CN111137464A

CN111137464A - Environment-friendly robot

Info

Publication number: CN111137464A
Application number: CN201911300520.3A
Authority: CN
Inventors: 周鑫; 郑棱楠; 陈博取; 李敬; 段志生
Original assignee: Peking University
Current assignee: Peking University
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2020-05-12

Abstract

The invention relates to an environment-friendly robot. The six-rotor unmanned aerial vehicle flight system comprises three main components, namely a six-rotor unmanned aerial vehicle flight system, a mechanical arm and a mechanical gripper. Carry on the arm through many rotor unmanned aerial vehicle, combine together characteristics such as the great motion range of unmanned aerial vehicle and arm flexible operation, through being equipped with arm and terminal end effector for unmanned aerial vehicle, realize the operation to target environment object, will greatly expand unmanned aerial vehicle's range of application. The high-altitude garbage can be quickly and effectively treated by combining the unmanned aerial vehicle with the mechanical arm and the clamping device, the working efficiency of sanitation workers is improved, and potential safety hazards are reduced when the high-altitude garbage can work.

Description

Environment-friendly robot

Technical Field

The invention belongs to the technical field of electromagnetic control, and relates to an environment-friendly robot based on an unmanned aerial vehicle carrying mechanical arm and a clamping device.

Background

The urban environment protection has a difficult problem that the urban environment protection is positioned at high altitude or is difficult to reach by people, measures taken at present generally need sanitation workers to clean the urban environment protection through auxiliary tools such as an elevator, time and labor are wasted only by manpower, great potential safety hazards exist, and the urban sanitation workers are difficult to reach in some places. The unmanned aerial vehicle is a hot spot of a new global scientific and technological revolution and an industrial revolution, and has the characteristics of relatively low cost, no casualty risk, good maneuvering characteristics, convenient use and the like, and particularly has unique advantages in many complex and dangerous air activities, so the unmanned aerial vehicle is widely applied in the fields of movie and television aerial photography, industrial operation, disaster rescue, public safety and consumption and entertainment industries. But at present, the environment-friendly work of high-rise buildings is not carried out by combining an unmanned aerial vehicle with a mechanical arm. Carry on the arm through many rotor unmanned aerial vehicle, combine together characteristics such as the great motion range of unmanned aerial vehicle and arm flexible operation, through being equipped with arm and terminal end effector for unmanned aerial vehicle, realize the operation to target environment object, will greatly expand unmanned aerial vehicle's range of application. The high-altitude garbage can be quickly and effectively treated by combining the unmanned aerial vehicle with the mechanical arm and the clamping device, the working efficiency of sanitation workers is improved, and potential safety hazards are reduced when the high-altitude garbage can work.

The invention content is as follows:

the invention aims to provide an environment-friendly robot based on an unmanned aerial vehicle carrying mechanical arm and a clamping device.

The invention comprises an unmanned aerial vehicle, a mechanical arm and a mechanical gripper.

Unmanned aerial vehicle include controller and aircraft, the controller includes microprocessor and position locking device, navigation appearance measuring device, throttle and course and the altitude mixture control device that are connected with the microprocessor electricity respectively, aircraft treater, brushless motor and the fixed height device and the motor speed adjusting device who are connected with the treater electricity respectively, be equipped with the wireless communication device of mutual electric connection on controller and the aircraft, the wireless communication device and the microprocessor electricity of controller are connected, the wireless communication device and the treater electricity of aircraft are connected, the brushless motor and the motor speed adjusting device electricity of aircraft are connected.

The mechanical arm comprises a steering engine fixing piece, a steering engine, an upper arm, a lower arm and a bottom fixing frame; the steering engine fixing pieces are positioned below the fixed platform, and two steering engine fixing pieces are arranged on two sides of each steering engine; the output shaft of the steering engine is connected with the upper end of the upper arm; the upper arm lower extreme is connected with underarm, and underarm is connected with the bottom mount.

The mechanical gripper comprises a clamping steering engine, a clamping shell, a gear, a clamping connecting rod and a clamping arm; an output shaft of the clamping steering engine is connected with one gear; the two gears are meshed with each other and are positioned in the middle of the clamping shell; each gear is connected with a clamping connecting rod and is connected with the clamping arm through the clamping connecting rod; the middle of the clamping arm is connected with a driven connecting rod; the driven connecting rod is fixed on the clamping shell.

The position locking device comprises a gyroscope, an accelerometer and a global satellite positioning system circuit module.

The attitude and heading measuring device comprises a gyroscope, an accelerometer, an electronic magnetic field meter and a temperature sensor.

The navigation attitude measuring device is a three-axis acceleration gyroscope sensor.

The height fixing device comprises an ultrasonic sensor and a barometer sensor.

The steering engine fixing piece is connected through a hole in the fixed platform by bolts and nuts.

The steering engine has four preformed holes in total on both sides and is connected with two steering engine fixing parts through bolts and nuts.

The steering engine output shaft is connected with the upper arm through shape interference fit.

The upper arm and the lower arm are connected through a spherical hinge. The lower arm is connected with the bottom fixing frame through a spherical hinge. The joints of the clamping arms are fixed and connected by adopting hexagon socket head cap bolts and nuts.

Preferably, the unmanned aerial vehicle is a six-rotor unmanned aerial vehicle.

The six-rotor unmanned aerial vehicle can reach places where manpower cannot reach or cannot reach safely by making full use of the quick maneuverability of the unmanned aerial vehicle to pick up garbage.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the robot mechanism of FIG. 1;

FIG. 3 is a schematic view of the grasping apparatus of FIG. 1;

FIG. 4 is a schematic view of a fixed structure of a steering engine;

fig. 5 is a schematic structural diagram of the gripping steering engine.

Detailed Description

The following describes embodiments of the present invention in detail with reference to the accompanying drawings.

As shown in fig. 1, an environmental protection robot based on unmanned aerial vehicle carries on arm and presss from both sides and get device, including taking power output interface (conveniently providing the power for the gripper hand) unmanned aerial vehicle, what adopted at present is six rotor unmanned aerial vehicle flight system (but not be limited to six rotor unmanned aerial vehicle), arm mechanism 2 and press from both sides and get device 3. The arm is decided the platform and is had two connecting holes through connecting frame 15 upper portion and be used for connecting unmanned aerial vehicle, and the below has a tie point to pass through bolted connection arm and is connected with the unmanned aerial vehicle below. The clamping device 3 is in threaded connection with the lower end of the mechanical arm mechanism through the picking rack.

As shown in fig. 2, the mechanical arm mechanism comprises three steering engines, a connecting rod structure, a fixed platform 4 and a bottom fixing frame 9, the circle centers of the fixed platform 4 of the three steering engine connecting rod mechanisms are uniformly distributed, and the upper end of the fixed platform 4 is connected with a connecting frame 15 through a bolt. Each mechanical arm comprises a mechanical arm steering engine 6, an upper arm 7 and a lower arm 8; the steering engine 6 is fixed at the bottom of the fixed platform 4 through a steering engine fixing piece 5 (two fixing plates positioned at two sides of the steering engine, the upper part of the steering engine is connected with the flat plate 4 through bolts, and the lower part of the steering engine is connected with the steering engine through bolts as shown in figure 4); the upper arm 7 is connected with an output shaft of the steering engine 6 (three steering engines are matched to rotate simultaneously to realize the three-dimensional motion of the bottom). The lower arm 8 comprises two rods, one end of each of which is connected with the upper arm 7 through a ball hinge. The other ends of the two rods are respectively hinged with the bottom fixing frame 9 through ball hinges, and the connecting points are uniformly distributed along the circle center of the bottom fixing frame 9.

As shown in fig. 3, the gripping device comprises a gripping steering engine 10, a gripping housing 11, a gear 12, a gripping link 13 and a gripping arm 14. The clamping steering engine 10 is fixed on the clamping shell 11 through a bolt, the gear 12 is connected with an output shaft of the clamping steering engine 10 (the gear rotates to enable the clamping arm 14 to clamp), one end of the clamping connecting rod 13 is fixed on the clamping shell 11 through a bolt, and the other end of the clamping connecting rod is connected with the clamping arm 14 through a bolt. The power output of the clamping steering engine 10 is driven by a gear 12 (the output shaft of the steering engine is connected with the gear, the gear is connected with a clamping connecting rod 13, so that the clamping connecting rod 13 rotates, the clamping connecting rod 14 as a driven rod also moves together, see fig. 5 in detail), the clamping connecting rod 13 and the clamping arm 14 move, and the clamping action is realized.

The connecting frame and the clamping device can be manufactured by adopting a 3D printing technology.

The working process is as follows: at first, operate unmanned aerial vehicle and fly to the object top that needs to press from both sides and get, then can come the accurate position of pressing from both sides the object of being got by the judgement through naked eye or the camera that is furnished with on the cloud platform, the arm is controlled to the rethread outside remote control unit and is moved to the assigned position, and the arm lock reachs and is pressed from both sides the object and press from both sides the within range back just remote control operation steering wheel work and make the arm lock clip the object by pressing from both sides.

Claims

1. An environmental protection robot which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle, a mechanical arm and a mechanical gripper;

the unmanned aerial vehicle comprises a controller and an aircraft, wherein the controller comprises a microprocessor, a position locking device, a navigation attitude measuring device, an accelerator, a course and a height adjusting device which are respectively and electrically connected with the microprocessor, an aircraft processor, a brushless motor, a height fixing device and a motor speed adjusting device which are respectively and electrically connected with the processor, wireless communication devices which are mutually and electrically connected are arranged on the controller and the aircraft, the wireless communication device of the controller is electrically connected with the microprocessor, the wireless communication device of the aircraft is electrically connected with the processor, and the brushless motor of the aircraft is electrically connected with the motor speed adjusting device;

the mechanical arm comprises a steering engine fixing piece, a steering engine, an upper arm, a lower arm and a bottom fixing frame; the steering engine fixing pieces are positioned below the fixed platform, and two steering engine fixing pieces are arranged on two sides of each steering engine; the output shaft of the steering engine is connected with the upper end of the upper arm; the lower end of the upper arm is connected with the lower arm, and the lower arm is connected with the bottom fixing frame;

2. The environment-friendly robot as claimed in claim 1, wherein: the position locking device comprises a gyroscope, an accelerometer and a global satellite positioning system circuit module.

3. The environment-friendly robot as claimed in claim 1, wherein: the attitude and heading measuring device comprises a gyroscope, an accelerometer, an electronic magnetic field meter and a temperature sensor.

4. The environment-friendly robot as claimed in claim 1, wherein: the navigation attitude measuring device is a three-axis acceleration gyroscope sensor.

5. The environment-friendly robot as claimed in claim 1, wherein: the height fixing device comprises an ultrasonic sensor and a barometer sensor.

6. The environment-friendly robot as set forth in claim 1, wherein: the steering engine fixing piece is connected through a hole in the fixed platform by bolts and nuts.

7. The environment-friendly robot as set forth in claim 1, wherein: the steering engine has four preformed holes in total on both sides and is connected with two steering engine fixing parts through bolts and nuts.

8. The environment-friendly robot as set forth in claim 1, wherein: the output shaft of the steering engine is connected with the upper arm through shape interference fit.

9. The environment-friendly robot as set forth in claim 1, wherein: the upper arm is connected with the lower arm through a spherical hinge; the lower arm is connected with the bottom fixing frame through a spherical hinge; the joints of the clamping arms are fixed and connected by adopting hexagon socket head cap bolts and nuts.

10. The environment-friendly robot as set forth in claim 1, wherein: unmanned aerial vehicle is six rotor unmanned aerial vehicle.