CN214397249U - Carry on parallelly connected arm aircraft - Google Patents
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- CN214397249U CN214397249U CN202120279837.XU CN202120279837U CN214397249U CN 214397249 U CN214397249 U CN 214397249U CN 202120279837 U CN202120279837 U CN 202120279837U CN 214397249 U CN214397249 U CN 214397249U
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Abstract
The utility model discloses a carrying parallel mechanical arm aircraft, which is provided with a rotor craft, wherein a parallel mechanical arm component is arranged below the rotor craft, an anti-shaking cloud platform is arranged below the parallel mechanical arm component, and an image sensing device is arranged in the anti-shaking cloud platform; the rotor craft is provided with a plurality of groups of arm groups in a circumferential array; a plurality of steering engines are arranged in the parallel mechanical arm assembly; the utility model discloses a rotor craft and parallel mechanical arm component collaborative operation, the arm has a plurality of movements of autonomy, rotation angle through each steering wheel of arm motion controller control adjustment, can be in the quick motion of nimble multi freedom of control quick parallel mechanical arm, unmanned aerial vehicle combines the aerial advantage of performance and parallel mechanical arm's relief function, alright expansion rescue action after the discovery target, accelerate the rescue process, and image sensing device has been added, the supplementary mechanical arm control of vision makes the rescue task more high-efficient.
Description
Technical Field
The utility model relates to an aircraft technical field especially relates to a carry on and connect mechanical arm aircraft.
Background
To date, the industrial and commercial drone market has been devoted to the use of drones for photography and film photography, mapping, surveying, spraying pesticides, etc., but there is an increasing demand for drones that can directly perform certain "hands-on" operations. Examples of such operations include grasping and carrying different shaped goods using their arms; attachment or connection things; cutting off the cable; a control switch; putting down the lifesaving buoy; recovering harmful materials, etc.
At present, the research on the emergency rescue equipment of domestic flight mechanical arms is less, the degree of freedom of the mechanical arms of the existing unmanned aerial vehicle is less although the mechanical arms are carried, the mechanical arms cannot be randomly disassembled and assembled, the mechanical arms of different types cannot be replaced according to different scenes, a visual system is also lacked, and the unmanned aerial vehicle cannot be applied to remote rescue scenes. At present most disaster area rescue schemes are that unmanned aerial vehicle carries out regional scanning and rescue target location, sends the unmanned vehicle that carries on the arm again and carries out the rescue task to the target site before, and the process needs the space to cooperate each other slowly relatively and just can accomplish, and even if crawler-type unmanned vehicle face also difficulty relatively and slow to complicated disaster area topography march.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to overcome the defects existing in the prior art, the utility model provides a carry on and connect mechanical arm aircraft in parallel.
The technical scheme is as follows: in order to achieve the purpose, the utility model discloses a carry-on parallel mechanical arm aircraft is equipped with the rotor craft, is equipped with parallel mechanical arm component below the rotor craft, is equipped with anti-shake cloud platform below the parallel mechanical arm component, is equipped with image sensing device in the anti-shake cloud platform; the rotor craft is provided with a plurality of groups of arm groups in a circumferential array; a plurality of steering engines are arranged in the parallel mechanical arm assembly; and a course shaft holder motor, a pitching shaft holder motor and a rolling shaft holder motor are arranged in the anti-shaking holder, and acceleration sensors are arranged in the course shaft holder motor, the pitching shaft holder motor and the rolling shaft holder motor.
Furthermore, a rack is arranged on the rotorcraft, and a support piece is arranged on the arm group and fixed on the outer side of the rack; the supporting piece is fixedly connected with a horn, a motor is fixedly arranged at the tail end of the horn, and a rotor wing is arranged at the end of a motor shaft.
Further, the frame below is equipped with the connecting rod, and the connecting rod below is equipped with the fixed plate, the anti-shake cloud platform is equipped with the mount, the mount is fixed to be set up in the fixed plate below, course axle cloud platform motor is fixed in the mount, course axle cloud platform motor axle head is connected with L shape linking arm, cross-rolling axle cloud platform motor is fixed in L shape linking arm below, cross-rolling axle cloud platform motor axle head is connected with U-shaped linking arm, every single move axle cloud platform motor is fixed to be set up in U-shaped linking arm one side, image sensing device is connected with the axle head of every single move axle cloud platform motor.
Furthermore, the parallel mechanical arm assembly is further provided with a movable platform, the steering engines are arranged below the fixed plate in a circumferential array at equal intervals, the ends of the steering engines are connected with a driving arm, universal joints are arranged on two sides of the lower end of the driving arm and connected with a driven arm, and the movable platform is connected with the driven arm joints respectively.
Furthermore, a controller group is arranged in the rack, a flight controller and a machine arm motion controller are arranged in the controller group, and the movable platform can be connected with different types of grabbing mechanisms.
Furthermore, the steering engine can drive the movable platform to freely move in multiple angles, the course shaft holder motor can drive the image sensing device to rotate around the Z axis, the transverse rolling shaft holder motor can drive the image sensing device to rotate around the x axis, and the pitching shaft holder motor can drive the image sensing device to rotate around the Y axis.
The utility model has the advantages that:
1. the utility model discloses a rotor craft and parallel mechanical arm component collaborative operation, the arm has a plurality of movements of autonomy, rotation angle through each steering wheel of arm motion controller control adjustment, can be in the quick motion of nimble multi freedom of control quick parallel mechanical arm, unmanned aerial vehicle combines the aerial advantage of performance and parallel mechanical arm's relief function, alright expansion rescue action after the discovery target, accelerate the rescue process, and image sensing device has been added, the supplementary mechanical arm control of vision makes the rescue task more high-efficient.
2. The utility model discloses, through the design of removable module formula, the different emergent rescue task of reply moves the platform and can change the manipulator of different kinds of sizes and snatch the mechanism.
3. The image sensing device is added to track the rescued target, the forward and reverse rotation directions and the rotation amount of a course shaft holder motor, a pitching shaft holder motor and a rolling shaft holder motor in the anti-shaking holder are calculated and controlled through data collected by a speed sensor in the anti-shaking holder, so that the image sensing device can achieve the anti-shaking shooting and accurate positioning effects, the auxiliary mechanical arm has the grabbing function and the like, the rescue efficiency is greatly improved, and the manipulation difficulty is simplified.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an aircraft with parallel robotic arms according to the present embodiment;
FIG. 2 is a schematic structural view of a rotorcraft mounted in parallel on a robotic arm vehicle according to this embodiment;
FIG. 3 is a schematic structural diagram of an anti-shake cradle head of an aircraft with parallel mechanical arms according to this embodiment;
FIG. 4 is a schematic structural diagram of a parallel robot assembly for a parallel robot aircraft according to the present embodiment;
FIG. 5 is a schematic diagram of a partial mechanism for carrying an aircraft with parallel robotic arms according to an embodiment;
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The embodiment is as shown in fig. 1 to 5, an aircraft carrying parallel mechanical arms adopts the following technical scheme: in order to achieve the purpose, the utility model discloses a carry-on parallel mechanical arm aircraft is equipped with rotor craft 1, and parallel mechanical arm subassembly 3 is equipped with below rotor craft 1, and anti-shake cloud platform 2 is equipped with below parallel mechanical arm subassembly 3, and image sensing device 4 is equipped in anti-shake cloud platform 2; the rotorcraft 1 is provided with a plurality of groups of horn groups 12 in a circumferential array; a plurality of steering engines 30 are arranged in the parallel mechanical arm assembly 3; a course shaft holder motor 21, a pitch shaft holder motor 22 and a roll shaft holder motor 23 are arranged in the anti-shaking holder 2, and acceleration sensors are arranged in the course shaft holder motor 21, the pitch shaft holder motor 22 and the roll shaft holder motor 23.
A frame 11 is arranged on the rotor craft 1, a support piece 13 is arranged on the arm group 12, and the support piece 13 is fixed on the outer side of the frame 11; the supporting member 13 is fixedly connected with a horn 121, the tail end of the horn 121 is fixedly provided with a motor 14, and the shaft end of the motor 14 is provided with a rotor 15.
A connecting rod 111 is arranged below the frame 11, a fixing plate 112 is arranged below the connecting rod 111, a fixing frame 20 is arranged on the anti-shaking pan-tilt 2, the fixing frame 20 is fixedly arranged below the fixing plate 112, a course shaft pan-tilt motor 21 is fixed in the fixing frame 20, the shaft end of the course shaft pan-tilt motor 21 is connected with an L-shaped connecting arm 201, a roll shaft pan-tilt motor 23 is fixed below the L-shaped connecting arm 201, the shaft end of the roll shaft pan-tilt motor 23 is connected with a U-shaped connecting arm, a pitch shaft pan-tilt motor 22 is fixedly arranged on one side of the U-shaped connecting arm, and an image sensing device 4 is connected with the shaft end of the pitch shaft pan-tilt motor 22.
The parallel mechanical arm assembly 3 is further provided with a movable platform 36, the steering engines 30 are arranged below the fixed plate 112 in an equidistant circumferential array mode, the shaft ends of the steering engines 30 are connected with a driving arm 31, universal joints are arranged on two sides of the lower end of the driving arm 31 and connected with a driven arm 32, and the movable platform 36 is connected with the driven arm 32 in a hinged mode respectively.
A controller group is arranged in the frame 11, and a flight controller and a horn motion controller are arranged in the controller group.
The steering engine 30 can drive the movable platform 36 to freely move in multiple angles, the course axis pan-tilt motor 21 can drive the image sensing device 4 to rotate around the Z axis, the transverse rolling axis pan-tilt motor 23 can drive the image sensing device 4 to rotate around the X axis, and the pitching axis pan-tilt motor 22 can drive the image sensing device 4 to rotate around the Y axis.
The flight controller is electrically connected with motors in the anti-shake tripod head 2, the flight controller is electrically connected with the motors 14, the flight controller is electrically connected with the image sensing device 4, the rotation directions and the speeds of the six motors 14 are adjusted by combining the image data calculation collected by the image sensing device 4, so that the pose and the position of the aircraft are controlled, and the forward and reverse rotation directions and the rotation amounts of the course shaft tripod head motor 21, the pitch shaft tripod head motor 22 and the roll shaft tripod head motor 23 in the anti-shake tripod head 2 are calculated and controlled by the data collected by the acceleration sensor, so that the image sensing device 4 can realize anti-shake shooting and accurate positioning effects.
The arm motion controller is electrically connected with each steering engine 30, can control and adjust the rotation angle of each steering engine, and can control the movable platform 36 to move in multiple degrees of freedom rapidly and flexibly.
The movable platform 36 can be connected with and provided with different types of grabbing mechanisms and manipulators according to different scenes, and is high in applicability.
The above is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (6)
1. A carry on and connect mechanical arm aircraft characterized in that: the system is provided with a rotor craft (1), a parallel mechanical arm component (3) is arranged below the rotor craft (1), an anti-shaking cradle head (2) is arranged below the parallel mechanical arm component (3), and an image sensing device (4) is arranged in the anti-shaking cradle head (2); the rotary wing aircraft (1) is provided with a plurality of groups of arm groups (12) in a circumferential array; a plurality of steering engines (30) are arranged in the parallel mechanical arm assembly (3); and a course shaft holder motor (21), a pitch shaft holder motor (22) and a roll shaft holder motor (23) are arranged in the anti-shaking holder (2), and acceleration sensors are arranged in the course shaft holder motor (21), the pitch shaft holder motor (22) and the roll shaft holder motor (23).
2. The aircraft with the parallel mechanical arms as claimed in claim 1, wherein: a rack (11) is arranged on the rotor craft (1), a support piece (13) is arranged on the arm group (12), and the support piece (13) is fixed on the outer side of the rack (11); support piece (13) fixedly connected with horn (121), horn (121) tail end is fixed and is equipped with motor (14), is equipped with rotor (15) on motor (14) axle head.
3. The piggyback parallel robotic arm aircraft of claim 2, wherein: frame (11) below is equipped with connecting rod (111), and connecting rod (111) below is equipped with fixed plate (112), anti-shake cloud platform (2) are equipped with mount (20), mount (20) are fixed to be set up in fixed plate (112) below, in course axle cloud platform motor (21) are fixed in mount (20), course axle cloud platform motor (21) axle head is connected with L shape linking arm (201), cross roller cloud platform motor (23) are fixed in L shape linking arm (201) below, cross roller cloud platform motor (23) axle head is connected with U-shaped linking arm (202), pitch axis cloud platform motor (22) are fixed to be set up in U-shaped linking arm (202) one side, image sensing device (4) are connected with the axle head of pitch axis cloud platform motor (22).
4. The aircraft with the parallel mechanical arms as claimed in claim 3, wherein: parallel mechanical arm subassembly (3) still are equipped with and move platform (36), steering wheel (30) equidistance circumference array sets up in fixed plate (112) below, steering wheel (30) axle head is connected with driving arm (31), driving arm (31) lower extreme both sides all are equipped with the universal joint, the universal joint is connected with driven arm (32), move platform (36) respectively with driven arm (32) articulated connection.
5. The aircraft with the parallel mechanical arms as claimed in claim 4, wherein: the aircraft is characterized in that a controller group is arranged in the rack (11), a flight controller and an arm motion controller are arranged in the controller group, and the movable platform (36) can be connected with different types of grabbing mechanisms.
6. The aircraft with the parallel mechanical arms as claimed in claim 4, wherein: the steering wheel (30) can drive the movable platform (36) to freely move in multiple angles, the course shaft holder motor (21) can drive the image sensing device (4) to rotate around the Z axis, the transverse shaft holder motor (23) can drive the image sensing device (4) to rotate around the X axis, and the pitch shaft holder motor (22) can drive the image sensing device (4) to rotate around the Y axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120279837.XU CN214397249U (en) | 2021-02-01 | 2021-02-01 | Carry on parallelly connected arm aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120279837.XU CN214397249U (en) | 2021-02-01 | 2021-02-01 | Carry on parallelly connected arm aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214397249U true CN214397249U (en) | 2021-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120279837.XU Expired - Fee Related CN214397249U (en) | 2021-02-01 | 2021-02-01 | Carry on parallelly connected arm aircraft |
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| Country | Link |
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| CN (1) | CN214397249U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954789A (en) * | 2022-05-24 | 2022-08-30 | 西北工业大学 | Buoy device capable of being rapidly arranged and recovered based on rotor unmanned aerial vehicle |
-
2021
- 2021-02-01 CN CN202120279837.XU patent/CN214397249U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114954789A (en) * | 2022-05-24 | 2022-08-30 | 西北工业大学 | Buoy device capable of being rapidly arranged and recovered based on rotor unmanned aerial vehicle |
| CN114954789B (en) * | 2022-05-24 | 2023-11-21 | 西北工业大学 | Can cloth fast and put and retrieve buoy device based on rotor unmanned aerial vehicle |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211015 |