CN108994875A - Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane - Google Patents
Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane Download PDFInfo
- Publication number
- CN108994875A CN108994875A CN201811083108.6A CN201811083108A CN108994875A CN 108994875 A CN108994875 A CN 108994875A CN 201811083108 A CN201811083108 A CN 201811083108A CN 108994875 A CN108994875 A CN 108994875A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- grabbed
- driving device
- transmission component
- unmanned plane
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 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 abstract description 27
- 241000237858 Gastropoda Species 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to air vehicle technique fields, a kind of manipulator for unmanned plane is disclosed to grab and its control method, control device and unmanned plane, to provide a kind of unmanned plane for having the function of to grab and structure is relatively simple, to improve the reliability and stability of unmanned plane.Manipulator packet capturing for unmanned plane includes pedestal and at least three mechanical fingers, driving device, guiding axis and the transmission component that are set to the pedestal, wherein: the driving device, the transmission component and at least three mechanical finger are sequentially connected, and the transmission component is slidably connected with the guiding axis；The driving device is for driving the transmission component to slide along the guiding axis, so that at least three mechanical finger opens and closes.
Description
Technical field
The present invention relates to air vehicle technique field, grabbed more particularly to a kind of manipulator for unmanned plane and its controlling party
Method, control device and unmanned plane.
Background technique
Unmanned plane is using the not manned aircraft of radio robot and the presetting apparatus provided for oneself manipulation, with tradition
Manned aircraft compare, unmanned plane has many advantages, such as small in size, low cost, easy to use, is gradually applied to the daily of people
In life.
However, existing common unmanned plane is mainly used for taking photo by plane, function is more single, even if being equipped with hand grabs device, by
In its structure is complicated, assembling is more difficult, to reduce the reliability and stability of unmanned plane, and is architectural limitation, hand
The scope of activities grabbed is smaller.
Summary of the invention
The embodiment of the present invention provide a kind of manipulator for unmanned plane grab and its control method, control device and nobody
Machine, to provide a kind of unmanned plane for having the function of to grab and structure is relatively simple, to improve the reliability and stabilization of unmanned plane
Property.
In a first aspect, the embodiment of the invention provides a kind of manipulators for unmanned plane to grab, including pedestal and setting
In at least three mechanical fingers, driving device, guiding axis and the transmission component of the pedestal, in which:
The driving device, the transmission component and at least three mechanical finger are sequentially connected, the transmission component
It is slidably connected with the guiding axis；
The driving device is for driving the transmission component to slide along the guiding axis, so that described at least three is mechanical
Fingers opening-closing.
When manipulator provided in an embodiment of the present invention is grabbed applied to unmanned plane, pedestal is installed on the drone body of unmanned plane
On, when needing to grab object, driving device directly drives transmission component and is slided along guiding axis, thus drive it is aforementioned extremely
Few three mechanical fingers folding, to realize crawl function, and the structure of the unmanned plane is relatively simple, and then improves nothing
Man-machine reliability and stability.In addition, when aforementioned at least three mechanical finger opens, due to the end of three mechanical fingers
End forms a landing plane, the stabilization of drone center of unmanned aerial vehicle is able to maintain when unmanned plane is landed, to make unmanned plane more
Smoothly to land.
In any of the above-described embodiment, optionally, each mechanical finger include end finger and respectively with the end
Finger and the hinged connecting rod of the transmission component, the end finger are cut with scissors close to one end of the connecting rod and the pedestal
It connects, the connecting rod is between the end finger and the transmission component.It is designed using structure, driving device driving transmission
Component is slided along guiding axis, so that connecting rod be driven to rotate around transmission component, and then end finger is driven to rotate around pedestal, realized
The folding that manipulator is grabbed.
In any of the above-described embodiment, optionally, the transmission component includes worm gear and the worm screw of engagement assembly, the snail
Bar is connect with the driving device, the worm gear and the guiding axis slidable fit, at least three mechanical finger respectively with
The worm gear is hinged；
The driving device is for driving the worm screw to rotate, to make the turbine for engaging assembly with the worm screw described in
Guiding axis sliding, so that at least three mechanical finger opens and closes.
In any of the above-described embodiment, optionally, it further includes the control being electrically connected with the driving device that the manipulator, which is grabbed,
Device processed, the controller drives the transmission component to slide along the guiding axis for controlling the driving device, so that described
The folding of at least three mechanical fingers.Using the structure design manipulator grab, can remotely control manipulator crawl object or
Assist UAV Landing.
In the above-described embodiments, optionally, it further includes the locking mechanism for being set to the pedestal that the manipulator, which is grabbed, described
Locking mechanism is used to lock the opening angle of at least three mechanical finger.After manipulator grabs object, locking mechanism
The position of mechanical finger is locked, with prevent object from manipulator grab in fall off；When UAV Landing, manipulator is grabbed to be in and be opened
Open state simultaneously locks, and further stablizes the center of gravity of unmanned plane.
In any of the above-described embodiment, optionally, it further includes the video camera for being set to the pedestal that the manipulator, which is grabbed,.Benefit
The movement of mechanical finger can be monitored with video camera, so as to adjust mechanical finger in time.
In any of the above-described embodiment, optionally, the quantity of the mechanical finger is three.It is designed using the structure, no
Manipulator can only grabbed and tively firm grabs object, and the center of gravity of unmanned plane can be made to keep stablizing, to make nobody
Machine more smoothly lands.
Second aspect, the present invention also provides a kind of unmanned planes, including machinery described in drone body and first aspect
Hand is grabbed, in which:
The pedestal that the manipulator is grabbed is set to the drone body, and the pedestal be located at the drone body and
Between at least three mechanical fingers that the manipulator is grabbed；At least three mechanical finger is along the separate drone body
Direction folding.
Unmanned plane provided in an embodiment of the present invention, when needing to grab object, driving device drives transmission component along leading
It is slided to axis, thus the mechanical finger folding for driving manipulator to grab, to realize crawl function, and the knot of the unmanned plane
Structure is relatively simple, and then improves the reliability and stability of unmanned plane.In addition, when mechanical finger opens, due to manipulator
The end of finger forms a landing plane, the stabilization of drone center of unmanned aerial vehicle is able to maintain when unmanned plane is landed, to make nothing
It is man-machine more smoothly to land.
The third aspect, the present invention also provides a kind of control method grabbed applied to manipulator as described in relation to the first aspect,
Include:
Acquire the load current of driving device；
According to the load current, controls the driving device and stop driving transmission component, so that the manipulator was grabbed
At least three mechanical fingers stop closure.
In the present embodiment, according to the load current of acquisition, it can be determined that manipulator grabs tively firm catch whether
Object, when the load current of driving device increases suddenly, manipulator grabs and tively firm catches object at this time, and control is driven
Dynamic device stops driving transmission component and is no longer further closed so that mechanical finger be made to keep the opening angle.Using the control
Method, excessively closure causes manipulator to grab failure when can grip in crawl object to avoid manipulator, grabs to improve manipulator
Service life.
Fourth aspect, the present invention also provides a kind of control device grabbed applied to manipulator as described in relation to the first aspect,
Include:
Acquisition unit, for acquiring the load current of driving device；
Control unit, for controlling the driving device and stopping driving transmission component, so that institute according to the load current
It states at least three mechanical fingers that manipulator is grabbed and stops closure.
In the present embodiment, according to acquisition unit acquire load current, control unit may determine that manipulator grab whether
Object is tively firm caught, and when the load current of driving device increases suddenly, manipulator is grabbed relatively firm at this time
Object is caught on ground, and control unit controls driving device and stops driving transmission component, so that mechanical finger is made to keep the opening angle,
No longer it is further closed.Using the control device, excessively closure leads to manipulator when can grip in crawl object to avoid manipulator
Failure is grabbed, to improve the service life that manipulator is grabbed.
Detailed description of the invention
Fig. 1 is the schematic diagram that manipulator is grabbed in the embodiment of the present invention；
Fig. 2 is another schematic diagram that manipulator is grabbed in the embodiment of the present invention；
Fig. 3 is the flow diagram for the control method that manipulator is grabbed in the embodiment of the present invention；
Fig. 4 is the schematic diagram for the control device that manipulator is grabbed in the embodiment of the present invention.
Appended drawing reference:
10- manipulator is grabbed
11- pedestal
12- mechanical finger
13- driving device
14- guiding axis
15- transmission component
The end 121- finger
122- connecting rod
151- worm gear
152- worm screw
30- control device
31- acquisition unit
32- control unit
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
In order to provide a kind of unmanned plane for having the function of to grab and structure is relatively simple, to improve the reliability of unmanned plane
And stability, it is grabbed the embodiment of the invention provides a kind of manipulator for unmanned plane and its control method, control device and nothing
It is man-machine.
As depicted in figs. 1 and 2, in a first aspect, the embodiment of the invention provides a kind of manipulators for unmanned plane to grab 10,
Including pedestal 11 and it is set at least three mechanical fingers 12, driving device 13, guiding axis 14 and the transmission component of pedestal 11
15, in which: driving device 13, transmission component 15 and aforementioned at least three mechanical finger 12 are sequentially connected, and transmission component 15 and are led
It is slidably connected to axis 14；Driving device 13 is for driving transmission component 15 to slide along guiding axis 14, so that aforementioned at least three machine
Tool finger 12 opens and closes.
When manipulator provided in an embodiment of the present invention grabs 10 applied to unmanned plane, pedestal 11 is installed in drone body,
When needing to grab object, driving device 13 directly drives transmission component 15 and is slided along guiding axis 14, thus before driving
The folding of at least three mechanical fingers 12 is stated, so that crawl function is realized, and the structure of the unmanned plane is relatively simple, Jin Erti
The high reliability and stability of unmanned plane.In addition, when aforementioned at least three mechanical finger 12 opens, due to three machinery
The end of finger 12 forms a landing plane, and the stabilization of drone center of unmanned aerial vehicle is able to maintain when unmanned plane is landed, thus
Unmanned plane is set more smoothly to land.
In any of the embodiments of the present invention, it is preferred that the quantity of mechanical finger 12 is three.It is designed using the structure,
It so that manipulator is grabbed 10 and tively firm grab object, and since the end of three mechanical fingers 12 forms one
Landing plane makes the center of gravity of unmanned plane keep stablizing, so that unmanned plane be made more smoothly to land when being landed；Work as machinery
When the quantity of finger 12 is greater than three, need more flat and horizontal landing plane that unmanned plane smoothly lands.
Please continue to refer to shown in Fig. 1 and Fig. 2, in any of the above-described embodiment, optionally, each mechanical finger 12 includes end
Finger 121 and connecting rod 122 hinged with end finger 121 and transmission component 15 respectively are held, end finger 121 is close to even
One end of extension bar 122 and pedestal 11 are hinged, and connecting rod 122 is between end finger 121 and transmission component 15.It is set using structure
Meter, driving device 13 drive transmission component 15 to slide along guiding axis 14, so that connecting rod 122 is driven to rotate around transmission component 15,
And then end finger 121 is driven to rotate around pedestal 11, realize the folding of mechanical finger 12.
In any of the embodiments of the present invention, as shown in Fig. 2, optionally, transmission component 15 includes the worm gear of engagement assembly
151 and worm screw 152, worm screw 152 connect with driving device 13, worm gear 151 and 14 slidable fit of guiding axis, aforementioned at least three machine
Tool finger 12 is hinged with worm gear 151 respectively；Driving device 13 engages to drive with worm screw 152 for driving worm screw 152 to rotate
The turbine 51 of assembly is slided along guiding axis 14, to drive mechanical finger 12 to move, so that aforementioned at least three mechanical finger 12
Folding.Wherein, the concrete type of driving device 13 is unlimited, such as can be motor or cylinder.
In any of the embodiments of the present invention, optionally, it further includes the control being electrically connected with driving device 13 that manipulator, which grabs 10,
Device (not shown) processed, controller for control driving device 13 drive transmission component 15 along guiding axis 14 slide so that it is aforementioned extremely
Few three mechanical fingers 12 open and close.10 are grabbed using the manipulator that the structure designs, manipulator can be remotely controlled and grab 10 crawl objects
Body or auxiliary UAV Landing.
In the above-described embodiments, optionally, it further includes the locking mechanism (not shown) for being set to pedestal 11 that manipulator, which grabs 10,
The locking mechanism is used to lock the opening angle of aforementioned at least three mechanical finger 12.After manipulator grabs 10 crawl object, lock
Determine mechanism to lock the position of mechanical finger 12, be fallen off with preventing object from grabbing in 10 from manipulator；It is mechanical when UAV Landing
Hand is grabbed 10 in open configuration and is locked, and the center of gravity of unmanned plane is further stabilized.Certainly, in order to simplify the structure of unmanned plane,
When using motor as driving device 13 in an embodiment of the present invention, the lock of mechanical finger 12 is also may be implemented in motor itself
It is fixed.
In any of the embodiments of the present invention, optionally, it further includes the video camera for being set to pedestal 11 that manipulator, which grabs 10, is taken the photograph
Camera is for shooting mechanical finger 12 or outside.The movement of mechanical finger 12 can be monitored using video camera, so as to
It is enough that mechanical finger 12 is adjusted in time.
Second aspect, the present invention also provides a kind of unmanned plane, the manipulator including drone body and first aspect is grabbed,
Wherein: the pedestal that manipulator is grabbed is set to drone body, and the pedestal is located at drone body and manipulator is grabbed at least three
Between a mechanical finger；Aforementioned at least three mechanical finger is opened and closed along the direction far from drone body.
Unmanned plane provided in an embodiment of the present invention, when needing to grab object, driving device drives transmission component along leading
It is slided to axis, thus the mechanical finger folding for driving manipulator to grab, to realize crawl function, and the knot of the unmanned plane
Structure is relatively simple, and then improves the reliability and stability of unmanned plane.In addition, when mechanical finger opens, due to manipulator
The end of finger forms a landing plane, the stabilization of drone center of unmanned aerial vehicle is able to maintain when unmanned plane is landed, to make nothing
It is man-machine more smoothly to land.
As shown in figure 3, the third aspect, the present invention also provides a kind of controlling parties that the manipulator applied to first aspect is grabbed
Method, comprising:
Step 101, the load current for acquiring driving device；
Step 102, according to load current, control driving device and stop driving transmission component, so that manipulator is grabbed at least
Three mechanical fingers stop closure.
In the present embodiment, according to the load current of acquisition, it can be determined that manipulator grabs tively firm catch whether
Object, when the load current of driving device increases suddenly, manipulator grabs and tively firm catches object at this time, and control is driven
Dynamic device stops driving transmission component and is no longer further closed so that mechanical finger be made to keep the opening angle.Using the control
Method, excessively closure causes manipulator to grab failure when can grip in crawl object to avoid manipulator, grabs to improve manipulator
Service life.
As shown in figure 4, fourth aspect, the present invention also provides a kind of control that the manipulator applied to first aspect is grabbed dresses
Set 30, comprising:
Acquisition unit 31, for acquiring the load current of driving device；
Control unit 32, for controlling the driving device and stopping driving transmission component according to the load current, so that
At least three mechanical fingers that the manipulator is grabbed stop closure.
In the present embodiment, the load current acquired according to acquisition unit 31, control unit 32 may determine that manipulator is grabbed
Whether object is tively firm caught, when the load current of driving device increases suddenly, manipulator is grabbed more at this time
Object is caught securely, and control unit 32 controls driving device and stops driving transmission component, so that mechanical finger be made to keep this
Angle of release degree, is no longer further closed.Using the control device 30, excessively closure is led when can grip in crawl object to avoid manipulator
Manipulator is caused to grab failure, to improve the service life that manipulator is grabbed.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of manipulator for unmanned plane is grabbed, which is characterized in that including pedestal and be set at least the three of the pedestal
A mechanical finger, driving device, guiding axis and transmission component, in which:
The driving device, the transmission component and at least three mechanical finger are sequentially connected, the transmission component and institute
Guiding axis is stated to be slidably connected；
The driving device is for driving the transmission component to slide along the guiding axis, so that at least three mechanical finger
Folding.
2. manipulator as described in claim 1 is grabbed, which is characterized in that each mechanical finger includes end finger and difference
The hinged connecting rod with the end finger and the transmission component, the one end and institute of the end finger close to the connecting rod
It is hinged to state pedestal, the connecting rod is between the end finger and the transmission component.
3. manipulator as described in claim 1 is grabbed, which is characterized in that the transmission component includes worm gear and the snail of engagement assembly
Bar, the worm screw connect with the driving device, the worm gear and the guiding axis slidable fit, at least three manipulator
Refer to hinged with the worm gear respectively；
The driving device is for driving the worm screw to rotate, to make the turbine for engaging assembly with the worm screw along the guiding
Axis sliding, so that at least three mechanical finger opens and closes.
4. manipulator as described in claim 1 is grabbed, which is characterized in that further include the control being electrically connected with the driving device
Device, the controller drive the transmission component to slide along the guiding axis for controlling the driving device so that it is described extremely
Few three mechanical fingers folding.
5. manipulator as described in claim 1 is grabbed, which is characterized in that further include the locking mechanism for being set to the pedestal, institute
Locking mechanism is stated for locking the opening angle of at least three mechanical finger.
6. manipulator as described in claim 1 is grabbed, which is characterized in that further include the video camera for being set to the pedestal.
7. manipulator as described in any one of claims 1 to 6 is grabbed, which is characterized in that the quantity of the mechanical finger is three.
8. a kind of unmanned plane, which is characterized in that including drone body and manipulator as described in any one of claims 1 to 7
It grabs, in which:
The pedestal that the manipulator is grabbed is set to the drone body, and the pedestal is located at the drone body and described
Between at least three mechanical fingers that manipulator is grabbed；At least three mechanical finger is along the direction far from the drone body
Folding.
9. a kind of control method grabbed applied to manipulator as described in any one of claims 1 to 7 characterized by comprising
Acquire the load current of driving device；
According to the load current, controls the driving device and stop driving transmission component, so that the manipulator is grabbed at least
Three mechanical fingers stop closure.
10. a kind of control device grabbed applied to manipulator as described in any one of claims 1 to 7, which is characterized in that packet
It includes:
Acquisition unit, for acquiring the load current of driving device；
Control unit, for controlling the driving device and stopping driving transmission component, so that the machine according to the load current
At least three mechanical fingers that tool hand is grabbed stop closure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811083108.6A CN108994875A (en) | 2018-09-17 | 2018-09-17 | Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811083108.6A CN108994875A (en) | 2018-09-17 | 2018-09-17 | Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108994875A true CN108994875A (en) | 2018-12-14 |
Family
ID=64591913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811083108.6A Pending CN108994875A (en) | 2018-09-17 | 2018-09-17 | Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108994875A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204295697U (en) * | 2014-10-30 | 2015-04-29 | 中国电器科学研究院有限公司 | A kind of end picking-up device for robot |
| CN106514690A (en) * | 2016-11-18 | 2017-03-22 | 中国电器科学研究院有限公司 | Robot tooling |
| CN206277408U (en) * | 2016-10-31 | 2017-06-27 | 上海未来伙伴机器人有限公司 | Unmanned plane hand grabs device |
| CN206766347U (en) * | 2017-03-18 | 2017-12-19 | 芜湖元一航空科技有限公司 | Fire extinguisher bomb bomb droping gear is unloaded in a kind of grabbing for fire-fighting unmanned plane |
| FR3053600A1 (en) * | 2016-06-22 | 2018-01-12 | Parrot Drones | GRIPPING DEVICE FOR DRONE AND DRONE COMPRISING SUCH A GRIPPING DEVICE |
| CN206954511U (en) * | 2017-07-28 | 2018-02-02 | 济南职业学院 | A kind of forest extinguishing unmanned plane |
-
2018
- 2018-09-17 CN CN201811083108.6A patent/CN108994875A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204295697U (en) * | 2014-10-30 | 2015-04-29 | 中国电器科学研究院有限公司 | A kind of end picking-up device for robot |
| FR3053600A1 (en) * | 2016-06-22 | 2018-01-12 | Parrot Drones | GRIPPING DEVICE FOR DRONE AND DRONE COMPRISING SUCH A GRIPPING DEVICE |
| CN206277408U (en) * | 2016-10-31 | 2017-06-27 | 上海未来伙伴机器人有限公司 | Unmanned plane hand grabs device |
| CN106514690A (en) * | 2016-11-18 | 2017-03-22 | 中国电器科学研究院有限公司 | Robot tooling |
| CN206766347U (en) * | 2017-03-18 | 2017-12-19 | 芜湖元一航空科技有限公司 | Fire extinguisher bomb bomb droping gear is unloaded in a kind of grabbing for fire-fighting unmanned plane |
| CN206954511U (en) * | 2017-07-28 | 2018-02-02 | 济南职业学院 | A kind of forest extinguishing unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN111717391B (en) * | 2020-06-28 | 2022-11-22 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10661899B2 (en) | In flight transfer of packages between aerial drones | |
| US10765896B2 (en) | Wells rescue device | |
| CN108994873A (en) | Manipulator and unmanned plane for unmanned plane | |
| US6334730B1 (en) | Telescopic rod for opening a mobile cowl, in particular of an aircraft engine bay | |
| DE60211421T2 (en) | Hydraulic actuation system for use with a cargo door of an aircraft with a cam lock | |
| WO2019128401A1 (en) | Undercarriage and unmanned aerial vehicle provided with same | |
| US11396934B2 (en) | Method for maneuvering doors of bays of aircraft, and actuator used therefor | |
| EP2130765A3 (en) | Aircraft landing gear unlock actuator | |
| CN108994875A (en) | Manipulator for unmanned plane is grabbed and its control method, control device and unmanned plane | |
| US10081434B2 (en) | Track mounted hold open rod | |
| EP3632793A1 (en) | Unmanned aerial vehicle and landing gear thereof | |
| WO2018095214A1 (en) | Unmanned aerial vehicle and landing gear device thereof | |
| CA2790728A1 (en) | Ground manoever device for a landing gear trap on an aircraft | |
| US10041278B2 (en) | Block system and assembly for lift doors | |
| RU2013147722A (en) | LOCKING DEVICE WITH MECHANICAL DETECTION OF CLOSING AND OPENING | |
| US20210285402A1 (en) | Locking system and torque limiter for an electrically actuated thrust reverser | |
| WO2022082383A1 (en) | Self-locking structure, arm assembly and movable platform | |
| EP3819214A1 (en) | Aerial vehicle comprising compliant arm | |
| EP3345825A1 (en) | Latch system with position hold | |
| CN108994874A (en) | Mechanical arm and unmanned plane for unmanned plane | |
| CN209080138U (en) | Door-down switch device and unmanned plane | |
| EP2796828A1 (en) | Multi-stage drive mechanisms | |
| CN110027978A (en) | Automatic coupling and decoupling hook and hanging method | |
| CN209874679U (en) | Safety inner handle | |
| WO2019137078A1 (en) | Unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 264200 Zone E, blue venture Valley, No. 40, Yangguang Road, Nanhai new area, Weihai City, Shandong Province Applicant after: Zhendi Technology Co.,Ltd. Address before: 100086 3rd floor, block a, Zhizhen building, 7 Zhichun Road, Haidian District, Beijing Applicant before: POWERVISION TECH Inc. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181214 |