CN106995053A - A kind of rotor wing unmanned aerial vehicle of new armed four - Google Patents
A kind of rotor wing unmanned aerial vehicle of new armed four Download PDFInfo
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- CN106995053A CN106995053A CN201710276521.3A CN201710276521A CN106995053A CN 106995053 A CN106995053 A CN 106995053A CN 201710276521 A CN201710276521 A CN 201710276521A CN 106995053 A CN106995053 A CN 106995053A
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- unmanned aerial
- wing unmanned
- rotor wing
- aerial vehicle
- gripper
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 16
- 210000000078 claw Anatomy 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000000717 retained effect Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 238000005070 sampling Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C2001/0054—Fuselage structures substantially made from particular materials
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
A kind of new rotor wing unmanned aerial vehicle of armed four disclosed by the invention, including four rotor wing unmanned aerial vehicle parts, it is characterized in that：Also include image stage, many freely mechanical arm section, mechanical claw portion and the head camera part being connected respectively with four rotor wing unmanned aerial vehicle parts.The invention passes through the existing four rotor wing unmanned aerial vehicles structure of reasonable integration, change original plastic casing package structure up and down, using carbon rectangular tube, the double-deck head of increase, upper strata head carries camera device, lower floor head carries mechanical arm, realizes in script imaging environment, increase multi-degree-of-freemechanical mechanical arm realize four rotor wing unmanned aerial vehicles develop in more areas and in addition to warning function under artificial environment complex situations operation conception.
Description
Technical field
The present invention relates to unmanned plane field, specifically a kind of rotor wing unmanned aerial vehicle of new armed four.
Background technology
Four rotor unmanned aircrafts are a kind of " dish " aircraft, with novel topology layout and unique flight side
Formula, own wt is overcome using air force, independently or remote control distributor, and can be carried certain load, can be equipped with specially
Some specific functions are realized with instrument.Can original place VTOL, can manually and automatically be flown, can be realized in the air
Spot hover and fixed track flight.Shooting equipment is carried by band and realizes aerial monitoring function, earth station's related software is realized and regarded
Frequency is received.
Four rotor unmanned aircrafts, are a kind of aircraft with four propellers and four propellers are handed in cross
Structure is pitched, four relative rotors have identical direction of rotation, be divided to two groups, two groups of direction of rotation different.Gone straight up to traditional
Machine is different, and quadrotor can only realize various actions by changing the speed of propeller.The instrument that existing unmanned plane is equipped with
All only figure passes camera GoPro to device, in film shooting, Survey of Transmission Line, the conservation of wildlife, safety monitoring etc, all
It is some the supporting industries being derived based on camera.
But in existing product, the flight time of most unmanned planes only only has ten minutes or so.On accessory, still protect
Hold only Flying Camera head.Do not include and carry multi-degree-of-freemechanical mechanical arm, and overlength distance charges, multiple UAVs collaboration
Structure and offline mode.In overall structure, for control cost, wrapped up using plastic casing, limit many of unmanned plane wiring
Sample, reduces the area of head.So that having the unmanned plane product of Flying Camera head in unmanned plane market only frame.In four rotors
It is single unmanned plane during flying during unmanned plane during flying, due to multiple UAVs complex operation in the air, is temporarily cooperateed with without multiple UAVs
Flight, realizes that multitask complex task is handled.
In industry, domestic existing industry is generally consumer level unmanned plane, is technically difficult to reach customer's standard, Duo Shuochu
The unmanned plane company of wound can not survive under tide, can not continue dominance in benign development, industry in industry situation, lack
The benign competition of few frontier new technology.It is related to face and is commonly Flying Camera aspect, and public recreation direction.Utilize at this stage
The unmanned plane application field of carbon fiber plate is also limited to very much, mainly the shooting in film, TV play, and documentary film.Multiple degrees of freedom
The application field of manipulator yet limit to very much, can allow in the automated job that unmanned plane realizes, at this stage after in agricultural
In applied, such as spraying insecticide high-altitude.
But in high-altitude complex job, dangerous field operation, the rescue work such as high-altitude fire earthquake in industry development also
It is not directed to.The limitation for the problems such as source is closed with structure due to cost and the program of each unmanned plane manufacturer, in the industry only
There is the unmanned plane of finished product, without quick release, install etc., for adapting to the external member equipment of various complex situations.Can to
Up to emergency scene, be assembled into needs the unmanned plane of mode of operation rapidly.
The content of the invention
For above-mentioned the deficiencies in the prior art, the present invention provides a kind of new rotor wing unmanned aerial vehicle of armed four, this structure
Unmanned plane has covers interchangeable external member more, to adapt to different emergencies, is handled with more complicated emergency is handled
Ability, equipment is advanced, and mobility is high, the advantages of application direction is wide.
Realizing the technical scheme of the object of the invention is：
A kind of rotor wing unmanned aerial vehicle of new armed four, including four rotor wing unmanned aerial vehicle parts, unlike the prior art：Also include dividing
Image stage, many freely mechanical arm section, mechanical claw portion and the head shooting not being connected with four rotor wing unmanned aerial vehicle parts
Part, wherein：
The four rotor wing unmanned aerial vehicles part includes main structure carbon cross frame, upper head, lower head, pedestal, motor and rotor,
Two main structure carbon crosses are mutually fastened by middle groove, and upper head is connected with image stage, lower head and
Many freely mechanical arm section connections, motor is fastened with pedestal, and pedestal is connected with main structure carbon cross, rotor respectively with motor
Connection；
Described image hop includes support head and motion cameras, and motion cameras is fixed with support head, supports cloud
Platform is connected with head on four rotor wing unmanned aerial vehicle parts；
The multi-degree-of-freemechanical mechanical arm part includes gripper, rotation straight-arm, mechanical joint arm part, gripper and mechanical joint arm and connected
Connect, steering wheel is respectively equipped with gripper and the joint junction of mechanical joint arm, with motor connection；
The mechanical claw portion includes the A sides pliers and B sides pliers of gripper, and A sides pliers and B sides pliers can be engaged in gear
The folding of gripper is realized under transmission, the retained part of gripper is collectively constituted, gripper passes through steering wheel and rolling with rotation straight-arm
Needle bearing is connected, and allows the rotation that gripper carries out 360 degree by the rotation of steering wheel.
The retained part of the gripper also includes A baffle plates and B baffle plates, is respectively used to two clampings of solid mechanical pawl or so
Plate and A gears, B gears and the C gears of transmission, A gears are travelling gear, are engaged with steering wheel, and A sides pliers coordinates with B gears,
B sides pliers is engaged with C gears, the intermeshing of B, C gear, and the folding of A, B side pliers is controlled respectively.
The mechanical joint arm part includes A pull bars, B pull bars and C pull bars, A pull bars and sleeve connection, and sleeve is connected with axle
Connect, the bearing of axle and A side plates is interference fitted, A pull bars and B pull bars are connected by clamping end connection, B pull bars and steering wheel connector
Connection, steering wheel connector is connected with the steering wheel on B side plates, and A pull bars, B pull bars and C pull bars are connected with each other by rear arm, with
The rotation of steering wheel, B pull bars drive A pull bars, the motion of C pull bars, and joint arm part does diastole campaign, completes the up and down motion of joint arm, respectively
Part the rotation of mechanical joint arm part and the clamping of gripper are realized by the rotation of steering wheel.
The head camera part is connected with image stage, and cradle head part is three axle heads, and luffing angle is -90 degree
To 30 degree, pitch rotation speed is 90 degrees seconds.
The four rotor wing unmanned aerial vehicles part also includes support foot rest, is connected with main structure carbon cross frame.
The mechanical arm and unmanned plane main body link position are that groove buckle-type is designed, the different types of mechanical arm of replacing or
When being sensor, it is only necessary to back-out two fastening screws, original mechanical arm is skidded off by groove, then the sensor more renewed
Or mechanical arm is slipped into from chute, fastening screw is tightened.
Advantages of the present invention or beneficial effect：
Change integral body structure and material, hollow carbon pipe is used in main structure carbon cross frame and head, in wiring,
Circuit can be in middle carbon pipe, and not only protection circuit is not corroded easily, and most of space is also reserved in head.And by
In internal wiring, cradle head part just can be no longer limited to the parcel of plastic casing with exposed.
Increase multi-degree-of-freemechanical mechanical arm：Increase by one has the mechanical arm of three degree of freedom.Make up in high-altitude complex environment
The missing of the unmanned machine equipments such as operation, dangerous field, the rescue of high-altitude earthquake fire.Mechanical arm front end is equipped with gripper, machinery
Pawl can with environment difference, the difference of task carry out it is supporting change, for example grip class gripper, with tester gripper,
Fire earthquake height rescue draws in the net gripper etc..By forewarning function before, to not only early warning, more can directly it join after early warning
With operation, rescued in forest, fire rescue, the field such as deep well rescue, it will play the role of irreplaceable.
By increasing bluetooth module, realize that controlling the rotor wing unmanned aerial vehicle of multi rack four to cooperate with by algorithm during flight flies, it is middle
For a main frame, around around multi rack subsidiary engine, respective distance is kept.In the task of execution, intermediate host only need to be controlled, week
Enclose subsidiary engine and flight is cooperateed with main frame according to algorithm.The operation difficulty of user is substantially reduced, the work of unmanned plane is significantly increased
Make scope and work capacity.
For the making of innovation structure and some non-standard components, 3D parallel arm printer systems are made by oneself using inventor
Make, printing and making is carried out using self-control 3D parallel arms printer in mechanical arm and all making of task building machine machinery claw.From
Printer precision controlling processed is in less than or equal to 0.1 millimeter.So as to building machine machinery claw needed for deriving multiple-task, and effectively save
About cost, the basis popularized as industry market.
Brief description of the drawings
Fig. 1 is the rotor wing unmanned aerial vehicle front view of armed four
Fig. 2 is the rotor wing unmanned aerial vehicle top view of armed four
Fig. 3 is the unmanned side view of armed
In figure, the left side pliers 6. of 1. brushless electric machine, 2. corner frame, 3. carbon cross frame, 4. steering wheel 5. rotation straight-arm 7. is straight
The master control borad 14.A pull bars of head 13. on the right side pliers 12. of 10. blade of arm contiguous block 8.A side plate 9.B pull bars 11.
15.C pull bars.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is further elaborated, but is not limitation of the invention.
Embodiment 1：
A kind of rotor wing unmanned aerial vehicle of new armed four, by four rotor wing unmanned aerial vehicle parts, image stage, multi-degree-of-freemechanical mechanical arm portion
Divide, mechanical claw portion and head camera part are constituted, wherein：
Four rotor wing unmanned aerial vehicle parts are by main structure carbon cross frame 3, upper head 12, lower head, pedestal, motor 1 and rotor, two
Individual main structure carbon cross 3 is mutually fastened by middle groove, mutually fastens increase main structure carbon cross contact surface
Product, flight stability is greatly enhanced；Upper head 12, lower head pin and bolt are connected, upper and lower head intermediate hollow part
Place the components such as main circuit board.Upper head 12 installs image stage component, and lower head installs multi-degree-of-freemechanical mechanical arm portion
Point.Motor 1 includes motor A, and motor B, motor C, tetra- motors of motor D, motor 1 is interlocked with motor base.Motor base
Screw-driving is used after being embedded in main structure cross frame 3.Motor 1 has pedestal fastening respectively, and motor rotates caused shake during flight
Move due to there is the protection of pedestal, can be greatly reduced.The propeller of four rotor wing unmanned aerial vehicle parts is connected with motor A, B, C, D respectively
Connect.
Four rotor wing unmanned aerial vehicle parts also include support foot rest:Support foot rest A, support foot rest B, support foot rest C, support
Foot stool D.Support foot rest A, C are connected with cross frame A with pin, and support foot rest B, D are connected with cross frame B.Support foot rest
It is connected close to motor side.Four support foot rests, greatly increase stability during landing, while close to motor side, middle head
Part headspace will increase, and facilitate mechanical arm rotary motion.
Image stage includes support head and motion cameras, and motion cameras is fixed with support head, supports cloud
Platform is connected with head on four rotor wing unmanned aerial vehicle parts, the initial camera function of unmanned plane is maintained installed in upper head, in machinery
When arm is with robot work, it is possible to provide find a view at a distance, and provide preferable visual angle completion task.Motion cameras and support head
It is screwed, motion cameras be can be very good to be supplied to the timely image of operator, and nothing is judged and controlled for operator
It is man-machine and flight video can be preserved, for future reference.
The multi-degree-of-freemechanical mechanical arm part includes gripper, rotation straight-arm, mechanical joint arm part, gripper and machinery and joined
Arm is connected, and steering wheel is respectively equipped with gripper and the joint junction of mechanical joint arm, with motor connection；In each joint, use
Steering wheel enters the transmission of action edge.
Described mechanical claw portion includes the A sides pliers and B sides pliers of gripper, A sides pliers can gear engagement
Lower carry out opening and closing movement, the same folding that mechanical claw portion is realized under the engaged transmission of gear of B sides pliers.The pliers of left and right two
The retained part of gripper is collectively constituted.Be connected in gripper with rotation straight-arm, rotation straight-arm junction use steering wheel with
And needle bearing connection, the rotation that gripper carries out 360 degree is allowd by the rotation of steering wheel.
The retained part of gripper also includes A baffle plates and B baffle plates, and two baffle plates of A, B are used for the left and right two of solid mechanical pawl
Individual clamping plate and three gears of transmission：A gears, B gears, C gears, A gears are engaged with steering wheel, and A gears are travelling gear,
A sides pliers coordinates with B gears, and B sides pliers is engaged with C gears, the intermeshing of B, C gear, and opening for A, B side pliers is controlled respectively
Close.
Mechanical joint arm part includes A pull bars, B pull bars and C pull bars, A pull bars and sleeve connection, and sleeve is connected with axle, axle
It is interference fitted with the bearing of A side plates, A pull bars and B pull bars are connected by clamping end connection, and B pull bars are connected with steering wheel connector,
Steering wheel connector is connected with the steering wheel on B side plates, and A pull bars, B pull bars and C pull bars are connected with each other by rear arm, with steering wheel
Rotate, B pull bars drive A pull bars, the motion of C pull bars, diastole campaign is done in joint arm part, completes the up and down motion of joint arm, and each several part leads to
The rotation of steering wheel is crossed, the rotation of mechanical joint arm part and the clamping of gripper is realized.
Head camera part is connected with image stage, and cradle head part is three axle heads, and luffing angle is -90 degree to 30
Degree, pitch rotation speed is 90 degrees seconds.
Various pieces realize the rotation of mechanical joint arm part and the blessing of gripper, so that real by the rotation of steering wheel
Work that manually can not be under operation in present complex environment.
Described transmission equipment is 2.4GHz transport modules, and remote control is communicated with four rotor wing unmanned aerial vehicles.
Embodiment 2：
Present invention is mainly used in complex situations, can not manually completing for task, using the unmanned plane with mechanical arm, is realized and appointed
Business is required, the complex work, specific embodiment such as the sampling of water resource and the sampling of soil are carried out in contaminated region：By
The water resource sampling of Polluted area.
Secondly, it is in the air by association by its multivariant gripper in it also can be applicable to fire in high buildings rescue
Same operation, sets up rescue net, enables in the trapped person in higher floor, is rescued safely by the rescue net of foundation.
In work high above the ground, because many free manipulator scopes are wide, achievable action is more, electric wire can be achieved contour
The maintenance of aerial facility, while sensor can be installed additional（Sound wave, infrared ray etc.）For detecting whether the wall of skyscraper has
Crack, and high tower building routine inspection etc., since replace before artificial upper tower detection predicament.
New armed unmanned plane can complete the task and line service of multiple dimensions.Utilize the advantage of unmanned plane in itself
And multivariant mechanical arm, new armed unmanned plane can yield unusually brilliant results in future market.
1. unmanned plane flies to the waters periphery of contaminated area first
2. by pull bar 02（9）The steering wheel of connection drives pull bar 02（9）Realize and move up and down, pull bar 02（9）Connected by accommodating end
Part drives pull bar 01（14）Moved up and down, pull bar 01（14）With pull bar 02（9）Pull bar 03 is driven by rear arm（15）Enter
Row motion, realizes the up and down motion of mechanical arm section, is adjusted to most suitable angle.
3.A sides pliers（5）Opening and closing movement, B sides pliers are carried out under the engagement of gear（11）The same engagement in gear is passed
The dynamic lower folding for realizing mechanical claw portion, the vessel of sampling are held.
4. gripper and rotation straight-arm（6）Pass through straight-arm contiguous block（7）It is connected, gripper is caused by the rotation of steering wheel
360 degree of rotation can be carried out, vessel tilt rotation is sampled, the sample of foul water is collected into.
5. return.
Claims (6)
1. a kind of rotor wing unmanned aerial vehicle of new armed four, including four rotor wing unmanned aerial vehicle parts, it is characterized in that：Also include revolving with four respectively
The image stage of wing unmanned plane part connection, many freely mechanical arm section, mechanical claw portion and head camera part, its
In：
The four rotor wing unmanned aerial vehicles part includes main structure carbon cross frame, upper head, lower head, pedestal, motor and rotor,
Two main structure carbon crosses are mutually fastened by middle groove, and upper head is connected with image stage, lower head and
Many freely mechanical arm section connections, motor is fastened with pedestal, and pedestal is connected with main structure carbon cross, rotor respectively with motor
Connection；
Described image hop includes support head and motion cameras, and motion cameras is fixed with support head, supports cloud
Platform is connected with head on four rotor wing unmanned aerial vehicle parts；
The multi-degree-of-freemechanical mechanical arm part includes gripper, rotation straight-arm, mechanical joint arm part, gripper and mechanical joint arm and connected
Connect, steering wheel is respectively equipped with gripper and the joint junction of mechanical joint arm, with motor connection；
The mechanical claw portion includes the A sides pliers and B sides pliers of gripper, and A sides pliers and B sides pliers can be engaged in gear
The folding of gripper is realized under transmission, the retained part of gripper is collectively constituted, gripper passes through steering wheel and rolling with rotation straight-arm
Needle bearing is connected, and allows the rotation that gripper carries out 360 degree by the rotation of steering wheel.
2. the rotor wing unmanned aerial vehicle of new armed four according to claim 1, it is characterized in that：The retained part of the gripper is also
Including A baffle plates and B baffle plates, A gears, B gears and the C gears of two clamping plates of solid mechanical pawl or so and transmission, A are respectively used to
Gear is travelling gear, is engaged with steering wheel, and A sides pliers coordinates with B gears, and B sides pliers is engaged with C gears, B, C gear phase
Mutually engagement, controls the folding of A, B side pliers respectively.
3. the rotor wing unmanned aerial vehicle of new armed four according to claim 1, it is characterized in that：The mechanical joint arm part includes A
Pull bar, B pull bars and C pull bars, A pull bars and sleeve connection, sleeve are connected with axle, and the bearing of axle and A side plates is interference fitted, and A is drawn
Bar and B pull bars are connected by clamping end connection, and B pull bars are connected with steering wheel connector, steering wheel connector and the steering wheel on B side plates
Connection, A pull bars, B pull bars and C pull bars are connected with each other by rear arm, and with the rotation of steering wheel, B pull bars drive A pull bars, C pull bars
Diastole campaign is done in motion, joint arm part, completes the up and down motion of joint arm, and each several part realizes mechanical joint arm by the rotation of steering wheel
Partial rotation and the clamping of gripper.
4. the rotor wing unmanned aerial vehicle of new armed four according to claim 1, it is characterized in that：The head camera part and image
Hop is connected, and cradle head part is three axle heads, and luffing angle is spent to 30 degree for -90, and pitch rotation speed is 90 degrees seconds.
5. the rotor wing unmanned aerial vehicle of new armed four according to claim 1, it is characterized in that：The four rotor wing unmanned aerial vehicles part is also
Including support foot rest, it is connected with main structure carbon cross frame.
6. the rotor wing unmanned aerial vehicle of new armed four according to claim 1, it is characterized in that：Mechanical arm is connected with unmanned plane main body
Position is designed for groove buckle-type, when changing different types of mechanical arm or sensor, it is only necessary to by two fastening screws
Back-out, original mechanical arm is skidded off by groove, then the sensor or mechanical arm that more renew are slipped into from chute, will fasten spiral shell
Silk is tightened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710276521.3A CN106995053A (en) | 2017-04-25 | 2017-04-25 | A kind of rotor wing unmanned aerial vehicle of new armed four |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710276521.3A CN106995053A (en) | 2017-04-25 | 2017-04-25 | A kind of rotor wing unmanned aerial vehicle of new armed four |
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| CN201710276521.3A Pending CN106995053A (en) | 2017-04-25 | 2017-04-25 | A kind of rotor wing unmanned aerial vehicle of new armed four |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628248A (en) * | 2017-09-14 | 2018-01-26 | 上海电力学院 | A kind of multi-rotor unmanned aerial vehicle robot arm device |
| CN107901716A (en) * | 2017-11-08 | 2018-04-13 | 郑州谦贤科技有限公司 | A kind of amphibious multiaxis rotor wing unmanned aerial vehicle |
| CN108337481A (en) * | 2018-02-08 | 2018-07-27 | 湖南文理学院 | A kind of rotatable intelligent unmanned machine of the fire department based on Internet of Things |
| CN108928483A (en) * | 2018-07-17 | 2018-12-04 | 桂林电子科技大学 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
| CN109079799A (en) * | 2018-10-23 | 2018-12-25 | 哈尔滨工业大学（深圳） | It is a kind of based on bionical robot perception control system and control method |
| EP3505444A1 (en) * | 2017-12-28 | 2019-07-03 | Aurora Flight Sciences Corporation | An aircraft with a ground manipulation system and ground fixing system |
| CN110827611A (en) * | 2019-11-29 | 2020-02-21 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
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| CN107628248B (en) * | 2017-09-14 | 2024-01-26 | 上海电力学院 | Multi-rotor unmanned aerial vehicle mechanical arm device |
| CN107901716A (en) * | 2017-11-08 | 2018-04-13 | 郑州谦贤科技有限公司 | A kind of amphibious multiaxis rotor wing unmanned aerial vehicle |
| US10875644B2 (en) | 2017-12-28 | 2020-12-29 | Aurora Flight Sciences Corporation | Ground manipulation system and method for fixing an aircraft |
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| CN109969395A (en) * | 2017-12-28 | 2019-07-05 | 极光飞行科学公司 | For fixing the ground controlling system and method for aircraft |
| CN109969395B (en) * | 2017-12-28 | 2023-11-24 | 极光飞行科学公司 | Ground handling system and method for securing an aircraft |
| CN108337481A (en) * | 2018-02-08 | 2018-07-27 | 湖南文理学院 | A kind of rotatable intelligent unmanned machine of the fire department based on Internet of Things |
| CN108928483A (en) * | 2018-07-17 | 2018-12-04 | 桂林电子科技大学 | A kind of unmanned plane of taking photo by plane of energy automatic telescopic mechanical arm |
| CN109079799B (en) * | 2018-10-23 | 2021-11-12 | 哈尔滨工业大学（深圳） | Robot perception control system and control method based on bionics |
| CN109079799A (en) * | 2018-10-23 | 2018-12-25 | 哈尔滨工业大学（深圳） | It is a kind of based on bionical robot perception control system and control method |
| CN110827611B (en) * | 2019-11-29 | 2021-10-29 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
| CN110827611A (en) * | 2019-11-29 | 2020-02-21 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
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