CN106585963A - Aerial robot - Google Patents
Aerial robot Download PDFInfo
- Publication number
- CN106585963A CN106585963A CN201611144959.8A CN201611144959A CN106585963A CN 106585963 A CN106585963 A CN 106585963A CN 201611144959 A CN201611144959 A CN 201611144959A CN 106585963 A CN106585963 A CN 106585963A
- Authority
- CN
- China
- Prior art keywords
- cradle head
- mechanical arm
- robot
- control system
- air
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/06—Helicopters with single rotor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Toys (AREA)
Abstract
The invention relates to an aerial robot. The aerial robot comprises an aircraft, a multi-freedom-degree mechanical arm and an airborne control system, wherein the multi-freedom-degree mechanical arm is mounted at the bottom of an aircraft body, and sequentially comprises a base, a connecting rod group and a clamper; a plurality of connecting rods in the connecting rod group are sequentially in series connection through longitudinal rotational joints; one end of the connecting rod group is connected with the base through the longitudinal rotational joints, and the other end of the connecting rod group is connected with the clamper through a lateral rotational joint; and the airborne control system comprises a flight control system and a mechanical arm control system. According to the aerial robot disclosed by the invention, the problem of interactive operation of the aircraft and the external environment can be solved; the aircraft can capture an aerial target or a ground target, and the application range of the robot is extended; and the aerial robot disclosed by the invention also has the advantages of being stable and reliable, safe and flexible, convenient to operate and the like.
Description
Technical field
The present invention relates to a kind of robot, especially air-robot.
Background technology
Air-robot has broad application prospects, military affairs with it is civilian on have a wide range of applications, militarily, it can
For tasks such as battlefield prospection, no-fly patrol, electronic countermeasure, information acquisitions；On civilian, it can be used for environmental monitoring, electric power
The operations such as detection, high-voltage maintenance, forest fire protection, agricultural spraying, or even some rescue works can also be carried out, for example it can be rapid
Reach the unapproachable special environment of ground robot (such as fire, floods, earthquake disaster scene) to perform installation or reclaim operation
The fine task such as equipment.
State, inside and outside utilization air-robot perform work high above the ground at present, and effect is undesirable.
The content of the invention
Undesirable in order to solve the problems, such as existing air-robot execution work high above the ground effect, the present invention provides a kind of aerial
Robot, solves the above problems.
A kind of air-robot, including aircraft, multi-degree-of-freemechanical mechanical arm and the panel of control system is loaded with, it is described
Multi-degree-of-freemechanical mechanical arm is arranged on the fuselage bottom of aircraft, and described multi-degree-of-freemechanical mechanical arm includes pedestal, connection rod set successively
And clamper, some connecting rods in the connection rod set pass sequentially through the first cradle head series winding and connect, one end of described connection rod set
It is connected by the second cradle head with pedestal, the other end is connected by the 3rd cradle head with clamper, the control system bag
Include flight control system and mechanical arm control system.
Described multi-degree-of-freemechanical mechanical arm is sixdegree-of-freedom simulation, and described connection rod set includes five connecting rods, described
First cradle head and the second cradle head are to longitudinally rotate joint, and the 3rd described cradle head is lateral rotation joint,
First cradle head, the second cradle head and the 3rd cradle head adopt Serve Motor Control, and rotational angle be 0 °-
360°。
Described clamper is anthropomorphous machine's paw, including connecting shaft, connection large arm, two pairs of support arms and two grasping ends,
Described connection large arm includes the ring portion being set in connecting shaft and two connecting portions, and two connecting portions are symmetricly set on outside ring portion
Side, each connecting portion are hinged a pair of support arms, and the other end of each pair support arm is hinged a grasping end.
The arc surface for being easy to capture irregularly shaped object is provided with the inside of described grasping end.
Described flight control system include ATHENA flush bonding modules and electrically connect with ATHENA flush bonding modules it is used
Property measuring unit, altimeter, magnetometer, GPS module, it is electric that the outfan of described ATHENA flush bonding modules is also associated with first
Sub- speed regulator；Described mechanical arm control system include central processing unit and electrically connect with central processing unit accelerometer, angle
Velometer and linear velocity meter, the outfan of described central processing unit are also associated with the second electron speed regulator.
Described clamper adopts the first servos control, described servomotor and the first steering wheel with the second electronic speed regulation
Device is electrically connected.
The motion of described sixdegree-of-freedom simulation is according to the optimal compliance in joint by described mechanical arm control system
, come what is controlled, the criterion is according to following formula calculating machine arm Inverse Kinematics Solution for criterion：
Wherein, F (L) is the object function of the inverse solution of solution mechanical arm, and L is presently described mechanical arm, and n is that the first rotation is closed
The number summation of section, the second cradle head and the 3rd cradle head, qi(L) be i-th cradle head target location, qidFor
The current location of i cradle head.
Five connecting rods of the mechanical arm are 1 with the length ratio of clamper:1:1:1:1:0.75.
Described aircraft is single rotor unmanned helicopter, including main rotation made by fuselage, fiberglass made by carbon fiber
The wing, main rotor shaft, tail-rotor, aileron, horizontal tail, vertical fin, tail boom, undercarriage, cross plate, toothed disc, brushless electric machine and four second
Steering wheel, described fuselage roof install main rotor by main rotor shaft, and the afterbody of the fuselage is provided with tail slurry, described aileron peace
It is mounted in main rotor shaft, horizontal tail and vertical fin is installed on described tail boom, described fuselage bottom installs undercarriage, and described rises
The frame that falls is provided with for installing the connecting plate of aircraft mounted control system, wherein three the second steering wheels are connected with cross plate, one second
Steering wheel is arranged on the dead astern of fuselage, and the outfan of the brushless electric machine is connected with main rotor shaft by toothed disc, described
Four the second steering wheels and brushless electric machine respectively electrically connect the first electron speed regulator.Fuselage adopts carbon fibre materials, and density is little, matter
Amount is light, the advantage that hardness is big plays a part of structural framing, it also avoid conventional airframe and adopts metal material, is also easy to produce metal tired
Labor, not corrosion resistant shortcoming, main rotor adopt glass steel material, with light, corrosion resistant advantage, are installed in depopulated helicopter
Top, there is provided lift that aircraft is moved upwards and steering force and torque that sporting flying is provided；Tail-rotor is mounted nobody and goes straight up to
The afterbody of machine, produces yawing to offset the torque that main rotor produces fuselage；Aileron is installed in main rotor shaft, is used for
Improve the manipulation quality of depopulated helicopter, strengthen its dynamic stability, while reducing the impact of turbulent flow and fitful wind；Horizontal tail and vertical fin
It is installed on the tail boom of depopulated helicopter, plays a part of to strengthen Aircraft Pitch Movement and yawing rotation stability；Undercarriage
The bottom of depopulated helicopter is installed in, is easy to take off or is landed；Three the second steering wheels are connected with cross plate, for controlling
The elevating movement of aircraft and rolling movement, second steering wheel are mounted the dead astern of depopulated helicopter, for controlling aircraft
Yawing rotation.Fuel tank is hung with depopulated helicopter waist, is easy to power resources be provided for air-robot；Go straight up at nobody
U-shaped connecting plate is installed, for installing the panel for being loaded with control system on machine undercarriage.
Described Inertial Measurement Unit, altimeter and magnetometer are vertically mounted on panel, described accelerometer, angle
Velometer and linear velocity meter are vertically mounted on panel, and described GPS module is arranged in horizontal tail.Inertial Measurement Unit, height
Degree meter, magnetometer are constituted, and can be used to measure the 3-axis acceleration of air-robot, three axis angular rates, the angle of pitch, roll angle, partially
Boat angle, flying height information, GPS module are installed in the horizontal tail of depopulated helicopter, measurable latitude and longitude information, these information
Jing after the process of ATHENA flush bonding modules sending the first electronics electricity to by I/O ports adjusts device to go to control brushless electric machine and four second
Steering wheel；Accelerometer, turn meter, linear velocity meter, can be used to measure the position in each joint of mechanical arm, linear velocity, angular velocity and
Corresponding acceleration information, these information Jing central processing units send the second electron speed regulator to and go to control corresponding cradle head
Servomotor with control clamper the first steering wheel.
Air-robot of the present invention, beneficial effect are that the air-robot of (1) based on rotor craft can be in three-dimensional space
Between in free movement, have the advantages that VTOL, spot hover, motility be high, mobility strong, the mankind can be replaced to complete height
The task such as danger environment information acquisition and operation.(2) depopulated helicopter, is can to complete autonomous flight in the case of unmanned interference
The unpiloted flight system of task, it can carry out quantization to itself flight condition and surrounding enviroment according to airborne equipment and comment
Estimate, so as to formulate rational counter-measure and countermeasures.In addition, in its own mechanical mechanisms fail, depopulated helicopter
Optimal solution, depopulated helicopter various advantages can also be taken to coordinate with multi-degree-of-freemechanical mechanical arm according to current structure feature,
Substantially increase the stability of aerial work.
Description of the drawings
Fig. 1 is the structural representation of air-robot of the present invention；
Fig. 2 is the sixdegree-of-freedom simulation structural representation of air-robot of the present invention；
Fig. 3 is the holder structure schematic diagram of air-robot of the present invention；
Fig. 4 is the theory diagram of the flight control system of air-robot of the present invention；
Fig. 5 is the theory diagram of the mechanical arm control system of air-robot of the present invention.
1, aircraft in figure, 2, multi-degree-of-freemechanical mechanical arm, 21, pedestal, 22, connecting rod, 3, panel, 4, fuselage, 5, first
Cradle head, the 6, second cradle head, the 7, the 3rd cradle head, 8, clamper, 81, connecting shaft, 82, connection large arm, 83,
Arm, 84, grasping end, 9, GPS module, 10, main rotor, 11, tail slurry, 12, aileron, 13, tail boom, 14, vertical fin, 15, undercarriage,
16th, cross plate, 17, toothed disc, 18, brushless electric machine, 19, connecting plate.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As Figure 1-Figure 5, a kind of air-robot of the invention, including aircraft 1, multi-degree-of-freemechanical mechanical arm 2 and it is loaded with
The panel 3 of control system, multi-degree-of-freemechanical mechanical arm 2 are arranged on 4 bottom of fuselage of aircraft 1, and multi-degree-of-freemechanical mechanical arm 2 is successively
Including pedestal 21, connection rod set and clamper 8, some connecting rods 22 in connection rod set pass sequentially through the series winding of the first cradle head 5 and connect, even
One end of bar group is connected by the second cradle head 6 with pedestal 21, and the other end is connected by the 3rd cradle head 7 with clamper 8,
Control system includes flight control system and mechanical arm control system.Multi-degree-of-freemechanical mechanical arm 2 be sixdegree-of-freedom simulation, connecting rod
Group includes that five connecting rods 22, the first cradle head 5 and the second cradle head 6 are to longitudinally rotate joint, and the 3rd cradle head 7 is
Lateral rotation joint, the first cradle head 5, the second cradle head 6 and the 3rd cradle head 7 adopt Serve Motor Control, and
Rotational angle is 0 ° -360 °, and clamper 8 is anthropomorphous machine's paw, including connecting shaft 81, connection 82, two couples of 83 and of support arm of large arm
Two grasping ends 84, connection large arm 82 include the ring portion being set in connecting shaft 81 and two connecting portions, and two connecting portions are symmetrical
It is arranged on the outside of ring portion, each connecting portion is hinged a pair of support arms 83, the other end of each pair support arm 83 is hinged a grasping end 84.
The inner side of grasping end 84 is provided with the arc surface for being easy to capture irregularly shaped object.
The inertia measurement that flight control system is included ATHENA flush bonding modules and electrically connected with ATHENA flush bonding modules
Unit, altimeter, magnetometer, GPS module 9, the outfan of ATHENA flush bonding modules are also associated with the first electron speed regulator；Machine
Accelerometer, turn meter and linear velocity meter that tool arm control system is included central processing unit and electrically connected with central processing unit,
The outfan of described central processing unit is also associated with the second electron speed regulator.Clamper 8 adopts the first servos control, servo electricity
Machine and the first steering wheel are electrically connected with the second electron speed regulator.
The motion of sixdegree-of-freedom simulation is come according to the optimal compliance criterion in joint by described mechanical arm control system
Control, the criterion is according to following formula calculating machine arm Inverse Kinematics Solution：
Wherein, F (L) is the object function of the inverse solution of solution mechanical arm, and L is presently described mechanical arm, and n is that the first rotation is closed
The 5, second cradle head 6 of section and the number summation of the 3rd cradle head 7, qi(L) be i-th cradle head target location, qid
For the current location of i-th cradle head.Therefore, ask Inverse Kinematics Solution to be convertible into solution object function F (L) minimum to ask
Topic.The present invention uses artificial this optimization problem of weeds Algorithm for Solving, and specific false code is：
Object function not only can obtain the optimal compliance in joint after artificial weeds algorithm optimization, it is also possible to
The length ratio of five connecting rods 22 and clamper 8 to mechanical arm is 1:1:1:1:1:0.75.
Aircraft 1 is single rotor unmanned helicopter, including main rotor 10 made by fuselage 4, fiberglass made by carbon fiber,
Main rotor shaft, tail-rotor 11, aileron 12, horizontal tail, vertical fin 14, tail boom 13, undercarriage 15, cross plate 16, toothed disc 17, brushless electric machine
18 and four the second steering wheels, main rotor 5 is installed by main rotor shaft at the top of fuselage 9, the afterbody of fuselage 9 is provided with tail slurry 15, aileron
11 are arranged in main rotor shaft, and horizontal tail and vertical fin 17 are provided with tail boom, and undercarriage 10 is installed in 9 bottom of fuselage, on undercarriage 15
It is provided with for installing the connecting plate 19 of aircraft mounted control system, wherein three the second steering wheels are connected with cross plate 16, second rudder
Machine is arranged on the dead astern of fuselage 4, and the outfan of the brushless electric machine 18 is connected by toothed disc 12 and main rotor shaft, and four
Individual second steering wheel and brushless electric machine 18 respectively electrically connect the first electron speed regulator.Inertial Measurement Unit, altimeter and magnetometer
It is vertically mounted on panel 3, described accelerometer, turn meter and linear velocity meter are vertically mounted on panel 3, GPS
Module 9 is arranged in horizontal tail.
More specifically, the embodiment of this structure be air-robot by depopulated helicopter reach object top or
Required operation interval, and floating state is kept according to flight control system.Sixdegree-of-freedom simulation is controlled by mechanical arm
System adjusts spontaneous position according to object or mission requirements and is accurately performed job task with attitude.It is according to the present invention
Have the advantages that motility is strong, performance accuracy is high, good stability based on the air-robot of depopulated helicopter, be adapted to replace the mankind
Or ground robot completes some high-risk operations tasks.
More than, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its invention
Design in addition equivalent or change, should all be included within the scope of the present invention.
Claims (10)
1. a kind of air-robot, it is characterised in that：Including aircraft (1), multi-degree-of-freemechanical mechanical arm (2) and it is loaded with control system
Panel (3), installed in fuselage (4) bottom of aircraft (1), described is how free for described multi-degree-of-freemechanical mechanical arm (2)
Degree mechanical arm (2) includes pedestal (21), connection rod set and clamper (8) successively, and some connecting rods (22) in the connection rod set are successively
Connect by the first cradle head (5) series winding, one end of described connection rod set is connected by the second cradle head (6) with pedestal (21)
Connect, the other end is connected by the 3rd cradle head (7) with clamper (8), and the control system includes flight control system and machine
Tool arm control system.
2. air-robot as claimed in claim 1, it is characterised in that：Described multi-degree-of-freemechanical mechanical arm (2) is free for six
Degree mechanical arm, described connection rod set include five connecting rods (22), described the first cradle head (5) and the second cradle head (6)
It is to longitudinally rotate joint, the 3rd described cradle head (7) is lateral rotation joint, and the first cradle head (5), second rotate
Joint (6) and the 3rd cradle head (7) adopt Serve Motor Control, and rotational angle is 0 ° -360 °.
3. air-robot as claimed in claim 1 or 2, it is characterised in that：Described clamper (8) is anthropomorphic manipulator
Pawl, including connecting shaft (81), connection large arm (82), two pairs of support arms (83) and two grasping ends (84), described connection large arm
(82) including the ring portion being set in connecting shaft (81) and two connecting portions, two connecting portions are symmetricly set on the outside of ring portion, often
Individual connecting portion is hinged a pair of support arms (83), and the other end of each pair support arm (83) is hinged a grasping end (84).
4. air-robot as claimed in claim 3, it is characterised in that：It is provided with the inside of described grasping end (84) and is easy to grab
Take the arc surface of irregularly shaped object.
5. air-robot as claimed in claim 4, it is characterised in that：Described flight control system includes that ATHENA is embedded in
Formula module and the Inertial Measurement Unit electrically connected with ATHENA flush bonding modules, altimeter, magnetometer, GPS module (9), it is described
The outfan of ATHENA flush bonding modules be also associated with the first electron speed regulator；Described mechanical arm control system includes central authorities
Processor and the accelerometer electrically connected with central processing unit, turn meter and linear velocity meter, described central processing unit it is defeated
Go out end and be also associated with the second electron speed regulator.
6. air-robot as claimed in claim 5, it is characterised in that：Described clamper (8) using the first servos control,
Described servomotor and the first steering wheel are electrically connected with the second electron speed regulator.
7. air-robot according to claim 2, it is characterised in that：The motion of described sixdegree-of-freedom simulation be by
What described mechanical arm control system was controlled according to the optimal compliance criterion in joint, the criterion is transported according to following formula calculating machine arm
It is dynamic to learn inverse solution：
Wherein, F (L) is the object function for solving the inverse solution of mechanical arm, and L is presently described mechanical arm, and n is the first cradle head
(5), the number summation of the second cradle head (6) and the 3rd cradle head (7), qi(L) be i-th cradle head target position
Put, qidFor the current location of i-th cradle head.
8. air-robot as claimed in claim 7, it is characterised in that：Five connecting rods (22) of the mechanical arm and clamper
(8) length ratio is 1:1:1:1:1:0.75.
9. air-robot according to claim 5, it is characterised in that：Nobody is straight for single rotor for described aircraft (1)
The machine of liter, including fuselage made by carbon fiber (4), main rotor (10), main rotor shaft, tail-rotor (11), aileron made by fiberglass
(12), horizontal tail, vertical fin (14), tail boom (13), undercarriage (15), cross plate (16), toothed disc (17), brushless electric machine (18) and four
Individual second steering wheel, installs main rotor (5) by main rotor shaft at the top of described fuselage (9), and the afterbody of the fuselage (9) is provided with tail
Slurry (15), described aileron (11) is provided with horizontal tail and vertical fin (17) in main rotor shaft on described tail boom, described
Undercarriage (10) is installed in fuselage (9) bottom, and described undercarriage (15) is provided with for installing the connecting plate of aircraft mounted control system
(19), wherein three the second steering wheels are connected with cross plate (16), second steering wheel is arranged on the dead astern of fuselage (4), described
The outfan of brushless electric machine (18) is connected with main rotor shaft by toothed disc (12), four second steering wheels and brushless electricity
Machine (18) respectively electrically connects the first electron speed regulator.
10. air-robot according to claim 9, it is characterised in that：Described Inertial Measurement Unit, altimeter and magnetic
Power meter is vertically mounted on panel (3), and described accelerometer, turn meter and linear velocity meter are vertically mounted on panel
(3), on, described GPS module (9) is in horizontal tail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611144959.8A CN106585963A (en) | 2016-12-13 | 2016-12-13 | Aerial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611144959.8A CN106585963A (en) | 2016-12-13 | 2016-12-13 | Aerial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106585963A true CN106585963A (en) | 2017-04-26 |
Family
ID=58802243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611144959.8A Pending CN106585963A (en) | 2016-12-13 | 2016-12-13 | Aerial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106585963A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933915A (en) * | 2017-10-24 | 2018-04-20 | 江苏理工学院 | A kind of air-robot based on six rotor wing unmanned aerial vehicles |
| CN109229381A (en) * | 2018-10-15 | 2019-01-18 | 滨州学院 | Unmanned plane and mating inspection car are arrested in a kind of inspection |
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| CN202439000U (en) * | 2011-12-21 | 2012-09-19 | 中国科学院沈阳自动化研究所 | Mechanical arm device for sampling on planet surface |
| CN203185345U (en) * | 2013-04-22 | 2013-09-11 | 焦浩 | Multi-freedom-degree explosive-handling robot |
| CN103753528A (en) * | 2014-02-18 | 2014-04-30 | 中国人民解放军军事医学科学院卫生装备研究所 | Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation |
| CN105014687A (en) * | 2015-08-07 | 2015-11-04 | 东北电力大学 | Mechanical arm with multi-rotor-wing unmanned aerial vehicle |
| CN105314102A (en) * | 2015-12-04 | 2016-02-10 | 哈尔滨云控机器人科技有限公司 | Unmanned aerial vehicle provided with mechanical arm |
| CN205552521U (en) * | 2015-12-28 | 2016-09-07 | 魏文龙 | Articulated robot |
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2016
- 2016-12-13 CN CN201611144959.8A patent/CN106585963A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202439000U (en) * | 2011-12-21 | 2012-09-19 | 中国科学院沈阳自动化研究所 | Mechanical arm device for sampling on planet surface |
| CN203185345U (en) * | 2013-04-22 | 2013-09-11 | 焦浩 | Multi-freedom-degree explosive-handling robot |
| CN103753528A (en) * | 2014-02-18 | 2014-04-30 | 中国人民解放军军事医学科学院卫生装备研究所 | Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation |
| CN105014687A (en) * | 2015-08-07 | 2015-11-04 | 东北电力大学 | Mechanical arm with multi-rotor-wing unmanned aerial vehicle |
| CN105314102A (en) * | 2015-12-04 | 2016-02-10 | 哈尔滨云控机器人科技有限公司 | Unmanned aerial vehicle provided with mechanical arm |
| CN205552521U (en) * | 2015-12-28 | 2016-09-07 | 魏文龙 | Articulated robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933915A (en) * | 2017-10-24 | 2018-04-20 | 江苏理工学院 | A kind of air-robot based on six rotor wing unmanned aerial vehicles |
| CN109229381A (en) * | 2018-10-15 | 2019-01-18 | 滨州学院 | Unmanned plane and mating inspection car are arrested in a kind of inspection |
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Application publication date: 20170426 |