WO2020073765A1 - 一种新型轻量化旋翼飞行机器人 - Google Patents
一种新型轻量化旋翼飞行机器人 Download PDFInfo
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- WO2020073765A1 WO2020073765A1 PCT/CN2019/105071 CN2019105071W WO2020073765A1 WO 2020073765 A1 WO2020073765 A1 WO 2020073765A1 CN 2019105071 W CN2019105071 W CN 2019105071W WO 2020073765 A1 WO2020073765 A1 WO 2020073765A1
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- hose
- power
- mounting plate
- fixedly connected
- holes
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- 239000011664 nicotinic acid Substances 0.000 claims abstract description 29
- 238000010168 coupling process Methods 0.000 claims abstract description 16
- 238000005859 coupling reaction Methods 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims abstract description 15
- 235000012431 wafers Nutrition 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000005457 optimization Methods 0.000 description 5
- 238000004804 winding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000007123 defense Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Definitions
- the invention relates to the technical field of aircraft, and in particular to a new type of lightweight rotor flying robot.
- UAV Unmanned Aerial Vehicle
- Rotor-flying robots are constructed by adding a mechanical arm to the rotorcraft, which has a bulky structure, poor concealment and short battery life.
- the robot arm facing the rotorcraft still uses the traditional joint motor drive mode.
- the drive unit and its protection module are directly installed at the joint of the robot arm, resulting in a significant increase in the volume inertia of the robot arm.
- the low-altitude battlefield requires rigidity for high concealment and long endurance.
- the technical problem to be solved by the present invention is to provide a new type of lightweight rotor flying robot that replaces the traditional mechanical arm with a bionic working unit, which reduces the weight of the aircraft and significantly reduces the moving parts. Volume inertia improves dexterity and privacy.
- a new type of lightweight rotor flying robot includes a drone body, a mounting plate and several bionic units provided on the mounting plate;
- the mounting plate is fixed on the lower end of the UAV body
- the bionic unit includes a first to a third power unit, a first to a third steering unit, a hose mounting seat, a hose, a first to a third power rope, a core rope, and a number of supporting discs;
- the plurality of support wafers are evenly and fixedly arranged in the hose, and the plane where they are located is perpendicular to the central axis of the hose;
- the support wafer is provided with first to fourth through holes, wherein the fourth through hole is provided at the center of the support wafer for the core rope to pass through; the first to third through holes
- the included angle between the center of the circle and the center of the support wafer is 120 °, and the distances from the center of the first to third through holes to the center of the support wafer are equal.
- the first to third through holes are respectively Used for passing the first to third power ropes;
- One end of the hose is fixed to the lower end surface of the mounting plate through a hose mounting seat;
- first to third power ropes and the core rope are fixedly connected to the outermost support disc of the end of the hose away from the hose mounting seat, and the other ends of the first to third power ropes pass through the soft
- the first to third through holes in each support disc in the tube extend from the end of the hose close to the hose mounting seat, and the other end of the core rope passes through the fourth through holes in each support disc in the hose and The outermost support disc on the end of the hose close to the hose mounting seat is fixed;
- the core rope is made of flexible material, which can be bent freely but cannot be stretched;
- the hose mounting base and the mounting plate are provided with through holes for the first to third power ropes to pass through;
- Each of the first to third steering units includes a pulley bracket and a pulley, wherein the pulley bracket is fixed on the upper end surface of the mounting plate; the pulley is provided on the pulley bracket and can be attached to the pulley bracket Free rotation
- Each of the first to third power units includes a stepper motor, a motor bracket, a coupling, a spool, and bearings;
- the stepping motor is fixed on the upper end surface of the mounting plate through a motor bracket, and its output shaft is fixedly connected to one end of the coupling;
- One end of the spool is fixedly connected to the other end of the coupling, and the other end is connected to the upper end surface through a bearing;
- the first to third power ropes are fixedly connected to the spools of the first to third power units through the pulleys of the first to third steering units.
- the first to third power units also include a reducer, and the output shaft of the stepper motor passes through the reducer and the coupling One end is connected.
- the core rope uses a steel cable.
- all of the support discs provided in the flexible tube are fixedly connected to the hose by means of interference fit.
- the hose mounting seat includes a fixing ring, first to third fixing pieces, and a fixing tube;
- One end of the fixing tube is fixedly connected with the lower end surface of the fixing ring;
- the first to third fixing pieces and the fixing ring are located on the same plane, and one end of the first to third fixing pieces are fixedly connected to the outer wall of the fixing ring; the first to third fixing pieces and the installation The lower end of the board is fixed;
- the end of the hose close to the hose mounting seat is arranged in the fixed pipe by an interference fit, and is fixedly connected with the fixed pipe.
- a camera device is provided on the UAV body to cooperate with the operation of the bionic unit.
- the present invention adopts the above technical solutions and has the following technical effects:
- the working unit of the rotorcraft with the bionic working unit proposed by the present invention is a rope drive, which eliminates the joint drive motor and replaces the mechanical arm with the bionic working unit to reduce the volume inertia.
- the driving motor of the bionic working unit can be installed on the aircraft body On the installation board, the free routing configuration of the rope is used to transmit the driving force to the bionic working unit to realize the movement of the working unit; and the bionic unit can be wound up and retracted when not working, which can greatly reduce the target during the supplementary work Volume, improve concealment.
- the rear-mounted drive mechanism can reduce the weight of the operating unit itself, which is conducive to the miniaturization of the rotor platform on which the operating unit is mounted, which improves the concealment of the aircraft and can be used to perform confidential missions;
- the rear position of the driving mechanism can greatly reduce the weight of the operating unit and increase the range of use of the aircraft, which can effectively meet the urgent needs of low-altitude battlefields for concealment, endurance and survivability.
- Figure 1 is a schematic structural view of a new type of lightweight rotor flying robot
- Figure 2 is a schematic diagram of the structure of the mounting plate and the bionic unit
- FIG. 3 is a schematic diagram of the structure of the first power unit, the second power unit, the first steering unit, the second steering unit, the hose mounting seat and the hose;
- Figure 4 is a schematic diagram of the structure of the power unit
- Figure 5 is a schematic diagram of the structure of the hose and the supporting disc matching
- FIG. 6 is a schematic structural view of a steering unit.
- the present invention discloses a new type of lightweight rotor flying robot, which includes a drone body, a mounting plate and several bionic units provided on the mounting plate; the mounting plate is fixed on the The lower end of the human-machine body.
- the bionic unit includes a first to a third power unit, a first to a third steering unit, a hose mounting seat, a hose, a first to a third power rope, a core rope, and a plurality of supporting discs.
- the plurality of support wafers are uniformly fixedly arranged in the hose, and their planes are perpendicular to the central axis of the hose; the support wafers are provided with first to fourth through holes , Wherein the fourth through hole is provided at the center of the supporting disc for the core rope to pass through; the angle between the connection line between the center of the first to third through holes and the center of the supporting disc Both are 120 °, and the distances from the center of the first to third through holes to the center of the supporting wafer are all equal.
- the first to third through holes are used for the first to third power ropes to pass through.
- One end of the hose is fixed to the lower end surface of the mounting plate through a hose mounting seat; the ends of the first to third power cords and the core rope are the outermost ends of the hose away from the hose mounting seat
- the support discs are fixedly connected, and the other ends of the first to third power cords respectively pass through the first to third through holes in each support disc in the hose and extend from the end of the hose close to the hose mounting seat.
- the other end of the rope passes through the fourth through-holes in each support disk in the hose and is fixedly connected to the outermost support disk at the end of the hose close to the hose mounting seat;
- the core rope is made of flexible material and can be free It is curved but not telescopic;
- the hose mounting base and the mounting plate are provided with through holes for the first to third power ropes to pass through.
- the first to third steering units each include a pulley bracket and a pulley, wherein the pulley bracket is fixed on the upper end surface of the mounting plate; the pulley is provided on the pulley bracket, It can rotate freely on the pulley bracket.
- each of the first to third power units includes a stepper motor, a motor bracket, a coupling, a spool, and a bearing; the stepper motor is fixed on the upper end surface of the mounting plate through the motor bracket , The output shaft is fixedly connected to one end of the coupling; one end of the spool is fixedly connected to the other end of the coupling, and the other end is connected to the upper end surface through a bearing.
- the first to third power ropes are fixedly connected to the spools of the first to third power units through the pulleys of the first to third steering units.
- the first to third power units may further include a speed reducer, and the output shaft of the stepping motor is connected to one end of the coupling through the speed reducer.
- the core rope is preferably a steel cable.
- the plurality of supporting discs provided in the hose are all fixedly connected to the hose by means of interference fit.
- the hose mounting seat includes a fixing ring, first to third fixing pieces, and a fixing tube; one end of the fixing pipe is fixedly connected to the lower end surface of the fixing ring; the first to third fixing pieces and the fixing The rings are on the same plane, and one end of the first to third fixing pieces is fixedly connected to the outer wall of the fixing ring; the first to third fixing pieces are fixedly connected to the lower end surface of the mounting plate; the hose is close to the soft
- One end of the tube mounting seat is arranged in the fixed tube by an interference fit, and is fixedly connected with the fixed tube.
- the drone body can also be provided with a camera device to cooperate with the operation of the bionic unit.
- the camera device collects the destination video and returns the data. After moving the aircraft to the working area through the controller, the bionic power unit will bionic The unit comes into contact with the target, and works on the target through the winding action of the bionic unit.
- the action of the bionic unit is made by the first to third power rope traction in the hose; when the first power unit is working, the first power rope is pulled by the winding, the length of the unwound spool is shortened, the bionic The unit generates a winding action in the direction of the first power rope. Control the first power unit to flip, release the first power god, and then control the second and third power ropes to pull, the bionic unit straightens and resets; any two power ropes can control the 120-degree motion range, then the bionic unit can be Free movement in 360 degrees.
- Application method The human eye visually observes the position of the target, and then controls the aircraft through the mobile control device to make the aircraft properly approach the target and causes the camera device to collect the destination video and return the data. Winding angle and winding number.
- the information is transmitted to the signal receiver of the aircraft control unit.
- the output of the signal receiver is connected to the input of the controller.
- the output of the controller outputs the information.
- the control rope drives the mechanical arm drive unit to achieve the expected displacement or angle of each component to complete the alignment. Target operation.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Description
Claims (6)
- 一种新型轻量化旋翼飞行机器人,其特征在于,包含无人机本体、安装板和若干设置在安装板上的仿生单元;所述安装板固定在所述无人机本体的下端;所述仿生单元包含第一至第三动力单元、第一至第三转向单元、软管安装座、软管、第一至第三动力绳、芯绳、以及若干支撑圆片;所述若干支撑圆片均匀固定设置在所述软管内,其所在平面均和所述软管的中轴线垂直;所述支撑圆片上设有第一至第四通孔,其中,所述第四通孔设置在支撑圆片的圆心、用于供所述芯绳穿过;所述第一至第三通孔圆心处和支撑圆片圆心处的连线的夹角均为120°,且第一至第三通孔圆心处到支撑圆片圆心处的距离均相等,所述第一至第三通孔分别用于供第一至第三动力绳穿过;所述软管的一端通过软管安装座固定在所述安装板的下端面;所述第一至第三动力绳、芯绳的一端均和所述软管远离软管安装座一端最外侧的支撑圆片固连,且第一至第三动力绳的另一端分别穿过软管内各个支撑圆片上的第一至第三通孔后从软管靠近软管安装座的一端伸出,芯绳的另一端分别穿过软管内各个支撑圆片上的第四通孔后和软管靠近软管安装座一端最外侧的支撑圆片固连;所述芯绳采用柔性材料制成,能够自由弯曲但不能伸缩;所述软管安装座、安装板上均设有供所述第一至第三动力绳穿过的通孔;所述第一至第三转向单元均包含滑轮支架和滑轮,其中,所述滑轮支架固定在所述安装板的上端面上;所述滑轮设置在所述滑轮支架上,能够在所述滑轮支架上自由转动;所述第一至第三动力单元均包含步进电机、电机支架、联轴器、线轴和轴承;所述步进电机通过电机支架固定在所述安装板的上端面上,其输出轴和所述联轴器的一端固连;所述线轴一端和所述联轴器的另一端固连、另一端通过轴承和所述上端面相连;所述第一至第三动力绳分别通过第一至第三转向单元的滑轮变向后和所述第一至第三动力单元的线轴固连。
- 根据权利要求1所述的新型轻量化旋翼飞行机器人,其特征在于,所述第一至第三动力单元中还均包含减速器,所述步进电机的输出轴通过减速器和所述联轴器的一端相连。
- 根据权利要求1所述的新型轻量化旋翼飞行机器人,其特征在于,所述芯绳采用钢缆。
- 根据权利要求1所述的新型轻量化旋翼飞行机器人,其特征在于,所述若干设置在软管内的支撑圆片均通过过盈配合的方式和软管固连。
- 根据权利要求1所述的新型轻量化旋翼飞行机器人,其特征在于,所述软管安装座包含固定环、第一至第三固定片、以及固定管;所述固定管的一端和固定环的下端面固连;所述第一至第三固定片和所述固定环位于同一平面,且第一至第三固定片的一端均和固定环的外壁固连;所述第一至第三固定片和所述安装板的下端面固连;所述软管靠近软管安装座的一端通过过盈配合的方式设置在所述固定管内,和所述固定管固连。
- 根据权利要求1所述的新型轻量化旋翼飞行机器人,其特征在于,所述无人机本体上设有摄像装置,以配合操作所述仿生单元。
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CN201811172099.8A CN109436309A (zh) | 2018-10-09 | 2018-10-09 | 一种新型轻量化旋翼飞行机器人 |
CN201811172099.8 | 2018-10-09 |
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CN109436309A (zh) * | 2018-10-09 | 2019-03-08 | 南京航空航天大学 | 一种新型轻量化旋翼飞行机器人 |
CN110723278A (zh) * | 2019-09-20 | 2020-01-24 | 南京航空航天大学 | 一种旋翼飞行机器人 |
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CN109436309A (zh) * | 2018-10-09 | 2019-03-08 | 南京航空航天大学 | 一种新型轻量化旋翼飞行机器人 |
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CN105690378A (zh) * | 2016-03-22 | 2016-06-22 | 中国民航大学 | 一种紧凑型易扩展的多关节段蛇臂驱动机构 |
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