TWM453639U - Eight rotor blades rescue off-road vehicle article-clamping robot - Google Patents

Description

Eight-rotor disaster relief off-road vehicle

This creation relates to an eight-rotor disaster relief off-road vehicle with better flight performance and handling stability, and can be extended on the ground after landing, and is provided for people's livelihood and disaster relief. Robot structure innovation and improvement.

According to the advancement of science and technology, human beings have become more mature in the development of large-scale aircraft. Therefore, many scholars have turned to the development of micro-unmanned vehicles, and the most interesting one is micro-aircraft (micro-aircraft). And in recent years, the emerging popular models of unmanned vehicles, micro-aircraft and unmanned vehicles, the interesting thing is that its military use includes investigation, raid, etc., but also can be applied to the search for people in the mountains and so on. The task is of great research value.

However, most of the unmanned aircraft currently being developed are mainly designed with helicopters (such as Taiwan's Announcement No. M333220, M333222, M332509), so that the flight and air rotation are still affected by the tail and the flight space must be precisely controlled. It can be handled smoothly, which makes it more limited in use and inconvenient, which is one of its shortcomings.

The applicant of the case had previously applied for a "four-rotor unmanned aerial vehicle control system", that is, the invention structure for the aforementioned shortcomings, but the invention was originally only for the improvement of flight handling performance, and the flying vehicle was only available for practical use. It is only for taking off and landing between two fixed points, but after landing, it is impossible to move on the ground, so that the extended task on the ground cannot be carried out, which is for the current flying vehicle in use. The second drawback.

Therefore, how to improve the flexibility and stability of flight control for the current flight vehicle, and to improve the shortcomings of the current flight vehicle that cannot move on the ground, and cannot perform the extended task on the ground. The difficulty lies in the creative work.

The main purpose of this creation is to provide an eight-rotor disaster-fighting off-road vehicle-incorporated robot. In addition to greatly improving the flight performance of the aircraft, mathematical mode calculation is used to control the operation of each rotor, and the flight stability of the eight-rotor aircraft can be achieved. Use progressive people.

The second purpose of this creation is to provide an eight-rotor disaster-fighting off-road vehicle-incorporated robot, which cooperates with a self-propelled vehicle with a clamp, and can carry out an extended task on the ground after the aircraft descends, and provides it for people's livelihood and disaster relief. Use, with multiple progressive achievers.

In order to achieve the above objectives, the present invention comprises an eight-rotor aircraft, which is combined with eight support rods arranged in equiangular radial directions at eight equiangular positions on a fixed platform, and a drive structure is arranged at the outer end of each support rod. Each combination drives a rotor to form an eight-rotor aircraft structure; a self-propelled vehicle is an off-road vehicle driven by a drive structure, and the vehicle body can provide a fixed platform combined with an eight-rotor aircraft; a fixture is provided for The mechanical clamping arm of the front end of the self-propelled carrier can be driven by a driving structure to perform the clamping operation of the clamping object; a control unit comprising a control circuit board disposed on the fixed platform, a power supply device (which can be a lithium battery), and a remote controller, the control circuit board has a wireless receiver capable of receiving the wireless signal of the remote controller, and the control circuit extending from the control circuit board is respectively connected to the eight-rotor aircraft, the self-propelled carrier and the driving of the clamp Structure; and the composition can wirelessly control the speed, steering, and self-propelled of each rotor The vehicle (off-road vehicle) advances and retreats and turns, and the eight-rotor rescue vehicle for gripping the vehicle.

According to the above, the fixed platform is composed of two upper and lower fixing plates, and the two fixing plates are provided with opposite coupling holes at eight equiangular relative positions at the periphery, and are screwed by the screw nut group, and the upper and lower clamps are combined. Eight support rods form a stable support combination.

In view of the above, the power supply can be a lithium battery.

In view of the above, the driving structure of the eight rotors and the driving structure of the self-propelled carrier can be motorists.

According to the above, the control unit can perform mathematical mode calculation based on the dynamic characteristics of the eight-rotor aircraft to establish the coordinate of the mechanism and the inertia coordinate, so that each driving structure drives eight rotors to drive at different speeds to form left and right and right flight and rise of the eight-rotor aircraft. Height control.

In view of the above, the steering of the eight rotors can be in the same direction with respect to the two rotors, while the adjacent two rotors are operated in the opposite direction.

In order to further understand the structure of the creation and the technical means to be used, that is, the expected effects achieved, several preferred embodiments are described below in detail with reference to the drawings, and it is believed that the purpose, features and other features of the present invention may be derived therefrom. In-depth and specific understanding.

Please refer to the first figure for the creation of the three-dimensional structure diagram, which comprises an eight-rotor aircraft 10, a self-propelled carrier 20, a clamp 30, and a control unit 40;

The eight-rotor aircraft 10 includes a fixed platform 11 which is composed of two upper and lower fixed plates. The two fixed plates of the fixed platform 11 are screwed at the opposite equiangular relative positions by the screw nut group 111 with respect to the coupling holes. Upper and lower clamping combined with eight The struts 12 form a radial stable support combination, and a drive structure 13 (which may be a motor) at each outer end of each support rod is combined with a rotor 131 to form an octagonal aircraft 10;

A self-propelled carrier 20, which is an off-road vehicle driven by a drive structure (which may be a motor, not shown), may be provided with a fixed platform 11 of the eight-rotor aircraft 10 in combination with the carrier.

A clamp 30, as shown in the second figure, is a mechanical clamp arm disposed at the front end of the self-propellable carrier 20, and can be driven by a drive structure 31 to grip an operator of the object A.

A control unit 40 includes a control circuit board 41 disposed on the fixed platform, a power supply unit 42 (which may be a lithium battery), and a remote controller 43. The control circuit board 41 has a built-in wireless signal for receiving the remote controller 43. a wireless receiver, and a control circuit 44 extending from the control circuit board 41 is respectively coupled to the eight-rotor aircraft 10, the self-propelled carrier 20 and the driving structures 13, 31 of the clamp 30; The rotation speed of the rotor 131, the steering, the advancing and retracting and steering of the self-propelled vehicle 20 (off-road vehicle), and the eight-rotor rescue vehicle for the disaster-fighting off-road vehicle with the clamp 30.

As shown in the third figure, the rotation direction of each rotor is created. As shown by the arrow in the figure, the eight-rotor aircraft 10 is controlled by the control unit 40 to control the circuit board 41, and the opposite rotors 131 are driven by the structure 13 thereof. The drives operate in the same direction; in contrast, adjacent two rotors 131 are driven to form a reverser. And the control unit 40 can establish the mechanism coordinates and the inertia coordinates according to the dynamic characteristics of the eight-rotor aircraft 10 to perform mathematical mode operations (not in this case, not described herein), so that each driving structure drives the eight rotors 131 at different speeds. Steering to form an eight-rotor flight The right and left flight and the ascending height control of the device 10; and the control unit 40 descends after the eight-rotor aircraft 10, the self-propelled carrier 20 and the clamp 30 can be air-dried.

As shown in the fourth figure, the system architecture diagram of the present creation, the various operations of the authoring system architecture 50, when activated by the remote controller 40 (the power of the control unit 40), automatically enters the body self-detection 51 action (as described above). The control unit 40 establishes the mechanism coordinates and the inertia coordinates to perform the mathematical mode operation. If it is unstable, the arrow returns to the body self-detection 51 again as indicated by the arrow return arrow in the figure; The operation of the eight-rotor aircraft 10 can not be started until the body is in a steady state, and after the eight-rotor aircraft 10 is started, its operation is stable (as indicated by the downward arrow), and the operation of the ascending height 52 and the right and left flight can be further performed. The operation of 53; and when the eight-rotor aircraft 10 completes the fixed-point landing 54 action, the remote controller 40 can extend the operation of controlling the self-propelled vehicle (off-road vehicle) 55, and the operation of gripping the object 56 by the clamp to perform on the ground. The extended task is provided to the users of the people's livelihood and disaster relief.

As described above, the "eight-rotor disaster-fighting off-road vehicle-in-the-body robot" is designed with more rotors of the eight-rotor aircraft. In addition to greatly improving flight performance, the control unit controls the operation of each rotor to achieve flight through mathematical mode calculation. Stability; coupled with the self-propelled carrier with clamps, it can carry out the extended task on the ground after the aircraft descends, with multiple progressive achievers.

In summary, when Zhiben's creation has industrial applicability and progress, and this creation is not found in any publication, it is also novel, and when it complies with the provisions of the Patent Law, it is converted. The law proposes a new type of patent application, and asks your review board to pay for the patent as a prayer.

10‧‧‧ Eight-rotor aircraft

11‧‧‧Fixed platform

111‧‧‧ screw nut group

12‧‧‧Support rod

13, 31‧‧‧ drive structure

131‧‧‧Rotor

20‧‧‧Self-propelled vehicle

30‧‧‧Clamp

40‧‧‧Control unit

41‧‧‧Control circuit board

42‧‧‧Power supply

43‧‧‧Remote control

44‧‧‧Control lines

50‧‧‧System Architecture

51‧‧‧ body self-test

52‧‧‧rise height

53‧‧‧ Left and right flight

54‧‧‧Scheduled landing

55‧‧‧ Self-propelled vehicles (off-road vehicles) walking

56‧‧‧Clamp gripping objects

The first picture: a perspective view of the creation structure.

The second picture is a perspective view of the structure of the creation fixture.

The third picture is a schematic diagram of the rotation direction of each rotor of the present creation.

The fourth picture: the system architecture diagram of the creation.

10‧‧‧ Eight-rotor aircraft

11‧‧‧Fixed platform

111‧‧‧ screw nut group

12‧‧‧Support rod

13, 31‧‧‧ drive structure

131‧‧‧Rotor

20‧‧‧Self-propelled vehicle

30‧‧‧Clamp

40‧‧‧Control unit

41‧‧‧Control circuit board

42‧‧‧Power supply

43‧‧‧Remote control

44‧‧‧Control lines

Claims (6)

An eight-rotor disaster-fighting off-road vehicle-incorporated robot includes: an eight-rotor aircraft comprising a support platform with eight equiangular radial support rods at eight equiangular positions on the outer periphery, the outer ends of each support rod A driving structure is combined to drive a rotor to form an eight-rotor aircraft structure; a self-propelled vehicle is an off-road vehicle driven by a driving structure, and the vehicle body can provide a fixed platform combined with an eight-rotor aircraft; A mechanical clamping arm disposed at the front end of the self-propellable carrier can be driven by a driving structure for clamping and clamping operations; a control unit comprising a control control circuit board and a power supply device disposed on the fixed platform (may be a lithium battery) and a remote controller , the control circuit board has a wireless receiver for receiving the wireless signal of the remote controller, and the control circuit extending the control circuit board is respectively connected to the eight-rotor aircraft, the self-propelled vehicle and The driving structure of the fixture; and the composition can wirelessly control the rotation speed of each rotor, steering, self-propelled vehicle (off-road vehicle) advance and retreat and steering, and fixture clamping Rotor relief SUV insert robot. The eight-rotor disaster relief off-road vehicle-incorporated robot according to claim 1, wherein the fixed platform is composed of upper and lower fixed plates, and the two fixed plates are provided with opposite joint holes at eight equiangular relative positions at the periphery. The screw nut group is screwed, and the upper and lower clamps are combined with the eight support rods to form a stable support joint. For example, the eight-rotor disaster relief off-road vehicle-incorporated robot described in claim 1 wherein the power supply can be a lithium battery. The eight-rotor disaster-fighting off-road vehicle-in-the-body robot according to claim 1, wherein the self-propelled vehicle and the eight rotors are driven by a motor. The eight-rotor disaster-fighting off-road vehicle-incorporated robot described in claim 1, 2, 3 or 4, wherein the control unit can perform a mathematical mode calculation based on the dynamic characteristics of the eight-rotor aircraft to establish a mechanism coordinate and an inertial coordinate. Each drive structure drives eight rotors to steer at different speeds to form left and right and right flight and lift height controls for the eight-rotor aircraft. The eight-rotor disaster relief off-road vehicle-in-the-body robot according to claim 5, wherein the steering of the eight rotors is the same in the opposite rotors, and the adjacent two rotors are operated in the opposite direction.