CN115180148A - Reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning - Google Patents
Reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning Download PDFInfo
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- CN115180148A CN115180148A CN202210880685.8A CN202210880685A CN115180148A CN 115180148 A CN115180148 A CN 115180148A CN 202210880685 A CN202210880685 A CN 202210880685A CN 115180148 A CN115180148 A CN 115180148A
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- aerial vehicle
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
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Abstract
The invention discloses a reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning, which comprises a shell and a plurality of rotor assemblies, wherein the number of the rotor assemblies can be increased or reduced according to the use requirements, the number of the rotor assemblies after reconfiguration is a, a is an even number which is more than or equal to 4, a storage battery which can supply power to the whole device is arranged in the shell, a rotor assemblies are divided into two groups, the two groups of rotor assemblies are symmetrically distributed on two sides of the shell, and each rotor assembly is detachably connected with the outer side wall of the shell; the lower surface of the shell bottom plate is provided with a telescopic arm which can be stretched, and the tail end of the telescopic arm is provided with a grabbing component; when unmanned aerial vehicle removed to floating rubbish directly over, the flexible arm of extension made the snatch the subassembly and be close to and snatch floating rubbish, then the flexible arm of shrink makes unmanned aerial vehicle and floating rubbish remove to the bank side together, accomplishes the clearance of river course floating rubbish, so provides one kind and has the reconfigurable unmanned aerial vehicle that snatchs function and operating arm can stretch out and draw back.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning.
Background
Unmanned aerial vehicles can be divided into fixed wing unmanned aerial vehicles, rotor unmanned aerial vehicles and the like according to the types of the unmanned aerial vehicles. And rotor unmanned aerial vehicle can divide into four rotors, six rotors and eight rotors etc. according to the quantity of rotor. Along with the increase of rotor quantity, its load capacity has promotion by a relatively large margin, and the stability of flight also can improve. However, the rotor quantity of the current rotor unmanned aerial vehicle is often determined when the rotor unmanned aerial vehicle is manufactured, and cannot be adjusted according to the requirements of actual conditions. Therefore, there is a need for a reconfigurable drone that can adjust the number of rotors according to the actual needs.
Simultaneously, rotor unmanned aerial vehicle has small, light in weight and the advantage that can VTOL, consequently by extensive application. In patrolling and examining like the river course, through carrying on monitoring devices such as camera on rotor unmanned aerial vehicle, can monitor the condition in river course. However, when the unmanned aerial vehicle monitors that floating garbage which needs to be cleaned as soon as possible floats in the river channel, the existing monitoring unmanned aerial vehicle cannot clean the floating garbage in time, so that the unmanned aerial vehicle with a grabbing function is needed, and the floating garbage is cleaned through an operation arm arranged on the unmanned aerial vehicle; but unmanned aerial vehicle is at the flight in-process, and the operating arm that can not contract can cause great flight resistance for unmanned aerial vehicle, influences the stability of unmanned aerial vehicle flight, consequently, needs one kind to have and snatchs the function, and the unmanned aerial vehicle that the operating arm can stretch out and draw back.
Disclosure of Invention
The invention aims to provide a reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning, which solves the problem that the number of rotor wings of a rotor unmanned aerial vehicle in the prior art cannot be adjusted according to actual conditions; the operating arm that can not contract simultaneously can influence unmanned aerial vehicle flight stability's technical problem.
A reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning comprises a shell and a plurality of rotor assemblies, wherein the number of the rotor assemblies can be increased or reduced according to use requirements, the number of the rotor assemblies after reconfiguration is a, a is an even number which is more than or equal to 4, a top plate of the shell can be opened or closed, a storage battery which can supply power to the whole device is arranged in the shell, a rotor assemblies are divided into two groups, the two groups of rotor assemblies are symmetrically distributed on two sides of the shell, and each rotor assembly is detachably connected with the outer side wall of the shell; the lower surface of the shell bottom plate is provided with a telescopic arm which can be stretched, and the tail end of the telescopic arm is provided with a grabbing component; when unmanned aerial vehicle removed to floating rubbish directly over, the flexible arm of extension made the snatch the subassembly be close to and snatch floating rubbish, then the flexible arm of shrink makes unmanned aerial vehicle and floating rubbish remove to the bank side together, accomplishes the clearance of river course floating rubbish.
The shell and the a rotor wing assemblies can form an unmanned aerial vehicle body, so that the telescopic arm and the grabbing assembly can stably move under the driving of the unmanned aerial vehicle body, and the number of the rotor wing assemblies is an even number which is more than or equal to four; by arranging the telescopic arm, when the grabbing component is to grab the floating garbage, the telescopic arm extends to enable the grabbing component to extend to the position where the floating garbage is located, so that the grabbing component is close to the floating garbage and grabs the floating garbage; after the floating garbage is grabbed, or when the unmanned aerial vehicle normally flies without grabbing the floating garbage, the telescopic arm contracts, so that the situation that the flying telescopic arm causes larger flight resistance to the flying unmanned aerial vehicle and influences the flying stability of the unmanned aerial vehicle is avoided; by arranging the grabbing component, when the grabbing component is close to the floating garbage under the action of the telescopic arm, the grabbing component is started, the floating component can be firmly grabbed, then the telescopic arm is contracted, the unmanned aerial vehicle and the floating garbage fly to the shore together, the grabbing component is loosened after flying to the shore, and the floating garbage is placed in the garbage storage area for centralized cleaning; the number of the rotor wing assemblies can be increased or decreased according to actual requirements, and when the unmanned aerial vehicle needs large lifting force, the number of the rotor wing assemblies can be increased, so that the unmanned aerial vehicle can pick up floating garbage with large weight; when the unmanned aerial vehicle does not need large lifting force, the number of rotor assemblies can be properly reduced, so that the consumption of the unmanned aerial vehicle on electric energy is in a proper level, and the cruising ability of the unmanned aerial vehicle is relatively enhanced; install the rotor subassembly on unmanned aerial vehicle, its quantity is for being greater than 3 even numbers, like four, six, eight etc..
Furthermore, the rotor wing assembly comprises a connecting frame in a frame structure, the connecting frame is in a ring shape when viewed from top to bottom, and the side wall of the connecting frame is detachably connected with the side wall of the shell; install the support that is the Y type in the link, the central point of support puts and installs brushless motor, brushless motor and battery electric connection, and brushless motor's output shaft sets up along vertical direction, installs the screw on brushless motor's the output shaft.
Through setting up support and link, make brushless motor pass through support and link, detachable fixes on the lateral wall of casing.
Furthermore, the telescopic arm comprises a scissor mechanism, the upper end of the scissor mechanism is arranged on the bottom wall of the shell, and the lower end of the scissor mechanism is connected with the grabbing component; the upper end of the scissor mechanism is provided with a linear sliding table which can drive the scissor mechanism to extend downwards or contract upwards.
Through setting up the scissors mechanism, the scissors mechanism can extend and contract under the drive of linear slip table, makes and snatchs the subassembly and be in corresponding position.
Furthermore, the grabbing component comprises a base and three clamping jaws, the base is installed at the lower end of the scissor fork mechanism, a palm cover plate is installed at the lower end of the base, a driving component is installed in the base, and the driving component is located above the palm cover plate; the periphery at the drive assembly output is evenly arranged to three clamping jaw circumference, and the lower extreme of every clamping jaw all is located the below of palm apron, and the upper end of every clamping jaw is all installed on the palm apron, and this end all with drive assembly's in the base output transmission connection, start drive assembly, can make three clamping jaw open or fold.
The base is used for mounting the driving assembly and the palm cover plate; the palm cover plate is used for mounting the three clamping jaws; the driving assembly is arranged, so that the three clamping jaws can be opened or closed; the three clamping jaws are closed to grasp the floating garbage, and the three clamping jaws are opened to release the grasped floating garbage.
Furthermore, the driving assembly comprises a motor, the motor is electrically connected with the storage battery, the motor is installed in the base, an output shaft of the motor is arranged in the vertical direction, the tail end of the output shaft of the motor is connected with a worm, and the lower end of the worm is rotatably connected with the palm cover plate; each clamping jaw is provided with a worm wheel, the three worm wheels are respectively meshed with the worm, the three worm wheels are simultaneously rotated by starting the motor, and the three worm wheels respectively drive the corresponding clamping jaws to open or close the three clamping jaws.
Through setting up motor, worm and worm wheel, the starter motor, worm and worm wheel rotate in proper order, and three worm wheel of pivoted simultaneously can make three clamping jaws open or fold.
Furthermore, each clamping jaw comprises a U-shaped frame and a link mechanism, each U-shaped frame is arranged on the upper surface of the palm cover plate, each worm wheel is arranged on a corresponding first rotating shaft, and each first rotating shaft is arranged in the corresponding U-shaped frame; each U-shaped frame is internally provided with a second rotating shaft, each second rotating shaft is fixedly provided with a gear, and each gear is meshed with a corresponding worm wheel; the connecting rod mechanism comprises a driving connecting rod, a finger back connecting rod, a finger tip connecting rod and a finger web connecting rod, the four connecting rods are sequentially connected end to form a four-connecting-rod mechanism, the two adjacent connecting rods are hinged, one end of the driving connecting rod is hinged with one end of the finger web connecting rod through a second rotating shaft, one end of the driving connecting rod is fixedly connected with the second rotating shaft, and one end of the finger web connecting rod is rotatably connected with the second rotating shaft; the fingertip parts are fixed on the fingertip connecting rods, the fingertip parts are integrally triangular prism-shaped, one end of the end face of each fingertip part, which is rectangular, is fixedly connected with the fingertip connecting rods, and the motors are started, so that the three fingertip parts can be gathered together or kept away from each other.
The U-shaped frame, the first rotating shaft and the second rotating shaft are arranged, so that installation positions are provided for the worm wheel and the gear; the second rotating shaft, the gear and the driving connecting rod rotate simultaneously by arranging the connecting rod mechanism and driving the motor; when the driving connecting rod rotates downwards, the whole four-connecting-rod mechanism rotates downwards, the three clamping jaws are close to each other, and the three fingertip pieces grasp the floating garbage due to mutual gathering; when the driving connecting rod rotates upwards, the whole four-connecting-rod mechanism rotates upwards, the three clamping jaws are far away from each other, and the three fingertip pieces are far away from each other to loosen floating garbage.
Furthermore, the shell and each connecting frame are in a regular prism shape as a whole, the cross sections of the shell and each connecting frame are equal, the number of edges of the shell and each connecting frame is equal, and the number of edges is an even number greater than 5; each side wall of the shell can be detachably connected with only one connecting frame; when two adjacent side walls of the shell are respectively provided with one rotor assembly, a pair of side walls which are attached to each other is arranged between the connecting frames of the two rotor assemblies, and the two side walls are detachably connected.
The casing and the connecting frame are in a regular prism shape with equal cross-sectional area and equal edge number, and when two adjacent side walls of the casing are respectively provided with one rotor assembly, a pair of side walls which are attached to each other is arranged between the connecting frames of the two rotor assemblies, so that the two connecting pieces can be directly connected through bolts and nuts; two adjacent rotor assemblies are connected into a whole simultaneously, can make unmanned aerial vehicle overall structure more firm.
Further, the whole hexagonal prism that all is of casing and link, and the quantity of rotor subassembly is six, reduces behind two rotor subassemblies, can constitute four rotor unmanned aerial vehicle.
Through setting up casing and link into hexagonal prism form, can all set up a rotor subassembly on every lateral wall of casing, constitute six rotor unmanned aerial vehicle, also can reduce two rotors and constitute four rotor unmanned aerial vehicle, six rotor unmanned aerial vehicle and four rotor unmanned aerial vehicle duration are strong, can carry on monitoring facilities, clear up most light in weight's floating rubbish.
The invention has the beneficial effects that:
1. by arranging the telescopic arm, when the grabbing component is to grab the floating garbage, the telescopic arm extends to enable the grabbing component to extend to the position where the floating garbage is located, so that the grabbing component is close to the floating garbage and grabs the floating garbage; after snatching floating rubbish, or unmanned aerial vehicle does not snatch floating rubbish and when normally flying, the flexible arm shrink of extension is avoided to flexible arm, causes great flight resistance for the unmanned aerial vehicle of flight, influences the stability that unmanned aerial vehicle flies, so this unmanned aerial vehicle has the stable advantage of flight.
2. Snatch the subassembly through setting up, when snatching the subassembly and be close to floating rubbish under the effect of flexible arm, start and snatch the subassembly, promptly floating the subassembly that can be firmly, then flexible arm shrink, unmanned aerial vehicle and floating rubbish fly to the bank together, fly to the bank after the pine pick the subassembly, place floating rubbish and concentrate the clearance in rubbish storage area, so this unmanned aerial vehicle has the function of clearance river course floating rubbish.
2. The number of the rotor wing assemblies can be increased or decreased according to actual requirements, and when the unmanned aerial vehicle needs large lifting force, the number of the rotor wing assemblies can be increased, so that the unmanned aerial vehicle can pick up floating garbage with large weight; when the unmanned aerial vehicle does not need large lift force, the number of rotor wing assemblies can be properly reduced; so the user can set up the quantity of suitable rotor subassembly according to actual conditions, makes unmanned aerial vehicle be in a suitable level to the consumption of electric energy to this relative duration that has strengthened unmanned aerial vehicle.
Drawings
Fig. 1 shows the overall structure of the present invention.
Figure 2 shows a front view of the invention.
Fig. 3 shows a schematic view of the telescopic arm when it is extended.
Figure 4 shows a schematic diagram of a quad-rotor drone formed by reducing two rotor assemblies.
Fig. 5 shows a schematic structural view of the housing.
Figure 6 shows a schematic view of the overall structure of the rotor assembly.
Fig. 7 shows an overall structural view of the link frame.
Fig. 8 shows a schematic view of the structure of the telescopic arm and the gripper assembly.
Fig. 9 shows a schematic view of the installation position of the linear slide.
Fig. 10 shows a schematic view of the structure of the grasping assembly.
FIG. 11 shows a schematic view of the drive relationship of the grasping assembly.
Parts, elements and numbering in the drawings: the robot comprises a housing 1, a telescopic arm 2, a linear sliding table 201, a third rotating shaft 202, a long hole 203, a first mounting box 204, a second mounting box 205, a scissor unit 206, a first connecting rod 207, a second connecting rod 208, a fourth rotating shaft 209, a fifth rotating shaft 210, a sixth rotating shaft 211, a third connecting rod 212, a fourth connecting rod 213, a fifth connecting rod 214, a rotor assembly 3, a connecting frame 301, a bracket 302, a brushless motor 303, a propeller 304, a fixing plate 305, a support column 306, a structural plate 307, a grabbing assembly 4, a base 401, a clamping jaw 402, a palm cover plate 403, a driving assembly 404, a motor 405, a worm 406, a worm wheel 407, a U-shaped frame 408, a link mechanism 409, a first rotating shaft 410, a second rotating shaft 411, a gear 412, a driving link 413, a fingertip link 414, a finger web link 415, a finger back link 416, a fingertip piece 417, a connecting plate 418, a fixing rod 419 and an ear plate 420.
Detailed Description
The following provides a detailed description of the embodiments of the present invention, and the technical solutions of the present invention are clearly and completely described with reference to the accompanying drawings. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning comprises a housing 1 and six rotor assemblies 3, wherein a top plate of the housing 1 can be opened or closed, a storage battery capable of supplying power to the whole device is arranged in the housing 1, the six rotor assemblies 3 are uniformly divided into two groups, the two groups of rotor assemblies 3 are symmetrically distributed on two sides of the housing 1, and each rotor assembly 3 is detachably connected with the outer side wall of the housing 1; the lower surface of the bottom plate of the shell 1 is provided with a telescopic arm 2 which can be stretched, and the tail end of the telescopic arm 2 is provided with a grabbing component 4; the quantity of rotor subassembly 3 can reduce according to the user demand, reduces two rotor subassemblies 3 backs, can constitute four rotor unmanned aerial vehicle, and four rotor subassemblies 3 are equally divided into two sets ofly still to the symmetric distribution is in the both sides of casing 1.
As shown in fig. 6, the rotor assembly 3 includes a connecting frame 301 having a frame structure, the connecting frame 301 is generally annular when viewed from top to bottom, and a side wall of the connecting frame 301 is detachably connected to a side wall of the housing 1; install the support 302 that is the Y type in link 301, brushless motor 303 is installed to the central point of support 302, brushless motor 303 and battery electric connection, and brushless motor 303's output shaft sets up along vertical direction, installs screw 304 on brushless motor 303's the output shaft.
As shown in fig. 5 and 7, the housing 1 and each of the connection frames 301 are in a regular hexagonal prism shape as a whole, and the cross-sectional areas of the two are equal; each side wall of the shell 1 can be detachably connected with only one connecting frame 301; when one rotor assembly 3 is arranged on each of two adjacent side walls of the housing 1, a pair of side walls which are attached to each other is arranged between the connecting frames of the two rotor assemblies 3, and the two side walls are detachably connected.
As shown in fig. 7, in this embodiment, the connecting frame 301 includes two fixing plates 305 in a ring shape, each fixing plate 305 is in a regular hexagon shape when viewed from top to bottom, wherein six vertically disposed pillars 306 are respectively disposed at six corners of one fixing plate 305, the upper ends of the six pillars 306 are respectively fixedly connected with six corners of the other fixing plate 305, a structural plate 307 is respectively disposed between two adjacent pillars 306, and the upper and lower ends of the structural plate 307 are respectively fixedly connected with two fixing plates 305.
The telescopic arm 2 comprises a scissor mechanism, the upper end of the scissor mechanism is arranged on the bottom wall of the shell 1, and the lower end of the scissor mechanism is connected with the grabbing component 4; the upper end of the scissors mechanism is provided with a linear sliding table 201, and the linear sliding table 201 can drive the scissors mechanism to extend downwards or contract upwards.
As shown in fig. 8, the scissors mechanism includes two mounting boxes and two scissors assemblies, the two mounting boxes do not have a top plate and a bottom plate, two opposite side walls of each mounting box are respectively provided with a horizontally arranged elongated hole 203, the two elongated holes 203 are arranged oppositely, each mounting box is provided with a third rotating shaft 202, two ends of each third rotating shaft 202 are respectively slidably arranged in the two elongated holes 203 of the corresponding mounting box, and two ends of each third rotating shaft 202 respectively extend out of the corresponding elongated holes 203.
As shown in fig. 8, the two installation boxes are sequentially referred to as a first installation box 204 and a second installation box 205, the upper ends of the two scissors assemblies are respectively installed at two ends of a third rotating shaft 202 of the first installation box 204, the lower ends of the two scissors assemblies are respectively installed at two ends of a third rotating shaft 202 of the second installation box 205, and the two third rotating shafts 202 are parallel to each other.
As shown in fig. 9, the linear sliding table 201 with its own driving motor is installed in a first installation box 204, and a third rotating shaft 202 of the first installation box is fixed on a sliding block of the linear sliding table 201, and the moving direction of the sliding block is perpendicular to the length direction of the third rotating shaft 202.
As shown in fig. 8, each scissor assembly includes five scissor units 206, and in other embodiments, the number of the scissor units 206 may be increased or decreased, and the five scissor units 206 are connected end to form the scissor assembly; each scissor unit 206 comprises a first connecting rod 207 and a second connecting rod 208, the first connecting rod 207 and the second connecting rod 208 are rotatably connected in an X shape through a fourth rotating shaft 209, and the fourth rotating shaft 209 is arranged along the horizontal direction.
Between two adjacent scissors units 206, the first connecting rod 207 of the upper scissors unit is rotatably connected to the second connecting rod 208 of the lower scissors unit through a fifth rotating shaft 210, and the second connecting rod 208 of the upper scissors unit is rotatably connected to the first connecting rod 207 of the lower scissors unit through a sixth rotating shaft 211.
An uppermost scissors unit 206, an upper end of a first connecting rod 207 of which is rotatably connected to one end of the third rotating shaft 202 of the first mounting box 204; the upper end of the second connecting rod 208 is rotatably connected with the side wall of the first mounting box 204.
A lowermost scissor unit 206, the lower end of a first connecting rod 207 of which is rotatably connected with one end of a third rotating shaft 202 of the second box 205; the lower end of the second connecting rod 208 is rotatably connected with the side wall of the second box 205;
four third connecting rods 212, four fourth connecting rods 213 and five fifth connecting rods 214 are arranged between the two scissor assemblies; two scissor units 206 at the same height are connected into a whole through a third connecting rod 212 between the two fifth rotating shafts 210, connected into a whole through a fourth connecting rod 213 between the two sixth rotating shafts 211, and connected into a whole through a fifth connecting rod 214 between the two fourth rotating shafts 209.
The working principle of the scissor fork mechanism is as follows: the linear sliding table 201 is driven to move the third rotating shaft 202 of the first mounting box 204 together with the slider along the elongated hole, and as shown in fig. 8, if the third rotating shaft 202 slides to the left, the entire scissor mechanism is contracted, and if the third rotating shaft 202 slides to the right, the entire scissor mechanism is contracted.
As shown in fig. 8, the grasping assembly 4 includes a base 401 and three clamping jaws 402, the base 401 is mounted at the lower end of the second mounting box 205, a palm cover plate 403 is mounted at the lower end of the base 401, a driving assembly 404 is mounted in the base 401, and the driving assembly 404 is located above the palm cover plate 403; the three clamping jaws 402 are uniformly arranged on the periphery of the output end of the driving assembly in the circumferential direction, the lower end of each clamping jaw 402 is located below the palm cover plate 403, the upper end of each clamping jaw 402 is mounted on the palm cover plate 403 and is in transmission connection with the output end of the driving assembly 404 in the base 401, and the driving assembly 404 is started to open or close the three clamping jaws 402.
As shown in fig. 10, in the present embodiment, the base 401 includes a connecting plate 418, three fixing rods 419 are uniformly arranged on the periphery of the connecting plate 418, the three fixing rods 419 are fixedly connected to the connecting plate 418, the upper ends of the three fixing rods 419 are connected to the second mounting box 205, the lower ends of the three fixing rods 419 are connected to the palm cover 403, the connecting plate 418 is parallel to the palm cover 403, and the driving assembly 404 is mounted on the connecting plate.
As shown in fig. 10, the driving assembly 404 includes a motor 405, the motor 405 is electrically connected to the battery, the motor 405 is installed in the base 401, an output shaft of the motor is arranged in a vertical direction, a worm 406 is connected to a tail end of the output shaft of the motor, and a lower end of the worm 406 is rotatably connected to the palm cover 403; each clamping jaw 402 is provided with a worm wheel 407, the three worm wheels 407 are respectively meshed with the worm 406, the three worm wheels 407 are simultaneously rotated by starting the motor 405, and the three worm wheels 407 respectively drive the corresponding clamping jaws 402 to open or close the three clamping jaws 402.
As shown in fig. 8, 10 and 11, each clamping jaw 402 includes a U-shaped frame 408 and a link mechanism 409, each U-shaped frame 408 is mounted on the upper surface of the palm cover plate 403, each worm gear 407 is mounted on a corresponding first rotating shaft 410, and each first rotating shaft 410 is mounted in a corresponding U-shaped frame 408; a second rotating shaft 411 is arranged in each U-shaped frame, a gear 412 is fixed on each second rotating shaft 411, and each gear 412 is meshed with the corresponding worm gear 407; the link mechanism 409 comprises a driving link 413, a finger back link 416, a finger tip link 414 and a finger web link 415, the four links are sequentially connected end to form a four-link mechanism, two adjacent links are hinged, one end of the driving link 413 is hinged with one end of the finger web link 415 through a second rotating shaft 411, one end of the driving link 413 is fixedly connected with the second rotating shaft 411, and one end of the finger web link 415 is rotatably connected with the second rotating shaft 411; fingertip pieces 417 are fixed on the fingertip connecting rods 414, the fingertip pieces 417 are integrally triangular prism-shaped, one end of the end face of the fingertip piece 417, which is rectangular, is fixedly connected with the fingertip connecting rods 414, and the motor 405 is started, so that the three fingertip pieces 417 can be gathered together or separated from each other.
In this embodiment, the U-shaped frame includes two ear plates 420, the two ear plates 420 are parallel to each other and are disposed at an interval, the U-shaped frame is installed on the upper surface of the palm cover plate 403, the first rotating shaft 410 and the second rotating shaft 411 are both installed between the two ear plates of the U-shaped frame, and the worm wheel 407 and the gear 412 are both located between the two ear plates 420.
In this embodiment, a device for monitoring, such as a camera, is installed on the outer wall of the bottom plate of the housing 1, and a user can observe the river surface through the camera; the communication module and the control module are installed in the shell 1, a user can realize remote communication and remote control of the unmanned aerial vehicle through the communication module and the control module, and take off and land of the unmanned aerial vehicle, stretch of the telescopic arm 2 and opening or closing of the three clamping jaws 402 are controlled.
Claims (8)
1. The utility model provides a be applied to restructural unmanned aerial vehicle of river course rubbish clearance, a serial communication port, including casing (1) and a plurality of rotor subassembly (3), the quantity of rotor subassembly (3) can increase or reduce according to the user demand, the quantity of rotor subassembly (3) is a after the reconsitution, a is the even number that is more than or equal to 4, the roof of casing (1) can be opened or closed, be equipped with the battery that can supply power for whole device in casing (1), a rotor subassembly (3) divide equally into two sets ofly, two sets of rotor subassembly (3) symmetric distribution are in the both sides of casing (1), every rotor subassembly (3) all can dismantle with the lateral wall of casing (1) and be connected;
the lower surface of the bottom plate of the shell (1) is provided with a telescopic arm (2) which can stretch out and draw back, and the tail end of the telescopic arm (2) is provided with a grabbing component (4);
when unmanned aerial vehicle removed directly over floating garbage, extension flexible arm (2), the messenger snatchs subassembly (4) and is close to and snatchs floating garbage, then contracts flexible arm (2), makes unmanned aerial vehicle and floating garbage remove to the bank together, accomplishes river course floating garbage's clearance.
2. The reconfigurable unmanned aerial vehicle applied to river channel garbage disposal according to claim 1, wherein the rotor assembly (3) comprises a connecting frame (301) in a frame structure, the connecting frame (301) is in an overall annular shape when viewed from top to bottom, and the side wall of the connecting frame (301) is detachably connected with the side wall of the housing (1);
install support (302) that are the Y type in link (301), brushless motor (303) are installed to the central point of support (302), and brushless motor (303) and battery electric connection, the output shaft of brushless motor (303) sets up along vertical direction, installs screw (304) on the output shaft of brushless motor (303).
3. The reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning is characterized in that the telescopic arm (2) comprises a scissor mechanism, the upper end of the scissor mechanism is mounted on the bottom wall of the shell (1), and the lower end of the scissor mechanism is connected with the grabbing assembly (4);
the upper end of the scissor mechanism is provided with a linear sliding table (201), and the linear sliding table (201) can drive the scissor mechanism to extend downwards or contract upwards.
4. The reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning is characterized in that the grabbing assembly (4) comprises a base (401) and three clamping jaws (402), the base (401) is installed at the lower end of the scissor mechanism, a palm cover plate (403) is installed at the lower end of the base (401), a driving assembly (404) is installed in the base (401), and the driving assembly (404) is located above the palm cover plate (403);
the three clamping jaws (402) are circumferentially and uniformly arranged on the periphery of the output end of the driving assembly, the lower end of each clamping jaw (402) is located below the palm cover plate (403), the upper end of each clamping jaw (402) is mounted on the palm cover plate, the end of each clamping jaw is in transmission connection with the output end of the driving assembly (404) in the base (401), and the driving assembly (404) is started to enable the three clamping jaws (402) to be opened or closed.
5. The reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning is characterized in that the driving assembly (404) comprises a motor (405), the motor (405) is electrically connected with a storage battery, the motor (405) is installed in the base (401), an output shaft of the motor is arranged in the vertical direction, a worm (406) is connected to the tail end of the output shaft of the motor, and the lower end of the worm (406) is rotatably connected with the palm cover plate (403);
each clamping jaw (402) is provided with a worm wheel (407), the three worm wheels (407) are respectively meshed with the worm (406), the three worm wheels (407) are enabled to rotate simultaneously by starting the motor (405), and the three worm wheels (407) respectively drive the corresponding clamping jaws (402) to open or close the three clamping jaws (402).
6. The reconfigurable unmanned aerial vehicle applied to river channel garbage disposal according to claim 5, wherein each clamping jaw (402) comprises a U-shaped frame (408) and a link mechanism (409), each U-shaped frame (408) is installed on the upper surface of the palm cover plate (403), each worm gear (407) is installed on a corresponding first rotating shaft (410), and each first rotating shaft (410) is installed in the corresponding U-shaped frame (408);
each U-shaped frame is internally provided with a second rotating shaft (411), each second rotating shaft (411) is fixedly provided with a gear (412), and each gear (412) is meshed with a corresponding worm wheel (407);
the connecting rod mechanism (409) comprises a driving connecting rod (413), a finger back connecting rod (416), a finger tip connecting rod (414) and a finger web connecting rod (415), the four connecting rods are sequentially connected end to form a four-connecting rod mechanism, the two adjacent connecting rods are hinged, one end of the driving connecting rod (413) is hinged with one end of the finger web connecting rod (415) through a second rotating shaft (411), one end of the driving connecting rod (413) is fixedly connected with the second rotating shaft (411), and one end of the finger web connecting rod (415) is rotatably connected with the second rotating shaft (411);
the fingertip pieces (417) are fixed on the fingertip connecting rods (414), the fingertip pieces (417) are integrally triangular prism-shaped, one end of the end face of each fingertip piece (417) which is rectangular is fixedly connected with the fingertip connecting rod (414), and the motor (405) is started, so that the three fingertip pieces (417) can be gathered together or separated from each other.
7. The reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning is characterized in that the shell (1) and each connecting frame (301) are in a regular prism shape as a whole, the cross sectional areas of the shell and each connecting frame are equal, the number of edges of the shell and each connecting frame is equal, and the number of edges is an even number greater than 5;
each side wall of the shell (1) can be detachably connected with only one connecting frame (301);
when one rotor assembly (3) is arranged on each of two adjacent side walls of the shell (1), a pair of side walls which are attached to each other is arranged between the connecting frames (301) of the two rotor assemblies (3), and the two side walls are detachably connected.
8. The reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning is characterized in that the shell (1) and the connecting frame (301) are in a regular hexagonal prism shape integrally, the number of the rotor assemblies (3) is six, and the four-rotor unmanned aerial vehicle can be formed after two rotor assemblies (3) are reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210880685.8A CN115180148A (en) | 2022-07-25 | 2022-07-25 | Reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210880685.8A CN115180148A (en) | 2022-07-25 | 2022-07-25 | Reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning |
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| CN115180148A true CN115180148A (en) | 2022-10-14 |
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| CN202210880685.8A Pending CN115180148A (en) | 2022-07-25 | 2022-07-25 | Reconfigurable unmanned aerial vehicle applied to river channel garbage cleaning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117141757A (en) * | 2023-07-14 | 2023-12-01 | 北京科技大学 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117141757A (en) * | 2023-07-14 | 2023-12-01 | 北京科技大学 | Miniature flapping wing aircraft capable of carrying load, ejection device and throwing device |
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