CN205633051U - Four -rotor unmanned aerial vehicle - Google Patents
Four -rotor unmanned aerial vehicle Download PDFInfo
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- CN205633051U CN205633051U CN201620300843.8U CN201620300843U CN205633051U CN 205633051 U CN205633051 U CN 205633051U CN 201620300843 U CN201620300843 U CN 201620300843U CN 205633051 U CN205633051 U CN 205633051U
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Abstract
The utility model discloses a four -rotor unmanned aerial vehicle, include the frame and install four wings in the frame are still including installing the arm of frame bottom, install a camera device and the 2nd camera device of frame one side, wherein, but the arm is including the rotation chassis, upper arm, well arm, connector and the hand claw that connect gradually, but rotation chassis installs in the frame bottom, upper arm and well arm swing joint, arm swing among the steering engine driving in the upper arm, the hand claw divide into the symmetry two rows grab the tooth, have 2 second steering wheels in the connector, every one row the 2nd steering engine control grabs the tooth, a camera device, the 2nd camera device, first steering wheel and second steering wheel are all connected the main control panel in the frame. The utility model discloses not only have ordinary unmanned aerial vehicle's flight, the function of taking photo by plane, still have the function that the arm snatchs, transports, puts in the object.
Description
Technical field
This utility model relates to aircraft field, particularly relates to a kind of four rotor wing unmanned aerial vehicles.
Background technology
Existing can the unmanned plane of loading, main employing four rotors are as the main body of unmanned plane, the storage tank of portability object is installed in the bottom of main body, outside is relied on to be fixed in storage tank by object, another kind is that object is directly bundled in four rotors or the bottom of many rotor wing unmanned aerial vehicles, in above utilization, four rotor wing unmanned aerial vehicles do not have the active to transported object and capture and releasability, and be dependent on external force transported object is carried out pack binding complete, unmanned plane simply play one transport and throw in effect.
Utility model content
The purpose of this utility model is to provide a kind of four rotor wing unmanned aerial vehicles, it is simple to automatically captures, transport, throw in object.
The technical solution of the utility model is a kind of four rotor wing unmanned aerial vehicles, including frame and four wings being arranged in described frame, also includes being arranged on the mechanical arm bottom described frame, the first camera head being arranged on described frame side and the second camera head；Wherein, described mechanical arm includes rotatable chassis, upper arm, middle arm, adapter and the paw being sequentially connected with, and described rotatable chassis is arranged on bottom frame, and described upper arm and middle arm are flexibly connected, arm swing in the first servo driving in described upper arm；Described paw is divided into two row's grasping teeths of symmetry, has 2 the second steering wheels, each second servos control one row's grasping teeth in described adapter；Described first camera head, the second camera head, the first steering wheel and the second steering wheel all connect the master board in described frame.The pendulum angle of arm in first servos control, 2 the second steering wheels control two row's grasping teeths respectively, control crawl and the expansion action of described paw.
Further, described rotatable chassis there is driving means, the master board in this driving means connection frame.Unmanned plane controls the anglec of rotation of rotatable chassis by master board.
Further, the first camera head includes that the first hanger and the first photographic head, described first hanger are fixed in frame, and the first photographic head is movably installed on described first hanger.Master board drives the first photographic head to rotate on the first hanger, adjusts camera angle.Master board also controls described first photographic head and shoots.
Further, the second camera head includes the second hanger and second camera, and described second hanger is fixed on below frame, and second camera is movably installed on described second hanger.Master board drives second camera to rotate on the second hanger, adjusts camera angle.Master board also controls described second camera and shoots.
Further, being also equipped with video acquisition module and picture recognition module in frame, described video acquisition module is simultaneously connected with master board and the first photographic head, and described picture recognition module is simultaneously connected with master board and second camera.The video information received is stored and is sent to receive terminal by video acquisition module.After the image information analysis that picture recognition module will receive, being sent to master board, master board controls, according to picture recognition module feedack, the action that mechanical arm carries out capturing or decontroling.
Further, middle arm is made up of the crossbeam in the middle of two pieces of gripper shoes and two pieces of gripper shoes.Add the hardness of middle arm, prevent middle arm to be broken off.
Beneficial effect: this utility model not only has the flight of common unmanned plane, aerial photography function, also has the function that mechanical arm captures, transports, throws in object.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of four rotor wing unmanned aerial vehicles.
Fig. 2 is the axonometric chart of four another angles of rotor wing unmanned aerial vehicle.
Labelling in figure: 1-frame；2-wing；3-mechanical arm；4-the first camera head；5-the second camera head；6-rotatable chassis；7-upper arm；Arm in 8-；9-adapter；10-paw.
Detailed description of the invention
Below in conjunction with the accompanying drawings, preferably embodiment of the present utility model is described in further detail:
In conjunction with Fig. 1 and Fig. 2, a kind of four rotor wing unmanned aerial vehicles, including frame 1 and four wings 2 being arranged in described frame 1, also include being arranged on the mechanical arm 3 bottom described frame 1, be arranged on the first camera head 4 and the second camera head 5 of described frame 1 side；Wherein, described mechanical arm 3 includes rotatable chassis 6, upper arm 7, middle arm 8, adapter 9 and the paw 10 being sequentially connected with, described rotatable chassis 6 is arranged on bottom frame 1, and described upper arm 7 and middle arm 8 are flexibly connected, and in the first servo driving in described upper arm 7, arm 8 swings in the range of 180 °；Described paw 10 is divided into two row's grasping teeths of symmetry, has 2 the second steering wheels, each second servos control one row's grasping teeth in described adapter 9；Described first camera head the 4, second camera head the 5, first steering wheel and the second steering wheel all connect the master board in described frame 1.The pendulum angle of arm 8 in first servos control, 2 the second steering wheels control two row's grasping teeths respectively, control crawl and the expansion action of described paw 10.
Preferably, described rotatable chassis 6 there is driving means, the master board in this driving means connection frame 1.Unmanned plane controls driving means by master board, and this driving means drives rotatable chassis 6 to rotate.
In conjunction with Fig. 2, the first camera head 4 includes that the first hanger and the first photographic head, described first hanger are fixed in frame 1, and the first photographic head is movably installed on described first hanger.Master board drives the first photographic head to rotate on the first hanger, adjusts camera angle.Master board also controls described first photographic head and shoots.
In conjunction with Fig. 2, the second camera head 5 includes that the second hanger and second camera, described second hanger are fixed on below frame 1, and second camera is movably installed on described second hanger.Master board drives second camera to rotate on the second hanger, adjusts camera angle.Master board also controls described second camera and shoots.
Preferably, being also equipped with video acquisition module and picture recognition module in frame 1, described video acquisition module is simultaneously connected with master board and the first photographic head, and described picture recognition module is simultaneously connected with master board and second camera.The video information received is stored and is sent to receive terminal by video acquisition module.After the image information analysis that picture recognition module will receive, being sent to master board, master board controls, according to picture recognition module feedack, the action that mechanical arm 3 carries out capturing or decontroling.
In conjunction with Fig. 1, middle arm 8 is made up of the crossbeam in the middle of two pieces of gripper shoes and two pieces of gripper shoes.Add the hardness of middle arm 8, prevent middle arm 8 to be broken off.
This four rotor wing unmanned aerial vehicles people has a series of functions such as stabilized flight, the independent navigation that common four rotors are had, and by integrated GPS navigation module, can independently pinpoint cruise, the cruise of autonomous orbit determination mark.Can be at manual remote control mode of flight.
Video acquisition module is mainly used in the video capture in flight course, can be used for risk of forest fire early warning, the image acquisition of specific region.Picture recognition module be mainly used in capturing during to the identification of crawled object, detection, the signal of second camera identification feeds back to master board, and master board takes a series of actions such as crawl further according to the signal controlling machine mechanical arm 3 of feedback.
This utility model not only has the flight of common unmanned plane, aerial photography function, also has the function that mechanical arm 3 captures, transports, throws in object.
Above content is to combine concrete preferred implementation further detailed description of the utility model, it is impossible to assert that of the present utility model being embodied as is confined to these explanations.For this utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection domain of the present utility model.
Claims (6)
1. four rotor wing unmanned aerial vehicle, including frame and four wings being arranged in described frame, it is characterised in that: also include being arranged on the mechanical arm bottom described frame, the first camera head being arranged on described frame side and the second camera head；Wherein, described mechanical arm includes rotatable chassis, upper arm, middle arm, adapter and the paw being sequentially connected with, and described rotatable chassis is arranged on bottom frame, and described upper arm and middle arm are flexibly connected, arm swing in the first servo driving in described upper arm；Described paw is divided into two row's grasping teeths of symmetry, has 2 the second steering wheels, each second servos control one row's grasping teeth in described adapter；Described first camera head, the second camera head, the first steering wheel and the second steering wheel all connect the master board in described frame.
Four rotor wing unmanned aerial vehicles the most according to claim 1, it is characterised in that: there is driving means on described rotatable chassis, the master board in this driving means connection frame.
Four rotor wing unmanned aerial vehicles the most according to claim 2, it is characterised in that: the first camera head includes that the first hanger and the first photographic head, described first hanger are fixed in frame, and the first photographic head is movably installed on described first hanger.
Four rotor wing unmanned aerial vehicles the most according to claim 3, it is characterised in that: the second camera head includes the second hanger and second camera, and described second hanger is fixed on below frame, and second camera is movably installed on described second hanger.
Four rotor wing unmanned aerial vehicles the most according to claim 4, it is characterized in that: in frame, be also equipped with video acquisition module and picture recognition module, described video acquisition module is simultaneously connected with master board and the first photographic head, and described picture recognition module is simultaneously connected with master board and second camera.
Four rotor wing unmanned aerial vehicles the most according to claim 5, it is characterised in that: middle arm is made up of the crossbeam in the middle of two pieces of gripper shoes and two pieces of gripper shoes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620300843.8U CN205633051U (en) | 2016-04-12 | 2016-04-12 | Four -rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620300843.8U CN205633051U (en) | 2016-04-12 | 2016-04-12 | Four -rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN205633051U true CN205633051U (en) | 2016-10-12 |
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| CN201620300843.8U Expired - Fee Related CN205633051U (en) | 2016-04-12 | 2016-04-12 | Four -rotor unmanned aerial vehicle |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444810A (en) * | 2016-10-31 | 2017-02-22 | 浙江大学 | Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system |
| CN106505468A (en) * | 2016-12-08 | 2017-03-15 | 北京国网富达科技发展有限责任公司 | Processing method for foreign body on the line of fall apparatus for work and wire of double-end pulley |
| CN106771041A (en) * | 2016-12-28 | 2017-05-31 | 中国计量大学 | A kind of dispensing and recovery method based on unmanned plane water quality on-line measuring device |
| CN106995053A (en) * | 2017-04-25 | 2017-08-01 | 桂林电子科技大学 | A kind of rotor wing unmanned aerial vehicle of new armed four |
| WO2018072654A1 (en) * | 2016-10-21 | 2018-04-26 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned aerial vehicle |
| CN108298084A (en) * | 2018-01-05 | 2018-07-20 | 桂林电子科技大学 | A kind of armed unmanned plane of autonomous crawl object |
| CN108438223A (en) * | 2018-04-25 | 2018-08-24 | 浙江工业大学 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
| CN108482678A (en) * | 2018-04-07 | 2018-09-04 | 邢明的 | A kind of airflight crawl unmanned plane |
| CN108791937A (en) * | 2018-06-12 | 2018-11-13 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle retracting device and method based on machinery crawl |
| CN110316365A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of four axis unmanned plane of full-automatic fire-extinguishing |
| CN111070216A (en) * | 2019-12-09 | 2020-04-28 | 北京大学 | Unmanned aerial vehicle-based three-degree-of-freedom piece sending robot with two movements and one rotation |
| CN112407281A (en) * | 2020-11-16 | 2021-02-26 | 江苏锦程航空科技有限公司 | Can snatch unmanned aerial vehicle |
| CN112847428A (en) * | 2021-04-23 | 2021-05-28 | 季华实验室 | Mechanical arm for flying robot and flying robot |
| GB2620622A (en) * | 2022-07-14 | 2024-01-17 | Drone Band Ltd | Device |
-
2016
- 2016-04-12 CN CN201620300843.8U patent/CN205633051U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072654A1 (en) * | 2016-10-21 | 2018-04-26 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned aerial vehicle |
| US11345051B2 (en) | 2016-10-21 | 2022-05-31 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Automatic unloading carrier and unmanned aerial vehicle |
| CN106444810A (en) * | 2016-10-31 | 2017-02-22 | 浙江大学 | Unmanned plane mechanical arm aerial operation system with help of virtual reality, and control method for unmanned plane mechanical arm aerial operation system |
| CN106505468A (en) * | 2016-12-08 | 2017-03-15 | 北京国网富达科技发展有限责任公司 | Processing method for foreign body on the line of fall apparatus for work and wire of double-end pulley |
| CN106505468B (en) * | 2016-12-08 | 2018-04-17 | 北京国网富达科技发展有限责任公司 | The processing method of foreign matter on the line of fall apparatus for work and conducting wire of double-end pulley |
| CN106771041A (en) * | 2016-12-28 | 2017-05-31 | 中国计量大学 | A kind of dispensing and recovery method based on unmanned plane water quality on-line measuring device |
| CN106995053A (en) * | 2017-04-25 | 2017-08-01 | 桂林电子科技大学 | A kind of rotor wing unmanned aerial vehicle of new armed four |
| CN108298084A (en) * | 2018-01-05 | 2018-07-20 | 桂林电子科技大学 | A kind of armed unmanned plane of autonomous crawl object |
| CN108482678A (en) * | 2018-04-07 | 2018-09-04 | 邢明的 | A kind of airflight crawl unmanned plane |
| CN108438223A (en) * | 2018-04-25 | 2018-08-24 | 浙江工业大学 | Full-automatic grabbing device of unmanned aerial vehicle based on visual identification system |
| CN108438223B (en) * | 2018-04-25 | 2024-03-26 | 浙江工业大学 | Unmanned aerial vehicle full-automatic grabbing device based on visual identification system |
| CN108791937A (en) * | 2018-06-12 | 2018-11-13 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle retracting device and method based on machinery crawl |
| CN110316365A (en) * | 2019-07-04 | 2019-10-11 | 中原工学院 | A kind of four axis unmanned plane of full-automatic fire-extinguishing |
| CN111070216A (en) * | 2019-12-09 | 2020-04-28 | 北京大学 | Unmanned aerial vehicle-based three-degree-of-freedom piece sending robot with two movements and one rotation |
| CN111070216B (en) * | 2019-12-09 | 2020-12-01 | 北京大学 | Unmanned aerial vehicle-based three-degree-of-freedom piece sending robot with two movements and one rotation |
| CN112407281A (en) * | 2020-11-16 | 2021-02-26 | 江苏锦程航空科技有限公司 | Can snatch unmanned aerial vehicle |
| CN112847428A (en) * | 2021-04-23 | 2021-05-28 | 季华实验室 | Mechanical arm for flying robot and flying robot |
| GB2620622A (en) * | 2022-07-14 | 2024-01-17 | Drone Band Ltd | Device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20170412 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |