阅读说明：本技术 一种旋翼飞行机器人 (Rotor flying robot ) 是由 王尧尧 刘卢芳 孟思华 陈柏 彭嘉伟 李彬彬 赵锦波 田波 吴洪涛 鞠烽 姚佳烽 于 2019-09-20 设计创作，主要内容包括：本发明公开了一种旋翼飞行机器人,包括飞行器驱动电机、旋翼、旋翼机架、重心调节装置、飞行器壳体、起落架、柔性作业机械臂。飞行器壳体内部中空,放置有飞行器的各控制部件,壳体底部固连有一柔性作业机械臂,该机械臂以电机作为驱动动力源,四根柔性绳作为驱动力的传递介质,通过控制四个电机不同的转动角度,即可调节柔性绳的伸缩,使位于柔性机械臂末端的执行机构到达指定点,完成相应的作业任务。柔性机械臂及重心调节机构大大减小了运动部件的转动惯量,提高了负载自重比及能源利用率,末端执行器具有更高的自由度,控制效果稳定,适用范围更广阔。(The invention discloses a rotor flying robot, which comprises an aircraft driving motor, a rotor rack, a gravity center adjusting device, an aircraft shell, an undercarriage and a flexible operation mechanical arm. The aircraft shell is hollow, control parts of the aircraft are placed, the bottom of the shell is fixedly connected with a flexible operation mechanical arm, the mechanical arm takes a motor as a driving power source, four flexible ropes are used as transmission media of driving force, the stretching of the flexible ropes can be adjusted by controlling different rotating angles of the four motors, and an actuating mechanism located at the tail end of the flexible mechanical arm reaches a designated point to complete a corresponding operation task. The flexible mechanical arm and the gravity center adjusting mechanism greatly reduce the rotational inertia of the moving part, the load-gravity ratio and the energy utilization rate are improved, the end effector has higher degree of freedom, the control effect is stable, and the application range is wider.)

1. The utility model provides a rotor flying robot, includes the aircraft casing, is located the aircraft casing side and installs the rotor frame of rotor to the several that extends to the outside, its characterized in that: a flexible operation mechanical arm extending downwards from a lower bottom plate of the aircraft shell is arranged below the aircraft shell; the flexible operation mechanical arm comprises a plurality of positioning brackets, a plurality of flexible ropes and an end effector base; each positioning support is provided with a plurality of positioning through holes with the same number as the flexible ropes for the flexible ropes to pass through, and the positioning supports are arranged at equal intervals along the extending direction of the flexible ropes; the end effector base is fixed at the tail end of the flexible rope extending downwards; the rope driving device comprises a driving motor and a motor output wheel connected with the output shaft of the driving motor, the flexible rope is wound on the corresponding motor output wheel, and the driving motor drives the motor output wheel to rotate so as to drive the flexible rope to move downwards or upwards.

2. A rotor flying robot according to claim 1 wherein: a gravity center adjusting device is arranged on the aircraft shell or in the aircraft shell; the gravity center adjusting device comprises two parallel guide rails, a battery fixing plate loaded on the two guide rails, a battery fixed above the battery fixing plate and an adjusting motor for driving the battery fixing plate to move on the guide rails; the battery supplies power to the rotor.

3. A rotor flying robot according to claim 2 wherein: the gravity center adjusting device also comprises a lead screw bracket, a lead screw arranged on the lead screw bracket and a slide block on the lead screw; the slider is installed in battery fixed plate below, and the lead screw is driven and is rotated by adjusting motor, and the slider passes through the rotation of lead screw and drives battery fixed plate and remove on the guide rail.

4. A rotor flying robot according to claim 2 or 3 wherein: one of the extension of every rotor frame is served and is equipped with the rotor motor, and the rotor is installed on the output shaft of rotor motor, and the rotor motor is connected and is supplied power by the battery with the battery.

5. A rotor flying robot according to claim 1 wherein: the surface of the motor output wheel is provided with a spiral groove for fixing the flexible rope.

6. A rotor flying robot according to claim 1 or 5 wherein: the tensioning device is arranged on a lower bottom plate in the aircraft shell and comprises a tensioning frame and a tensioning wheel; the top of the tensioning frame is provided with a U-shaped groove used for fixing the tensioning wheel and hinged with the tensioning wheel, and the flexible rope extends from the motor output wheel, is in contact with the tensioning wheel, is bent and then extends out of the lower part of the aircraft shell.

Technical Field

The invention relates to the technical field of aircrafts, in particular to a rotor flying robot.

Background

Rotor-flying robots (RFRs) typically include a mechanical arm attached to a rotorcraft. Traditional arm adopts joint motor drive mode usually, with drive unit and protection module direct mount in arm joint department, leads to arm bulk inertia to show the increase, forces RFR to grow towards the maximization then, is difficult to satisfy the rigidity demand of low latitude operation to high disguise, long continuation of the journey. Meanwhile, when the RFR works in low altitude, extremely complex dynamic coupling can be generated between the generated time-varying unsteady airflow and the machine body and the working mechanical arm, and the improvement of the working precision and efficiency of the system is severely restricted.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a rotor flying robot, which adopts a novel flexible mechanical arm to replace a transmission operation mechanical arm, thereby reducing the volume inertia of a moving part in the mechanical arm and improving the load-weight ratio and the energy efficiency of an aircraft.

The technical scheme is as follows: in order to achieve the purpose, the invention can adopt the following technical scheme:

the utility model provides a rotor flying robot, includes the aircraft casing, is located the aircraft casing side and installs the rotor frame of rotor to the several that extends to the outside, its characterized in that: a flexible operation mechanical arm extending downwards from a lower bottom plate of the aircraft shell is arranged below the aircraft shell; the flexible operation mechanical arm comprises a plurality of positioning brackets, a plurality of flexible ropes and an end effector base; each positioning support is provided with a plurality of positioning through holes with the same number as the flexible ropes for the flexible ropes to pass through, and the positioning supports are arranged at equal intervals along the extending direction of the flexible ropes; the end effector base is fixed at the tail end of the flexible rope extending downwards; the rope driving device comprises a driving motor and a motor output wheel connected with the output shaft of the driving motor, the flexible rope is wound on the corresponding motor output wheel, and the driving motor drives the motor output wheel to rotate so as to drive the flexible rope to move downwards or upwards.

Has the advantages that: the rotor flying robot provided by the invention is provided with the flexible operation mechanical arm driven by the rope, the movement and the steering of the end effector base are realized by the combined movement of upward movement or downward movement of a plurality of flexible ropes, and a rigid joint is not adopted any more. Compared with a rigid articulated robot, the flexible operation mechanical arm can flexibly and flexibly change the shape of the flexible operation mechanical arm to adapt to the requirements of different environments and objects with different shapes, the volume inertia of a moving part can be obviously reduced, the flexibility and the secrecy can be obviously improved, the load self-weight ratio can be effectively improved, and then the carrying platform is deeply miniaturized.

Further, a gravity center adjusting device is arranged on the aircraft shell or in the aircraft shell; the gravity center adjusting device comprises two parallel guide rails, a battery fixing plate loaded on the two guide rails, a battery fixed above the battery fixing plate and an adjusting motor for driving the battery fixing plate to move on the guide rails; the battery supplies power to the rotor. Therefore, the rotor flying robot of the invention takes the battery which must be installed originally as the counterweight at the same time to adjust the gravity center position when the rotor flying robot works, and no special counterweight is needed to be arranged, thereby simplifying the structure, being beneficial to the space utilization of the robot and being more beneficial to the miniaturization of the whole structure.

Furthermore, the gravity center adjusting device also comprises a screw rod bracket, a screw rod arranged on the screw rod bracket and a slide block on the screw rod; the slider is installed in battery fixed plate below, and the lead screw is driven and is rotated by adjusting motor, and the slider passes through the rotation of lead screw and drives battery fixed plate and remove on the guide rail.

Furthermore, one of the extending parts of each rotor wing frame is provided with a rotor wing motor, the rotor wings are installed on output shafts of the rotor wing motors, and the rotor wing motors are connected with batteries and are powered by the batteries.

Furthermore, the surface of the motor output wheel is provided with a spiral groove for fixing the flexible rope.

The tensioning device is arranged on a lower bottom plate in the aircraft shell and comprises a tensioning frame and a tensioning wheel; the top of the tensioning frame is provided with a U-shaped groove used for fixing the tensioning wheel and hinged with the tensioning wheel, and the flexible rope extends from the motor output wheel, is in contact with the tensioning wheel, is bent and then extends out of the lower part of the aircraft shell.

Drawings

FIG. 1 is a schematic structural diagram of a rotor flying robot;

FIG. 2 is a bottom view of a rotary wing flying robot;

FIG. 3 is a schematic view of the installation of the flexible robotic arm, lower base plate, motor assembly and tensioning frame;

FIG. 4 is a schematic view of a motor assembly;

FIG. 5 is a schematic view of a center of gravity adjustment mechanism;

fig. 6 is a schematic view of a tensioning mechanism.

Wherein the various figures are numbered: 1. a rotor motor; 2. a rotor; 3. a rotor frame; 4. a center of gravity adjusting device; 4-1, adjusting a motor; 4-2, guide rails; 4-3, a battery; 4-4, a screw rod; 4-5, a bracket; 4-6, copper columns; 4-7, a sliding block; 4-8, battery fixing plate; 5. an aircraft housing; 6. a landing gear; 7. a flexible operation mechanical arm; 7-1, positioning a bracket; 7-2, flexible ropes; 7-3, an end effector base; 8. a lower base plate; 9. a motor assembly; 9-1, driving a motor; 9-2, motor output wheel; 9-3, a motor bracket; 10. a tensioning device; 10-1, a tension wheel; 10-2, a nut; 10-3, bolts; 10-4, a tensioning frame.

Detailed Description

The detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings.

A rotor flying robot comprises an aircraft shell 5, a plurality of rotor frames 3 which are positioned on the side surface of the aircraft shell 5 and extend outwards and are provided with rotors 2. In the present embodiment, an "X" shaped rotor frame is used, i.e. comprising 4 rotors 2. And a flexible operation mechanical arm 7 extending downwards from an aircraft shell lower bottom plate 8 is arranged below the aircraft shell. The flexible operation mechanical arm 7 comprises a plurality of positioning brackets 7-1, a plurality of flexible ropes 7-2 and an end effector base 7-3. The end effector base 7-3 can be loaded with various video capture devices. Each positioning support 7-1 is provided with a plurality of positioning through holes with the same number as the flexible ropes 7-2 for the flexible ropes to pass through, and the positioning supports 7-1 are arranged at equal intervals along the extending direction of the flexible ropes 7-2. The lower bottom plate 8 is also provided with a plurality of through holes with the same number as the flexible ropes 7-2 for the flexible ropes to pass through. The end effector base 7-3 is fixed to the end of the flexible cord 7-2 extending downward. A plurality of rope driving devices which are in one-to-one correspondence with the flexible ropes 7-2 are arranged in the shell, and each rope driving device comprises a driving motor 9-1 and a motor output wheel 9-2 connected with an output shaft of the driving motor. The flexible rope 7-2 is wound on the corresponding motor output wheel 9-2, and the driving motor 9-1 drives the motor output wheel 9-2 to rotate so as to drive the flexible rope 7-2 to move downwards or upwards. In the embodiment, the flexible operation mechanical arm 7 is totally provided with four flexible ropes 7-2 which are respectively connected to four different motor output wheels 9-2, and the four flexible ropes 7-2 have different stretching amounts due to different rotation angles of the four motor output wheels 9-2, so that the tail ends of the flexible operation mechanical arm can have different angles and positions. The surface of the motor output wheel 9-2 is provided with a spiral groove for fixing the flexible rope 7-2. The motor output wheel 9-2 is connected to the motor 9-1 and is driven by the motor output wheel to rotate. The motor 9-1 is arranged on the motor bracket 9-3. In order to tension the flexible rope 7-2, a tensioning device 10 is also included in the robot. The tensioning device 10 is installed on the lower base plate 8, and the tensioning device 10 comprises a tensioning frame 10-4, a tensioning wheel 10-1, a bolt 10-3 and a nut 10-2. The top of the tensioning frame 10-4 is provided with a U-shaped groove for fixing the tensioning wheel 10-1 and hinged with the tensioning wheel 10-1. The flexible rope 7-2 extends out from the motor output wheel, is in contact with the tension wheel 10-1, is bent and then extends out to the lower part of the aircraft shell 5. The bottom of the tensioning frame 10-4 is a cylinder with threads, and the tensioning frame 10-4 can be fixed on the lower bottom plate 8 by matching with a nut. In order to prevent the flexible cord 7-2 from being bent inefficiently when installed, the groove portion of the tension pulley 10-1 is aligned in the radial direction with the through hole of the fixing bracket 7-1.

Meanwhile, a gravity center adjusting device is arranged on an aircraft shell of the rotor flying robot or in the aircraft shell. 4 the gravity center adjusting device 4 comprises two parallel guide rails 4-2, a battery fixing plate 4-8 carried on the two guide rails 4-2, a battery 4-3 fixed above the battery fixing plate 4-8, and an adjusting motor 4-1 driving the battery fixing plate 4-8 to move on the guide rails 4-2. The battery 4-3 is used as a main power supply in the robot to supply power to the rotor 2. One that 3 extend of every rotor frame is served and is equipped with rotor motor 1 promptly, and rotor 2 installs on rotor motor 1's output shaft. The rotor motor 1 is connected with a battery 4-3 and is powered by the battery 4-3. The bottom of the guide rail 4-2 is connected with a copper column 4-6 for supporting the guide rail 4-2 and adjusting the height. The gravity center adjusting device 4 further comprises a screw rod support 4-5, a screw rod 4-4 arranged on the screw rod support 4-5 and a sliding block 4-7 arranged on the screw rod 4-4. The sliding block 4-7 is arranged below the battery fixing plate 4-8. The screw 4-4 is driven to rotate by the adjustment motor 4-1. The sliding blocks 4-7 drive the battery fixing plates 4-8 to move on the guide rails 4-2 through the rotation of the lead screws 4-4. Although the rotor flying robot in the prior art also needs to be provided with the gravity center adjusting device to adjust the gravity center in real time so as to stabilize the flying posture, in the embodiment, the battery is innovatively used as the counterweight to adjust the gravity center of the flying robot, and a special counterweight does not need to be arranged, so that the structure is simplified, the space utilization of the robot is facilitated, and the miniaturization of the whole structure is facilitated.

Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.