Bionic flexible gripper can root
It is deformed according to the shape of target object, forms an enveloping surface, grasping movement is completed, to realize stable crawl.Rotor without
When man-machine flying platform control motor reversal, Lifting platform rises, and by each link transmission to each Bionic flexible gripper, makes each
Bionic flexible gripper, along opening is moved upwards, completes release movement around end face inner side edge thereon.
As a preferred solution of the present invention, more are provided on the motor mounting surface of Bionic flexible mechanical gripper device to stand
Bar.Corresponding position on Lifting platform offers the through-hole passed through for each upright bar.The bottom end of upright bar is connect with motor mounting surface,
Upright bar passes through through-hole on Lifting platform and stretches out except Lifting platform.The setting of upright bar has good guiding role, guarantees lifting
Table top can move up and down in lifting process along upright bar.
As the preferred technical solution of the present invention, Bionic flexible mechanical gripper device further includes gripper mounting surface, gripper
Mounting surface is used to entire Bionic flexible mechanical gripper device being fixedly mounted on rotor wing unmanned aerial vehicle flying platform.Gripper mounting surface
It is arranged above Lifting platform, the top of each upright bar is connected on gripper mounting surface.Further, the upper end of the shaft coupling
Abutted with gripper mounting surface, such gripper mounting surface also has a position-limiting action, that is, Lifting platform can lifting height
It may depend on the mounting height of gripper mounting surface.Meanwhile mechanical erection face, upright bar setting but also entirety of the invention
Property, stability are more preferable.
As a preferred solution of the present invention, upright bar number of the invention, connecting rod number are identical as Bionic flexible gripper.
The bottom end of each upright bar is respectively fixedly connected in the corresponding position for the motor mounting surface for being connected with Bionic flexible gripper, each bionical
The upper surface inner side edge edge of flexible machinery gripping tool is movably connected with the lower end surface of motor mounting surface and the bottom end of each upright bar.
Motor rotates forward, when Lifting platform declines, by each link transmission to each Bionic flexible gripper, make each Bionic flexible gripper around
It upright bar bottom end, can be according to target when the load-carrying surface of Bionic flexible gripper is contacted with target object along closure is moved downward
The shape of object is deformed, and forms an enveloping surface, completes grasping movement.When motor reversal, when Lifting platform rises, pass through
Each link transmission makes each Bionic flexible gripper move upwards opening around upright bar bottom end, completes to release to each Bionic flexible gripper
Put movement.
As the preferred technical solution of the present invention, the Bionic flexible gripper is made of PVC flexible material.It is bionical soft
Property gripper includes lateral surface, medial surface and upper surface, lateral surface, medial surface and upper surface join end to end to be formed one it is whole
Body Bionic flexible gripper outer profile triangular in shape, wherein medial surface is used for and target object to be captured as load-carrying surface
Directly contact.Lateral surface is flexibly connected as supporting surface, upper surface realization with connecting rod, motor mounting surface etc..In crawl target
When object, all Bionic flexible grippers can be deformed according to the shape of target object, form an enveloping surface, complete mesh
Mark the grasping movement of object.Further, as multiple strip projected parts are uniformly distributed on the medial surface of load-carrying surface, can increase with
Frictional force and envelope when target object contacts.More fin rays are provided between medial surface and lateral surface, each fin ray length is not
One, it can according to need and each fin ray is equidistantly arranged in parallel, it can also be with non-spaced set.
As the preferred technical solution of the present invention, the motor in Bionic flexible mechanical gripper device of the present invention is stepping electricity
Machine.It such as can be selected model 42BYGH47-401A motor, driving voltage 12V, having a size of 34*42*48mm, total amount 300g,
Step angle is 1.8 degree, nominal torque 28Kgcm.
As the preferred technical solution of the present invention, the motor mounting surface of Bionic flexible mechanical gripper device of the invention, lifting
Table top and gripper mounting surface are aluminum alloy material.Wherein motor mounting surface and gripper mounting surface are regular hexagon
Aluminium alloy plate.
Above-mentioned rotor wing unmanned aerial vehicle flying platform and Bionic flexible mechanical gripper device constitute a kind of hovering in the present invention
Accurate control device.I.e. the present invention provides a kind of accurate control device of hovering: including rotor wing unmanned aerial vehicle flying platform and imitating
Raw flexible mechanical jaw arrangement；Rotor wing unmanned aerial vehicle flying platform can realize VTOL and spot hover, can carry various tasks
Load；Bionic flexible mechanical gripper device is mounted on the lower section of rotor wing unmanned aerial vehicle flying platform, sets on rotor wing unmanned aerial vehicle flying platform
It is equipped with the control module of control biomimetics flexible mechanical jaw arrangement, target object is grabbed in the realization of control biomimetics flexible mechanical jaw arrangement
It takes and discharges.The further preferred scheme of other of rotor wing unmanned aerial vehicle flying platform and Bionic flexible mechanical gripper device is same as above,
Details are not described herein.
Compared with existing unmanned handling system, the invention has the advantages that:
1) Bionic flexible mechanical gripper device is installed additional using quadrotor drone flying platform, complicated landform and barrier can be overcome
Hinder the current limitation of object；
2) Bionic flexible mechanical gripper device can grab the target of different shape, different hardness, different surfaces smoothness, and
It is avoided that damage risk caused by collision；
3) conventional images processing and control technology are combined, the recognition and tracking of target under complex scene may be implemented, is improved
Operating efficiency.
Compared with existing " gripper ", Bionic flexible mechanical gripper device advantage of the invention is:
1, compact layout, structure is simple, easy for installation, low in cost.
2, single driving is only needed, control is simple, and Operation and Maintenance is convenient.
3, the load-carrying surface surface of Bionic flexible gripper is uniformly distributed multiple strip projected parts, can increase and connect with target object
Frictional force and envelope when touching, grasp stability is high, and application flexibility is strong.
The device can be used for battlefield is explosive, bomb is precisely launched, teams and groups auxiliary fight, high-altitude dangerous operation, emergency management and rescue
And the military and civilians such as industrial production field.
Detailed description of the invention
In in order to illustrate the embodiments of the present invention more clearly or technical solution in the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention without creative efforts, can be with root for ordinary skill
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the main assembly structural schematic diagram of the accurate control system of hovering provided in one embodiment of the invention；
Fig. 2 is the illustrative view of functional configuration of the accurate control system of hovering provided in one embodiment of the invention；
Fig. 3 is the structural schematic diagram of single Bionic flexible gripper provided in one embodiment of the invention；
Structural schematic diagram when Fig. 4 is single Bionic flexible gripper bending deformation provided in one embodiment of the invention
Fig. 5 is the top view of Bionic flexible mechanical gripper device provided in one embodiment of the invention；
Fig. 6 is the front view of Bionic flexible mechanical gripper device provided in one embodiment of the invention；
Fig. 7 is the perspective view of Bionic flexible mechanical gripper device provided in one embodiment of the invention；
Fig. 8 is the crawl effect diagram of Bionic flexible mechanical gripper device provided in one embodiment of the invention；
Fig. 9 is the structural representation of the Lifting platform in Bionic flexible mechanical gripper device provided in one embodiment of the invention
Figure.
Figure 10 is motor mounting surface, gripper in Bionic flexible mechanical gripper device provided in one embodiment of the invention
Mounting surface and the connection schematic diagram of upright bar.
Figure label:
1.0, Bionic flexible mechanical gripper device；2.0, rotor wing unmanned aerial vehicle flying platform；3.0, high-definition camera；4.0, it goes up and down
Mechanism；5.0, lifting motor；6.0, camera pan-tilt；
1.1, Bionic flexible gripper；1.2 lateral surface；1.3, medial surface；1.4, upper surface；1.5, the first attachment base；
1.6, the first attachment base；1.7, raised；1.8, fin ray；2.1, gripper mounting surface；3.1, motor mounting surface；4.1, lifting platform
Face；4.2, mounting base；4.3, through-hole；5.1, connecting rod；6.1, stepper motor；7.1, upright bar；8.1 shaft coupling.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's all other reality obtained under the premise of not making creation labour
Example is applied, the scope of protection of the invention is belonged to.
It referring to Figures 1 and 2, is the accurate control system of hovering provided in one embodiment of the invention.
A kind of accurate control system of hovering, including rotor wing unmanned aerial vehicle flying platform 2.0, Bionic flexible mechanical gripper device
1.0 and earth station.
Rotor wing unmanned aerial vehicle flying platform 2.0 as use quadrotor drone, can VTOL and spot hover, can carry
Various mission payloads.Wherein the side of rotor wing unmanned aerial vehicle flying platform is arranged in camera pan-tilt 6.0, and high-definition camera 3.0 is logical
Cross the side that camera pan-tilt 6.0 is mounted in rotor wing unmanned aerial vehicle flying platform 2.0.The rotor that remaining mission payload can be equipped on without
Man-machine lower section.
Bionic flexible mechanical gripper device 1.0 is mounted on the underface of rotor wing unmanned aerial vehicle flying platform 2.0.Specific step ground, rotation
The underface of wing unmanned plane during flying platform 2.0 is equipped with the elevating mechanism 4.0 for carrying Bionic flexible mechanical gripper device 1.0,
Bionic flexible mechanical gripper device 1.0 is rigidly attached on elevating mechanism 4.0, and rotor wing unmanned aerial vehicle flying platform 2.0 controls elevator
The raising and lowering of structure 4.0, and then the synchronous raising and lowering for realizing Bionic flexible mechanical gripper device 1.0.Rotor wing unmanned aerial vehicle flies
The control module of control biomimetics flexible mechanical jaw arrangement 1.0, control biomimetics flexible mechanical jaw arrangement are provided on row platform 2.0
1.0 realize the crawl and release to target object.
The accurate control system of hovering of the invention further includes earth station, earth station and rotor wing unmanned aerial vehicle flying platform
Communication connection.Earth station includes remote controler and portable computer, and remote controler can control the flight of rotor wing unmanned aerial vehicle flying platform
State controls the working condition (controlling the rotation of camera holder) of the camera holder equipped with high-definition camera, control
The raising and lowering of elevating mechanism equipped with Bionic flexible mechanical gripper device, while going back control biomimetics flexible mechanical jaw arrangement
Working condition.Portable computer can receive the video image data that high-definition camera takes, and pass through image procossing realization pair
The automatic identification of target improves working efficiency.The flight track of unmanned plane can be set on portable computer simultaneously, it is fixed to realize
Point take off, hovering, a key return etc. functions.
Referring to Fig. 2, remote controler can be issued to rotor wing unmanned aerial vehicle flying platform state of flight control signal control rotor without
The state of flight of man-machine flying platform.Remote controler can issue the control of Bionic flexible mechanical gripper device to rotor wing unmanned aerial vehicle flying platform
Signal processed, it is mechanical by Bionic flexible in the control module control biomimetics flexible mechanical jaw arrangement on rotor wing unmanned aerial vehicle flying platform
Crawl and release of the pawl to target object.Remote controler can issue cradle head control signal to camera pan-tilt, control video camera cloud
The rotation of platform realizes high-definition camera to the track up of target object.Control mould is provided on rotor wing unmanned aerial vehicle flying platform
Block, control module connect (wired connection or wireless connection) with the lifting motor in elevating mechanism, are gone up and down by sending
Motor drive signal by controlling the work of lifting motor, and then controls the Bionic flexible gripper being mounted on elevating mechanism
The raising and lowering of device.Control module connect (wired connection or nothing with the stepper motor in Bionic flexible mechanical gripper device
Line connection), by sending stepper motor driving signal, and then in control biomimetics flexible mechanical jaw arrangement, Bionic flexible is mechanical
Crawl and release of the pawl to target object.
Rotor wing unmanned aerial vehicle flying platform in the present embodiment uses carbon fibre material, and rack model ZD680 flies control brand
For PIX, take-off weight 4Kg, control module, drive module, the first-class various mission payloads of high-definition camera, underface installation are carried
Elevating mechanism and Bionic flexible mechanical gripper device have good flying quality and adaptive capacity to environment.
Elevating mechanism 4.0 can be realized using multiple structural forms, be stretched in the prior art by realizations such as telescoping tube, connecting rods
The mechanism of contracting can use for reference.Elevating mechanism in the present embodiment includes upper mounting plate, lower installation board and lifting motor.Upper mounting plate
It is fixedly mounted on the underface of rotor wing unmanned aerial vehicle flying platform, lifting motor is mounted on the lower section of upper mounting plate.Bionic flexible machine
Machinery claw device is fixedly mounted on the lower section of lower installation board.By link mechanism connection between upper and lower mounting plate, lifting motor it is defeated
Shaft is connect by intermediate transmission mechanism with link mechanism.The positive and negative rotation for controlling lifting motor, is driven by intermediate transmission mechanism
Link mechanism stretch/shrink realizes the raising and lowering of lower installation board, and then realizes the Bionic flexible being fixed on lower installation board
The raising and lowering of mechanical gripper device has preferable maneuverability and stability.Lifting motor is direct current generator, and model can be used
For 5840-555 Permanent magnet DC turbine and worm decelerating motor, driving voltage 12V, having a size of 40*58*120mm, total amount is
403g, reduction ratio 500, rated speed 12rpm, nominal torque 60Kgcm.
It is the structural representation of single Bionic flexible gripper provided in one embodiment of the invention referring to Fig. 3 and Fig. 4
Figure.Bionic flexible gripper 1.1 is designed based on the form of fin.Bionic flexible gripper 1.1 uses PVC flexible material system
At.Bionic flexible gripper 1.1 includes lateral surface 1.2, medial surface 1.3 and upper surface 1.4, lateral surface 1.2, medial surface 1.3
And upper surface 1.4 joins end to end to form entirety Bionic flexible gripper outer profile triangular in shape, wherein medial surface 1.3
As load-carrying surface, for directly being contacted with target object to be captured.Lateral surface 1.2 is used as supporting surface.Upper surface 1.4 realize with
The flexible connection of connecting rod, motor mounting surface etc..Specifically, upper surface 1.4 is provided with close to the position of its outer is used for and connecting rod
The first attachment base 1.5 that end is flexibly connected.1.4 inner side edge of upper surface is living for the lower end surface with motor mounting surface along being provided with
Second attachment base 1.6 of dynamic connection.
When grabbing target object, all Bionic flexible grippers 1.1 can be deformed according to the shape of target object,
An enveloping surface is formed, the grasping movement of target object is completed.As being uniformly distributed multiple strips on the medial surface 1.3 of load-carrying surface
Protrusion 1.7, can increase the frictional force and envelope when contacting with target object.It is arranged between medial surface 1.3 and lateral surface 1.2
There are more fin rays 1.8, each 1.8 length of fin ray is different, can according to need and each fin ray is equidistantly arranged in parallel, can also be with non-etc.
Spacing setting.
Referring to Fig. 5 to Figure 10, the present invention provides a kind of Bionic flexible mechanical gripper device, including gripper mounting surface 2.1, electricity
Machine mounting surface 3.1, Lifting platform 4.1, connecting rod 5.1, stepper motor 6.1, upright bar 7.1 and Bionic flexible gripper 1.1.It is mechanical
Pawl mounting surface 2.1 is used to entire Bionic flexible mechanical gripper device being fixedly mounted on rotor wing unmanned aerial vehicle flying platform.This implementation
In example, it is evenly distributed with 6 threaded holes on gripper mounting surface 2.1, pacifies for fixing entire Bionic flexible mechanical gripper device
It fills on rotor wing unmanned aerial vehicle flying platform.
Motor mounting surface 3.1, Lifting platform 4.1 and the gripper mounting surface 2.1 of Bionic flexible mechanical gripper device be
Aluminum alloy material.Wherein motor mounting surface 3.1 and gripper mounting surface 2.1 are the aluminium alloy plate of regular hexagon.The present embodiment
In, the shape of Lifting platform 3.1 is class triangle.Gripper mounting surface 2.1, Lifting platform 4.1, motor mounting surface 3.1 are by upper
It is oppositely arranged under.The top of Lifting platform 4.1 is arranged in gripper mounting surface 2.1, and the setting of Lifting platform 4.1 is installed in motor
The top in face 3.1.
Stepper motor 6.1 is mounted on the central location of motor mounting surface 3.1 in Bionic flexible mechanical gripper device, stepping electricity
The threaded shaft coupling 8.1 of appearance is connected on the output shaft of machine 6.1.The material of shaft coupling 8.1 can be steel alloy, and shape is circle
The outer surface of cylinder, shaft coupling 8.1 is equipped with screw thread.The lower end of shaft coupling 8.1 is mounted on the output shaft of stepper motor 6.1.It rises
The mounting base 4.2 of table top 4.1 being provided centrally with screw hole drops, and Lifting platform 4.1 is connected by mounting base 4.2 and shaft coupling screw thread
It connects.The upper end of shaft coupling 8.1 is abutted with gripper mounting surface 2.1.
7.1 number of upright bar, 5.1 number of connecting rod in the present embodiment is identical as Bionic flexible gripper 1.1, is three
It is a.
The periphery of Lifting platform 4.1 is evenly arranged that there are three for connecting the connecting rod 7.1 of Bionic flexible gripper.Connecting rod
7.1 cross sectional shape is unlimited, is rectangle in the present embodiment.The top of each connecting rod 7.1 is movably connected on Lifting platform 4.1,
The end of each connecting rod 7.1 is movably connected with a Bionic flexible gripper 1.1, and the upper surface of Bionic flexible gripper 1.1 is close
The position of its outer is provided with the first attachment base 1.5 for being flexibly connected with connecting rod end, the end of connecting rod 7.1 with it is bionical soft
Property gripper 1.1 on the first attachment base 1.5 be flexibly connected.The top and end of connecting rod 7.1 are provided with logical in the present embodiment
Hole is respectively used to be movably hinged with Lifting platform 4.1, Bionic flexible gripper 1.1 for installing pin.Bionic flexible is mechanical
The upper surface inner side edge of pawl 1.1 is along the second attachment base being provided with for being flexibly connected with the lower end surface of motor mounting surface 3.1
1.6.Each Bionic flexible gripper 1.1 is movably arranged on motor peace by second attachment base 1.6 of the end face inner side edge thereon at
On the lower end surface in dress face 3.1.
Three upright bars 7.1 are evenly arranged on motor mounting surface 3.1.The cross sectional shape of upright bar 7.1 is unlimited, the present embodiment
In be rectangle.Corresponding position on Lifting platform 4.1 offers the through-hole 4.3 passed through for each upright bar 4.1.Each upright bar 4.1
Bottom end be respectively fixedly connected in the corresponding position for the motor mounting surface 3.1 for being connected with Bionic flexible gripper 1.1, it is each bionical
Bottom end activity of the upper surface inner side edge of flexible machinery gripping tool 1.1 along lower end surface and each upright bar 7.1 with motor mounting surface 3.1 connects
It is connected together.In the present embodiment, the bottom end of each upright bar 7.1 is equipped with through-hole, can install pin, is used for and Bionic flexible gripper
1.1 being movably hinged.Upright bar 7.1 passes through through-hole 4.3 on Lifting platform 4.1 and stretches out except Lifting platform 4.1, the top of each upright bar 7.1
End is connected on gripper mounting surface 2.1.The setting of upright bar 7.1 has good guiding role, guarantees that Lifting platform is being gone up and down
It can move up and down in the process along upright bar.
Referring to figure 6 and figure 7, the stepper motor 6.1 in Bionic flexible mechanical gripper device rotates forward, and the output shaft of motor is clockwise
Rotation, and then shaft coupling 8.1 is driven to rotate clockwise, Lifting platform 4.1 declines in the case where the screw thread of shaft coupling 8.1 drives, and passes through
Each connecting rod 5.1 is transferred to each Bionic flexible gripper 1.1, moves downward each Bionic flexible gripper 1.1 around upright bar bottom end edge
Closure can be deformed when the load-carrying surface of Bionic flexible gripper is contacted with target object according to the shape of target object,
An enveloping surface is formed, grasping movement is completed.When stepper motor 6.1 in Bionic flexible mechanical gripper device inverts, motor it is defeated
Shaft rotates counterclockwise, and then shaft coupling 8.1 is driven to rotate counterclockwise, and Lifting platform 4.1 is in the case where the screw thread of shaft coupling 8.1 drives
Rise, each Bionic flexible gripper 1.1 is transferred to by each connecting rod 5.1, make each Bionic flexible gripper 1.1 around upright bar bottom end to
Upper movement is opened, and release movement is completed.
Model 42BYGH47-401A electricity such as can be selected in stepper motor 6.1 in Bionic flexible mechanical gripper device of the present invention
Machine, driving voltage 12V, having a size of 34*42*48mm, total amount 300g, step angle is 1.8 degree, nominal torque 28Kg
cm。
Although in conclusion the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention, any
Those of ordinary skill in the art, without departing from the spirit and scope of the present invention, when can make it is various change and retouch, therefore this hair
Bright protection scope is subject to the range defined depending on claims.
Claims (13)
1. a kind of accurate control system of hovering, it is characterised in that: mechanical including rotor wing unmanned aerial vehicle flying platform, Bionic flexible
Jaw arrangement and earth station；Earth station and rotor wing unmanned aerial vehicle flying platform communication connection；Rotor wing unmanned aerial vehicle flying platform can be realized vertical
Straight landing and spot hover, can carry various mission payloads；Bionic flexible mechanical gripper device is mounted on rotor wing unmanned aerial vehicle flight
The lower section of platform, the control module of control biomimetics flexible mechanical jaw arrangement is provided on rotor wing unmanned aerial vehicle flying platform, and control is imitative
Raw flexible mechanical jaw arrangement realizes crawl and release to target object.
2. the accurate control system of hovering according to claim 1, it is characterised in that: the rotor wing unmanned aerial vehicle flight is flat
Platform is equipped with camera pan-tilt, and high-definition camera is mounted on rotor wing unmanned aerial vehicle flying platform by camera pan-tilt.
3. the accurate control system of hovering according to claim 2, it is characterised in that: rotor wing unmanned aerial vehicle flying platform
Underface is equipped with the elevating mechanism for carrying Bionic flexible mechanical gripper device, and Bionic flexible mechanical gripper device is rigidly attached to
On elevating mechanism, rotor wing unmanned aerial vehicle flying platform controls the raising and lowering of elevating mechanism, and then synchronous realization Bionic flexible machine
The raising and lowering of machinery claw device.
4. the accurate control system of hovering according to claim 3, it is characterised in that: elevating mechanism includes upper installation
Plate, lower installation board and lifting motor；Upper mounting plate is fixedly mounted on the underface of rotor wing unmanned aerial vehicle flying platform, lifting motor peace
Mounted in the lower section of upper mounting plate, Bionic flexible mechanical gripper device is fixedly mounted on the lower section of lower installation board；Between upper and lower mounting plate
It is connected by link mechanism, the output shaft of lifting motor is connect by intermediate transmission mechanism with link mechanism；Control lifting motor
Positive and negative rotation, link mechanism stretch/shrink is driven by intermediate transmission mechanism, realizes the raising and lowering of lower installation board, and then is realized
It is fixed on the raising and lowering of the Bionic flexible mechanical gripper device on lower installation board.
5. the accurate control system of hovering according to claim 3, it is characterised in that: rotor wing unmanned aerial vehicle flying platform connects
The control signal from earth station is received, for controlling the state of flight of rotor wing unmanned aerial vehicle flying platform, control is taken the photograph equipped with high definition
As the working condition of the camera holder of head, the working condition of control biomimetics flexible mechanical jaw arrangement is gone back in control lifting；Rotor without
The video image data that man-machine flying platform takes high-definition camera, to earth station, is passed through by Wireless transceiver in earth station
Image procossing realizes the automatic identification to target；Simultaneously by the way that the flight track of unmanned plane is arranged in earth station, realization is pinpointed
Fly, hovering, key return function.
6. according to claim 1 to the accurate control system of hovering described in any claim in 5, it is characterised in that: imitative
Raw flexible mechanical jaw arrangement includes motor mounting surface, Lifting platform and Bionic flexible gripper；
Motor mounting surface is oppositely arranged with Lifting platform, and the top of motor mounting surface is arranged in Lifting platform, and motor is mounted on electricity
On machine mounting surface, the threaded shaft coupling of appearance is connected on the output shaft of motor, Lifting platform is provided centrally with screw hole
Mounting base, Lifting platform are threadedly coupled by mounting base with shaft coupling；
The periphery of Lifting platform is evenly arranged multiple for connecting the connecting rod of Bionic flexible gripper；The top activity of each connecting rod
Be connected on Lifting platform, the end of each connecting rod is movably connected with a Bionic flexible gripper, Bionic flexible gripper it is upper
End face is provided with the attachment base for being flexibly connected with connecting rod end, the end of connecting rod and Bionic flexible close to the position of its outer
Attachment base on gripper is flexibly connected；The upper surface inner side edge edge of each Bionic flexible gripper is movably arranged on motor mounting surface
Lower end surface on.
7. the accurate control system of hovering according to claim 6, it is characterised in that: in Bionic flexible mechanical gripper device
Motor rotate forward when, the output shaft of motor rotates clockwise, so drive shaft coupling rotate clockwise, Lifting platform is in shaft coupling
Screw thread drive lower decline, by each link transmission to each Bionic flexible gripper, make each Bionic flexible gripper around the upper end
Face inner side edge is along closure is moved downward, and when the load-carrying surface of Bionic flexible gripper is contacted with target object, Bionic flexible is mechanical
Radix unguis is deformed according to the shape of target object, forms an enveloping surface, completes grasping movement；
When motor reversal, the output shaft of motor rotates counterclockwise, and then shaft coupling is driven to rotate counterclockwise, and Lifting platform is in shaft coupling
The screw thread of device drives lower rising, by each link transmission to each Bionic flexible gripper, makes each Bionic flexible gripper around thereon
End face inner side edge completes release movement along opening is moved upwards.
8. the accurate control system of hovering according to claim 6, it is characterised in that: in Bionic flexible mechanical gripper device
More upright bars are provided on middle motor mounting surface；Corresponding position on Lifting platform offers the through-hole passed through for each upright bar；
The bottom end of upright bar is connect with motor mounting surface, and upright bar passes through through-hole on Lifting platform and stretches out except Lifting platform.
9. the accurate control system of hovering according to claim 8, it is characterised in that: Bionic flexible mechanical gripper device is also
Including gripper mounting surface, gripper mounting surface is used to entire Bionic flexible mechanical gripper device being fixedly mounted on elevating mechanism
On；Gripper mounting surface is arranged above Lifting platform, and the top of each upright bar is connected on gripper mounting surface；The shaft coupling
Upper end abutted with gripper mounting surface.
10. the accurate control system of hovering according to claim 8, it is characterised in that: upright bar number, connecting rod number are equal
It is identical as Bionic flexible gripper；The bottom end of each upright bar is respectively fixedly connected in the motor installation for being connected with Bionic flexible gripper
The corresponding position in face, lower end surface and each upright bar of the upper surface inner side edge edge of each Bionic flexible gripper with motor mounting surface
Bottom end be movably connected.
11. the accurate control system of hovering according to claim 6, it is characterised in that: the Bionic flexible gripper
It is made of PVC flexible material；Bionic flexible gripper includes lateral surface, medial surface and upper surface, lateral surface, medial surface with
And upper surface joins end to end to form entirety Bionic flexible gripper outer profile triangular in shape, wherein medial surface is as load
Face, for directly being contacted with target object to be captured；As supporting surface, upper surface is realized pacifies lateral surface with connecting rod and motor
The flexible connection in dress face.
12. the accurate control system of hovering according to claim 11, it is characterised in that: the medial surface as load-carrying surface
On be uniformly distributed multiple strip projected parts；More fin rays are provided between medial surface and lateral surface.
13. a kind of accurate control device of hovering, it is characterised in that: including rotor wing unmanned aerial vehicle flying platform and Bionic flexible machine
Machinery claw device；Rotor wing unmanned aerial vehicle flying platform can realize VTOL and spot hover, can carry various mission payloads；It is bionical
Flexible mechanical jaw arrangement is mounted on the lower section of rotor wing unmanned aerial vehicle flying platform, and it is imitative that control is provided on rotor wing unmanned aerial vehicle flying platform
The control module of raw flexible mechanical jaw arrangement, control biomimetics flexible mechanical jaw arrangement realize the crawl and release to target object.
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| 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 |
| CN113636079A (en) * | 2021-10-18 | 2021-11-12 | 西南石油大学 | Logistics unmanned aerial vehicle and cargo delivery method thereof |
| CN114248921A (en) * | 2021-12-31 | 2022-03-29 | 福州大学 | Four-rotor aircraft capable of grabbing and stopping in air |
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Application publication date: 20191119 |