CN208305055U - UAV Landing docking facilities based on multi-joint mechanical arm - Google Patents
UAV Landing docking facilities based on multi-joint mechanical arm Download PDFInfo
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- CN208305055U CN208305055U CN201820412558.4U CN201820412558U CN208305055U CN 208305055 U CN208305055 U CN 208305055U CN 201820412558 U CN201820412558 U CN 201820412558U CN 208305055 U CN208305055 U CN 208305055U
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Abstract
The utility model discloses a kind of UAV Landing docking facilities based on multi-joint mechanical arm, the redundancy multi-joint mechanical arm for being provided with the binocular vision system for acquiring UAV Attitude image information on working plate and unmanned plane being grabbed, redundancy multi-joint mechanical arm is two, and the landing locking mechanism for unmanned plane to be fixed is provided on the working plate at the working radius intersection region of two redundancy multi-joint mechanical arms, end capture mechanism is provided on the end rod piece of redundancy multi-joint mechanical arm, the auxiliary clamp being arranged on its end capture mechanism and unmanned plane undercarriage carries out clearance fit use；The utility model grabs unmanned machine support by two multi-joint mechanical arms, pass through the dragging of multi-joint mechanical arm, unmanned plane is arranged to landing locking mechanism and is fixed, it realizes that the flexible of different posture unmanned planes lands in landing mission, there are the high UAV Landing docking facilities based on multi-joint mechanical arm of different positions and pose compatibility.
Description
Technical field:
The utility model relates to a kind of unmanned vehicle field, more particularly to a kind of based on multi-joint mechanical arm
UAV Landing docking facilities.
Background technique:
Unmanned plane (UAV) is the abbreviation of unmanned vehicle (Unmanned Aerial Vehicle), it both can benefit
Hand manipulation flight is carried out with radio robot, airborne computer is also can use and navigation equipment carries out autonomous flight.
The course of work of unmanned plane can be divided into transmitting, operation flight and recycling three phases.Unmanned plane launch and flight skill
The development of art relative maturity.Unmanned plane radiation pattern mainly includes that small drone hand of the weight less than 10kg is thrown transmitting, slided
Rail ejection and Vertical Launch, weight 10kg between 800kg medium-sized unmanned plane sliding rail transmitting, Vertical Launch, air-launched,
Car launcher transmitting, take off transmitting, and large-scale unmanned plane of the weight greater than 800kg is sliding to run transmitting and rocket launching etc..Unmanned plane
Radiation pattern is varied, but unmanned plane lift-off technology is relatively easy, and process is reliable.Unmanned plane way of recycling includes miniature self-service
Air cushion recycling, the intercept net recycling of machine, the intercept net recycling of medium-sized unmanned plane, are recycled and are alightinged run in the air at parachute recycling
The recycling of alightinging run of recycling, large-scale unmanned plane splashes down recycling etc. with marine.And it is directed to medium-sized and large-scale unmanned plane, using rising and falling
It is its main direction of development that frame wheel, which carries out the recycling of takeoff launch and landing,.And the landing mission of wheeled unmanned plane is for nobody
The most complicated and accident rate highest stage in the entire flight course of machine.And utilize air cushion, parachute, intercept net etc. and nobody
When machine Elastic Contact realizes unmanned plane recycling, it is required to progress energy dress and changes, time-consuming for conversion process, though it can finally realize nobody
The recycling of machine, but its recovery efficiency is relatively low, therefore the docking mechanism of unmanned plane will develop to having the characteristic direction quickly recycled,
I.e. by the way of rigidity, energy conversion time when shortening unmanned plane recycling.
UAV Landing docking facilities are the auxiliary bodies that Process Design is landed for unmanned plane, it can overcome UAV Landing
The pose of process is uncertain, fatefully instruct the execution of unmanned plane landing point, to realize unmanned plane steadily accurately
Land is to source location.The pose that unmanned plane prepares before landing is ever-changing, and landing docking facilities assist wanting when UAV Landing
Compatible all postures are sought, therefore unmanned plane docking mechanism must have the characteristics of high flexibility.Unmanned target location point
Due to the interference of the factors such as external environment or GPS signal during land, often there is landing actual displacement greatly from target point offset,
The inaccurate problem in land point position, therefore unmanned plane docking mechanism need to construct a piece of landing preparation region, when unmanned plane flies to landing
Docking structure, which plays a role, behind preparation region guides UAV Landing to accurately land.
In conclusion UAV Landing docking facilities, which need to meet first under multi-pose, guides UAV Landing, secondly require
It is capable of forming a piece of landing and prepares region to correct unmanned plane landing positions deviation, finally design is required to have UAV Landing mesh
Position is not shifting after cursor position point locking mechanism guarantees UAV Landing.
Therefore, unmanned plane, which can accurately complete safely independent landing recycling, becomes the heavy difficult point of unmanned air vehicle technique development.
Utility model content:
The technical problem to be solved by the utility model is to it is simple, logical to overcome the deficiencies of the prior art and provide a kind of structure
It crosses two multi-joint mechanical arms to grab unmanned machine support, by the dragging of multi-joint mechanical arm, unmanned plane setting is arrived
Landing locking mechanism is fixed, realize different posture unmanned planes in landing mission it is flexible land based on multi-joint mechanical arm
UAV Landing docking facilities.
The technical solution of the utility model is: a kind of UAV Landing docking facilities based on multi-joint mechanical arm, including
The rack being made of braced frame and working plate is provided with for acquiring UAV Attitude image information on the working plate
Binocular vision system and redundancy multi-joint mechanical arm that unmanned plane is grabbed, the redundancy multi-joint mechanical arm be two
Item, and be provided on the working plate at the working radius intersection region of two redundancy multi-joint mechanical arms for unmanned plane into
The fixed landing locking mechanism of row, the landing locking mechanism include locking mechanism bracket and are slidably arranged in by guide rail locked
The guiding clamping block on bracket is fixed, is fixedly installed spring compression on the locking mechanism bracket of the guide fixed block side
Block is provided with the compressed spring being sleeved on spring guiding axis, the compression between the spring compression block and guide fixed block
One end of spring guiding axis screws mode by screw thread and is fixed on guiding clamping block, and the other end of the spring guiding axis passes through
Through-hole runs through the spring compression block, and the through-hole setting is on spring compression block and coaxial with the spring guiding axis, and institute
State spring guiding axis can through-hole in it is free to slide；
The redundancy multi-joint mechanical arm includes a pedestal and seven sequentially connected rod pieces, and pedestal and rod piece, bar
It is connected each other using rotational motion pair between part and rod piece, is provided with end on the end rod piece of the redundancy multi-joint mechanical arm
Grasping mechanism, the end capture mechanism include using the parallel air gripper and gripping finger of parallel folding form, the gripping finger installation
On the moving parts of parallel air gripper, and the auxiliary clamp being arranged on the gripping finger and unmanned plane undercarriage carries out clearance fit and makes
With.
The order of connection between the pedestal and seven rod pieces is pedestal, the first rod piece, the second rod piece, third rod piece, the
Four rod pieces, the 5th rod piece, the 6th rod piece, the 7th rod piece, and mounting base of the previous stage as rear stage rod piece, rear stage rod piece are equal
It is screwed by screw to the reducer output shaft of previous stage rod piece, the pedestal is fixedly mounted on working plate, the end
Grasping mechanism is held to be arranged on the 7th rod piece.
In the pedestal, the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th rod piece, the 6th rod piece respectively
The harmonic speed reducer that the rimless motor of one separate type is set and uses keyway to be attached with driving motor.
The fixed end connecting flange of screw is provided on 7th rod piece, the end connecting flange passes through drive
Dynamic connecting plate is fixedly connected with the parallel air gripper.
The auxiliary clamp includes auxiliary clamp A and auxiliary clamp B, and auxiliary clamp A and auxiliary clamp B are stuck in unmanned plane and rise
It falls on frame, and is locked auxiliary clamp A and auxiliary clamp B by four bolt and nuts.
The locking mechanism bracket is fixed on working plate by screw, and the spring compression block is fixed on by screw
On locking mechanism bracket, the guiding clamping block is two, and is provided with the wedge shape guiding for realizing guiding and locking function
Structure and half U-typed lock slot.
One end of the compressed spring is close to always or is fixed with spring compression block, and the other end and guiding clamping block are tight always
Patch is fixed.
The beneficial effects of the utility model are:
1, the utility model is interacted by binocular vision system with two redundancy multi-joint mechanical arms to adapt to unmanned plane
Different postures when land prepares, the end capture mechanism installed on two redundancy multi-joint mechanical arms grab unmanned plane undercarriage
The auxiliary clamp of upper fixation, end capture mechanism grab auxiliary clamp after with redundancy multi-joint mechanical arm move adjustment unmanned plane appearance
State is adjusted to final landing posture, while by unmanned plane to landing locking mechanism, and landing locking mechanism will be from two sides card
Firmly for the undercarriage of unmanned plane so that position is no longer changed after guaranteeing UAV Landing, realization unmanned plane is steadily accurately flexible
It lands.
2, two redundancy multi-joint mechanical arms of the utility model are by independent 14 motor controls, wherein seven motors pair
The electric system of a redundancy multi-joint mechanical arm is answered, so that the control of two redundancy multi-joint mechanical arms is independent, but due to two
The end capture mechanism installed on redundancy multi-joint mechanical arm grabs the undercarriage of unmanned plane two sides, therefore two redundancies respectively
Multi-joint mechanical arm need to carry out cooperative motion, and the intersection region of the working radius of two redundancy multi-joint mechanical arms is unmanned plane
Mating operation region.
3, the utility model is formed between auxiliary clamp after gripping finger closure under the driving element control of end capture mechanism
Gap shaft hole matching, wherein auxiliary clamp is fixed on undercarriage, and undercarriage can be around auxiliary clamp relative to end capture mechanism
Axis rotation, auxiliary clamp are fixed on unmanned plane undercarriage to change the structure asymmetry being crawled a little.
4, the utility model auxiliary clamp is for changing the structure asymmetry being crawled on unmanned plane undercarriage a little, thus
The end capture mechanism for carrying redundancy multi-joint mechanical arm can be closed to grab nobody along any radial direction of auxiliary clamp
Machine undercarriage after crawl, constitutes clearance fit, therefore end gripper between the gripping finger and auxiliary clamp of end capture mechanism closure
Structure can be rotated around auxiliary clamp axis, reduced limitation of the end capture mechanism to redundancy multi-joint mechanical arm end, reached accurate
While traction function, the flexibility of UAV Landing docking facilities will not be reduced.
5, clearance fit is constituted with end capture mechanism after the utility model auxiliary clamp A and auxiliary clamp B is clamped, due to
The relative position of auxiliary clamp and undercarriage is constant always, i.e. realization end capture mechanism can be rotated relative to undercarriage, reduces
End grabs the just limitation to redundancy multi-joint mechanical arm end.
6, the utility model binocular vision system monitors UAV Attitude in real time by two video cameras, is based on
Principle of parallax simultaneously utilizes two images of the imaging device from different position acquisition testees, by between calculating image corresponding points
Position deviation, to obtain object dimensional geological information.
Detailed description of the invention:
Fig. 1 is the schematic illustration of the UAV Landing docking facilities based on multi-joint mechanical arm.
Fig. 2 is the schematic illustration of redundancy multi-joint mechanical arm.
Fig. 3 is the schematic illustration of end capture mechanism.
Fig. 4 is the schematic illustration of landing locking mechanism.
Fig. 5 is the structural schematic diagram of the UAV Landing docking facilities based on multi-joint mechanical arm.
Fig. 6 is the structural schematic diagram of redundancy multi-joint mechanical arm.
Fig. 7 is the structural schematic diagram of redundancy multi-joint mechanical arm first axle.
Fig. 8 is the structural schematic diagram of end capture mechanism.
Fig. 9 is the structural schematic diagram of auxiliary clamp.
Figure 10 is the crawl schematic diagram of end capture mechanism, auxiliary clamp and unmanned plane undercarriage.
Figure 11 is the structural schematic diagram of landing locking mechanism.
Figure 12 is the structural schematic diagram for being oriented to clamping block.
Figure 13 is the crawl schematic diagram of end capture mechanism, auxiliary clamp and unmanned plane undercarriage.
Figure 14 is the structural schematic diagram of landing locking mechanism.
Figure 15 is the structural schematic diagram for being oriented to clamping block.
Specific embodiment:
Embodiment: referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, figure
14 and Figure 15, in figure, 1- binocular vision system, 2- redundancy multi-joint mechanical arm, 3- end capture mechanism, 4- auxiliary clamp, 5-
Landing locking mechanism, 6- unmanned plane, 7- braced frame, 8- working plate, 9- pedestal motor shaft, 10- rotor, 11- motor
Stator, 12- bearing block, 13- angular contact ball bearing A, 14- pedestal retarder, 15- angular contact ball bearing B, 16- end ring,
17- lock nut, 18- pedestal end cap, 19- shoulder joint A frame, 20- pedestal frame, 21- unmanned plane undercarriage；
201- pedestal, 202- shoulder joint A, 203- shoulder joint B, 204- shoulder joint C, 205- elbow joint A, 206- elbow joint B,
207- wrist joint A, 208- wrist joint B；
301- gripping finger, 302- parallel air gripper, the end 303- connecting flange, 304- are drivingly connected plate；
401- auxiliary clamp A, 402- auxiliary clamp B；
501- guiding clamping block, 502- compressed spring, 503- locking mechanism bracket, 504- linear guide, 505- spring are led
Slot is locked to axis, 506- spring compression block, 507- block, 508- wedge shape guide frame, 509-U type.
The utility model is described in detail with reference to the accompanying drawing:
Shown in Fig. 5: the rack of braced frame 7 and the composition of working plate 8 mechanism, two redundancy multi-joint mechanical arms 2,
Land locking mechanism 5 and binocular vision system 1 are mounted on working plate 8, and two end capture mechanisms 3 are respectively arranged in two
On the end rod piece of redundancy multi-joint mechanical arm 2, thus end capture mechanism 3 will with 2 end movement of redundancy multi-joint mechanical arm,
Redundancy multi-joint mechanical arm 2 and binocular vision system 1 are all made of fixed installation, the UAV Attitude that binocular vision system 1 acquires
Image information is scaled to end by seven shaft mechanical arm algorithms, and two redundancy multi-joint mechanical arms 2 need to carry out cooperative motion, pass through
The end capture mechanism 3 installed on two redundancy multi-joint mechanical arms 2 grabs the undercarriage 21 of 6 two sides of unmanned plane respectively, and two
The intersection region of the working radius of redundancy multi-joint mechanical arm 2 is the mating operation region of unmanned plane 6, at mating operation region
Working plate 8 on be fixedly installed with landing locking mechanism 8, the locked workpiece of landing locking mechanism 8 is in two multi-joints
In the working radius intersection region of mechanical arm 2, unmanned plane 6 drop to landing under the collaboration traction of two multi-joint mechanical arms 2
Locked and fixed is carried out in locking mechanism 8.
Redundancy multi-joint mechanical arm 2, which is used to be compatible with unmanned plane 6 and lands, to be prepared the certainty of preceding posture and forms a certain range
Interior mating operation region, the redundancy multi-joint mechanical arm 2 are designed according to joint shaft contained on human arm, are to people
The true reduction of body arm, as shown in Figure 6:
Redundancy multi-joint mechanical arm 2 is made of a pedestal 201 and seven joints, and seven joints (rod piece) include shoulder joint
A202 (the first rod piece), shoulder joint B203 (the second rod piece), shoulder joint C204 (third rod piece), elbow joint A205 (the 4th bar
Part), elbow joint B206 (the 5th rod piece), wrist joint A207 (the 6th rod piece), wrist joint B208 (the 7th rod piece)；Pedestal 201 with
Joint, joint are all made of screw and screw mode and be quickly connected with interarticular connection, and the order of connection is successively are as follows: pedestal 201,
Shoulder joint A202, shoulder joint B203, shoulder joint C204, elbow joint A205, elbow joint B206, wrist joint A207, wrist joint B208,
Mounting base of the previous stage as rear stage joint, rear stage joint pass through screw and screw to the retarder output in previous stage joint
On axis.
Pedestal 201, shoulder joint A202, shoulder joint B203, shoulder joint C204, elbow joint A205, elbow joint B206, wrist joint
The driving motor and retarder in a joint are separately included in A207；Due to the similitude of the forms of motion in each joint, the application
Redundancy multi-joint mechanical arm 2 each joint structure it is similar, the mechanical arm first that pedestal 201 and shoulder joint A202 are constituted at this
Axle construction is described in detail, remaining connection relationship does not repeat them here.
It is illustrated in figure 7 the first axle construction of mechanical arm that pedestal 201 and shoulder joint A202 are constituted, pedestal 201 includes pedestal
Frame 20, pedestal motor shaft 9 by the angular contact ball bearing A13 and angular contact ball bearing B15 of " back-to-back " installation of upper and lower ends and
Pedestal frame 20 is co-axially mounted, and lower end angular contact ball bearing B15 is directly installed on pedestal frame 20 by shaft hole matching, and passes through axis
The axial freedom for holding retaining ring 16 and the diagonal contact ball bearing B15 of lock nut 17 is limited.Upper end angular contact ball bearing A13
It is coaxially mounted on pedestal frame 20 by bearing block 12.The driving motor used on each joint is the rimless motor of separate type, should
The motor stator 11 and rotor 10 of rimless motor can be installed separately, rotor 10 and the coaxial fixed peace of pedestal motor shaft 9
Dress, and motor stator 11 is co-axially mounted with pedestal frame 20, rotor 10 can be fixed in motor together with pedestal motor shaft 9 after installation
It is rotated in son 11, drives pedestal motor shaft 9 to rotate around central axis under electromagnetic induction effect, output movement and torque；Pedestal
Retarder 14 is fixedly installed on pedestal frame 20, and the end of pedestal motor shaft 9 and 14 input shaft of pedestal retarder use keyway
Connection, shoulder joint A frame 19 are fixed on the output shaft of pedestal retarder 14, and pedestal motor shaft 9 can pass to movement and torque
Shoulder joint A202, therefore under the rimless motor driven of separate type, shoulder joint A frame 19 will be rotated synchronously with pedestal motor shaft 9 to be become
The first axle of the redundancy multi-joint mechanical arm 2.The structure of each axis of redundancy multi-joint mechanical arm 2 has similitude, different joints
Bar it is long different, the torque value born is not also identical, and the bar in each joint is long as shown in table 2-1.
Each articulated arm of table 2-1 redundancy multi-joint mechanical arm is long
It is long according to the bar in above each joint and calculate the weight in each joint, load and the torque value in each joint are analyzed, so
Select different retarder and rimless motor afterwards, the parameter of rimless motor selected by each joint and harmonic speed reducer is shown in respectively
Shown in table 2-2 and 2-3.
The rimless parameter of electric machine of table 2-2 redundancy multi-joint mechanical arm
Table 2-3 redundancy multi-joint mechanical arm harmonic speed reducer parameter
According to the structure of redundancy multi-joint mechanical arm 2, referring to Fig. 6 it is found that the joint of each axis of redundancy multi-joint mechanical arm 2
Angular region is as shown in Table 2-4.
Table 2-4 redundancy multi-joint mechanical arm joint angular region
As shown in Figure 8: parallel air gripper 302 is fixed on end connecting flange 303 by being drivingly connected plate 304, passes through spiral shell
End connecting flange 303 is fixed on the wrist joint B208 (the 7th rod piece) of 2 end of redundancy multi-joint mechanical arm by nail, two folders
Refer to that 301 are separately mounted on the moving parts of parallel air gripper 302, and can the inwardly movement simultaneously under the driving of parallel air gripper 302
Closure moves out opening simultaneously.
Gripping finger 301 under the driving of parallel air gripper 302, will realize the opening and closing of gripping finger 301 thus with nothing is mounted on
Auxiliary clamp 4 on man-machine undercarriage 21 constitutes the crawl of clearance fit, the specifications parameter of selected parallel air gripper 302 such as table 2-5
It is shown.
Table 2-5 parallel air gripper characteristics
As shown in Figure 9: auxiliary clamp 4 includes auxiliary clamp A401 and auxiliary clamp B402, auxiliary clamp A401 and auxiliary
Fixture B402 is stuck on unmanned plane undercarriage 21 and is locked auxiliary clamp A401 and auxiliary clamp B402 by four bolt and nuts
Tightly, auxiliary clamp A401 and auxiliary clamp B402 will hold unmanned plane undercarriage 21 tightly and constitute the auxiliary clamp of cylindrical type after locking
4。
Landing locking mechanism 5 is used to lock the unmanned plane 6 after precisely landing, and prevents 6 position of the unmanned plane after successfully landing
It changes again.The landing locking mechanism 5 realizes locking function, Figure 11 by way of compressing unmanned undercarriage 21 from two sides
Shown: landing locking mechanism 5 includes locking mechanism bracket 503 and locked workpiece, and locking workpiece includes two guiding
Clamping block 501 and the compressed spring 502 being used cooperatively with guiding clamping block 501, locking mechanism bracket 503 are fixed on by screw
On working plate 8, by 504 floating mount of linear guide on locking mechanism bracket 503, guiding locks guiding clamping block 501
Mode is screwed by screw thread on block 501 and is respectively and fixedly provided with spring guiding axis 505, which can be in spring compression block 506
Free to slide in upper coaxial hole, spring compression block 506 is fixed on locking mechanism bracket 503 by screw, spring guiding axis
Compressed spring 502 (specifications parameter of selected compressed spring 502 is as shown in table 2-6), 502 one end of compressed spring are set on 505
Always it is close to spring compression block 506, the other end is close to guiding clamping block 501 always, is fixed on locking mechanism bracket 503
Block 507, restricted guidance clamping block 501 generate certain compression to compressed spring 502, and guiding clamping block 501 includes realizing to lead
To the wedge-shaped guide frame 508 and the locked slot 509 of half U-typed with locking function (shown in Figure 12).
Table 2-6 compressed spring characteristics
3 sports immunology of end capture mechanism on the working space of redundancy multi-joint mechanical arm 2, that is, redundancy multi-joint mechanical arm 2
Reference point attainable spatial point set, since redundancy multi-joint mechanical arm 2 has comprising a pedestal and seven rod pieces,
It is all made of the connection of rotational motion pair between rod piece and pedestal, rod piece and rod piece, i.e., will generate a rotation certainly in each junction
By spending, the joint angle between pedestal and rod piece one is θ1, the joint angle between rod piece one and rod piece two is θ2, between rod piece two and rod piece three
Joint angle be θ3, the joint angle between rod piece three and rod piece four is θ4, the joint angle between rod piece four and rod piece five is θ5, rod piece five
Joint angle between rod piece six is θ6, the joint angle between rod piece six and end rod piece (rod piece seven) is θ7, therefore the redundancy multi-joint
Mechanical arm includes 7 active freedom degrees altogether, is seven shaft mechanical arms, and when the movement of each rod piece, end capture mechanism should have one
A working radius, and form working space；Two redundancy multi-joint mechanical arms grab unmanned plane two sides simultaneously in the process of grasping
Undercarriage, realize UAV Landing docking.Therefore docking two redundancy multi-joint mechanical arms of area requirement are reachable, and every
Redundancy multi-joint mechanical arm has respective moving radius, it is hereby understood that the friendship of two redundancy multi-joint mechanical arm working spaces
Pitch the mating operation region that region will form UAV Landing docking facilities.
Binocular vision system 1 monitors UAV Attitude in real time by two video cameras, and end capture mechanism 3 will be with
2 end movement of redundancy multi-joint mechanical arm, the UAV Attitude image information that binocular vision system 1 acquires pass through seven shaft mechanical arms
Algorithm is scaled to end, and two redundancy multi-joint mechanical arms 2 need to carry out cooperative motion, driving of the gripping finger 301 in parallel air gripper 302
Under, the opening and closing of gripping finger 301 are realized to constitute clearance fit with the auxiliary clamp 4 being mounted on unmanned plane undercarriage 21
Crawl, gripping finger 301 can be closed along any radial direction of auxiliary clamp 4 and grab, after crawl, two multi-joint mechanical arms 2
Crawl posture constantly adaptively adjust, so that unmanned plane 6 can be drop under the collaboration traction of two multi-joint mechanical arms 2
5 top of land locking mechanism, unmanned plane undercarriage 21 will contact wedge-shaped guide frame 508 first, and then unmanned plane 6 continues landing production
Raw downward pressure, under the action of wedge-shaped guide frame 508, downward pressure will decomposite power in the x-direction, force guiding
Clamping block 501 slides in linear guide 504 and compresses compressed spring 502 to make the landing locking mechanism open, and allows nothing
Man-machine 6 drop in place, and after the landing in place of unmanned plane 6, half U-typed locks the undercarriage that slot 509 blocks unmanned plane 6, in compression bullet
The unmanned plane 6 of the undercarriage of two sides in place to fixed landing is blocked under the contractility effect of spring 502 rapidly.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation, it is made by the above technical examples according to the technical essence of the present invention it is any it is simple modification, equivalent variations with
Modification, is still within the scope of the technical solutions of the present invention.
Claims (7)
1. a kind of UAV Landing docking facilities based on multi-joint mechanical arm, including what is be made of braced frame and working plate
Rack, it is characterized in that: be provided on the working plate binocular vision system for acquiring UAV Attitude image information and
To the redundancy multi-joint mechanical arm that unmanned plane is grabbed, the redundancy multi-joint mechanical arm is two, and two redundancies are closed more
It is locked to save the landing being provided on the working plate at the working radius intersection region of mechanical arm for unmanned plane to be fixed
Mechanism, the landing locking mechanism include locking mechanism bracket and are slidably arranged in the guiding on locked and fixed bracket by guide rail
Clamping block is fixedly installed spring compression block, the spring compression block on the locking mechanism bracket of the guide fixed block side
The compressed spring being sleeved on spring guiding axis is provided between guide fixed block, one end of the compressed spring guiding axis is logical
It crosses screw thread and screws mode and be fixed on guiding clamping block, the other end of the spring guiding axis runs through the spring pressure by through-hole
Tight block, through-hole setting is on spring compression block and coaxial with the spring guiding axis, and the spring guiding axis can
It is free to slide in through-hole；
The redundancy multi-joint mechanical arm includes a pedestal and seven sequentially connected rod pieces, and pedestal and rod piece, rod piece with
It is connected each other using rotational motion pair between rod piece, end crawl is provided on the end rod piece of the redundancy multi-joint mechanical arm
Mechanism, the end capture mechanism include using the parallel air gripper and gripping finger of parallel folding form, and the gripping finger is mounted on flat
On the moving parts of promoting the circulation of qi pawl, and the auxiliary clamp being arranged on the gripping finger and unmanned plane undercarriage carries out clearance fit use.
2. the UAV Landing docking facilities according to claim 1 based on multi-joint mechanical arm, it is characterized in that: the base
The order of connection between seat and seven rod pieces is pedestal, the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th bar
Part, the 6th rod piece, the 7th rod piece, and mounting base of the previous stage as rear stage rod piece, rear stage rod piece are screwed by screw
To the reducer output shaft of previous stage rod piece, the pedestal is fixedly mounted on working plate, and the end capture mechanism is set
It sets on the 7th rod piece.
3. the UAV Landing docking facilities according to claim 2 based on multi-joint mechanical arm, it is characterized in that: the base
A separate type is respectively set in seat, the first rod piece, the second rod piece, third rod piece, the 4th rod piece, the 5th rod piece, the 6th rod piece
Rimless motor and the harmonic speed reducer for using keyway to be attached with driving motor.
4. the UAV Landing docking facilities according to claim 2 based on multi-joint mechanical arm, it is characterized in that: described
Be provided with the fixed end connecting flange of screw on seven rod pieces, the end connecting flange by be drivingly connected plate with it is described
Parallel air gripper is fixedly connected.
5. the UAV Landing docking facilities according to claim 1 based on multi-joint mechanical arm, it is characterized in that: described auxiliary
Helping fixture includes auxiliary clamp A and auxiliary clamp B, and auxiliary clamp A and auxiliary clamp B are stuck on unmanned plane undercarriage, and are passed through
Four bolt and nuts lock auxiliary clamp A and auxiliary clamp B.
6. the UAV Landing docking facilities according to claim 1 based on multi-joint mechanical arm, it is characterized in that: the lock
Dead mechanism rack is fixed on working plate by screw, and the spring compression block is fixed on locking mechanism bracket by screw
On, the guiding clamping block is two, and is provided with the wedge-shaped guide frame and half U-typed for realizing guiding and locking function
Locked slot.
7. the UAV Landing docking facilities according to claim 6 based on multi-joint mechanical arm, it is characterized in that: the pressure
One end of contracting spring is close to always or is fixed with spring compression block, and the other end is close to always or is fixed with guiding clamping block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820412558.4U CN208305055U (en) | 2018-03-26 | 2018-03-26 | UAV Landing docking facilities based on multi-joint mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312137A (en) * | 2018-03-26 | 2018-07-24 | 河南工程学院 | UAV Landing docking mechanism based on multi-joint mechanical arm |
| CN110143263A (en) * | 2019-06-04 | 2019-08-20 | 河南大域航空科技有限公司 | A kind of sea search and rescue equipment based on unmanned air vehicle technique |
| CN113879695A (en) * | 2021-10-21 | 2022-01-04 | 河北汉光重工有限责任公司 | Adjustable stopping device |
| CN118003352A (en) * | 2024-04-09 | 2024-05-10 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Visual auxiliary butt joint and separation compliant control method and device for rope-driven mechanical arm |
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2018
- 2018-03-26 CN CN201820412558.4U patent/CN208305055U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312137A (en) * | 2018-03-26 | 2018-07-24 | 河南工程学院 | UAV Landing docking mechanism based on multi-joint mechanical arm |
| CN108312137B (en) * | 2018-03-26 | 2023-08-15 | 河南工程学院 | Unmanned aerial vehicle landing docking mechanism based on multi-joint mechanical arm |
| CN110143263A (en) * | 2019-06-04 | 2019-08-20 | 河南大域航空科技有限公司 | A kind of sea search and rescue equipment based on unmanned air vehicle technique |
| CN110143263B (en) * | 2019-06-04 | 2020-06-09 | 河南大域航空科技有限公司 | Sea search and rescue equipment based on unmanned aerial vehicle technique |
| CN113879695A (en) * | 2021-10-21 | 2022-01-04 | 河北汉光重工有限责任公司 | Adjustable stopping device |
| CN118003352A (en) * | 2024-04-09 | 2024-05-10 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Visual auxiliary butt joint and separation compliant control method and device for rope-driven mechanical arm |
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