CN206704524U - A kind of remote control distributor environmental protection harvester - Google Patents
A kind of remote control distributor environmental protection harvester Download PDFInfo
- Publication number
- CN206704524U CN206704524U CN201720147211.7U CN201720147211U CN206704524U CN 206704524 U CN206704524 U CN 206704524U CN 201720147211 U CN201720147211 U CN 201720147211U CN 206704524 U CN206704524 U CN 206704524U
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- CN
- China
- Prior art keywords
- main body
- mechanical arm
- flight control
- control block
- body flight
- 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.)
- Expired - Fee Related
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- Toys (AREA)
- Manipulator (AREA)
Abstract
A kind of remotely-piloted vehicle environmental protection harvester, including main body flight control block and be fixedly connected along the circumferentially equally distributed multiple cross bars of main body flight control block, the cross bar with main body flight control block, the end of each cross bar is equipped with rotor, it is characterised in that：The bottom surface of the main body flight control block is additionally provided with mechanical arm and the video camera of energy whole step rotation, the end of mechanical arm are provided with the manipulator that can play crawl effect；Moving freely in hovering and space can freely be realized by shaking the environmentally friendly harvester of control four wings flight, have very big flexibility.Main applying is difficult to close place in high-risk environment, people, by the use of four rotor aircrafts as carrier, video camera and mechanical arm is carried, by dangerous goods or defective work collection recovery；Simple in construction, good mechanical stability, cost is cheap, cost-effective.
Description
Technical field
A kind of environmentally friendly harvester is the utility model is related to, specifically a kind of remote control distributor environmental protection harvester.
Background technology
It is increasingly severe with environmental issue, it is necessary to clear up some pollutants in the case of more and more, but some
Pollutant is in high-risk environment sometimes or people is difficult to close place, so needing badly, design is a kind of to be replaced manually in high-risk ring
The device of environmentally friendly collection is carried out under border.
Utility model content
The purpose of this utility model, which is that design is a kind of, is difficult to close place in high-risk environment, people, with the nothing of controlled in wireless
People's aircraft carries video camera and mechanical arm, by dangerous goods or defective work collection recovery as carrier.
The technical solution adopted in the utility model is：A kind of remotely-piloted vehicle environmental protection harvester, including main body flight control
Clamp dog and along the circumferentially equally distributed multiple cross bars of main body flight control block, the cross bar is fixed with main body flight control block to be connected
Connect, the end of each cross bar is equipped with rotor, it is characterised in that：The bottom surface of the main body flight control block be additionally provided with mechanical arm and
The video camera of energy whole step rotation, the end of mechanical arm are provided with the manipulator that can play crawl effect.
Further, the quantity of the cross bar is individual.
Further, the periphery of the rotor is equipped with protection shroud.
Further, the top surface of the protection shroud and bottom surface are equipped with protection network.
Further, the mechanical arm has more piece, can be according to different handling situations collapsing lengths.
The beneficial effects of the utility model and feature are：1. shaking the environmentally friendly harvester of control four wings flight can freely realize
Moving freely in hovering and space, has very big flexibility.Main applying is difficult to close ground in high-risk environment, people
Side, by the use of four rotor aircrafts as carrier, video camera and mechanical arm are carried, by dangerous goods or defective work collection recovery；②
It is simple in construction, good mechanical stability, 3. so cost is cheap, cost-effective；
Brief description of the drawings
Fig. 1 is the structural representation of the state of flight of the utility model embodiment；
Fig. 2 is a kind of improved structural representation that shroud (numbering 3) is protected in Fig. 1；
Fig. 3 is a kind of improved structural representation of mechanical arm in Fig. 1 (numbering 7)；
Label represents respectively in figure：1- main body flights control block, 2- cross bars, 3- protection shroud, 4- rotors, 5- video cameras,
6- manipulators, 7- mechanical arms, 8- protection networks, 9- motors.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings：
As shown in figure 1, including main body flight control block 1 and along the circumferentially equally distributed multiple cross bars of main body flight control block
2, preferably, its quantity can be 4.
The cross bar 2 is fixedly connected with main body flight control block 1, and the end of each cross bar 2 is equipped with motor 9, the electricity
The take-off lever of machine 9 is provided with rotor 4, wherein：The periphery of the rotor 4 is equipped with protection shroud 3, can play in complex job feelings
Protect the effect of rotor 4 under condition, the bottom surface of the main body flight control block 1 be additionally provided with mechanical arm 7 and can full angle rotation take the photograph
Camera 5, the end of mechanical arm 7 are provided with the manipulator 6 that can play crawl effect.
As shown in Fig. 2 as an improvement scheme, the top surface of the protection shroud 3 and bottom surface are equipped with protection network 8, energy
Play a part of further protecting rotor 4.
As shown in figure 3, as preferable scheme, the mechanical arm 7 has more piece, can be according to the flexible length of different handling situations
Degree.
Below when four rotors in case of, embodiment is further described：
Quadrotor is a kind of VTOL machine of six degree of freedom, therefore is especially suitable under the conditions of static and quasistatic
Flight.Rotor 4 as flight direct driving force source, by the quantity of rotor 4 be 4 when in case of, four rotors are symmetrically equal
It is even be distributed in body four direction and be in sustained height plane around, quadrotor passes through 9 turns of regulation motor
Speed changes variable rotor speed, realizes the change of lift, so as to control the posture of aircraft and position.Because aircraft is by changing
Become the rotating speed of rotor 4 and realize lift variation, can so cause its dynamic instability, so needs are a kind of can to ensure what is stablized for a long time
Control method.
The rotation direction that the rotation direction of motor 9 on same straight line is designed as to identical, adjacent motor 9 be designed as on the contrary,
Therefore when aircraft balances flight, gyroscopic effect and air force moment of torsion effect are cancelled.Compared with traditional helicopter,
Quadrotor has following advantage:Reaction torque and the direction of rotation of rotor that each rotor is applied to fuselage are on the contrary, can be with
Balance reaction torque of the rotor to fuselage.
In order to keep the stabilized flight of aircraft, gyroscope and 3 axle accelerations equipped with 3 directions on four-axle aircraft
Sensor group can calculate posture and acceleration of the aircraft now with respect to ground, angular speed into inertial navigation module.It is logical
Cross algorithm and calculate revolving force and lift required when keeping motion state, ensure that motor output is suitable by electronic adjusting controller
Power.
It is as follows to be remotely controlled the environmentally friendly harvester distant control function of four wings flight：
Flight attitude controls：Around, up and down, rotation, hovering.
Video camera 5 and the direction controlling of mechanical arm 7：0~360 degree of regulation of horizontal plane, 0~90 degree of regulation of vertical plane.
The focus adjustment of video camera 5：Focus adjustment is clear to target object.
The length adjustment of mechanical arm 7：0~30mm of length is finely tuned.
The crawl regulation of manipulator 6：Manipulator captures.
When specifically used, controlled and flown by wireless remote control, reach space-time hovering in target, adjust the video of video camera 5
Image finds article to be collected, is captured and is taken back by manipulator 6.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate structural relation and principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, this
Utility model also has various changes and modifications, and these changes and improvements are both fallen within claimed the scope of the utility model.
The utility model requires protection scope is by appended claims and its equivalent thereof.
Claims (3)
1. a kind of remotely-piloted vehicle environmental protection harvester, including main body flight control block (1) and circumferential along main body flight control block
Equally distributed multiple cross bars (2), the cross bar (2) are fixedly connected with main body flight control block (1), the end of each cross bar (2)
End is equipped with motor (9), and the take-off lever of the motor (9) is provided with rotor (4), it is characterised in that：The main body flight control
The bottom surface of block (1) is additionally provided with mechanical arm (7) and the video camera (5) of energy full angle rotation, the end of mechanical arm (7) are provided with and can played
The manipulator (6) of crawl effect, video camera 5 and the direction controlling of mechanical arm 7 are that 0~360 degree of horizontal plane is adjusted, vertical plane 0~90
Degree regulation；The periphery of the rotor (4) is equipped with protection shroud (3), and the top surface of the protection shroud (3) and bottom surface are equipped with anti-
Protecting wire net (8).
2. remotely-piloted vehicle environmental protection harvester according to claim 1, it is characterised in that：The quantity of the cross bar (2)
For 4.
3. according to the remotely-piloted vehicle environmental protection harvester described in any claim of claim 1 or 2, it is characterised in that：Institute
Stating mechanical arm (7) has more piece, can be according to different handling situations collapsing lengths.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720147211.7U CN206704524U (en) | 2017-02-17 | 2017-02-17 | A kind of remote control distributor environmental protection harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720147211.7U CN206704524U (en) | 2017-02-17 | 2017-02-17 | A kind of remote control distributor environmental protection harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206704524U true CN206704524U (en) | 2017-12-05 |
Family
ID=60473007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720147211.7U Expired - Fee Related CN206704524U (en) | 2017-02-17 | 2017-02-17 | A kind of remote control distributor environmental protection harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206704524U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108357687A (en) * | 2018-04-10 | 2018-08-03 | 浙江海洋大学 | One kind hanging quadrotor based on bat is bionical |
| CN108382593A (en) * | 2018-03-20 | 2018-08-10 | 浙江大学山东工业技术研究院 | A kind of unmanned plane grabs ball device automatically |
-
2017
- 2017-02-17 CN CN201720147211.7U patent/CN206704524U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382593A (en) * | 2018-03-20 | 2018-08-10 | 浙江大学山东工业技术研究院 | A kind of unmanned plane grabs ball device automatically |
| CN108382593B (en) * | 2018-03-20 | 2024-06-04 | 浙江大学山东工业技术研究院 | Automatic ball device of grabbing of unmanned aerial vehicle |
| CN108357687A (en) * | 2018-04-10 | 2018-08-03 | 浙江海洋大学 | One kind hanging quadrotor based on bat is bionical |
| CN108357687B (en) * | 2018-04-10 | 2023-05-26 | 浙江海洋大学 | Four rotor crafts can hang based on bat is bionical |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171205 Termination date: 20190217 |