CN113086173A - Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle - Google Patents
Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle Download PDFInfo
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- CN113086173A CN113086173A CN202110517057.9A CN202110517057A CN113086173A CN 113086173 A CN113086173 A CN 113086173A CN 202110517057 A CN202110517057 A CN 202110517057A CN 113086173 A CN113086173 A CN 113086173A
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- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000004044 response Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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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
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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Abstract
The invention provides a multifunctional unmanned aerial vehicle undercarriage robot and an unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles. This unmanned aerial vehicle undercarriage robot is used for realizing taking off of unmanned aerial vehicle and descending and snatch the object function, include: a base; the grabbing mechanism is used for grabbing an object; the three link mechanisms at least comprise a connecting end which is rotationally connected with the base, a movable end which is rotationally connected with the grabbing mechanism and a driving rod; the three link mechanisms are matched with each other to change the position of the movable end through rotating the driving rod, so that the grabbing mechanism is folded and unfolded. This unmanned aerial vehicle includes: unmanned aerial vehicle fuselage and foretell unmanned aerial vehicle undercarriage. The unmanned aerial vehicle undercarriage robot and the unmanned aerial vehicle have the characteristics of light weight, high response speed, high structural strength, reconfigurability and multiple functions.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to a multifunctional unmanned aerial vehicle undercarriage and an unmanned aerial vehicle.
Background
Unmanned aerial vehicle small in size, quick intelligence, application prospect is wide, but unmanned aerial vehicle requires highly to the environmental condition of taking off and descending, can only descend on flat hard ground, and this has caused the hindrance for unmanned aerial vehicle carries out rescue search task in mountain area or disaster area. The existing unmanned aerial vehicle undercarriage is a fixed undercarriage which is not deformable, can not be folded, and only has the function of an undercarriage. In addition, unmanned aerial vehicle's characteristics have not been effectively utilized, if can combine together with other mechanisms, will replace the mankind to carry out many dangerous height, the degree of difficulty is big, spends long work. At present, relatively mature unmanned aerial vehicle landing gear generally is a non-deformable fixed landing gear and is not foldable, so that the unmanned aerial vehicle landing gear is single in function and has high requirements on the ground environment. Therefore, the existing unmanned aerial vehicle grabbing and rescuing robot has the defects of poor rigidity, inflexibility, single function and the like.
Disclosure of Invention
In order to solve the problems, the invention provides a multifunctional unmanned aerial vehicle undercarriage and an unmanned aerial vehicle, which are used for realizing the functions of taking off and landing and grabbing objects of the unmanned aerial vehicle, and the invention adopts the following technical scheme:
the invention provides a multifunctional unmanned aerial vehicle undercarriage robot, which is characterized by comprising: a base; the grabbing mechanism is used for grabbing an object; the three link mechanisms at least comprise a connecting end which is rotationally connected with the base, a movable end which is rotationally connected with the grabbing mechanism and a driving rod; the three link mechanisms are matched with each other to change the position of the movable end through rotating the driving rod, so that the grabbing mechanism is folded and unfolded.
The unmanned aerial vehicle undercarriage robot further has the characteristic that the base is provided with an upper fixed platform, a lower fixed platform and a driving assembly, the upper fixed platform and the lower fixed platform are fixedly connected through a motor support of the driving assembly, the driving assembly is used for driving the driving rod to rotate, and the unmanned aerial vehicle undercarriage robot is provided with a motor and a motor support, the motor is arranged on the lower fixed platform, and the motor support is used for supporting the motor.
The unmanned aerial vehicle undercarriage robot provided by the invention can also have the characteristic that the movable end of the connecting rod mechanism is provided with two third connecting rods, a first connecting shaft and a second connecting shaft, the two third connecting rods are parallel to each other, the first connecting shaft and the second connecting shaft are parallel to each other, two ends of the two third connecting rods are connected with two ends of the first connecting shaft and two ends of the second connecting shaft end to form a parallelogram structure, the first connecting shaft is rotatably connected with the driving rod, the first connecting shaft is provided with the synchronous belt pulley, the second connecting shaft is sleeved with the movable connecting rod, and the second connecting shaft is rotatably connected with the grabbing mechanism through the movable connecting rod.
The unmanned aerial vehicle undercarriage robot further has the characteristic that the driving rod is provided with a first connecting rod, a baffle and a connecting rod sleeve, one end of the first connecting rod is rotatably connected with the lower fixed platform, the other end of the first connecting rod is sleeved on the movable end and is rotatably connected with the connecting end, the connecting rod sleeve is sleeved on the first connecting rod and is used for supporting the baffle, one end of the baffle is connected with the connecting rod sleeve, and the other end of the baffle is rotatably connected with the movable end and is used for limiting and positioning the synchronous belt wheel.
The unmanned aerial vehicle undercarriage robot further has the characteristic that the connecting end is provided with a second connecting rod and a lifting and decelerating component, one end of the second connecting rod is rotatably connected with the upper fixed platform, the other end of the second connecting rod is rotatably connected with the lifting and decelerating component, and one side, close to the movable end, of the lifting and decelerating component is rotatably connected with the first connecting rod.
The unmanned aerial vehicle undercarriage robot provided by the invention can also have the characteristics that the landing and decelerating component is provided with omnidirectional wheels, a decelerating motor and a wheel connecting piece, the omnidirectional wheels are connected with the wheel connecting piece, the three omnidirectional wheels are matched to support the unmanned aerial vehicle during landing, the unmanned aerial vehicle slides on the ground after landing, and a cavity is formed in the wheel connecting piece and used for carrying the decelerating motor.
The unmanned aerial vehicle undercarriage robot provided by the invention can also have the characteristics that the grabbing mechanism is of a symmetrically distributed structure and is provided with six fourth connecting rods and three fingers, the six fourth connecting rods are sequentially connected end to end in a rotating connection mode to form six connection points, one ends of the three fingers are respectively connected to the connection points which are formed by the end to end connection of the fourth connecting rods and are separated from each other, the other ends of the three fingers are used for grabbing objects by expanding or contracting, and the movable connecting rod at the movable end is connected with the connection points which are adjacent to the connection points connected with the fingers.
The unmanned aerial vehicle undercarriage robot provided by the invention can also have the characteristics that the upper fixed platform is provided with a power supply fixing frame and an unmanned aerial vehicle bracket, and the lower fixed platform is provided with a sensor bracket and a depth camera bracket.
The invention provides a multifunctional unmanned aerial vehicle, which is characterized by comprising: unmanned aerial vehicle fuselage and foretell unmanned aerial vehicle undercarriage.
Action and Effect of the invention
The multifunctional unmanned aerial vehicle undercarriage and the unmanned aerial vehicle provided by the invention have the advantages that the undercarriage is an unmanned aerial vehicle undercarriage, the undercarriage also has a grabbing function, and the unmanned aerial vehicle has multifunctional characteristics. The landing gear of the unmanned aerial vehicle and the unmanned aerial vehicle have the advantages of being good in structural rigidity and quick in response due to the structural characteristics.
In addition, the connecting rods in the landing gear of the unmanned aerial vehicle and the connecting rod mechanism of the unmanned aerial vehicle adopt the carbon fiber rods, so that the whole weight of the landing gear of the unmanned aerial vehicle and the unmanned aerial vehicle is lighter, and the flying speed and the flying time can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a multifunctional unmanned aerial vehicle undercarriage robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a base according to an embodiment of the present invention;
FIG. 3 is an exploded view of a base according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a telescopic rod assembly according to an embodiment of the present invention;
FIG. 5 is an exploded view of a telescopic rod assembly according to an embodiment of the present invention;
FIG. 6 is an exploded view of a grasping mechanism according to an embodiment of the present invention;
fig. 7 is a structural side view of the multifunctional unmanned aerial vehicle undercarriage robot in a folded state when the undercarriage is in landing;
fig. 8 is a structural plan view of the multifunctional unmanned aerial vehicle undercarriage robot according to the embodiment of the present invention when the undercarriage is in a folded state;
fig. 9 is a structural side view of the multifunctional unmanned aerial vehicle undercarriage robot in a deployed state when the undercarriage is in takeoff according to the embodiment of the invention;
fig. 10 is a structural top view of the multifunctional unmanned aerial vehicle undercarriage robot in a deployed state when taking off the undercarriage;
FIG. 11 is a schematic view of the operating mode of the grasping mechanism according to the embodiment of the present invention;
FIG. 12 is a schematic view of a second operating mode of the grasping mechanism according to the embodiment of the present invention;
fig. 13 is a third schematic view of the working mode of the gripping mechanism according to the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
< example >
This embodiment provides a multi-functional unmanned aerial vehicle, unmanned aerial vehicle have unmanned aerial vehicle fuselage and unmanned aerial vehicle undercarriage robot 100.
Unmanned aerial vehicle undercarriage robot 100 is used for realizing the takeoff and landing of unmanned aerial vehicle and snatching the object function, and wherein, unmanned aerial vehicle undercarriage robot 100 is the unmanned aerial vehicle undercarriage of following.
Fig. 1 is a schematic structural diagram of a multifunctional unmanned aerial vehicle undercarriage robot according to an embodiment of the present invention.
As shown in fig. 1, the multifunctional unmanned aerial vehicle landing gear robot 100 includes: a base 1, a gripping mechanism 2 for gripping an object, and three link mechanisms 3. Wherein, the connecting rod assembly 3 is provided with a connecting end 32 which is rotatably connected with the base 1, a movable end 33 which is rotatably connected with the grabbing mechanism 2 and a driving rod 31; the three link mechanisms 3 cooperate to change the position of the movable end 33 by rotating the drive lever 31 to thereby fold and unfold the grasping mechanism 2.
Fig. 2 is a schematic structural diagram of a base according to an embodiment of the present invention, and fig. 3 is an exploded view of the base according to the embodiment of the present invention.
As shown in fig. 2 and 3, the base 1 has an upper fixed platform 11, a lower fixed platform 12, and a driving assembly.
The driving assembly is used for driving the driving rod 31 to rotate and is provided with a motor (not shown in the figure) and a motor bracket 13.
The upper fixed platform 11 is fixedly connected with the lower fixed platform 12 through six motor brackets 13 by bolts, the upper fixed platform 11 is provided with 3 revolute pairs 14,
the motor is arranged on the lower fixed platform 12, and the motor bracket 13 is used for supporting the motor.
Go up to decide the platform and be provided with power mount (not shown in the figure) and unmanned aerial vehicle support (not shown in the figure), decide the platform down and be provided with sensor support (not shown in the figure) and degree of depth camera support (not shown in the figure), the sensor support can carry on various sensors, degree of depth camera support can carry on the degree of depth camera, unmanned aerial vehicle can be connected to the unmanned aerial vehicle support, the power mount can the fixed power supply.
The connecting ends 32 of the three connecting rod assemblies 3 are rotatably connected with the upper fixed platform 11 through the rotating pair 14,
the driving rods 31 of the three connecting rod assemblies 3 are rotatably connected with the motor on the lower fixed platform 12 through a rotating pair.
Fig. 4 is a schematic structural view of a connecting rod assembly according to an embodiment of the present invention, and fig. 5 is an exploded view of the connecting rod assembly according to the embodiment of the present invention.
As shown in fig. 4 and 5, the link mechanism 3 has a connecting end 32 rotatably connected to the upper fixed platform 11 of the base 1, a movable end 33 rotatably connected to the grasping mechanism 2, and a driving lever 31 connected to the motor of the lower fixed platform 12 of the base 1.
The drive lever 31 has a first link 311, a stopper 312, and a link sleeve 313.
One end of the first link 311 is rotatably connected to the motor on the lower fixed platform 12, and the other end of the first link 311 is sleeved on the movable end 33 and rotatably connected to the landing gear assembly 322 of the connecting end 32.
A link sleeve 313 is provided on the first link 311,
one end of the baffle 312 is connected to the link sleeve 313, and the other end of the baffle 312 is rotatably connected to the elevating end 33.
The connecting end 32 has a second link 321 and a landing gear assembly 322,
one end of the second connecting rod 321 is rotatably connected to the upper fixed platform 11, and the other end of the second connecting rod 321 is rotatably connected to the landing gear assembly 322.
The landing gear assembly 322 is pivotally connected to the first link 311 on a side thereof adjacent the free end 33.
The landing gear assembly 322 has an OMNI-directional wheel 322a, a dc brushless gear motor (not shown), and a wheel connection 322 b.
A cavity is formed in the wheel connector 322b and used for carrying a dc brushless gear motor.
The OMNI-directional OMNI wheels 322a are connected to wheel connectors 322b and three OMNI-directional wheels 322a of the three linkages cooperate to glide on the ground when landing.
The movable end 33 has two third links 331, a first link 332, a second link 333 and a movable link 334,
the two third links 331 are parallel to each other, the first connecting shaft 332 and the second connecting shaft 333 are parallel to each other,
two ends of the two third connecting rods 331 are connected end to end with two ends of the first connecting shaft 332 and the second connecting shaft 333, and are in a parallelogram structure,
the first connecting shaft 332 is provided with a sleeve (not shown) and a timing pulley 332a,
the sleeve supports the baffle 312, the baffle 312 defines the position of the synchronous pulley 332a, and the synchronous pulley 332a transmits the motion of the motor on the lower fixed platform 12 to the movable end.
The first shaft 332 is rotatably connected to the driving rod 31, and drives the synchronous pulley 332a to rotate through a synchronous belt (not shown) to drive the movable end 33 to move,
the second connecting shaft 333 is sleeved with a movable connecting rod 334, and the second connecting shaft 333 is rotatably connected with the grabbing mechanism 2 through the movable connecting rod 334.
Fig. 6 is an exploded view of a grasping mechanism according to an embodiment of the present invention.
As shown in fig. 6, the grasping mechanism 2 is a symmetrically distributed structure, which can be used as an end effector, having six fourth links 21 and three fingers 22,
the six fourth connecting rods 21 are connected end to end in turn in a rotary connection mode to form six connection points,
one ends of the three fingers 22 are respectively connected to the spaced connection points formed by the end-to-end connection of the fourth connecting rod 21, the other ends are used for grabbing objects by expanding or contracting,
the movable link 333a of the movable end 33 is connected to a connection point adjacent to the connection point to which the finger 22 is connected.
Fig. 7 is a structural side view of the landing gear in a folded state when the multifunctional unmanned aerial vehicle undercarriage robot of the embodiment of the present invention lands, and fig. 8 is a structural top view of the landing gear in a folded state when the multifunctional unmanned aerial vehicle undercarriage robot of the embodiment of the present invention lands;
as shown in fig. 7 and 8, when the motor on the base 1 rotates, the driving rod 31 is driven to rotate, the movable end 33 and the grabbing mechanism 2 are folded and retracted, and therefore the mode is changed into the landing gear mode, and the unmanned aerial vehicle 1000 can be assisted to land on the ground. After falling, the built-in dc brushless gear motor of wheel connecting piece 322b inside cavity rotates, and drive wheel 322a rotates, and undercarriage 100 carries unmanned aerial vehicle 1000 and removes on the ground.
Fig. 9 is a structural side view of the multifunctional unmanned aerial vehicle undercarriage robot in the deployed state of the undercarriage during takeoff, and fig. 10 is a structural top view of the multifunctional unmanned aerial vehicle undercarriage robot in the deployed state of the undercarriage during takeoff;
as shown in fig. 9 and 10, when the motor in the base 1 rotates, the driving rod 31 is driven to rotate, the movable end 33 and the grasping mechanism 2 are unfolded, and the unfolded grasping mechanism 2 is changed to the grasping mode.
Fig. 11 is a schematic view of a first operating mode of the gripping mechanism according to the embodiment of the present invention, fig. 12 is a schematic view of a second operating mode of the gripping mechanism according to the embodiment of the present invention, and fig. 13 is a schematic view of a third operating mode of the gripping mechanism according to the present invention.
When the gripping mechanism 2 is operated, the following three modes are provided in the gripping mode: the first mode can grab objects with round holes, the second mode can grab cuboid objects, and the third mode can grab spherical objects.
Examples effects and effects
The multifunctional unmanned aerial vehicle undercarriage and the unmanned aerial vehicle provided by the embodiment of the invention are provided with a base, a grabbing mechanism for grabbing an object and three link mechanisms with a connecting end, a movable end and a driving rod, wherein the three link mechanisms are matched with each other to change the position of the movable end through rotating the driving rod so as to fold and unfold the grabbing mechanism, so that the multifunctional unmanned aerial vehicle undercarriage can be used as an unmanned aerial vehicle undercarriage and has a grabbing function, and the multifunctional unmanned aerial vehicle undercarriage has the characteristic of multiple functions.
Due to the structural characteristics of the embodiment of the invention, namely the reconfigurable parallel mechanism, the landing gear of the unmanned aerial vehicle and the unmanned aerial vehicle have the characteristics of good structural rigidity and quick response.
In addition, the unmanned aerial vehicle undercarriage and the connecting rod in the connecting rod mechanism of the unmanned aerial vehicle adopt the carbon fiber rod, so that the whole weight of the unmanned aerial vehicle undercarriage and the unmanned aerial vehicle is lighter, and the flying speed and the flying time can be improved.
The above-described embodiments are merely illustrative of specific embodiments of the present invention, and the present invention is not limited to the description of the above-described embodiments.
Claims (9)
1. The utility model provides a multi-functional unmanned aerial vehicle undercarriage robot for realize taking off of unmanned aerial vehicle and descend and snatch the object function, its characterized in that includes:
a base;
a grasping mechanism for grasping the object; and the number of the first and second groups,
the three link mechanisms at least comprise a connecting end which is rotationally connected with the base, a movable end which is rotationally connected with the grabbing mechanism and a driving rod;
the three link mechanisms are matched with each other to change the position of the movable end through rotating the driving rod, so that the grabbing mechanism is folded and unfolded.
2. The multi-functional unmanned aerial vehicle landing gear robot of claim 1, characterized in that:
wherein the base is provided with an upper fixed platform, a lower fixed platform and a driving component,
the driving component is used for driving the driving rod to rotate and is provided with a motor and a motor bracket,
the upper fixed platform and the lower fixed platform are fixedly connected through the motor bracket of the driving component,
the motor is arranged on the lower fixed platform, and the motor support is used for supporting the motor.
3. The multi-functional unmanned aerial vehicle landing gear robot of claim 1, characterized in that:
wherein the movable end is provided with two third connecting rods, a first connecting shaft and a second connecting shaft,
the two third connecting rods are parallel to each other, the first connecting shaft and the second connecting shaft are parallel to each other,
the two ends of the two third connecting rods are connected with the two ends of the first connecting shaft and the second connecting shaft end to form a parallelogram structure,
the first connecting shaft is rotationally connected with the driving rod,
the first connecting shaft is provided with a synchronous belt wheel which is used for driving the movable end to move,
the second connecting shaft is sleeved with a movable connecting rod, and the second connecting shaft is rotatably connected with the grabbing mechanism through the movable connecting rod.
4. The multi-functional unmanned aerial vehicle landing gear robot of claim 3, characterized in that:
wherein the driving rod is provided with a first connecting rod, a baffle plate and a connecting rod sleeve,
one end of the first connecting rod is rotatably connected with the lower fixed platform, the other end of the first connecting rod is sleeved on the movable end and is rotatably connected with the connecting end,
the connecting rod sleeve is sleeved on the first connecting rod and used for supporting the baffle plate,
one end of the baffle is connected with the connecting rod sleeve, and the other end of the baffle is rotatably connected with the movable end and used for limiting and positioning the synchronous belt pulley.
5. The multi-functional unmanned aerial vehicle landing gear robot of claim 1, characterized in that:
wherein the connecting end is provided with a second connecting rod and a lifting and decelerating component,
one end of the second connecting rod is rotatably connected with the upper fixed platform, the other end of the second connecting rod is rotatably connected with the lifting and decelerating component,
one side of the landing and decelerating assembly, which is close to the movable end, is rotatably connected with the first connecting rod.
6. The multi-functional unmanned aerial vehicle landing gear robot of claim 5, characterized in that:
wherein the lifting and falling speed reducing component is provided with an omnidirectional wheel, a speed reducing motor and a wheel connecting piece,
the omnidirectional wheels are connected with the wheel connecting pieces, the three omnidirectional wheels are matched with each other to support the unmanned aerial vehicle when the unmanned aerial vehicle lands, and to enable the unmanned aerial vehicle to move on the ground after landing,
a cavity is formed in the wheel connecting piece and used for carrying a speed reducing motor.
7. The multi-functional unmanned aerial vehicle landing gear robot of claim 3, characterized in that:
wherein the grabbing mechanism is a symmetrically distributed structure and is provided with six fourth connecting rods and three fingers,
the six fourth connecting rods are sequentially connected end to end in a rotating connection mode to form six connecting points,
one end of each finger is connected with the connection point formed by connecting the four connecting rods end to end, the other end is used for grabbing objects by expanding or contracting,
the movable connecting rod of the movable end is connected with a connecting point adjacent to a connecting point connected with the fingers.
8. The multi-functional unmanned aerial vehicle landing gear robot of claim 2, characterized in that:
wherein the upper fixed platform is provided with a power supply fixing frame and an unmanned aerial vehicle bracket,
the lower fixed platform is provided with a sensor support and a depth camera support.
9. A multifunctional unmanned aerial vehicle, its characterized in that includes: an unmanned aircraft fuselage and an unmanned aircraft landing gear according to any of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110517057.9A CN113086173B (en) | 2021-05-12 | 2021-05-12 | Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110517057.9A CN113086173B (en) | 2021-05-12 | 2021-05-12 | Multi-functional unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
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| CN113086173A true CN113086173A (en) | 2021-07-09 |
| CN113086173B CN113086173B (en) | 2022-10-18 |
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| CN114474016A (en) * | 2022-01-29 | 2022-05-13 | 复旦大学 | Parallel robot |
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