Multifunctional unmanned aerial vehicle
阅读说明：本技术 一种多功能无人机 (Multifunctional unmanned aerial vehicle ) 是由 符文忠 刘建枫 于 2020-07-15 设计创作，主要内容包括：一种多功能无人机,包括无人机整体,无人机整体包括主机体、螺旋桨结构以及取物机械手结构；主机体包括机罩壳,机罩壳内部设置有控制仓和电池仓,控制仓内设置有FPV图传模块、接收模块、电源模块、数传模块以及开源飞控模块,电池仓内设置有蓄电池；机罩壳的上机盖上设置有GPS和激光头传感模块；主机体的前端设置通过摄像机台固定安装有FPV摄像机,主机体的后端设置有接收天线；螺旋桨结构包括绕主机体一圈均匀设置的若干个机臂,在机臂的头部都设置有螺旋桨飞行结构；取物机械手结构安装在主机体的前端；本方案设计的一种多功能无人机,集高空飞行、拍摄以及高空取物等多种功能,并通过其快速可拆卸结构可用于教学实验,功能齐全,使用方便。(A multifunctional unmanned aerial vehicle comprises an unmanned aerial vehicle whole body, wherein the unmanned aerial vehicle whole body comprises a main body, a propeller structure and an object taking manipulator structure; the main machine body comprises a machine cover shell, a control cabin and a battery cabin are arranged in the machine cover shell, an FPV image transmission module, a receiving module, a power supply module, a data transmission module and an open source flight control module are arranged in the control cabin, and a storage battery is arranged in the battery cabin; an upper cover of the machine cover shell is provided with a GPS and a laser head sensing module; the front end of the main machine body is fixedly provided with an FPV camera through a camera platform, and the rear end of the main machine body is provided with a receiving antenna; the propeller structure comprises a plurality of machine arms which are uniformly arranged around the main machine body in a circle, and the heads of the machine arms are provided with propeller flying structures; the fetching manipulator structure is arranged at the front end of the main machine body; this scheme design's a multi-functional unmanned aerial vehicle collects the high altitude flight, shoots and get multiple functions such as thing in the high altitude to can be used to the teaching experiment through its quick detachable construction, multiple functional, convenient to use.)
1. A multi-functional unmanned aerial vehicle, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle whole body, wherein the unmanned aerial vehicle whole body comprises a main body, a propeller structure and an object taking manipulator structure;
the main machine body comprises a machine cover shell, a control cabin and a battery cabin are arranged in the machine cover shell, an FPV image transmission module, a receiving module, a power supply module, a data transmission module and an open source flight control module are arranged in the control cabin, and a storage battery is arranged in the battery cabin; an upper cover of the machine cover shell is provided with a GPS positioning system and a laser head sensing module; the front end of the main machine body is fixedly provided with an FPV camera through a camera platform, and the rear end of the main machine body is provided with a receiving antenna;
the propeller structure comprises a plurality of machine arms which are uniformly arranged around the main machine body in a circle, and the structure of each machine arm is the same; the head parts of the machine arms are provided with propeller flying structures;
get the thing manipulator structure and install the front end of the host computer body, get the thing manipulator structure including getting the thing clamping jaw, get the thing clamping jaw and connect clamping jaw drive arrangement and angle adjusting device from top to bottom.
2. The multifunctional unmanned aerial vehicle of claim 1, wherein: the propeller flying structure comprises a motor, an output shaft of the motor is connected with a rotating shaft through a coupler, the surface of the rotating shaft is an external thread surface, a propeller is mounted on the rotating shaft, and the inner surface of a casing at the center part of the propeller is an internal thread surface corresponding to the external thread surface; a lifting support frame is detachably arranged below the machine arm through screws; and the propeller protection cover is detachably arranged on the horn through screws.
3. The multifunctional unmanned aerial vehicle of claim 2, wherein: the bottom of the rotating shaft is provided with an annular step, and the surface of the annular step is a conical convex surface.
4. The multifunctional unmanned aerial vehicle of claim 2, wherein: a plurality of arc-shaped hollow parts are uniformly arranged on the upper cover plate of the motor.
5. The multifunctional unmanned aerial vehicle of claim 1, wherein: the clamping jaw driving device comprises a bottom plate, wherein two gears which are symmetrical left and right are arranged on the upper end surface of the bottom plate and are respectively a driving wheel and a driven wheel; a first driving motor is installed on the lower end face of the bottom plate, an output shaft of the first driving motor acts on the driving wheel, and the driving wheel is meshed with the driven wheel; the driving wheel and the driven wheel are fixedly provided with connecting rods, the tail ends of the two connecting rods are respectively connected with two swing rods through pin shafts, and the left swing rod and the right swing rod form the object taking clamping jaw.
6. The multifunctional unmanned aerial vehicle of claim 5, wherein: the upper and lower angle adjusting device comprises a U-shaped rotating part, the bottom of the U-shaped rotating part is fixedly connected with the bottom plate through a connecting piece, the inner sides of the left and right symmetrical side plates of the U-shaped rotating part are provided with second driving motors, and output shafts of the second driving motors act on the side plates of the U-shaped rotating part.
7. The multifunctional unmanned aerial vehicle of claim 5, wherein: the swing rods are crank-shaped, the middle bent parts of the two swing rods are connected with two supporting rods through pin shafts, and the other ends of the two supporting rods are fixed on the bottom plate.
8. The multifunctional unmanned aerial vehicle of claim 7, wherein: tooth surfaces are arranged at the clamping parts of the head parts of the swing rods.
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a multifunctional unmanned aerial vehicle.
Background
In recent years, with the rapid development of unmanned aerial vehicle technology, the use range of unmanned aerial vehicles has gradually expanded from the initial military use to the civil use; nowadays, more and more unmanned aerial vehicles are used in the aspects of advertisement, movie and television, wedding video recording and the like, so that the demand on the functionality of the unmanned aerial vehicles is higher and higher; the traditional single unmanned aerial vehicle is generally only provided with a photographing function, and has singleness in functions and using occasions, for example, high-altitude fetching cannot be carried out; in addition, research and study on the unmanned aerial vehicle by universities, research institutes and various clubs never stop, and the traditional unmanned aerial vehicle is not easy to disassemble under the conditions that the propeller, the undercarriage and the matched propeller protective cover are installed on the arm of the unmanned aerial vehicle, and the traditional unmanned aerial vehicle has some or even an integrally formed structure; this kind of unmanned aerial vehicle is very inconvenient when carrying out the teaching experiment, and the condition of screw and various devices on the quick replacement unmanned aerial vehicle according to the condition of difference when can't satisfying the teaching.
Therefore, it is necessary to design a multifunctional unmanned aerial vehicle to solve the above technical problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a multifunctional unmanned aerial vehicle.
In order to achieve the above objects and other related objects, the present invention provides the following technical solutions: a multifunctional unmanned aerial vehicle integrally comprises a main body, a propeller structure and an object taking manipulator structure;
the main machine body comprises a machine cover shell, a control cabin and a battery cabin are arranged in the machine cover shell, an FPV image transmission module, a receiving module, a power supply module, a data transmission module and an open source flight control module are arranged in the control cabin, and a storage battery is arranged in the battery cabin; an upper cover of the machine cover shell is provided with a GPS positioning system and a laser head sensing module; the front end of the main machine body is fixedly provided with an FPV camera through a camera platform, and the rear end of the main machine body is provided with a receiving antenna;
the propeller structure comprises a plurality of machine arms which are uniformly arranged around the main machine body in a circle, and the structure of each machine arm is the same; the head parts of the machine arms are provided with propeller flying structures;
get the thing manipulator structure and install the front end of the host computer body, get the thing manipulator structure including getting the thing clamping jaw, get the thing clamping jaw and connect clamping jaw drive arrangement and angle adjusting device from top to bottom.
Preferably, the propeller flying structure comprises a motor, an output shaft of the motor is connected with a rotating shaft through a coupler, the surface of the rotating shaft is an external thread surface, a propeller is mounted on the rotating shaft, and the inner surface of a casing at the center part of the propeller is an internal thread surface corresponding to the external thread surface; a lifting support frame is detachably arranged below the machine arm through screws; and the propeller protection cover is detachably arranged on the horn through screws.
Preferably, the bottom of the rotating shaft is provided with an annular step, and the surface of the annular step is a conical convex surface.
Preferably, a plurality of circular arc-shaped hollow parts are uniformly arranged on the upper cover plate of the motor.
Preferably, the clamping jaw driving device comprises a bottom plate, and two gears which are symmetrical left and right are arranged on the upper end surface of the bottom plate and respectively comprise a driving wheel and a driven wheel; a first driving motor is installed on the lower end face of the bottom plate, an output shaft of the first driving motor acts on the driving wheel, and the driving wheel is meshed with the driven wheel; the driving wheel and the driven wheel are fixedly provided with connecting rods, the tail ends of the two connecting rods are respectively connected with two swing rods through pin shafts, and the left swing rod and the right swing rod form the object taking clamping jaw.
Preferably, the upper and lower angle adjusting device comprises a U-shaped rotating part, the bottom of the U-shaped rotating part is fixedly connected with the bottom plate through a connecting part, the inner sides of the left and right symmetrical side plates of the U-shaped rotating part are provided with second driving motors, and output shafts of the second driving motors act on the side plates of the U-shaped rotating part.
Preferably, the swing rods are crank-shaped, the middle bent parts of the two swing rods are connected with two supporting rods through pin shafts, and the other ends of the two supporting rods are fixed on the bottom plate.
Preferably, the clamping part of the swing rod head is provided with a tooth surface.
The structural features of the above solution are explained as follows:
this scheme design's a multi-functional unmanned aerial vehicle is provided with a plurality of modules and device inside the aircraft bonnet shell of host computer and outside, now does concrete explanation to its module and device: the FPV image transmission module is a first-person main visual angle image transmission device, is a common module in an unmanned aerial vehicle, belongs to the conventional technology, is connected with an FPV camera, and transmits a picture shot by the FPV camera to a receiving device (such as a mobile phone, a display and the like) of a user through the FPV image transmission module; the receiving module is connected with the receiving antenna and used for receiving the control information transmitted by the unmanned aerial vehicle remote controller; the data transmission module is high-performance professional data transmission equipment realized by means of a DSP (digital signal processor) technology and a radio technology, is widely applied to remote control equipment and belongs to the conventional technology; the open source flight control module is a main controller of the whole unmanned aerial vehicle and controls the operation of the whole unmanned aerial vehicle; laser head sensing module can respond to near the shelter of unmanned aerial vehicle flight, guarantees unmanned aerial vehicle at flight in-process security performance.
The flight structure of the propeller is characterized in that: the propeller, the lifting support frame and the propeller protective cover can be replaced at any time according to different conditions; when the propeller is replaced, the screw threads matched with the outer surface of the rotating shaft are arranged inside the middle casing of the propeller, so that the propeller is convenient to mount and dismount; in addition, the lifting support frame and the propeller protection cover are fixedly installed on the machine arm through screws, and only relevant tools are needed to disassemble the screws when the lifting support frame and the propeller protection cover are needed to disassemble.
When the motor is started, the relative motion between the rotating shaft and the middle casing of the propeller is easy to occur, and if the middle casing of the propeller is loosened for a long time, the propeller is caused to fall off from an unmanned house; in order to solve the problem, the annular step is arranged at the bottom of the rotating shaft, and the conical convex surface on the annular step is in contact with the inner wall surface of the middle casing of the propeller to generate friction force, so that the propeller and the middle casing can be effectively prevented from relative displacement under the condition of no strong external force (for example, a user actively screws the middle casing to disassemble the propeller).
Evenly seted up the circular-arc fretwork part of a plurality of on the upper cover plate of motor, can dispel the heat for the motor well like this, can also be lighter unmanned aerial vehicle holistic weight simultaneously, make unmanned aerial vehicle lighter.
Get the characteristics of thing manipulator structure and do: the driving gear is driven to rotate through rotation of the first driving motor, the driving gear drives the driven gear to rotate, the two gears enable the connecting rods on the gears to rotate while rotating, the connecting rods are connected with the swing rods through pin shafts, the swing rods can be driven to swing left and right while the connecting rods rotate, the structure is a crank-rocker structure, and the left rocker and the right rocker form a grabbing structure.
The second driving motor can drive the U-shaped rotating piece to rotate up and down, so that the vertical angle of the whole manipulator is adjusted, and the clamping jaw is more convenient to grab an object.
The two support rods can play a certain supporting role in the middle of the crank-shaped swing rod, and the gripping force of the clamping jaw when the clamping jaw grips an object is ensured.
The tooth surface arranged at the clamping part can increase the friction force between the object and the clamping jaw, and the clamping jaw is ensured not to fall off when the object is grabbed and moved.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the multifunctional unmanned aerial vehicle designed by the scheme, the manipulator for fetching objects is arranged on the unmanned aerial vehicle, so that the unmanned aerial vehicle can conveniently work at high altitude, and the integral functionality of the unmanned aerial vehicle is improved; can dismantle and install screw, the support frame that rises and falls and supporting screw safety cover on the unmanned aerial vehicle horn according to the condition of difference simultaneously, conveniently research student and instructor carry out the research of various differences, accord with the operation requirement of unmanned aerial vehicle for the teaching.
Drawings
Fig. 1 is unmanned aerial vehicle overall structure dismantles the sketch map.
Fig. 2 is an unmanned aerial vehicle screw mounting structure sketch map.
Fig. 3 is a schematic view of a protective cover structure.
Fig. 4 is a schematic view of the entire structure of the picking robot.
Fig. 5 is an overall installation structure schematic diagram of the unmanned aerial vehicle.
In the above drawings, the main body 1, the propeller structure 2, the object taking manipulator structure 3, the control cabin 4, the battery cabin 5, the FPV image transmission module 6, the receiving module 7, the power supply module 8, the data transmission module 9, the open source flight control module 10, the upper cover 12, the GPS positioning system 13, the laser head sensing module 14, the FPV camera 15, the receiving antenna 16, the power supply module 6, the power supply module 8, the digital transmission module 9, the open source flight control module 10, the upper cover 12, the GPS,
A
The device comprises a bottom plate 31, a driving wheel 32, a driven wheel 33, a first driving motor 34, a connecting rod 35, a swing rod 36, a connecting piece 37, a U-shaped rotating piece 38, a second driving motor 39, a supporting rod 310 and a tooth surface 311.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1-5. It should be understood that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which the product of the present invention is usually placed in when used, which is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, and a communication between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, the multifunctional unmanned aerial vehicle integrally comprises a main body 1, a propeller structure 2 and an object taking manipulator structure 3; the main machine body 1 comprises a machine cover shell, a control cabin 4 and a battery cabin 5 are arranged in the machine cover shell, a FPV image transmission module 6, a receiving module 7, a power supply module 8, a data transmission module 9 and an open source flight control module 10 are arranged in the control cabin 4, and a storage battery 11 is arranged in the battery cabin 5; an upper cover 12 of the machine cover shell is provided with a GPS (global positioning system) 13 and a laser head sensing module 14; the front end of the main machine body 1 is fixedly provided with an FPV camera 15 through a camera platform, and the rear end of the main machine body 1 is provided with a receiving antenna 16; the propeller structure 2 comprises a plurality of
As shown in fig. 2, the propeller flying structure includes a
As shown in fig. 2, an
As shown in fig. 2, a plurality of circular-arc-shaped hollowed-out
As shown in fig. 4, the jaw driving device includes a bottom plate 31, and two bilateral gears, namely a driving wheel 32 and a driven wheel 33, are disposed on an upper end surface of the bottom plate 31; a first driving motor 34 is installed on the lower end surface of the bottom plate 31, an output shaft of the first driving motor 34 acts on the driving wheel 32, and the driving wheel 32 is meshed with the driven wheel 33; the driving wheel 32 and the driven wheel 33 are both fixedly provided with connecting rods 35, the tail ends of the two connecting rods 35 are respectively connected with two swing rods 36 through pin shafts, and the left swing rod 36 and the right swing rod 36 form the fetching clamping jaw; get thing manipulator structure 3's characteristics do: the driving gear is driven to rotate through the rotation of the first driving motor 34, the driving gear drives the driven gear to rotate, the two gears enable the connecting rods 35 on the gears to rotate while rotating, the connecting rods 35 are connected with the swing rods 36 through pin shafts, the swing rods 36 can be driven to swing left and right while the connecting rods 35 rotate, the structure is a crank-rocker structure, and the left rocker and the right rocker form a grabbing structure.
As shown in fig. 4, the up-down angle adjusting device includes a U-shaped rotating member 38, the bottom of the U-shaped rotating member 38 is fixedly connected to the bottom plate 31 through a connecting member 37, a second driving motor 39 is disposed inside two symmetrical side plates of the left and right sides of the U-shaped rotating member 38, and an output shaft of the second driving motor 39 acts on the side plates of the U-shaped rotating member 38; the second driving motor 39 can drive the U-shaped rotating member 38 to rotate up and down, so as to adjust the vertical angle of the whole manipulator, and the clamping jaw is more convenient to grab an object.
As shown in fig. 4, two support rods 310 may play a certain supporting role on the middle portion of the crank-shaped swing rod 36, so as to ensure the holding force of the gripping jaw when gripping an object; the two support rods 310 can support the middle part of the crank-shaped swing rod 36 to a certain extent, so as to ensure the holding force of the clamping jaw when the clamping jaw is used for gripping an object.
As shown in fig. 4, the gripping part of the head of the swing link 36 is provided with a tooth surface 311; the tooth surface 311 arranged at the clamping part can increase the friction force between the object and the clamping jaw, and ensures that the clamping jaw does not fall off when the object is grabbed and moved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
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