CN210063374U - Multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects - Google Patents

Multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects Download PDF

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Publication number
CN210063374U
CN210063374U CN201920834348.9U CN201920834348U CN210063374U CN 210063374 U CN210063374 U CN 210063374U CN 201920834348 U CN201920834348 U CN 201920834348U CN 210063374 U CN210063374 U CN 210063374U
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China
Prior art keywords
battery
driving motor
mechanical arm
control module
storage battery
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Expired - Fee Related
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CN201920834348.9U
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Chinese (zh)
Inventor
韦斌
梁涛
宋文龙
殷永琛
马英杰
付国政
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韦斌
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Priority to CN201920834348.9U priority Critical patent/CN210063374U/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00Aeronautics or air transport
    • Y02T50/60Efficient propulsion technologies, e.g. for aircraft

Abstract

The utility model relates to a carry thing aircraft technical field, and disclose multi-functional automatic intelligent manipulator formula four shaft air vehicle system that snatchs article, which comprises a frame, the top fixed mounting of frame has quick-witted case, the inner wall bottom fixed mounting of machine case has first battery, the inner wall bottom of machine case and the right side fixed mounting who is located first battery have the second battery, the inner wall bottom of machine case and the right side fixed mounting who is located the second battery have control module. This multi-functional automatic intelligent mechanical hand formula four shaft air vehicle system of snatching article drives second arm and third arm backward rotation through the output shaft, and inside the third arm drove article entering storage tank through electronic clamping jaw, reached the effect that simple and convenient automatic snatched the article, carried the thing with traditional aircraft and compares, and this aircraft possesses the function that the article was got to automatic clamp, reduces artifical loading article, reaches the effect of saving the cost of labor.

Description

Multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects
Technical Field
The utility model relates to a carry thing aircraft technical field, specifically be a multi-functional automatic intelligent manipulator formula four shaft air vehicle system that snatchs article.
Background
The cargo aircraft product is emphasized by people along with the social needs, and a more convenient transport tool is urgently needed for the rise of online shopping; secondly, in both fast-paced cities and suburban mountain areas with inconvenient roads, the vehicle is suitable for multiple terrains and multiple states, and manpower, material resources and precious time and cost can be greatly saved; furthermore, the rising of the first-view racing competitions with the FPVs can further promote the development of aircrafts, and not only the purposes such as scientific research, military use and the like are necessary.
Traditional aircraft continuation of the journey mileage is short, carries the thing ability weak, and stability is not enough, and loads article and need manually load, causes to use inconvenient scheduling problem, so provides the intelligent machinery hand formula four shaft air vehicle system that a multi-functional automation snatched the article and solves above-mentioned problem.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
Not enough to prior art, the utility model provides a multi-functional automatic intelligent mechanical hand formula four shaft air vehicle system that snatchs article possesses advantages such as convenient to use, has solved traditional aircraft continuation of the journey mileage and has lacked, carries the thing ability weak point, and stability is not enough, and loads article and need manually load, causes to use the problem of inconvenient waiting.
(II) technical scheme
In order to realize the purpose of convenient use, the utility model provides a following technical scheme: the multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects comprises a rack, wherein a case is fixedly mounted at the top of the rack, a first storage battery is fixedly mounted at the bottom of the inner wall of the case, a second storage battery is fixedly mounted at the bottom of the inner wall of the case and positioned on the right side of the first storage battery, a control module is fixedly mounted at the bottom of the inner wall of the case and positioned on the right side of the second storage battery, a solar battery is fixedly mounted at the top of the control module, driving modules are fixedly mounted at the top of the rack and positioned on the left side and the right side of the case respectively, a rotating seat is fixedly mounted at the top of the inner wall of the rack, a camera is movably mounted at the bottom of the rotating seat, a storage box is fixedly mounted at the inner wall of the rack and positioned below the camera, an electric push rod is fixedly mounted at the front of the storage box, guide, the utility model discloses an electronic clamping jaw clamping device, including electric putter, guide rail, the top of chamber door, the top of first arm, the second arm has been cup jointed to the output shaft of first driving motor, the positive fixed mounting of second arm has second driving motor, the third arm has been cup jointed to the output shaft of second driving motor, the right side fixed mounting of third arm has electronic clamping jaw.
Preferably, a light-transmitting plate is fixedly mounted at the top of the case and above the solar cell, and the light-transmitting plate is a transparent plastic plate.
Preferably, the electric quantity storage capacity of the second storage battery is greater than that of the first storage battery, and the number of the driving modules is four.
Preferably, the number of the pulleys is eight, the eight pulleys are equally divided into two groups, and each group of the pulleys are distributed on the box door at equal intervals.
Preferably, the control module comprises an electronic map module, a bluetooth module, a 4G communication module and a GPS module, and the rotating seat comprises a fixed seat and a movable disk.
Preferably, the inner wall bottom fixed mounting of storage tank has pressure sensor, control module passes through the wire and is connected with pressure sensor, first battery, second battery, solar cell, drive module, electric putter, first driving motor, second driving motor, electric clamping jaw electricity.
(III) advantageous effects
Compared with the prior art, the utility model provides a multi-functional automatic intelligent manipulator formula four shaft air vehicle system that snatchs article possesses following beneficial effect:
1. the intelligent mechanical arm type four-axis aircraft system for automatically grabbing the objects controls the electric push rod to contract through the control module, the electric push rod drives the box door to move leftwards, the box door on the storage box is opened, then the control module controls the second driving motor to start, the second driving motor drives the third mechanical arm and the electric clamping jaw to rotate downwards through the output shaft, and controls the electric clamping jaw to clamp the objects through the control module, the second driving motor drives the third mechanical arm and the electric clamping jaw to rotate upwards through the output shaft, the control module controls the first driving motor to start, the first driving motor drives the second mechanical arm and the third mechanical arm to rotate backwards through the output shaft, the third mechanical arm drives the objects to enter the storage box through the electric clamping jaw, the effect of simply and conveniently automatically grabbing the objects is achieved, compared with the loading of the traditional aircraft, the aircraft has the function of automatically clamping the, reduce artifical loading article, reach the effect of saving the cost of labor.
2. The multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects plans an optimized travel route through the control module and the electronic map module, detects the load condition of the aircraft through the pressure sensor and transmits data to the control module, and when the aircraft flies for a short distance under the condition of no load and driving the driving module to lift off, the control module controls the first storage battery to be started, and the second storage battery and the solar battery do not work; when the aircraft flies for a long distance, the control module controls the second storage battery to be started, the solar battery is in a charging state in the process, the electric quantity of the solar battery is kept in a saturated state to be reserved after the first storage battery and the second storage battery are used up, when the aircraft is in an operation state that the load of the driving module is lower than a set value, the solar battery is started to carry, when the solar battery cannot keep flying, the first storage battery is connected, the first storage battery works to continue a journey, if the first storage battery is used up, the second storage battery finishes all strokes and returns to a starting point, the solar battery with the used up energy is in the charging state in the process, and the obtained electric quantity can be output at any time to supply energy; under the load is higher than the setting value and the full-load condition, first battery, second battery and solar cell start simultaneously in the group battery, keep the output the most, and solar cell is in operating condition, and electric quantity input goes on simultaneously with output, reaches the effect of high-efficient electric energy distribution, makes this aircraft flight more lastingly and flight more stable, prevents that this aircraft from taking place because of the condition that the electric quantity is not enough to cause the crash, thereby has improved the security performance of this aircraft, has prolonged this aircraft life.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of the point A in the structure of FIG. 1;
fig. 3 is an enlarged view of the position B in the structure diagram 1 of the present invention.
In the figure: the device comprises a rack 1, a chassis 2, a first storage battery 3, a second storage battery 4, a control module 5, a solar battery 6, a driving module 7, a rotating seat 8, a camera 9, a storage box 10, an electric push rod 11, a guide rail 12, a box door 13, a pulley 14, a first mechanical arm 15, a first driving motor 16, a second mechanical arm 17, a second driving motor 18, a third mechanical arm 19 and an electric clamping jaw 20.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-3, the multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects comprises a frame 1, a chassis 2 is fixedly installed at the top of the frame 1, a first storage battery 3 is fixedly installed at the bottom of the inner wall of the chassis 2, a second storage battery 4 is fixedly installed at the bottom of the inner wall of the chassis 2 and positioned at the right side of the first storage battery 3, a control module 5 is fixedly installed at the bottom of the inner wall of the chassis 2 and positioned at the right side of the second storage battery 4, a solar battery 6 is fixedly installed at the top of the control module 5, a transparent plate is fixedly installed at the top of the chassis 2 and positioned above the solar battery 6, the transparent plate is a transparent plastic plate, driving modules 7 are fixedly installed at the top of the frame 1 and positioned at the left side and the right side of the chassis 2, the electric quantity storage capacity of the second storage battery 4 is greater than, a rotating seat 8 is fixedly installed at the top of the inner wall of a rack 1, a control module 5 comprises an electronic map module, a Bluetooth module, a 4G communication module and a GPS module, the rotating seat 8 comprises a fixed seat and a movable disc, a camera 9 is movably installed at the bottom of the rotating seat 8, a storage box 10 is fixedly installed on the inner wall of the rack 1 and below the camera 9, an electric push rod 11 is fixedly installed on the front surface of the storage box 10, guide rails 12 are fixedly installed on the front surface of the storage box 10 and above and below the electric push rod 11, a box door 13 is fixedly installed on the right side of the electric push rod 11, pulleys 14 meshed with the guide rails 12 are movably installed at the top and bottom of the box door 13, the number of the pulleys 14 is eight, the eight pulleys 14 are divided into two groups, each group of the pulleys 14 are equidistantly distributed on the box door 13, a first mechanical arm 15 is fixedly installed on the front surface of the box door 13, a, a second mechanical arm 17 is sleeved on an output shaft of a first driving motor 16, a second driving motor 18 is fixedly installed on the front face of the second mechanical arm 17, the models of the first driving motor 16 and the second driving motor 18 are both 5IK120RGN-CF, a third mechanical arm 19 is sleeved on an output shaft of the second driving motor 18, an electric clamping jaw 20 is fixedly installed on the right side of the third mechanical arm 19, a pressure sensor is fixedly installed at the bottom of the inner wall of the storage box 10, the control module 5 is electrically connected with the pressure sensor, the first storage battery 3, the second storage battery 4, the solar battery 6, the driving module 7, the electric push rod 11, the first driving motor 16, the second driving motor 18 and the electric clamping jaw 20 through wires, the electric push rod 11 is controlled to contract through the control module 5, the electric push rod 11 drives the box door 13 to move leftwards, so that the box door 13 on the storage box 10 is opened, the second driving motor 18 is controlled to start, the second driving motor 18 drives the third mechanical arm 18 and the electric clamping jaw 20 to rotate downwards through the output shaft, the control module 5 controls the electric clamping jaw 20 to clamp articles, the second driving motor 18 drives the third mechanical arm 18 and the electric clamping jaw 20 to rotate upwards through the output shaft, the control module 5 controls the first driving motor 16 to start, the first driving motor 16 drives the second mechanical arm 17 and the third mechanical arm 19 to rotate backwards through the output shaft, the third mechanical arm 19 drives the articles to enter the storage box 10 through the electric clamping jaw 20, the effect of simply and conveniently and automatically clamping the articles is achieved, compared with the traditional aircraft carrying, the aircraft has the function of automatically clamping the articles, the manual loading of the articles is reduced, the effect of saving labor cost is achieved, the optimized stroke route is planned through the control module 5 and the electronic map module, the loading condition of the aircraft is detected through the pressure sensor, and data is transmitted to the control module 5, when the aircraft flies for a short distance under the condition of no load and the condition of driving the driving module 7 to lift off, the control module 5 controls the first storage battery 3 to be started, and the second storage battery 4 and the solar battery 6 do not work; during long-distance flight, the control module 5 controls the second storage battery 4 to be started, the solar battery 6 is in a charging state in the process, the electric quantity of the solar battery is kept in a saturated state, the first storage battery 3 and the second storage battery 4 are used for standby after being used up, when the load of the aircraft in the driving module 7 is lower than a set value in an operation state, the solar battery 6 is started for carrying, when the solar battery 6 cannot keep flight, the first storage battery 3 is connected, the first storage battery 3 works for continuation of the journey, if the first storage battery 3 is used up, the second storage battery 4 finishes all the strokes and returns to a starting point, the solar battery 6 which has used up the energy in the process is in the charging state, and the obtained electric quantity can be output at any time for energy supply; load is higher than the setting value and under the full-load condition, first battery 3 in the group battery, second battery 4 and solar cell 6 start simultaneously, keep the output to the utmost point, and solar cell 6 is in operating condition, electric quantity input goes on with output simultaneously, reach the effect of high-efficient electric energy distribution, make this aircraft flight more lastingly more stable with the flight, prevent that this aircraft from taking place because of the condition that the electric quantity is not enough to cause the crash, thereby the security performance of this aircraft has been improved, this aircraft life has been prolonged.
To sum up, the multifunctional intelligent manipulator type four-axis aircraft system for automatically grabbing objects controls the electric push rod 11 to contract through the control module 5, the electric push rod 11 drives the box door 13 to move leftwards, so that the box door 13 on the storage box 10 is opened, then the control module 5 controls the second driving motor 18 to start, the second driving motor 18 drives the third mechanical arm 18 and the electric clamping jaw 20 to rotate downwards through the output shaft, the control module 5 controls the electric clamping jaw 20 to clamp the objects, the second driving motor 18 drives the third mechanical arm 18 and the electric clamping jaw 20 to rotate upwards through the output shaft, the control module 5 controls the first driving motor 16 to start, the first driving motor 16 drives the second mechanical arm 17 and the third mechanical arm 19 to rotate backwards through the output shaft, the third mechanical arm 19 drives the objects to enter the storage box 10 through the electric clamping jaw 20, and the effect of simply, conveniently and automatically grabbing the objects is achieved, compared with the traditional aircraft carrying object, the aircraft has the function of automatically clamping objects, reduces manual loading of objects, achieves the effect of saving labor cost, plans an optimized travel route through the control module 5 and the electronic map module, detects the load condition of the aircraft through the pressure sensor and transmits data to the control module 5, and when the aircraft flies for a short distance under the condition of no load and driving the driving module 7 to lift off, the control module 5 controls the first storage battery 3 to be started, and the second storage battery 4 and the solar battery 6 do not work; during long-distance flight, the control module 5 controls the second storage battery 4 to be started, the solar battery 6 is in a charging state in the process, the electric quantity of the solar battery is kept in a saturated state, the first storage battery 3 and the second storage battery 4 are used for standby after being used up, when the load of the aircraft in the driving module 7 is lower than a set value in an operation state, the solar battery 6 is started for carrying, when the solar battery 6 cannot keep flight, the first storage battery 3 is connected, the first storage battery 3 works for continuation of the journey, if the first storage battery 3 is used up, the second storage battery 4 finishes all the strokes and returns to a starting point, the solar battery 6 which has used up the energy in the process is in the charging state, and the obtained electric quantity can be output at any time for energy supply; load is higher than the setting value and under the full-load condition, first battery 3 in the group battery, second battery 4 and solar cell 6 start simultaneously, keep the maximum output, and solar cell 6 is in operating condition, electric quantity input goes on with output simultaneously, reach the effect of high-efficient electric energy distribution, make this aircraft flight more lasting and flight more stable, prevent that the condition that this aircraft caused the crash because of the electric quantity is not enough from taking place, thereby the security performance of this aircraft has been improved, this aircraft life has been prolonged, traditional aircraft continuation of the journey mileage is short, it is weak to carry the thing ability, stability is not enough, and load article and need manual loading, cause the problem of using inconvenient etc.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. Multi-functional automatic intelligent mechanical hand formula four shaft air vehicle system of snatching article, including frame (1), its characterized in that: the solar energy collecting device is characterized in that a case (2) is fixedly mounted at the top of the rack (1), a first storage battery (3) is fixedly mounted at the bottom of the inner wall of the case (2), a second storage battery (4) is fixedly mounted at the bottom of the inner wall of the case (2), a control module (5) is fixedly mounted at the bottom of the inner wall of the case (2) and at the right side of the second storage battery (4), a solar battery (6) is fixedly mounted at the top of the control module (5), driving modules (7) are fixedly mounted at the top of the rack (1) and at the left side and the right side of the case (2), a rotating seat (8) is fixedly mounted at the top of the inner wall of the rack (1), a camera (9) is movably mounted at the bottom of the rotating seat (8), and a storage box (10) is fixedly mounted at the inner wall of the rack (1) and below the camera (9, an electric push rod (11) is fixedly arranged on the front surface of the storage box (10), guide rails (12) are fixedly arranged on the front surface of the storage box (10) and positioned above and below the electric push rod (11), a box door (13) is fixedly arranged on the right side of the electric push rod (11), pulleys (14) meshed with the guide rail (12) are movably arranged at the top and the bottom of the box door (13), a first mechanical arm (15) is fixedly arranged on the front surface of the box door (13), a first driving motor (16) is fixedly arranged on the top of the first mechanical arm (15), a second mechanical arm (17) is sleeved on an output shaft of the first driving motor (16), a second driving motor (18) is fixedly arranged on the front surface of the second mechanical arm (17), a third mechanical arm (19) is sleeved on an output shaft of the second driving motor (18), and an electric clamping jaw (20) is fixedly arranged on the right side of the third mechanical arm (19).
2. The multi-functional smart manipulator-type quad flatcar system for automatically grabbing objects of claim 1, wherein: the top of machine case (2) and the top fixed mounting who is located solar cell (6) have the light-passing board, the light-passing board is transparent plastic board.
3. The multi-functional smart manipulator-type quad flatcar system for automatically grabbing objects of claim 1, wherein: the electric quantity storage capacity of the second storage battery (4) is larger than that of the first storage battery (3), and the number of the driving modules (7) is four.
4. The multi-functional smart manipulator-type quad flatcar system for automatically grabbing objects of claim 1, wherein: the number of the pulleys (14) is eight, the eight pulleys (14) are equally divided into two groups, and each group of the pulleys (14) are distributed on the box door (13) at equal intervals.
5. The multi-functional smart manipulator-type quad flatcar system for automatically grabbing objects of claim 1, wherein: the control module (5) comprises an electronic map module, a Bluetooth module, a 4G communication module and a GPS module, and the rotating seat (8) comprises a fixed seat and a movable disc.
6. The multi-functional smart manipulator-type quad flatcar system for automatically grabbing objects of claim 1, wherein: the inner wall bottom fixed mounting of storage tank (10) has pressure sensor, control module (5) are connected through wire and pressure sensor, first battery (3), second battery (4), solar cell (6), drive module (7), electric putter (11), first driving motor (16), second driving motor (18), electronic clamping jaw (20) electricity.
CN201920834348.9U 2019-06-04 2019-06-04 Multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects Expired - Fee Related CN210063374U (en)

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Application Number Priority Date Filing Date Title
CN201920834348.9U CN210063374U (en) 2019-06-04 2019-06-04 Multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920834348.9U CN210063374U (en) 2019-06-04 2019-06-04 Multifunctional intelligent manipulator type four-axis aircraft system capable of automatically grabbing objects

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110356559A (en) * 2019-07-01 2019-10-22 上海电机学院 A kind of puma manipulator formula four-axle aircraft system automatically grabbing object

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110356559A (en) * 2019-07-01 2019-10-22 上海电机学院 A kind of puma manipulator formula four-axle aircraft system automatically grabbing object

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Granted publication date: 20200214

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