CN111994271A - Many rotor unmanned aerial vehicle platforms of big working range arm - Google Patents
Many rotor unmanned aerial vehicle platforms of big working range arm Download PDFInfo
- Publication number
- CN111994271A CN111994271A CN202010909290.7A CN202010909290A CN111994271A CN 111994271 A CN111994271 A CN 111994271A CN 202010909290 A CN202010909290 A CN 202010909290A CN 111994271 A CN111994271 A CN 111994271A
- Authority
- CN
- China
- Prior art keywords
- platform
- aerial vehicle
- unmanned aerial
- mechanical arm
- frame
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform, relates to a mechanical arm moving platform, and aims to solve the problem that the working space of an unmanned aerial vehicle is divided into two areas above a machine body and below the machine body by a machine body plane, and the working space of a mechanical arm is limited after the unmanned aerial vehicle is arranged in a mechanical arm; the frame of the unmanned aerial vehicle is hollow; the mechanical arm moving platform is fixed in the hollow frame of the unmanned aerial vehicle and penetrates through the hollow frame of the unmanned aerial vehicle, so that one part of the mechanical arm moving platform is positioned above the unmanned aerial vehicle body, and the other part of the mechanical arm moving platform is positioned below the unmanned aerial vehicle body; the mechanical arm is driven by the mechanical arm moving platform, can move from one end of the mechanical arm moving platform and reach the other end of the mechanical arm moving platform after passing through the hollow frame of the unmanned aerial vehicle, so that the mechanical arm moves to the lower part from the upper part of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a mechanical arm moving platform, in particular to a mechanical arm unmanned aerial vehicle moving platform with a hollow frame.
Background
As a mature unmanned aerial vehicle, a multi-rotor drone (hereinafter referred to collectively as a drone) can be combined with many different execution structures to accomplish different tasks, where robotic arms are a common type of mechanism. But current unmanned aerial vehicle platform all is to fly promptly and control the distribution in the middle of the fuselage, and power device distributes all around, and the fuselage plane has divided into two regions more than the fuselage and below the fuselage with workspace like this, so unmanned aerial vehicle is on the fuselage or under the fuselage by the restriction of the workspace of arm after the arm of packing into, can not exert the whole effects of arm. Although can let the arm still can reach the workspace that original arm can't reach through unmanned aerial vehicle moving as a whole to the energy that unmanned aerial vehicle moving as a whole consumed is more than only removing the arm.
Disclosure of Invention
The invention aims to solve the problem that the working space of a mechanical arm of an unmanned aerial vehicle is limited after the unmanned aerial vehicle is arranged in the mechanical arm, and provides a large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform.
The invention discloses a large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform, which comprises an unmanned aerial vehicle, a mechanical arm moving platform and a mechanical arm;
the frame of the unmanned aerial vehicle is hollow;
the mechanical arm moving platform is fixed in the hollow frame of the unmanned aerial vehicle and penetrates through the hollow frame of the unmanned aerial vehicle, so that one part of the mechanical arm moving platform is positioned above the unmanned aerial vehicle body, and the other part of the mechanical arm moving platform is positioned below the unmanned aerial vehicle body;
the mechanical arm is driven by the mechanical arm moving platform, can move from one end of the mechanical arm moving platform and reach the other end of the mechanical arm moving platform after passing through the hollow frame of the unmanned aerial vehicle, so that the mechanical arm moves to the lower part from the upper part of the unmanned aerial vehicle.
The invention has the beneficial effects that: the increase of the working space of the mechanical arm and the movement of the flying platform can enable the tail end execution structure of the mechanical arm to have different poses, so that multiple feasibility is increased for one task.
The unmanned aerial vehicle does not need to frequently move back and forth aiming at tasks needing large-scale operation. This reduces the energy consumption of the airframe power system.
Drawings
Fig. 1 is a schematic structural view of a large working range robotic multi-rotor drone platform of the present invention;
fig. 2 is a schematic structural diagram of one embodiment of a platform lifting device in a large-working-range robotic multi-rotor drone platform according to the present invention; the platform lifting device comprises a screw rod motor and a structural schematic diagram of a screw rod;
fig. 3 is a schematic structural diagram of another embodiment of the platform lifting device in the large-working-range robotic multi-rotor drone platform of the present invention; the platform lifting device comprises a belt motor, a belt pulley, a guide wheel rod and a belt, wherein the belt comprises a lead screw motor and a lead screw;
fig. 4 is a schematic diagram of a matching structure of a mechanical arm loading platform, a mechanical arm and a platform connecting seat in the large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform of the invention;
fig. 5 is a schematic sectional structure view of a mechanical arm loading platform in a large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform.
Detailed Description
In a first specific embodiment, the large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform comprises an unmanned aerial vehicle 1, a mechanical arm moving platform 2 and a mechanical arm 3;
the frame of the unmanned aerial vehicle 1 is hollow;
the mechanical arm moving platform 2 is fixed in the hollow frame of the unmanned aerial vehicle 1 and penetrates through the hollow frame of the unmanned aerial vehicle 1, so that one part of the mechanical arm moving platform 2 is positioned above the body of the unmanned aerial vehicle 1, and the other part of the mechanical arm moving platform 2 is positioned below the body of the unmanned aerial vehicle 1;
the mechanical arm 3 is driven by the mechanical arm moving platform 2, and can move from one end of the mechanical arm moving platform 2 and reach the other end of the mechanical arm moving platform 2 after passing through the hollow frame of the unmanned aerial vehicle 1, so that the mechanical arm 3 moves to the lower part from the upper part of the unmanned aerial vehicle 1.
Specifically, as shown in fig. 1 to 3, the drone of the present invention only refers to a structure of a body required by the drone to fly, that is, a frame flight power system does not include other structures used for the drone but not serving for flight.
This embodiment's many rotor unmanned aerial vehicle platforms of big working range arm includes: unmanned aerial vehicle 1, arm moving platform 2 and arm 3. Unmanned aerial vehicle 1's frame will adopt hollow structure, and arm moving platform 2 is left to the intermediate space, and the vacancy part in the middle of promptly is used for placing arm moving platform 2, and arm moving platform 2 has three degrees of freedom, the lift of vertical direction and the rotation of diaxon. Through reciprocating and the rotation of arm moving platform 2, fix arm 3 on arm moving platform 2 will be can be in the upper portion and the lower part work of 1 fuselage of unmanned aerial vehicle, and the rotation of arm 3 self can provide extra steady function that increases simultaneously.
The mechanical arm 3 of the present embodiment may be selected according to actual requirements and fixed on the mechanical arm moving platform 2, and the type and the end executing device of the mechanical arm 3 may be not limited to parallel mechanical arms or serial mechanical arms.
Further, the mechanical arm moving platform 2 comprises a pair of platform lifting devices 2-1, a pair of platform connecting seats 2-2 and a mechanical arm loading platform 2-3;
the pair of platform lifting devices 2-1 are symmetrically fixed on two opposite inner side surfaces of the frame of the unmanned aerial vehicle 1;
the pair of platform connecting seats 2-2 are respectively arranged on the two platform lifting devices 2-1 and are respectively driven by the corresponding platform lifting devices 2-1 to move along the length direction of the platform lifting devices 2-1;
the mechanical arm loading platform 2-3 comprises an inner rod 2-3-1, an outer sleeve 2-3-2 and a pair of platform connecting pieces 2-3-3;
one end of the inner rod 2-3-1 is sleeved at one end of the outer sleeve 2-3-2, and the inner rod 2-3-1 and the outer sleeve 2-3-2 can slide relatively;
the other end of the inner rod 2-3-1 is in running fit with one platform connecting piece 2-3-3, and the other end of the outer sleeve 2-3-2 is in running fit with the other platform connecting piece 2-3-3;
the mechanical arm loading platform 2-3 is positioned between the two platform connecting seats 2-2, and the platform connecting pieces 2-3-3 at the two ends of the mechanical arm loading platform 2-3 are respectively hinged with the platform connecting seats 2-2 at the corresponding sides.
Specifically, as shown in fig. 1 to 3, the robot moving platform 2 has three degrees of freedom, elevation and rotation in two axes. Like this, the hollow portion of unmanned aerial vehicle 1 frame except can letting unmanned aerial vehicle 1 reciprocate can also provide arm moving platform 2's the function of increasing steady.
According to the requirement of the degree of freedom, the mechanical arm moving platform 2 is divided into an inner layer driving mechanism and an outer layer driving mechanism, the outer layer driving mechanism is responsible for lifting and rotating and is driven by two motors in the middle. The inner layer is only responsible for the rotation of the other axis. The outer layer drives the guide rails 2-7 fixed on the body of the unmanned aerial vehicle 1 to ascend and descend. The left platform lifting device 2-1 and the right platform lifting device 2-1 respectively drive the mechanical arm loading platform 2-3 to move with the corresponding end of the mechanical arm loading platform, the heights of the left end and the right end of the mechanical arm loading platform 2-3 can be synchronous or asynchronous, namely, the rotation of the mechanical arm loading platform 2-3 is realized by adjusting the height difference.
Because the linear distance between the two platform connecting seats 2-2 is changed due to the different heights of the two side platform lifting devices 2-1, in order to ensure that the heights of the two side platform lifting devices 2-1 are different to control the mechanical arm loading platform 2-3 to rotate, the mechanical arm loading platform 2-3 is provided with a hinge structure on a connecting mechanism (the platform connecting seats 2-2) of the guide rails 2-7. The robot arm loading platform 2-3 is also divided into left and right parts.
As shown in figures 4-5, the mechanical arm loading platform 2-3 adopts a sleeve design, and the left part and the right part can slide mutually through the connection of the inner rod 2-3-1 and the outer sleeve 2-3-2 to adapt to distance change caused by height difference.
The mechanical arm 3 of the embodiment can be selected according to actual requirements and fixed on the mechanical arm loading platforms 2-3, and the type and the end executing device of the mechanical arm 3 can be not limited to parallel mechanical arms or series mechanical arms.
Further, the mechanical arm moving platform 2 also comprises a platform rotating motor 2-4;
the body of the platform rotating motor 2-4 is fixed on the platform connecting piece 2-3-3 connected with the other end of the outer sleeve 2-3-2, and the power output shaft of the platform rotating motor 2-4 is in transmission fit with the outer sleeve 2-3-2, so that the platform rotating motor 2-4 can drive the outer sleeve 2-3-2 to rotate around the long shaft of the platform rotating motor.
Further, the mechanical arm moving platform 2 also comprises a rotary table 2-5 and an attitude sensor 2-6;
the rotary table 2-5 is fixed on the outer side wall of the outer sleeve 2-3-2;
the attitude sensor 2-6 is fixed on the rotary table 2-5 and used for acquiring the attitude of the rotary table 2-5.
Specifically, as shown in fig. 4, the rotating part of the device is sleeved with a rotary table 2-5 on the outer sleeve 2-3-2, and the rotary table 2-5 is driven by two platform rotating motors 2-4 on the outer sleeve 2-3-2. The turntable 2-5 can be rotated 360 degrees.
Meanwhile, the back of the rotary table 2-5 is provided with an attitude sensor 2-6 which is used for providing attitude information of the rotary table 2-5 for a controller of the rotary table 2-5 and realizing the function of increasing the stability of the platform. The platform controller can adjust the height of the lifting platforms at two sides and the angle of the rotary table according to the data of the attitude sensors 2-6 and the instruction of a user.
The mechanical arm 3 of the embodiment can be selected according to actual requirements and fixed on the rotary tables 2-5, and the type and the end executing device of the mechanical arm 3 are not limited to parallel mechanical arms and serial mechanical arms.
Further, the mechanical arm moving platform 2 also comprises a pair of guide rails 2-7;
the pair of guide rails are symmetrically fixed on two opposite inner side surfaces of the frame of the unmanned aerial vehicle 1, and the pair of guide rails 2-7 are perpendicular to the plane of the frame of the unmanned aerial vehicle 1;
the platform connecting seats 2-2 are respectively embedded into the guide rails 2-7 on the corresponding sides and can move along the length direction of the guide rails 2-7.
Specifically, as shown in fig. 1 to 3, the same combined vertical guide rails 2 to 7 are laid in the middle of the left side and the right side of the frame hollow place of the upper unmanned aerial vehicle 1. In order to adjust the length of the guide rails 2-7 according to requirements, the guide rails 2-7 can adopt a sectional splicing design. The mechanical arm moving platform 2 is mainly used for lifting, and the platform connecting seat 2-2 is sleeved on the guide rail 2-7. And the limiting assembly is arranged at the terminal of the rail 2-7 to prevent the mechanical arm loading platform 2-3 from exceeding the range of the guide rail.
The guide rails 2-7 can be spliced and combined in a sectional mode, and the two sections of guide rails 2-7 are fixed through mounting holes. The inner layer (mechanical arm loading platform 2-3) of the mechanical arm moving platform 2 is integrally fixed on a lifting platform driven by the outer layer (platform lifting device 2-1), a rotating mechanism (mechanical arm loading platform 2-3) capable of rotating 360 degrees is arranged on the platform, and the rotating plane of the mechanical arm loading platform 2-3 is vertical to the lifting plane of the platform lifting device 2-1. The rotating mechanism of the mechanical arm loading platform 2-3 is provided with a flat-plate-shaped turntable 2-5 for installing the image system 4 and the mechanical arm 3.
Further, as shown in fig. 2, the platform lifting device 2-1 comprises a screw motor 2-1-1 and a screw 2-1-2;
the screw rod motor 2-1-1 is fixed at one end of the corresponding side guide rail 2-7, the screw rod 2-1-2 and a power output shaft of the screw rod motor 2-1-1 are coaxially fixed, and the screw rod 2-1-2 is vertical to the plane of the frame of the unmanned aerial vehicle 1;
the platform connecting seat 2-2 is provided with a screw hole matched with the screw rod 2-1-2, and the platform connecting seat 2-2 is in screw fit with the screw rod 2-1-2 on the corresponding side through the screw hole, so that when the screw rod motor 2-1-1 drives the screw rod 2-1-2 to rotate, the corresponding platform connecting seat 2-2 is driven to move along the length direction of the screw rod 2-1-2.
Further, the platform lifting device 2-1 comprises a belt motor 2-1-3, a belt pulley 2-1-4, two guide wheels 2-1-5, two guide wheel rods 2-1-6 and a belt 2-1-7;
the belt motor 2-1-3 is fixed on the frame of the unmanned aerial vehicle 1;
the belt pulley 2-1-4 is coaxially fixed with a power output shaft of the belt motor 2-1-3;
two guide wheel rods 2-1-6 are respectively fixed at two ends of the same corresponding side guide rail 2-7;
the two guide wheels 2-1-5 are respectively sleeved on the two guide wheel rods 2-1-6;
the belt 2-1-7 is sleeved on the outer sides of the belt pulley 2-1-4 and the two guide wheels 2-1-5 at the same time, and the belt motor 2-1-3 drives the belt pulley 2-1-4 to rotate so as to drive the belt 2-1-7 to rotate;
the platform connecting seat 2-2 is fixed with a section of the belt 2-1-7 at the corresponding side, so that when the belt 2-1-7 rotates, the corresponding platform connecting seat 2-2 is driven to move along the length direction of the belt 2-1-7.
Specifically, as shown in fig. 1 and 3, the platform lifting device 2-1 may also adopt a structure in which the limiting assemblies on the same side of the guide rails 2-7 are further provided with guide wheel rods 2-1-6 (one above and one below), and the guide wheel rods 2-1-6 (in the middle) are provided with guide wheels 2-1-5. The upper and lower guide wheels 2-1-5 and the belt pulley 2-1-4 on the belt motor 2-1-3 on the machine body form a triangular belt pulley structure. A small section of the mechanical arm loading platform 2-3 is fixed on the belt 2-1-7. The belt motor 2-1-3 rotates to drive the belt 2-1-7 to rotate, and further drives the mechanical arm loading platform 2-3 to move up and down.
The driving mode of the platform lifting device 2-1 is not limited to a motor screw rod, and belt transmission or hydraulic pressure can be adopted.
Further, an image system 4 is also included;
the image system 4 comprises a flying camera 4-1 and a plurality of control cameras 4-2;
the flying camera 4-1 is fixed on a frame of the unmanned aerial vehicle 1, and a lens of the flying camera 4-1 faces the advancing direction of the unmanned aerial vehicle;
a plurality of control cameras 4-2 are distributed and fixed at four corners of the rotary table 2-5.
Specifically, as shown in fig. 1 to 3, the image system 4 has two parts, providing aircraft pose information and robot arm pose information. The flying camera 4-1 for aircraft control is installed in the forward direction of the aircraft, and provides the forward view of the aircraft to the flyer or the visual servo system. The control cameras 4-2 for controlling the mechanical arm are four (two can be arranged and symmetrically arranged at two sides of the rotary table 2-5) arranged at four corners of the rotary table 2-5.
Further, the unmanned aerial vehicle 1 comprises a frame 1-1, four propeller supports 1-2 and four propellers 1-3;
the frame 1-1 is a hollow square frame;
one end of each of the four propeller supports 1-2 is respectively fixed at four vertex points of the rack 1-1, and the four propeller supports 1-2 are centrosymmetric by taking the middle shaft of the rack 1-1 as a central symmetric shaft;
one end of each of the four propeller supports 1-2 is provided with one propeller 1-3, and the four propellers 1-3 are centrosymmetric by taking the middle shaft of the rack 1-1 as a central symmetric shaft.
Specifically, as shown in fig. 1 to 3, the unmanned aerial vehicle 1 is in a four-axis unmanned aerial vehicle form, a frame 1-1 with a square frame is reserved in the middle of the frame of the unmanned aerial vehicle 1, and propeller supports 1-2 with sufficient length are extended from four top points of the frame 1-1 with the square frame for mounting the propellers 1-3 (and motors thereof).
The power layout of the device adopts an H-shaped four-rotor structure. The middle square frame 1-1 is linked with four propeller supports 1-2. The propeller support 1-2 is provided with a propeller 1-3.
Further, the unmanned aerial vehicle 1 also comprises a plurality of batteries 1-4;
a plurality of batteries 1-4 are fixed on two opposite sides of the frame 1-1 in an equal weight distribution, and a connection line of the total mass centers of the batteries 1-4 on the two sides passes through the midpoint of the cross section of the frame 1-1.
Specifically, as shown in fig. 1 to 3, the unmanned aerial vehicle 1 has a battery 1-4 mounted at a position near the center of the opposite periphery thereof to ensure compact weight distribution, and the battery is distributed symmetrically (on the left and right sides of the advancing direction of the unmanned aerial vehicle 1) or in a central symmetrical manner.
Batteries are arranged on two sides of the machine body. The spare part in the middle of the frame 1-1 is completely reserved for the mechanical arm moving platform 2.
The switching mode of the upper and lower working areas of the device needs to adjust the posture and the height in one-time switching. Taking the example from bottom to top, the height of the mechanical arm loading platform 2-3 is lowered through the platform lifting device 2-1, and enough space is reserved between the mechanical arm loading platform 2-3 and the body of the unmanned aerial vehicle 1. Then the rotary table 2-5 rotates to align the mechanical arm 3 above, and finally the lifting devices 2-1 on the two sides are lifted to complete switching. Or the height can be adjusted first and then the posture can be adjusted. As long as the movement tracks of the moving mechanism are not conflicted, the switching mode can be flexibly adjusted according to the actual situation.
The increase of the working space of the mechanical arm and the movement of the flying platform can enable the tail end execution structure of the mechanical arm to have different poses when the unmanned aerial vehicle 1 and the mechanical arm 3 are at the same position, and multiple feasibility is increased for one task. Especially for the work task with large span in the vertical direction, the unmanned aerial vehicle does not need to fly up and down frequently to change the height. And the lengths of the upper guide rail and the lower guide rail 2-7 can be selected in a combined mode, so that the expansibility of the platform is further improved. For example, many power transmission lines are arranged in a multi-layer manner. By adopting the device, the airplane can be parked at the middle position of the two groups of power transmission lines, and the upper and lower groups of power transmission lines are operated by moving the platform.
In addition, the large transmission lines are mounted on the power tower in different ways. Many electric wires can adopt hoist and mount formula, and unmanned aerial vehicle can't operate the electric wire from the top this moment, just can switch into the form of arm in the upper end this moment.
Claims (10)
1. A large-working-range mechanical arm multi-rotor unmanned aerial vehicle platform is characterized by comprising an unmanned aerial vehicle (1), a mechanical arm moving platform (2) and a mechanical arm (3);
the frame of the unmanned aerial vehicle (1) is hollow;
the mechanical arm moving platform (2) is fixed in the hollow frame of the unmanned aerial vehicle (1) and penetrates through the hollow frame of the unmanned aerial vehicle (1), so that one part of the mechanical arm moving platform (2) is positioned above the body of the unmanned aerial vehicle (1), and the other part of the mechanical arm moving platform is positioned below the body of the unmanned aerial vehicle (1);
the mechanical arm (3) is driven by the mechanical arm moving platform (2) and can move from one end of the mechanical arm moving platform (2) and penetrate through the hollow rack of the unmanned aerial vehicle (1) to reach the other end of the mechanical arm moving platform (2), so that the mechanical arm (3) moves to the lower side from the upper side of the unmanned aerial vehicle (1).
2. A large working range robotic multi-rotor drone platform according to claim 1, characterized in that the robotic moving platform (2) comprises a pair of platform lifting devices (2-1), a pair of platform connection seats (2-2) and a robotic loading platform (2-3);
the pair of platform lifting devices (2-1) are symmetrically fixed on two opposite inner side surfaces of the frame of the unmanned aerial vehicle (1);
the pair of platform connecting seats (2-2) are respectively arranged on the two platform lifting devices (2-1) and are respectively driven by the corresponding platform lifting devices (2-1) to move along the length direction of the platform lifting devices (2-1);
the mechanical arm loading platform (2-3) comprises an inner rod (2-3-1), an outer sleeve (2-3-2) and a pair of platform connecting pieces (2-3-3);
one end of the inner rod (2-3-1) is sleeved at one end of the outer sleeve (2-3-2), and the inner rod (2-3-1) and the outer sleeve (2-3-2) can slide relatively;
the other end of the inner rod (2-3-1) is in running fit with one platform connecting piece (2-3-3), and the other end of the outer sleeve (2-3-2) is in running fit with the other platform connecting piece (2-3-3);
the mechanical arm loading platform (2-3) is positioned between the two platform connecting seats (2-2), and the platform connecting pieces (2-3-3) at the two ends of the mechanical arm loading platform (2-3) are respectively hinged with the platform connecting seats (2-2) at the corresponding sides.
3. A large working range robotic multi-rotor drone platform according to claim 2, wherein the robotic moving platform (2) further comprises platform rotation motors (2-4);
the machine body of the platform rotating motor (2-4) is fixed on the platform connecting piece (2-3-3) connected with the other end of the outer sleeve (2-3-2), and a power output shaft of the platform rotating motor (2-4) is in transmission fit with the outer sleeve (2-3-2), so that the platform rotating motor (2-4) can drive the outer sleeve (2-3-2) to rotate around a long shaft of the platform rotating motor.
4. A large working range robotic multi-rotor drone platform according to claim 3, wherein the robotic mobile platform (2) further comprises a turntable (2-5) and attitude sensors (2-6);
the rotary table (2-5) is fixed on the outer side wall of the outer sleeve (2-3-2);
the attitude sensor (2-6) is fixed on the rotary table (2-5) and used for acquiring the attitude of the rotary table (2-5).
5. A large reach robotic multi-rotor drone platform according to claim 2, 3 or 4, wherein the robotic arm moving platform (2) further comprises a pair of rails (2-7);
the pair of guide rails are symmetrically fixed on two opposite inner side surfaces of the frame of the unmanned aerial vehicle (1), and the pair of guide rails (2-7) are perpendicular to the plane of the frame of the unmanned aerial vehicle (1);
the platform connecting seats (2-2) are respectively embedded into the guide rails (2-7) on the corresponding sides and can move along the length direction of the guide rails (2-7).
6. A large working range robotic multi-rotor drone platform according to claim 5, characterized by the platform lifting device (2-1) comprising a lead screw motor (2-1-1) and a lead screw (2-1-2);
the lead screw motor (2-1-1) is fixed at one end of the corresponding side guide rail (2-7), the lead screw (2-1-2) is coaxially fixed with a power output shaft of the lead screw motor (2-1-1), and the lead screw (2-1-2) is vertical to the plane where the frame of the unmanned aerial vehicle (1) is located;
the platform connecting seat (2-2) is provided with a screw hole matched with the screw rod (2-1-2), and the platform connecting seat (2-2) is in screw fit with the screw rod (2-1-2) on the corresponding side through the screw hole, so that when the screw rod motor (2-1-1) drives the screw rod (2-1-2) to rotate, the corresponding platform connecting seat (2-2) is driven to move along the length direction of the screw rod (2-1-2).
7. A large working range mechanical arm multi-rotor unmanned aerial vehicle platform as claimed in claim 5, wherein the platform lifting device (2-1) comprises a belt motor (2-1-3), a belt pulley (2-1-4), two guide wheels (2-1-5), two guide wheel rods (2-1-6) and a belt (2-1-7);
the belt motor (2-1-3) is fixed on a frame of the unmanned aerial vehicle (1);
the belt pulley (2-1-4) is coaxially fixed with a power output shaft of the belt motor (2-1-3);
the two guide wheel rods (2-1-6) are respectively fixed at two ends of the same corresponding side guide rail (2-7);
the two guide wheels (2-1-5) are respectively sleeved on the two guide wheel rods (2-1-6);
the belt (2-1-7) is sleeved on the belt pulley (2-1-4) and the outer sides of the two guide wheels (2-1-5), and the belt motor (2-1-3) drives the belt pulley (2-1-4) to rotate so as to drive the belt (2-1-7) to rotate;
the platform connecting seats (2-2) are fixed with one sections of the corresponding side belts (2-1-7), so that when the belts (2-1-7) rotate, the corresponding platform connecting seats (2-2) are driven to move along the length direction of the belts (2-1-7).
8. A large reach robotic multi-rotor drone platform according to claim 3, 4, 6 or 7, further comprising an image system (4);
the image system (4) comprises a flying camera (4-1) and a plurality of control cameras (4-2);
the flight camera (4-1) is fixed on a frame of the unmanned aerial vehicle (1), and a lens of the flight camera (4-1) faces the advancing direction of the unmanned aerial vehicle;
the plurality of control cameras (4-2) are distributed at four corners of the rotary table (2-5).
9. A large working range robotic arm multi-rotor drone platform according to claim 1, wherein the drone (1) comprises a frame (1-1), four propeller mounts (1-2) and four propellers (1-3);
the rack (1-1) is in a hollow square frame shape;
one ends of the four propeller supports (1-2) are respectively fixed at four top points of the rack (1-1), and the four propeller supports (1-2) are centrosymmetric by taking a middle shaft of the rack (1-1) as a central symmetric shaft;
one end of each of the four propeller supports (1-2) is provided with one propeller (1-3), and the four propellers (1-3) are centrosymmetric by taking the middle shaft of the rack (1-1) as a central symmetric shaft.
10. A large reach robotic multi-rotor drone platform according to claim 4, wherein the drone (1) further comprises a plurality of batteries (1-4);
the plurality of batteries (1-4) are fixed on two opposite sides of the frame (1-1) in an equal weight distribution, and a connecting line of the total mass centers of the batteries (1-4) on the two sides passes through the midpoint of the cross section of the frame (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010909290.7A CN111994271A (en) | 2020-09-02 | 2020-09-02 | Many rotor unmanned aerial vehicle platforms of big working range arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010909290.7A CN111994271A (en) | 2020-09-02 | 2020-09-02 | Many rotor unmanned aerial vehicle platforms of big working range arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111994271A true CN111994271A (en) | 2020-11-27 |
Family
ID=73465160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010909290.7A Pending CN111994271A (en) | 2020-09-02 | 2020-09-02 | Many rotor unmanned aerial vehicle platforms of big working range arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111994271A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103226740A (en) * | 2013-04-27 | 2013-07-31 | 中南大学 | Load distribution optimization method of double-crane collaborative operation |
| CN108137151A (en) * | 2015-09-11 | 2018-06-08 | 深圳市大疆灵眸科技有限公司 | For the carrier of unmanned vehicle |
| CN207889969U (en) * | 2018-03-07 | 2018-09-21 | 天津聚飞创新科技有限公司 | A kind of hollow chassis and unmanned plane |
| CN207954260U (en) * | 2018-03-20 | 2018-10-12 | 佛山市悠歌科技有限公司 | A kind of ceramic sanitary appliance high-pressure slip-casting molding blank taking device |
| CN208715473U (en) * | 2018-08-16 | 2019-04-09 | 南京壹诺为航空科技有限公司 | Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula |
| CN111010951A (en) * | 2019-12-19 | 2020-04-17 | 郑州宏拓电子技术有限公司 | Handheld portable seedling transplanting tool |
| CN111404083A (en) * | 2020-04-28 | 2020-07-10 | 国网湖南省电力有限公司 | Power transmission line inspection robot based on comprehensive navigation and line inspection method thereof |
-
2020
- 2020-09-02 CN CN202010909290.7A patent/CN111994271A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103226740A (en) * | 2013-04-27 | 2013-07-31 | 中南大学 | Load distribution optimization method of double-crane collaborative operation |
| CN108137151A (en) * | 2015-09-11 | 2018-06-08 | 深圳市大疆灵眸科技有限公司 | For the carrier of unmanned vehicle |
| CN207889969U (en) * | 2018-03-07 | 2018-09-21 | 天津聚飞创新科技有限公司 | A kind of hollow chassis and unmanned plane |
| CN207954260U (en) * | 2018-03-20 | 2018-10-12 | 佛山市悠歌科技有限公司 | A kind of ceramic sanitary appliance high-pressure slip-casting molding blank taking device |
| CN208715473U (en) * | 2018-08-16 | 2019-04-09 | 南京壹诺为航空科技有限公司 | Non-homogeneous ten rotor wing unmanned aerial vehicle of power arrangement formula |
| CN111010951A (en) * | 2019-12-19 | 2020-04-17 | 郑州宏拓电子技术有限公司 | Handheld portable seedling transplanting tool |
| CN111404083A (en) * | 2020-04-28 | 2020-07-10 | 国网湖南省电力有限公司 | Power transmission line inspection robot based on comprehensive navigation and line inspection method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7959104B2 (en) | Flying device with improved movement on the ground | |
| IL270352B2 (en) | Modular aircraft with vertical takeoff and landing capability | |
| CN109436314A (en) | A kind of unmanned vehicle | |
| CN206288235U (en) | A kind of reclining device for tiltrotor aircraft | |
| WO2019232753A1 (en) | Base station for unmanned aerial vehicle and positioning mechanism thereof | |
| CN112937849A (en) | Vertical take-off and landing aircraft with combined layout of tilting type propeller and fixed propeller | |
| CN110723284A (en) | Vertical lifting fixed wing aircraft with tiltable ducted fan | |
| CN113277062A (en) | Telescopic wing, wing interval adjusting module, aircraft and control method | |
| CN115158654A (en) | Rhombic composite wing aircraft | |
| CN104260873B (en) | A kind of delta-wing aircraft | |
| EP4098567A1 (en) | External power assist systems for evtol aircraft | |
| CN107521708A (en) | One kind can folding and unfolding air intake duct mechanism | |
| CN214824104U (en) | Unmanned aerial vehicle | |
| CN111994271A (en) | Many rotor unmanned aerial vehicle platforms of big working range arm | |
| CN209617480U (en) | A kind of unmanned vehicle | |
| CN105523172B (en) | Angle of attack control system and angle of attack control method | |
| US20220339983A1 (en) | Walking vtol drone and related systems and methods | |
| CN114148513B (en) | Unmanned aerial vehicle take-off and landing platform and unmanned aerial vehicle take-off and landing system | |
| CN205554583U (en) | Multi -functional rotor craft | |
| CN202961882U (en) | Aeromodelling aircraft aerial photo triaxial tripod head with photographic device | |
| CN114394228A (en) | Aircraft and control method thereof | |
| CN113415406A (en) | Wing interval adjusting module, aircraft comprising same and aircraft control method | |
| CN207242053U (en) | One kind can folding and unfolding air intake duct mechanism | |
| CN221089039U (en) | All-round arm base of flight contact operation task | |
| CN217864733U (en) | Compact rhombic composite wing aircraft |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201127 |