CN105799923A - Four-rotor aircraft-based carrying manipulator - Google Patents
Four-rotor aircraft-based carrying manipulator Download PDFInfo
- Publication number
- CN105799923A CN105799923A CN201610273478.0A CN201610273478A CN105799923A CN 105799923 A CN105799923 A CN 105799923A CN 201610273478 A CN201610273478 A CN 201610273478A CN 105799923 A CN105799923 A CN 105799923A
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- quadrotor
- control system
- flight control
- frame
- flight
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 26
- 230000005611 electricity Effects 0.000 claims description 16
- 238000005183 dynamical system Methods 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
-
- 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
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a four-rotor aircraft-based carrying manipulator, which comprises a four-rotor aircraft body, power systems, a flight control system, a power supply and a manipulator control device, wherein the four-rotor aircraft body comprises a rack, an undercarriage and four rotors, and the flight control system is arranged above the center of the rack and comprises a microcontroller and a nine-axis combined sensor for sensing the flight attitude of the four-rotor aircraft and transferring the flight attitude data to the microcontroller; one power system is arranged on each rotor, and comprises a propeller, a brushless motor and an electronic speed controller, and the manipulator control device is arranged at the center of the bottom of the rack, and comprises a steering engine and a manipulator; the manipulator can be used for symmetrically grabbing and delivering by the rotation of the steering gear. With the structure, the air flight task of the four-rotor aircraft can be realized, and the air grabbing and delivering function of the manipulator can be realized.
Description
Technical field
The present invention relates to a kind of aviation aircraft, particularly a kind of conveying mechanical hands based on quadrotor.
Background technology
Quadrotor is a kind of to utilize four rotors as flight engine to carry out the aircraft of airflight.Since entering for 20th century, electronic technology develops rapidly four-axle aircraft and starts to move towards miniaturization, and has incorporated artificial intelligence so that it is development tends to unmanned plane, intelligent robot.Four-axle aircraft not only achieves the flying quality of the vertical lift of helicopter, also reduces the design difficulty of aircraft mechanical structural to a certain extent simultaneously.In manufacturing process, requiring relatively low to the center of integral body, symmetry and motor performance, this also makes the advantage place of four-axle aircraft just, and compared to fixed wing airplane, four axles also have can VTOL, the advantages such as mobility is good, easy care.
Mechanical hand is in mechanization, a kind of new device grown up in automated production process.In present-day procedure, mechanical hand is applied in automatic assembly line widely, development and the production of robot have become in high-tech sector, the emerging technology developed rapidly, it has promoted the development of mechanical hand more so that mechanical hand can realize the combination with mechanization and automatization better.Although mechanical hand might as well staff flexible like that, but it have can constantly repeated work and work, do not know fatigue, it is fearless of danger, the feature that the strength of snatch weight is bigger than people hand-power, therefore, mechanical hand has been subject to the attention of many departments, and obtains application more and more widely.
In practical application, quadrotor can complete specific aerial mission under complicated, dangerous environment, it is also possible to is used for monitoring traffic, environment etc..Such as, four-axle aircraft is installed the detecting device of the harmful gass such as methane, then can detect harmful gas with pinpointing in high-altitude；Enter radiation area and check nuclear facilities；Do military surveillance；Even materials hauling, builds house etc..
Present unmanned plane, the unmanned plane being especially representative with multi-rotor aerocraft, its plug-in The Cloud Terrace is taken photo by plane the most general.But, in practice for the lift-launch function of unmanned plane, there is very big room for improvement.This programme proposes a kind of conveying mechanical hands based on quadrotor and designs, it is particularly suited for the lift-launch of many rotors, multi-rotor aerocraft is all relatively good in manipulation and stability, the basis that it is stable can realize the operation to mechanical hand, not only can realize quadrotor aerial mission under complex environment, it is also possible in flight course, control mechanical hand carry out the operation to particular task.
Summary of the invention
The technical problem to be solved in the present invention is for above-mentioned the deficiencies in the prior art, and a kind of conveying mechanical hands based on quadrotor is provided, should can realize the airflight task of quadrotor based on the conveying mechanical hands of quadrotor, the function that mechanical hand aloft captures and throws in the air can be reached again.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of conveying mechanical hands based on quadrotor, including four rotor bodies, dynamical system, flight control system, power supply and manipulator controller.
Four rotor bodies include frame, undercarriage and four rotors.
Flight control system is arranged on the overcentre of frame, and flight control system includes microcontroller and 9 axle combination sensors；9 axle combination sensors, for the flight attitude of perception quadrotor, and send flight attitude data to microcontroller.
Being provided with a dynamical system on each rotor, each dynamical system all includes propeller, brushless electric machine and electricity and adjusts；Electricity adjusts one end to be connected with flight control system, and the other end is connected with brushless electric machine, and propeller is arranged on brushless electric machine, adjusts output signal to control brushless electric machine carrying screws by electricity and rotates, provide power to aircraft.
Manipulator controller is arranged on the bottom centre of frame, and manipulator controller includes the steering wheel that can rotate and the mechanical hand being connected with steering wheel, by the rotation of steering wheel, can realize the symmetrical of mechanical hand and capture and throw in.
Power supply can be powered for whole quadrotor.
Microcontroller in described flight control system is STM32F1 microcontroller.
9 axle combination sensors in described flight control system are the GY-86 module being integrated with 9 axle combination sensors.
The model of described brushless electric machine is the motor of 2212 models.
Described frame adopts S500 tetra-axle frame.
Described power supply adopts 3S lithium battery, three cell pieces lithium battery of the 11.1V being composed in series.
The junction of described manipulator controller and frame is provided with vibration damping sheet.
Also include remote controller, this remote controller and flight control system and manipulator controller wireless connections.
After the present invention adopts said structure, can be suitably used for the lift-launch of many rotors, multi-rotor aerocraft is all relatively good in manipulation and stability, the basis that it is stable can realize the operation to mechanical hand, not only can realize quadrotor aerial mission under complex environment, it is also possible in flight course, control mechanical hand carry out the operation to particular task.
Accompanying drawing explanation
Fig. 1 shows the structural representation of a kind of conveying mechanical hands based on quadrotor of the present invention.
Fig. 2 shows the left view of the conveying mechanical hands in Fig. 1 based on quadrotor.
Fig. 3 shows the top view of the conveying mechanical hands in Fig. 1 based on quadrotor.
Fig. 4 shows the structural representation of manipulator controller.
Wherein have: 1. propeller；2. brushless electric machine；3. frame；4. undercarriage；5. manipulator controller；6. power supply；7. flight control system；8. electricity is adjusted.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete better embodiment, the present invention is further detailed explanation.
As shown in Figure 1, Figure 2 and Figure 3, a kind of conveying mechanical hands based on quadrotor, including four rotor bodies, dynamical system, flight control system 7, power supply 6, manipulator controller 5 and remote controller.
Four rotor bodies include frame 3, undercarriage 4 and four rotors.
Above-mentioned frame preferably employs S500 tetra-axle frame, and material is light strong.Undercarriage is arranged on the lower section of frame, and four rotors are arranged on four frame axles of frame.
Flight control system is arranged on the overcentre of frame, and flight control system includes microcontroller and 9 axle combination sensors.
Above-mentioned microcontroller is preferably STM32F1 microcontroller, STM32F1 microcontroller is based on a high-performance of ARM company Cortex-M3 kernel, low-power consumption, resourceful microcontroller, and abundant hardware resource makes it be highly suitable as the main control chip of quadrotor.
9 axle combination sensors, it is preferred to be integrated with the GY-86 module of 9 axle combination sensors.
Being provided with a dynamical system on each rotor, each dynamical system all includes propeller 1, brushless electric machine 2 and electricity and adjusts 8.Electricity is adjusted and is arranged on four frame axles of frame, and brushless electric machine and propeller are arranged on four frame thes tip of the axis.
Electricity adjusts one end to be connected with flight control system, and the other end is connected with brushless electric machine, and propeller is arranged on brushless electric machine, adjusts output signal to control brushless electric machine carrying screws by electricity and rotates, provide power to aircraft.
Brushless electric machine preferably employs the motor of 2212 models, and electricity adjusts the electricity tune preferably employing 40A, and propeller preferably employs the oar of 1045 models.
Above-mentioned 9 axle combination sensors are for the flight attitude of perception quadrotor, and send flight attitude data to microcontroller.How in real time low noise ground obtains the key that the attitude information of aircraft is whole flight control system.Then, the flight attitude data that microcontroller will obtain, output final carriage angle after PID processes, control the rotating speed of brushless electric machine, remain stable for flight.
Manipulator controller is arranged on the bottom centre of frame, and the junction of manipulator controller and frame is preferably provided with vibration damping sheet, aloft captures and interference to stability of aircraft in launch process it is thus possible to reduce mechanical hand.
Manipulator controller includes the steering wheel that can rotate and the mechanical hand being connected with steering wheel, by the rotation of steering wheel, can realize the symmetrical of mechanical hand and capture and throw in.
Above-mentioned steering wheel preferably employs 15KG steering wheel, and mechanical hand preferably employs metal material and makes.
Power supply can be powered for whole quadrotor, and power supply preferably employs 3S lithium battery, three cell pieces the lithium battery of the 11.1V being composed in series.
Above-mentioned remote controller and flight control system and manipulator controller wireless connections.Remote controller selects at least 8 passages, remote control receiver is connected with flight control system, manipulator controller is connected with a passage of remote control receiver, and flight control system is adjusted with four electricity of four rotors respectively and is connected, and each electricity adjusts the brushless electric machine corresponding with each to connect；Battery and four electricity adjust common connection, power for flight control system, remote control receiver, manipulator controller and brushless electric machine, it is operated by remote controller and controls the flight of quadrotor, realize the crawl of mechanical hand by controlling the channel switching on remote controller and throw in function；During quadrotor flight aloft, offline mode is switched to height-lock control pattern, what maintenance quadrotor was stable rests on a three dimensions point, on this basis, completes the crawl to target by remote controller operation manipulator controller and throws in function.The present invention program both can realize quadrotor aerial mission under complex environment, it is also possible to controls mechanical hand in flight course and carries out the operation to particular task.
The preferred embodiment of the present invention described in detail above; but, the present invention is not limited to the detail in above-mentioned embodiment, in the technology concept of the present invention; technical scheme can being carried out multiple equivalents, these equivalents belong to protection scope of the present invention.
Claims (8)
1. the conveying mechanical hands based on quadrotor, it is characterised in that: include four rotor bodies, dynamical system, flight control system, power supply and manipulator controller；
Four rotor bodies include frame, undercarriage and four rotors；
Flight control system is arranged on the overcentre of frame, and flight control system includes microcontroller and 9 axle combination sensors；9 axle combination sensors, for the flight attitude of perception quadrotor, and send flight attitude data to microcontroller；
Being provided with a dynamical system on each rotor, each dynamical system all includes propeller, brushless electric machine and electricity and adjusts；Electricity adjusts one end to be connected with flight control system, and the other end is connected with brushless electric machine, and propeller is arranged on brushless electric machine, adjusts output signal to control brushless electric machine carrying screws by electricity and rotates, provide power to aircraft；
Manipulator controller is arranged on the bottom centre of frame, and manipulator controller includes the steering wheel that can rotate and the mechanical hand being connected with steering wheel, by the rotation of steering wheel, can realize the symmetrical of mechanical hand and capture and throw in；
Power supply can be powered for whole quadrotor.
2. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: the microcontroller in described flight control system is STM32F1 microcontroller.
3. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: 9 axle combination sensors in described flight control system are the GY-86 module being integrated with 9 axle combination sensors.
4. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: the model of described brushless electric machine is the motor of 2212 models.
5. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: described frame adopts S500 tetra-axle frame.
6. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: described power supply adopts 3S lithium battery, three cell pieces lithium battery of the 11.1V being composed in series.
7. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: the junction of described manipulator controller and frame is provided with vibration damping sheet.
8. the conveying mechanical hands based on quadrotor according to claim 1, it is characterised in that: also include remote controller, this remote controller and flight control system and manipulator controller wireless connections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610273478.0A CN105799923A (en) | 2016-04-28 | 2016-04-28 | Four-rotor aircraft-based carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610273478.0A CN105799923A (en) | 2016-04-28 | 2016-04-28 | Four-rotor aircraft-based carrying manipulator |
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| CN105799923A true CN105799923A (en) | 2016-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610273478.0A Pending CN105799923A (en) | 2016-04-28 | 2016-04-28 | Four-rotor aircraft-based carrying manipulator |
Country Status (1)
| Country | Link |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081111A (en) * | 2016-08-28 | 2016-11-09 | 张玉华 | A kind of rescue unmanned plane |
| CN106240808A (en) * | 2016-07-31 | 2016-12-21 | 丁皇刚 | A kind of rollover vehicular rescue unmanned plane |
| CN106442030A (en) * | 2016-09-12 | 2017-02-22 | 南京信息工程大学 | Real-time gas monitoring and collecting device based on four-rotor aircraft |
| CN106628136A (en) * | 2016-11-01 | 2017-05-10 | 昆明理工大学 | Gripping and delivering unmanned aerial vehicle |
| CN106730684A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula ball picking up device and its pick method |
| CN106744585A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula bottle opener device and its corkage method |
| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| CN107256029A (en) * | 2017-08-16 | 2017-10-17 | 南京大学 | A kind of combined method and control method for combining collaboration load-carrying aircraft |
| CN107434035A (en) * | 2017-09-03 | 2017-12-05 | 佛山神航科技有限公司 | One kind sports multi-rotor unmanned aerial vehicle |
| CN108750115A (en) * | 2018-07-01 | 2018-11-06 | 陈爱霞 | Unmanned aerial vehicle puts in device |
| CN113665812A (en) * | 2021-08-09 | 2021-11-19 | 广东新创华科环保股份有限公司 | Multi-channel unmanned aerial vehicle control system and method |
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| CN205574270U (en) * | 2016-04-28 | 2016-09-14 | 南京信息工程大学 | Delivery manipulator based on four rotor crafts |
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| JP2012006587A (en) * | 2010-06-22 | 2012-01-12 | Parrot | Method for evaluating horizontal speed of drone, particularly of drone capable of performing hovering flight under autopilot |
| CN102556341A (en) * | 2011-12-05 | 2012-07-11 | 北京航空航天大学 | Group flying robot with distribution and self-assembly characteristics |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240808A (en) * | 2016-07-31 | 2016-12-21 | 丁皇刚 | A kind of rollover vehicular rescue unmanned plane |
| CN106081111A (en) * | 2016-08-28 | 2016-11-09 | 张玉华 | A kind of rescue unmanned plane |
| CN106081111B (en) * | 2016-08-28 | 2018-05-29 | 山西大疆慧飞科技有限公司 | A kind of rescue unmanned plane |
| CN106442030A (en) * | 2016-09-12 | 2017-02-22 | 南京信息工程大学 | Real-time gas monitoring and collecting device based on four-rotor aircraft |
| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| CN106628136A (en) * | 2016-11-01 | 2017-05-10 | 昆明理工大学 | Gripping and delivering unmanned aerial vehicle |
| CN106628136B (en) * | 2016-11-01 | 2023-03-31 | 昆明理工大学 | Snatch and deliver unmanned aerial vehicle |
| CN106744585A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula bottle opener device and its corkage method |
| CN106730684A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula ball picking up device and its pick method |
| CN107256029A (en) * | 2017-08-16 | 2017-10-17 | 南京大学 | A kind of combined method and control method for combining collaboration load-carrying aircraft |
| CN107434035A (en) * | 2017-09-03 | 2017-12-05 | 佛山神航科技有限公司 | One kind sports multi-rotor unmanned aerial vehicle |
| CN108750115A (en) * | 2018-07-01 | 2018-11-06 | 陈爱霞 | Unmanned aerial vehicle puts in device |
| CN108750115B (en) * | 2018-07-01 | 2021-05-25 | 朱荣茂 | Unmanned aerial vehicle puts in device |
| CN113665812A (en) * | 2021-08-09 | 2021-11-19 | 广东新创华科环保股份有限公司 | Multi-channel unmanned aerial vehicle control system and method |
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Application publication date: 20160727 |
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