Large-range pose compensation device applied to air control

Abstract

The invention discloses a wide-range pose compensation device applied to air control, and particularly relates to the technical field of aircraft mechanisms. Comprising a rolling mechanism, an external force bearing framework is connected to the rolling mechanism, a Y-axis moving guide rail is arranged on the external force bearing framework, yaw platforms are arranged on the two sides of the Y-axis moving guide rail, each yaw platform is provided with a yaw rotating mechanism used for driving the corresponding yaw platform to rotate, and a moving platform is arranged on each yaw rotating mechanism. An X-axis moving sliding rail is connected to the moving platform in a sliding mode, an X-axis driving mechanism is arranged on the moving platform, a moving mechanism is further arranged on the Y-axis moving sliding rail, a Z-axis lifting mechanism is connected to the moving mechanism, the moving mechanism is used for driving the Z-axis lifting mechanism to move in the Y-axis direction, and a butt joint mechanism is connected to the Z-axis lifting mechanism. By the adoption of the technical scheme, the problem that an existing functional mechanism is small in freedom degree is solved, and the adjusting range of the functional mechanism at the tail end of the airborne mechanical arm is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft mechanisms, and in particular to a large-range posture compensation device used for aerial control. Background Art

[0002] With the rapid development of aviation technology and UAV technology, the demand for aerial operation tasks of aircraft is gradually increasing. Based on this, airborne large-scale aerial operation robotic arms have come into being, and the functional mechanism at the end of the robotic arm is an important component.

[0003] For aerial docking tasks such as drone delivery and recovery, the functional mechanism needs to have a larger working space, more degrees of freedom, smaller size and lighter weight, while reducing the complexity of the overall mechanism as much as possible and improving reliability. Therefore, there is an urgent need for a high-reliability, large compensation range and multi-degree-of-freedom end-of-arm functional mechanism. Summary of the invention

[0004] The present invention aims to provide a large-range posture compensation device for aerial control, which solves the problem of less freedom of existing functional mechanisms.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: A large-range posture compensation device applied to aerial control comprises a rolling mechanism connected to a mechanical arm at the bottom of an aircraft, the rolling mechanism is connected to an external load-bearing frame, the rolling mechanism is used to drive the external load-bearing frame to perform a rolling action, a Y-axis moving guide rail is provided on the external load-bearing frame, yaw platforms are provided on both sides of the Y-axis moving guide rail, each of the yaw platforms is provided with a yaw rotation mechanism for driving the yaw platform to rotate, a moving platform is provided on the yaw rotation mechanism, an X-axis moving slide rail is slidably connected to the moving platform, an X-axis driving mechanism for driving the moving platform to reciprocate is provided on the moving platform, the Y-axis moving guide rail is also provided with a moving mechanism, a Z-axis lifting mechanism is connected to the moving mechanism, the moving mechanism is used to drive the Z-axis lifting mechanism to move in the direction of the Y-axis, the Z-axis lifting mechanism is connected to a docking mechanism, and the Z-axis lifting mechanism is used to drive the docking mechanism to rise or fall.

[0006] Furthermore, the rolling mechanism includes a rolling body, the rolling body is detachably connected to the mechanical arm, a first driving motor is provided on the rolling body, the first driving motor is connected to a base, and the base is rotatably connected to the rolling body.

[0007] Furthermore, a pitch electric cylinder is rotatably connected between one side of the rolling body and the mechanical arm.

[0008] Furthermore, the X-axis driving mechanism includes a second driving motor arranged on the X-axis moving slide rail, the second driving motor is connected to a first gear, and the first gear is meshed with a first rack fixedly connected to the moving platform.

[0009] Furthermore, the yaw rotation mechanism includes a yaw slider, a through hole is opened at the center of the mobile platform, a support shell with a top opening is provided at the through hole, a second gear passing through the yaw platform is provided in the support shell, a second rack is meshed on the second gear, the second rack is fixedly connected to the yaw slider, the yaw slider is slidably connected to the yaw platform, and the yaw slider is bolted to the Y-axis moving guide rail.

[0010] Furthermore, the moving mechanism includes a third driving motor connected to the Z-axis lifting mechanism with bolts, the third driving motor is meshed with a third gear, and the third gear is meshed with a third rack arranged on the Y-axis moving guide rail.

[0011] Furthermore, the Z-axis lifting mechanism includes an upper platform and a lower platform, and a lifting electric cylinder is symmetrically rotatably connected between the upper platform and the lower platform. The lifting electric cylinder is tilted between the upper platform and the lower platform, and a guide telescopic cylinder is symmetrically arranged between the upper platform and the lower platform, and a posture recognition camera and a laser ranging radar are provided on both side walls of the lower platform.

[0012] Furthermore, the guiding telescopic cylinder comprises an inner cylinder, an intermediate cylinder and an outer cylinder which are nested with each other, the inner cylinder is rotatably connected to the lower platform, and the outer cylinder is fixedly connected to the upper platform.

[0013] Compared with the prior art, this solution has the following beneficial effects:

[0014] 1. This solution can achieve six degrees of freedom adjustment for the docking mechanism through the rolling mechanism, X-axis drive mechanism, yaw rotation mechanism and Z-axis lifting mechanism. The limit stroke is largely compensated, which greatly improves the reliability and range of the functional mechanism at the end of the aircraft's onboard robotic arm in performing tasks.

[0015] 2. The various mechanisms of this solution are tightly connected and compactly structured, and only a small number of components are needed to achieve coupling of different posture maneuvers, that is, by controlling the different movement modes of the two groups of X-axis mobile platforms to achieve X-axis translation and yaw rotation, and by controlling the different extension and retraction modes of the two Z-axis lifting electric cylinders to achieve Z-axis translation and pitch rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an axonometric view of a large-range posture compensation device for aerial control according to the present invention;

[0017] Figure 2is a schematic structural diagram of the rolling mechanism in this embodiment;

[0018] Figure 3 is a schematic diagram of the structure of the posture adjustment device of this embodiment after removing the external load-bearing frame;

[0019] Figure 4 is a schematic structural diagram of the yaw rotation mechanism in this embodiment;

[0020] Figure 5 Schematic diagram of the structure of the X-axis drive mechanism in this embodiment;

[0021] Figure 6 Schematic diagram of the structure of the mobile mechanism in this embodiment;

[0022] Figure 7 Schematic diagram of the structure of the roller group in this embodiment;

[0023] Figure 8 is a front view of the roller assembly in this embodiment;

[0024] Fig. 9 is a schematic diagram of the connection between the roller assembly and the third rack in this embodiment;

[0025] Fig.10 It is a front view of the Z-axis lifting mechanism in this embodiment;

[0026] Fig.11 This is a front view of the Z-axis lifting mechanism in the extended state in this embodiment;

[0027] Fig.12 is a schematic diagram of the attitude adjustment device in this embodiment during pitch adjustment;

[0028] Fig.13 It is a schematic diagram of the aircraft and the attitude adjustment device performing roll angle adjustment;

[0029] Fig.14 is a top view of the initial position of the X-axis drive mechanism, the yaw rotation mechanism and the Y-axis moving guide rail when they cooperate in this embodiment;

[0030] Fig.15 is a top view of the yaw angle adjustment when the X-axis driving mechanism, the yaw rotation mechanism and the Y-axis moving guide rail cooperate in this embodiment;

[0031] Fig.16 Schematic diagram of the Y-axis displacement adjustment performed by the mobile mechanism in this embodiment;

[0032] Fig.17 is a schematic diagram of pitch adjustment of the docking mechanism in this embodiment;

[0033] Fig.18It is a schematic diagram of the connection relationship between the rolling mechanism and the external load-bearing frame in this embodiment. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below through specific embodiments:

[0035] The reference numerals in the drawings of the specification include: rolling mechanism 1, rolling body 101, first drive motor 102, base 103, external load-bearing frame 2, X-axis moving slide rail 3, first rack 301, moving platform 4, second drive motor 401, second gear 402, Y-axis moving guide rail 5, third rack 501, moving mechanism 6, roller group 601, third gear 602, third drive motor 603, Z-axis lifting mechanism 7, upper platform 701, lower platform 702, lifting electric cylinder 703, guiding telescopic cylinder 704, laser ranging radar 705, posture recognition camera 706, inner cylinder 7041, middle cylinder 7042, outer cylinder 7043, docking mechanism 8, pitch electric cylinder 9, yaw platform 10, yaw slider 11, hanging ear 12, first slide rail 13, support shell 14, second rack 15, clamping block 16, first support plate 17, roller 18, support rod 19, second support plate 20, robotic arm 21.

[0036] Example

[0037] like Figures 1 to 18 As shown, a large-range posture compensation device for aerial control includes a roll mechanism 1 connected to a mechanical arm 21 at the bottom of an aircraft, and a pitch electric cylinder 9 is rotatably connected between one side of a roll body 101 and the mechanical arm 21. The roll mechanism 1 includes a roll body 101, and symmetrically arranged hanging ears 12 are welded on the top of the roll body 101. The end of the mechanical arm 21 is placed between the two hanging ears 12, and the mechanical arm 21 and the roll body 101 are connected together by a pin and a nut. A first drive motor 102 is bolted to one side of the roll body 101, and the first drive motor 102 passes through one end of the roll body 101 and is fixedly connected to a base 103, and both sides of the roll body 101 are rotatably connected to the base 103 through a pin. The bottom bolts of the base 103 are connected to the external load-bearing frame 2. In this embodiment, the rolling mechanism 1 is used to drive the external load-bearing frame 2 to roll. Two spaced-apart Y-axis movable guide rails 5 are provided in the external load-bearing frame 2, and the two Y-axis movable guide rails 5 are not directly connected to the external load-bearing frame 2.

[0038] The same side of the two Y-axis moving guide rails 5 is commonly connected with a yaw platform 10, and two first slide rails 13 are welded at intervals on each yaw platform 10, and a yaw slider 11 is slidably connected to each first slide rail 13. Each yaw platform 10 is provided with a yaw rotation mechanism for driving the yaw platform 10 to rotate, and the yaw rotation mechanism includes a yaw slider 11. A through hole is provided at the center of the moving platform 4, and a support shell 14 with a top opening is provided at the through hole. A second gear 402 passing through the yaw platform 10 is rotatably connected in the support shell 14, and a through hole for the second gear 402 to pass through is provided at the center of the yaw platform 10. A second rack 15 is meshed with the second gear 402, and the second rack 15 is fixedly connected to the yaw slider 11, and the yaw slider 11 is slidably connected to the yaw platform 10, and the yaw slider 11 is bolted to the Y-axis moving guide rail 5. A mobile platform 4 is provided on the yaw rotation mechanism, and four clamping blocks 16 are symmetrically provided at the bottom of the mobile platform 4. The two clamping blocks 16 on the same side are slidably connected to the X-axis mobile slide rail 3, and each X-axis mobile slide rail 3 is fixedly connected between the two side walls of the external load-bearing frame 2.

[0039] An X-axis driving mechanism for driving the mobile platform 4 to reciprocate is provided on the mobile platform 4. The X-axis driving mechanism includes a second driving motor 401 arranged on the X-axis moving slide rail 3. The second driving motor 401 is connected to the outer X-axis moving slide rail 3 through a bracket bolt. The output shaft of the second driving motor 401 passes through the corresponding X-axis moving slide rail 3. The output shaft of the second driving motor 401 is connected to a first gear located between the two X-axis moving slide rails 3. The first gear is meshed with a first rack 301 fixedly connected to the bottom of the mobile platform 4.

[0040] The Y-axis moving guide rail 5 is also provided with a moving mechanism 6, and the moving mechanism 6 is connected to a Z-axis lifting mechanism 7, and the moving mechanism 6 is used to drive the Z-axis lifting mechanism 7 to move in the direction of the Y-axis. The moving mechanism 6 includes a third driving motor 603 bolted to the surface of the upper platform 701 through the first support plate 17, and a third gear 602 is meshed on the third driving motor 603, and the third gear 602 is meshed with a third rack 501 welded to the inner side of the Y-axis moving guide rail 5 through a driven gear, and the driven gear is rotatably connected to a support frame through a rotating shaft, and the support frame is fixedly connected to the upper surface of the first support plate 17. Two interval-arranged slide grooves are provided on the inner and outer side walls of each Y-axis movable guide rail 5, and a roller group 601 is slidably connected in the two slide grooves on the same Y-axis movable guide rail 5. In the present embodiment, each roller group 601 includes eight symmetrically arranged rollers 18, and a support rod 19 is rotatably connected to the center of each roller 18. A second support plate 20 is commonly provided on the four support rods 19 on the same side, and the support rod 19 is locked on the second support plate 20 by a nut, and the second support plate 20 is bolted to the upper platform 701.

[0041] The Z-axis lifting mechanism 7 includes an upper platform 701 and a lower platform 702, and the upper platform 701 is bolted to the second support plate 20. A lifting electric cylinder 703 is symmetrically connected to the upper platform 701 and the lower platform 702 for rotation. Both ends of the lifting electric cylinder 703 are rotationally connected to the upper platform 701 and the lower platform 702 through a pin shaft, and the two lifting electric cylinders 703 are tilted between the upper platform 701 and the lower platform 702. A guide telescopic cylinder 704 is symmetrically arranged between the upper platform 701 and the lower platform 702. The guide telescopic cylinder 704 in this embodiment includes an inner cylinder 7041, an intermediate cylinder 7042 and an outer cylinder 7043 that are nested and slidably connected to each other. The inner cylinder 7041 is rotationally connected to the lower platform 702, and the outer cylinder 7043 is fixedly connected to the upper platform 701. A posture recognition camera and a laser ranging radar 705 are arranged on both side walls of the lower platform 702. The bottom of the lower platform 702 is connected with a docking mechanism 8. In this embodiment, the docking mechanism 8 is a prior art, and this embodiment does not improve it. Different docking mechanisms 8 may be used depending on the different aerial missions, such as the docking mechanism of the aerial recovery device of the X-61 "Gremlins" UAV of the United States. In this embodiment, gesture recognition cameras and laser ranging radars 705 are installed on both side walls of the lower platform 702, and the gesture recognition cameras and the laser ranging radars 705 are electrically connected to a computer.

[0042] The working process of this embodiment:

[0043] like Fig.10 As shown, when the pitch electric cylinder 9 is extended and retracted, the pitch electric cylinder 9 drives the rolling body 101 to rotate around the hinge point with the end of the mechanical arm 21, so that the device can adjust the pitch angle.

[0044] like Fig.11 As shown, when the first driving motor 102 is started, the first driving motor 102 can drive the rolling body 101 to rotate relative to the base 103, so that the rolling angle of the docking mechanism 8 can be adjusted.

[0045] like Figure 8 As shown, the posture recognition camera 706 installed on the lower platform 702 of the Z-axis lifting mechanism 7 can calculate the real-time position and posture information of the docking mechanism 8; the laser ranging radar 705 can measure the distance between the docking mechanism 8 and the target, so as to obtain the distance difference and angle difference information between the docking mechanism 8 and the docking target in real time through the computer, the posture recognition camera and the laser ranging radar 705, so as to facilitate the device to adjust the posture of the docking mechanism 8 to make it consistent with the docking target.

[0046] like Fig. 9 As shown, when the two lifting electric cylinders 703 extend and retract at the same extension and retraction speed, the Z-axis lifting mechanism 7 can adjust the displacement of the docking mechanism 8 in the Z-axis direction; Fig.16 As shown, when the two lifting electric cylinders 703 are extended and retracted at different extension and retraction speeds, the Z-axis lifting mechanism 7 can adjust the pitch angle of the docking mechanism 8. At the same time, the freedom of the mechanism of the Z-axis lifting mechanism 7 can be constrained by means of the guide telescopic cylinder 704, ensuring that the calculation of its position and posture will not diverge when controlling the actuation of the Z-axis lifting mechanism 7.

[0047] like Fig.12 As shown, when the two mobile platforms 4 move in the same direction and at the same speed, the displacement of the docking mechanism 8 in the X-axis direction can be adjusted; Fig.13 As shown, when the two mobile platforms 4 move in opposite directions or at different speeds, the yaw angle of the docking mechanism 8 can be adjusted, that is, the yaw slider 11, under the action of the second rack 15 and the second gear 402, slides following the change of the yaw angle when the two mobile platforms 4 move in opposite directions.

[0048] like Fig.14 As shown, by means of the moving mechanism 6 moving forward and backward on the Y-axis moving guide rail 5 through the roller 18 group 601 installed thereon, the displacement of the docking mechanism 8 in the Y-axis direction can be adjusted.

[0049] The above are only embodiments of the present invention, and the common knowledge such as the known specific structures and / or characteristics in the scheme are not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A large-range posture compensation device for aerial control, characterized in that: The invention comprises a rolling mechanism connected to a mechanical arm at the bottom of the aircraft, wherein the rolling mechanism is connected to an external load-bearing frame, and the rolling mechanism is used to drive the external load-bearing frame to roll, a Y-axis movable guide rail is provided on the external load-bearing frame, yaw platforms are provided on both sides of the Y-axis movable guide rail, each of the yaw platforms is provided with a yaw rotation mechanism for driving the yaw platform to rotate, a mobile platform is provided on the yaw rotation mechanism, an X-axis movable slide rail is slidably connected to the mobile platform, an X-axis driving mechanism is provided on the mobile platform for driving the mobile platform to reciprocate, the Y-axis movable guide rail is also provided with a mobile mechanism, a Z-axis lifting mechanism is connected to the mobile mechanism, the mobile mechanism is used to drive the Z-axis lifting mechanism to move in the direction of the Y-axis, the Z-axis lifting mechanism is connected to a docking mechanism, and the Z-axis lifting mechanism is used to drive the docking mechanism to rise or fall.

2. A large-range posture compensation device for aerial control according to claim 1, characterized in that: The rolling mechanism comprises a rolling body, the rolling body is detachably connected to the mechanical arm, a first driving motor is arranged on the rolling body, a base is connected to the first driving motor, and the base is rotatably connected to the rolling body.

3. A large-range posture compensation device for aerial control according to claim 2, characterized in that: A pitch electric cylinder is rotatably connected between one side of the rolling body and the mechanical arm.

4. The large-range posture compensation device for aerial control according to claim 1, characterized in that: The X-axis driving mechanism comprises a second driving motor arranged on the X-axis moving slide rail, the second driving motor is connected to a first gear, and the first gear is meshed with a first rack fixedly connected to the moving platform.

5. The large-range posture compensation device for aerial control according to claim 4, characterized in that: The yaw rotation mechanism includes a yaw slider, a through hole is opened at the center of the mobile platform, a support shell with a top opening is arranged at the through hole, a second gear passing through the yaw platform is arranged in the support shell, a second rack is meshed on the second gear, the second rack is fixedly connected to the yaw slider, the yaw slider is slidably connected to the yaw platform, and the yaw slider is bolted to the Y-axis moving guide rail.

6. A large-range posture compensation device for aerial control according to claim 5, characterized in that: The moving mechanism includes a third driving motor connected to the Z-axis lifting mechanism with bolts, the third driving motor is meshed with a third gear, and the third gear is meshed with a third rack arranged on the Y-axis moving guide rail.

7. A large-range posture compensation device for aerial control according to claim 6, characterized in that: The Z-axis lifting mechanism includes an upper platform and a lower platform, and a lifting electric cylinder is symmetrically rotatably connected between the upper platform and the lower platform. The lifting electric cylinder is tilted between the upper platform and the lower platform, and a guide telescopic cylinder is symmetrically arranged between the upper platform and the lower platform. A posture recognition camera and a laser ranging radar are provided on both side walls of the lower platform.

8. A large-range posture compensation device for aerial control according to claim 7, characterized in that: The guiding telescopic cylinder comprises an inner cylinder, an intermediate cylinder and an outer cylinder which are nested with each other. The inner cylinder is rotatably connected to the lower platform, and the outer cylinder is fixedly connected to the upper platform.

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