CN206679256U - Flight mechanical arm and UAS - Google Patents
Flight mechanical arm and UAS Download PDFInfo
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- CN206679256U CN206679256U CN201720479971.8U CN201720479971U CN206679256U CN 206679256 U CN206679256 U CN 206679256U CN 201720479971 U CN201720479971 U CN 201720479971U CN 206679256 U CN206679256 U CN 206679256U
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Abstract
The utility model provides a kind of flight mechanical arm and UAS, and the field transboundary for belonging to product combines, including multi-rotor aerocraft and mechanical arm；Multi-rotor aerocraft includes aircraft, flies control device, human body attitude control device and wireless transport module；Aircraft includes image acquisition units, and image acquisition units communicate to connect with wireless transport module；Fly control device to be connected with aircraft communication；Human body attitude control device communicates to connect with mechanical arm；Fly control device to communicate to connect with wireless transport module；Human body attitude control device communicates to connect with wireless transport module.The control mode of mechanical arm is more naturally flexible, responded according to human body attitude, realize that mechanical arm is servo-actuated the effect of human arm pose, fully demonstrate the decision-making and flexibility of operator, model inspection and the computing of complexity are avoided simultaneously, it is possible to provide preferably respond effect.
Description
Technical field
The field transboundary that the utility model belongs to product combines, more particularly, to a kind of flight mechanical arm and unmanned plane system
System.
Background technology
Multi-rotor unmanned aerial vehicle technology itself has developed more ripe at present, and its application in daily life typically needs to tie
Other parts are closed to complete, such as and head capture apparatus is implemented in combination with high-altitude investigation shoot function and flusher is implemented in combination with
The function of farmland plant protection；Also there are related scholar and researcher to propose to combine by rotor wing unmanned aerial vehicle and paw or mechanical arm at present
More complicated function is completed, this kind of flying robot of early stage is mostly to be combined rotor wing unmanned aerial vehicle and paw, but this kind of machine
The work capacity of device people's system is extremely limited, and because no mechanical arm system, work capacity are very limited.Then have
Scholar proposes the concept of aircraft combination multi-degree-of-freemechanical mechanical arm, but mechanical arm system itself does not possess the function of active operation,
The mechanical arm control mode more advanced in this field is to realize dynamic by extraneous vision capture systems auxiliary positioning at present
Target is captured, such control method is largely dependent upon visual capture function, and vision capture technology development at present is inadequate
Maturation, and can be felt simply helpless for control mode as the extraneous complex environment of no vision capture systems, thus such control
The mode degree of reliability processed is not high enough.
Mechanical arm common at present is used for industrial production, it is intended to the assembly work of high accuracy, high complexity is performed, so as to
Substitute artificial, raising production efficiency.This kind of general cost of mechanical arm is high, volume is larger, and purposes is relatively fixed, and range of movement has
Limit, motion mode can only be by programme-control prepared in advance, it is difficult to the movement instruction outside dynamic response.With industrial machinery arm phase
Right, another kind of small-sized machine arm is used for the sides such as teaching demonstration, product prototype design, scientific research checking based on desktop level application
Face, this kind of mechanical arm is mostly using stepper motor as driving, also because of body while stepper motor brings preferably driving effect
Product and weight are larger so that mechanical arm system use range is restricted, while this kind of mechanical arm system also has response speed and power
Limited, the inflexible limitation of response mode is spent, needs to be connected with computer and power supply when in use to obtain movement instruction.
At present either technical grade mechanical arm or small-sized machine arm fail to realize in terms of man-machine interaction it is comparatively ideal
Effect, i.e., current mechanical arm technology can only typically control according to programmed instruction prepared in advance, and this control mode is inadequate
It is natural and flexible.
Utility model content
The purpose of this utility model is to provide a kind of flight mechanical arm and UAS so that unmanned plane and mechanical arm
Job area is wide, and small, achievable remote operation so that operator need not reach operating environment, avoid is limited by geographical position
It is dangerous and inconvenient (such as dangerous area, geological disaster area, the water surface, high-altitude)；The control mode of mechanical arm is more naturally flexible,
Responded according to human body attitude, realize that mechanical arm is servo-actuated the effect of human arm pose, fully demonstrate operator decision-making and
Flexibility, while avoid model inspection and the computing of complexity, it is possible to provide preferably respond effect.
To achieve the above object, the utility model provides following technical scheme：
In a first aspect, the utility model provides a kind of flight mechanical arm, including：Multi-rotor aerocraft and be installed on it is described more
The mechanical arm of rotor craft；
The multi-rotor aerocraft includes aircraft, the winged control device for controlling the aircraft flight, for controlling
The human body attitude control device and wireless transport module of the mechanical arm action；
The aircraft includes image acquisition units, described image collecting unit and the wireless transport module communication link
Connect；
The winged control device is connected with the aircraft communication；
The human body attitude control device communicates to connect with the mechanical arm；
The winged control device communicates to connect with the wireless transport module；
The human body attitude control device communicates to connect with the wireless transport module.
Further, the human body attitude control device includes motion sensing control device.
Further, the motion sensing control device includes strict kinetoplast sense controller, and/or, fine motion motion sensing control device.
Further, the mechanical arm includes：Base, quadric chain, forearm and the wrist being sequentially connected；
The base is connected by combining mechanism with the aircraft；
The quadric chain includes large arm, second connecting rod, third connecting rod and the ancon being sequentially connected；The large arm and institute
State base connection；The ancon is connected with the forearm.
Further, the aircraft connecting portion, bearing and base that the combining mechanism includes setting gradually from top to bottom connect
Socket part, the aircraft connecting portion are connected with the aircraft；The base connecting portion is connected with the base.
Further, the base, which is provided with, is used to controlling the first steering wheel of the manipulator motion, the second steering wheel and the
Three steering wheels；
First steering wheel is used to drive the mechanical arm in the plane parallel with the platform plane of the aircraft to turn
It is dynamic；
Second steering wheel is used to drive the large arm relative to the base rotation；
3rd steering wheel is used to drive the forearm to rotate relative to the large arm.
Further, the ancon, which is provided with, is used to drive the 4th steering wheel that the forearm rotates around its own axis.
Further, the wrist, which is provided with, is used to control the 5th steering wheel of the wrist movement and for installing and controlling
6th steering wheel of homework department.
Second aspect, the utility model also provide a kind of UAS, including ground operating side, in addition to first aspect
Any one of flight mechanical arm, the ground operating side and the flight mechanical arm communicate to connect.
Further, the ground operating side includes computer and human posture capture apparatus, the computer and described
Human posture capture apparatus communicates to connect.
Flight mechanical arm and UAS provided by the utility model have the advantages that：
The utility model first aspect provides a kind of flight mechanical arm, including：Multi-rotor aerocraft and it is installed on more rotations
The mechanical arm of rotor aircraft；Multi-rotor aerocraft includes aircraft, the winged control device for controlling aircraft flight, for controlling
The human body attitude control device and wireless transport module of mechanical arm action；Aircraft includes image acquisition units, IMAQ list
Member communicates to connect with wireless transport module；Fly control device to be connected with aircraft communication；Human body attitude control device leads to mechanical arm
Letter connection；Fly control device to communicate to connect with wireless transport module；Human body attitude control device communicates to connect with wireless transport module.
In the flight mechanical arm that the utility model first aspect provides, wireless transport module, which can receive, to be instructed and is transferred to
Fly control device and human body attitude control device, fly to control aircraft flight, human body attitude control after control device receives control instruction
Control machinery arm acts after device receives control instruction, image acquisition units collection spatial information, and transmits information to wireless
Transport module.
The flight mechanical arm that the utility model first aspect provides combines unmanned plane and mechanical arm so that unmanned plane
It is wide with mechanical arm job area, small, achievable remote operation so that operator need not reach operation ring is limited by geographical position
Border, avoid dangerous and inconvenient (such as dangerous area, geological disaster area, the water surface, high-altitude)；The control mode of mechanical arm is more
Naturally flexibly, responded according to human body attitude, realize that mechanical arm is servo-actuated the effect of human arm pose, fully demonstrate operator
Decision-making and flexibility, while avoid complexity model inspection and computing, it is possible to provide preferably respond effect.
The UAS that the utility model second aspect provides includes flight mechanical arm and ground operating side.Ground operates
End sends mechanical arm movement instruction by wireless signal to flight mechanical arm, and flight mechanical arm is operated by wireless signal to ground
The view data that end transfer instant photographs, the people of ground operating side is controlled according to image to aircraft, while ground is grasped
The people for making end is controlled using palm or arm position posture to mechanical arm, and control is remotely realized by wireless signal.
By such system, it is incorporated into using people itself as key link in the middle of control so that control mode is more flexibly natural.
The UAS that the utility model second aspect provides is provided with the flight of the utility model first aspect offer
Mechanical arm, so as to all possessed beneficial effects of the flight mechanical arm provided with the utility model first aspect.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the stereogram for the flight mechanical arm that the utility model embodiment provides；
Fig. 2 is the stereogram for the mechanical arm that the utility model embodiment provides；
Fig. 3 is the stereogram for the mechanical arm that the utility model embodiment provides；
Fig. 4 is the structural representation for the UAS that the utility model embodiment provides.
Icon：100- multi-rotor aerocrafts；110- aircraft；111- image acquisition units；120- flies control device；130- people
Body attitude-control device；140- wireless transport modules；200- mechanical arms；210- bases；220- large arm；230- ancons；240- is small
Arm；250- wrists；260- second connecting rods；270- third connecting rods；300- combining mechanisms；310- aircraft connecting portions；320- bearings；
330- base connecting portions；The steering wheels of 211- first；The steering wheels of 212- second；The steering wheels of 213- the 3rd；The steering wheels of 231- the 4th；The rudders of 251- the 5th
Machine；The steering wheels of 252- the 6th；400- grounds operating side；410- computers；420- human posture capture apparatus.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Specific embodiment of the present utility model is described in detail below in conjunction with accompanying drawing.It should be appreciated that herein
Described embodiment is merely to illustrate and explained the utility model, is not limited to the utility model.
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are refer to, the flight machinery provided below in conjunction with accompanying drawing the utility model embodiment
Arm and UAS elaborate.
The embodiment of the utility model first aspect provides a kind of flight mechanical arm, including：The He of multi-rotor aerocraft 100
It is installed on the mechanical arm 200 of multi-rotor aerocraft 100；
Multi-rotor aerocraft 100 includes aircraft 110, the winged control device 120 for controlling the flight of aircraft 110, is used for
The human body attitude control device 130 and wireless transport module 140 that control machinery arm 200 acts；
Aircraft 110 includes image acquisition units 111, image acquisition units 111 and the communication link of wireless transport module 140
Connect；
Fly control device 120 to communicate to connect with aircraft 110；
Human body attitude control device 130 communicates to connect with mechanical arm 200；
Fly control device 120 to communicate to connect with wireless transport module 140；
Human body attitude control device 130 communicates to connect with wireless transport module 140.
It should be noted that in the flight mechanical arm 200 that the embodiment of the utility model first aspect provides, it is wirelessly transferred
Module 140, which can receive to instruct and be transferred to, flies control device 120 and human body attitude control device 130, flies control device 120 and receives control
Control aircraft 110 flies after system instruction, and control machinery arm 200 acts after human body attitude control device 130 receives control instruction,
Image acquisition units 111 gather spatial information, and transmit information to wireless transport module 140.
The flight mechanical arm that the embodiment of the utility model first aspect provides combines unmanned plane and mechanical arm 200
Come so that unmanned plane and the job area of mechanical arm 200 are wide, and small, achievable remote operation so that operator is limited by geographical position
Operating environment need not be reached, avoided dangerous and inconvenient (such as dangerous area, geological disaster area, the water surface, high-altitude)；Mechanical arm
200 control mode is more naturally flexible, is responded according to human body attitude, realizes that mechanical arm 200 is servo-actuated human arm pose
Effect, fully demonstrate the decision-making and flexibility of operator, while avoid model inspection and the computing of complexity, it is possible to provide more preferable
Response effect.
Multi-rotor unmanned aerial vehicle flying platform is adopted using 6 axle unmanned planes, flight control system, GPS module, battery pack, image
Collecting system etc. is located at the top of aircraft 110.Mechanical arm 200 is arranged on the belly of the lower section of aircraft 110.
Further, human body attitude control device 130 includes motion sensing control device.
It should be noted that motion sensing control device is a kind of smart motion sensing apparatus, using optical 3 D space intelligent
Identification and automatic tracking technology, the Man Machine Interface equipment that the real motion state of human body is identified, tracks, quantified.
Motion sensing control device gathers human synovial and gesture information and transfers information to ground control terminal by wireless transport module 140,
Ground control terminal instant computing goes out the movement instruction of mechanical arm 200 and sent, so as to realize in wireless signal coverage
Three-dimensional flexible operation.
Further, motion sensing control device includes strict kinetoplast sense controller, and/or, fine motion motion sensing control device.
The utility model can be moved using the position and attitude information of human body palm come control machinery arm 200, human body palm
Position and attitude information show as the displacement in three directions and the amount of spin of three directions (driftage, pitching, rolling), human body
It can for example buy the Leap Motion devices from Leap Motion that posture, which catches equipment, or purchase is certainly
Microsoft Kinect V2 devices.
In the utility model, mechanical arm is used as by the information of 6 frees degree in human body palm position and posture captured
The posture information of 200 ends, by the anti-angle for solving each joint of inverse kinematics method, correspond to the steering wheel of mechanical arm 200
Rotational angle.
Further, mechanical arm 200 includes：Base 210, quadric chain, forearm 240 and the wrist 250 being sequentially connected；
Base 210 is connected by combining mechanism 300 with aircraft 110；
Quadric chain includes large arm 220, second connecting rod 260, third connecting rod 270 and the ancon 230 being sequentially connected；Large arm
220 are connected with base 210；Ancon 230 is connected with forearm 240.
Further, combining mechanism 300 includes aircraft connecting portion 310, bearing 320 and the bottom set gradually from top to bottom
Seat connecting portion 330, aircraft connecting portion 310 are connected with aircraft 110；Base connecting portion 330 is connected with base 210.
It should be noted that combining mechanism 300 is respectively aircraft connecting portion 310, plane bearing, base company from top to bottom
Socket part 330.
Aircraft connecting portion 310：It is connected with three holes of the affixed dependence of aircraft 110 using bolt and nut；
Plane bearing：Realize the function that mutual plane between base 210 and aircraft 110 rotates, plane bearing is smaller
The part of internal diameter is located at upside；
Base connecting portion 330：It is affixed using bolt and nut with base 210 by two holes；
Aircraft connecting portion 310, screwed hole is opened in 330 points of sides of base connecting portion further to lock plane axis by screw
Hold.Base connecting portion 330 is connected with base 210 by two holes by bolt and nut.
Further, base 210 is provided with the first steering wheel 211 for being used for control machinery arm 200 and moving, the second steering wheel 212
With the 3rd steering wheel 213；
First steering wheel 211 is used to drive mechanical arm 200 in the rotation with surface parallel with the platform plane of aircraft 110；
Second steering wheel 212 is used to drive large arm 220 to rotate relative to base 210；
3rd steering wheel 213 is used to drive forearm 240 to rotate relative to large arm 220.
It should be noted that being connected with three steering wheels on base 210, steering wheel is connected with steering wheel, from top to bottom, by a left side extremely
The right side is respectively the first steering wheel 211, the second steering wheel 212, the 3rd steering wheel 213, the method that steering wheel is installed in the utility model be
Installation site perforate is connected by bolt and nut.First steering wheel 211 is used for driving between mechanical arm 200 and the platform of aircraft 110
Rotation with surface, the second steering wheel 212 is used for driving rotation of the large arm 220 relative to base 210, and the 3rd steering wheel 213 is used for driving
Move rotation of the forearm 240 relative to large arm 220.Wherein the first steering wheel 211 is connected to axle, the diameter and plane axis of axle by steering wheel
Hold internal diameter relation to be greater than its less internal diameter and be less than its larger internal diameter, axle and the faced washer on plane bearing top are formed
Interference fit and it is affixed, when the first steering wheel 211 rotates, band moving axis, plane bearing top gasket rotation, realize plane bearing
Rotation with surface, i.e. mechanical arm 200 relative to the platform of aircraft 110 rotation with surface.
Three flange bearings are connected with large arm 220, the lateral opening hole of large arm 220 is in order to steering wheel power supply and signal lead.
Large arm 220 itself is as one of connecting rod of quadric chain between the forearm 240 of large arm 220, the second connecting rod of quadric chain
260 be quarter butt, and the head short axle of second connecting rod 260 can assemble with the flange bearing internal diameter of large arm 220 and realize large arm 220 and second connecting rod
260 relative rotation, the afterbody perforate of second connecting rod 260 mutually rotate be hinged realize of third connecting rod 270.
What is connected between base 210 and large arm 220 is achieved in that：Four circular ports at the steering wheel of second steering wheel 212 and big
Four screwed hole bolt and nuts of the upper left-hand of arm 220 are affixed, four circular ports and second connecting rod at the steering wheel of the 3rd steering wheel 213
Four screwed hole bolt and nuts on 260 heads are affixed；By such connected mode, the second steering wheel 212 can directly drive greatly
Axis of rotation of the arm 220 relative to base 210 around the second steering wheel 212, the rotation of the 3rd steering wheel 213 will directly drive connecting rod around it
Axis of rotation, without being had an impact to large arm 220.
Further, ancon 230, which is provided with, is used to drive the 4th steering wheel 231 that forearm 240 rotates around its own axis.
Ancon 230 be by four sheet materials and steering wheel with reference to and form stereochemical structure, wherein on the part being connected with forearm 240
Perforate, aperture are bigger compared to the external diameter of forearm 240；The part for installing the 4th steering wheel 231 uses screw and ancon 230 by screwed hole
Parts connection in both sides coordinates, the rotating shaft of the 4th steering wheel 231 with and the part of the connection of forearm 240 on hole it is coaxial；The both sides of ancon 230
Macropore on part is used for forming coaxial cooperation by flange short axle with the endoporus of flange bearing 320 of the end of large arm 220, so that
Wrist 250 can be around the flange bearing axis of rotation of the end of large arm 220 with respect to large arm 220；The sidepiece part rear portion perforate of ancon 230 1 can
Realize and third connecting rod 270 is be hinged, realize and relatively rotate, i.e., ancon 230 is also four between large arm 220 and forearm 240 simultaneously
4th connecting rod of linkage.
The structure of forearm 240 is relatively simple, and it is made up of forward and backward connector and pipe, and the punching of pipe front and back end utilizes elongated
Screw bolt and nut and front and rear connector are affixed.Four circular holes and the steering wheel of the 4th steering wheel 231 on rear end connector are affixed, the 4th rudder
Machine 231 is thus, it is possible to drive forearm 240 around its own axis of rotation.
Further, wrist 250 is provided with the 5th steering wheel 251 for being used to control wrist 250 to act and for installing and controlling
6th steering wheel 252 in manufacturing portion.
The structure of wrist 250 is mainly made up of two large divisions：
Part I, wherein right baffle-plate perforate are equipped with flange bearing, four perforates of rear baffle can with before forearm 240
Hole on end connection is connected using bolt and nut, and right shell body is provided with the 5th steering wheel 251, the rotating shaft of the 5th steering wheel 251 and left gear
Flange bearing rotating shaft on plate is coaxial.
Part II, wherein right baffle-plate are connected with short axle, can with the flange bearing minor diameter fit on Part I right baffle-plate,
Front side baffle plate is provided with the 6th steering wheel 252, the 5th steering wheel 251 on four Kong Keyu Part I right-hand aprons of right-hand apron
Steering wheel is connected using bolt and nut.
Homework department is installed on the steering wheel of the 6th steering wheel 252, and performs device can be installed according to mission requirements, common such as machine
Grabbing device or vacuum absorption device of machinery claw class etc..
Second aspect, the utility model also provide a kind of UAS, including ground operating side 400, in addition to first
The flight mechanical arm of any one of aspect, ground operating side 400 communicate to connect with flight mechanical arm.
Further, ground operating side 400 includes computer 410 and human posture capture apparatus 420, the He of computer 410
Human posture capture apparatus 420 communicates to connect.
It should be noted that the UAS that the embodiment of the utility model second aspect provides includes flight mechanical arm
With ground operating side 400.Ground operating side 400 sends the movement instruction of mechanical arm 200 by wireless signal to flight mechanical arm, flies
The view data that row mechanical arm is photographed by wireless signal to the transfer instant of ground operating side 400, the people of ground operating side 400
Aircraft 110 is controlled according to image, while the people of ground operating side 400 utilizes palm or arm position posture to machine
Tool arm 200 is controlled, and control is remotely realized by wireless signal.By such system, using people itself as main ring
Section is incorporated into the middle of control so that control mode is more flexibly natural.
The UAS that the embodiment of the utility model second aspect provides is provided with the utility model first aspect
The flight mechanical arm that embodiment provides, so as to which the flight mechanical arm that the embodiment with the utility model first aspect provides is had
All beneficial effects having.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should manage
Solution：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole skills
Art feature carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from the utility model
The scope of each embodiment technical scheme.
Claims (10)
- A kind of 1. flight mechanical arm, it is characterised in that including：Multi-rotor aerocraft (100) and it is installed on more rotor flyings The mechanical arm (200) of device (100)；The multi-rotor aerocraft (100) includes aircraft (110), the winged control dress for controlling the aircraft (110) to fly Put (120), human body attitude control device (130) and wireless transport module for controlling the mechanical arm (200) to act (140)；The aircraft (110) includes image acquisition units (111), and described image collecting unit (111) is wirelessly transferred with described Module (140) communicates to connect；The winged control device (120) communicates to connect with the aircraft (110)；The human body attitude control device (130) communicates to connect with the mechanical arm (200)；The winged control device (120) communicates to connect with the wireless transport module (140)；The human body attitude control device (130) communicates to connect with the wireless transport module (140).
- 2. flight mechanical arm according to claim 1, it is characterised in that the human body attitude control device (130) includes Motion sensing control device.
- 3. flight mechanical arm according to claim 2, it is characterised in that the motion sensing control device includes strict dynamic motion sensing control Device, and/or, fine motion motion sensing control device.
- 4. flight mechanical arm according to claim 1, it is characterised in that the mechanical arm (200) includes：It is sequentially connected Base (210), quadric chain, forearm (240) and wrist (250)；The base (210) is connected by combining mechanism (300) with the aircraft (110)；The quadric chain includes large arm (220), second connecting rod (260), third connecting rod (270) and the ancon being sequentially connected (230)；The large arm (220) is connected with the base (210)；The ancon (230) is connected with the forearm (240).
- 5. flight mechanical arm according to claim 4, it is characterised in that the combining mechanism (300) is included from top to bottom Aircraft connecting portion (310), bearing (320) and the base connecting portion (330) set gradually, the aircraft connecting portion (310) It is connected with the aircraft (110)；The base connecting portion (330) is connected with the base (210).
- 6. flight mechanical arm according to claim 4, it is characterised in that the base (210), which is provided with, to be used to control institute State the first steering wheel (211), the second steering wheel (212) and the 3rd steering wheel (213) of mechanical arm (200) motion；First steering wheel (211) is used to drive the mechanical arm (200) parallel with the platform plane of the aircraft (110) Rotation with surface；Second steering wheel (212) is used to drive the large arm (220) to rotate relative to the base (210)；3rd steering wheel (213) is used to drive the forearm (240) to rotate relative to the large arm (220).
- 7. flight mechanical arm according to claim 4, it is characterised in that the ancon (230), which is provided with, to be used to drive institute State the 4th steering wheel (231) that forearm (240) rotates around its own axis.
- 8. flight mechanical arm according to claim 4, it is characterised in that the wrist (250), which is provided with, to be used to control institute State the 5th steering wheel (251) of wrist (250) action and the 6th steering wheel (252) for installing and controlling homework department.
- 9. a kind of UAS, it is characterised in that any including ground operating side (400), in addition in claim 1 to 8 Flight mechanical arm described in, the ground operating side (400) communicate to connect with the flight mechanical arm.
- 10. UAS according to claim 9, it is characterised in that the ground operating side (400) includes computer And human posture capture apparatus (420), the computer (410) and the human posture capture apparatus (420) communication link (410) Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720479971.8U CN206679256U (en) | 2017-05-02 | 2017-05-02 | Flight mechanical arm and UAS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720479971.8U CN206679256U (en) | 2017-05-02 | 2017-05-02 | Flight mechanical arm and UAS |
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| Publication Number | Publication Date |
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| CN206679256U true CN206679256U (en) | 2017-11-28 |
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ID=60406396
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720479971.8U Expired - Fee Related CN206679256U (en) | 2017-05-02 | 2017-05-02 | Flight mechanical arm and UAS |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309872A (en) * | 2017-05-08 | 2017-11-03 | 南京航空航天大学 | A kind of flying robot and its control method with mechanical arm |
| CN108791937A (en) * | 2018-06-12 | 2018-11-13 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle retracting device and method based on machinery crawl |
| CN108994874A (en) * | 2018-09-17 | 2018-12-14 | 北京臻迪科技股份有限公司 | Mechanical arm and unmanned plane for unmanned plane |
| CN109969396A (en) * | 2017-12-28 | 2019-07-05 | 极光飞行科学公司 | Steerable system and method for aircraft |
-
2017
- 2017-05-02 CN CN201720479971.8U patent/CN206679256U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309872A (en) * | 2017-05-08 | 2017-11-03 | 南京航空航天大学 | A kind of flying robot and its control method with mechanical arm |
| CN107309872B (en) * | 2017-05-08 | 2021-06-15 | 南京航空航天大学 | Flying robot with mechanical arm and control method thereof |
| CN109969396A (en) * | 2017-12-28 | 2019-07-05 | 极光飞行科学公司 | Steerable system and method for aircraft |
| CN108791937A (en) * | 2018-06-12 | 2018-11-13 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle retracting device and method based on machinery crawl |
| CN108994874A (en) * | 2018-09-17 | 2018-12-14 | 北京臻迪科技股份有限公司 | Mechanical arm and unmanned plane for unmanned plane |
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