The invention provides an air flight parallel robot based on heterogeneous cooperation of multiple unmanned aerial vehicles, which comprises multiple unmanned aerial vehicles and an actuator platform, the unmanned aerial vehicles are used as drivers, the actuator platform is connected with the unmanned aerial vehicles through rigid motion branched chains, ball sockets are arranged on the unmanned aerial vehicles, and the rigid motion branched chains are connected with the actuator platform through rigid motion branched chains. A first connecting end is arranged at the end, facing the unmanned aerial vehicle, of the rigid movement branch chain, the first connecting end is connected with the ball socket in a matched mode, the first connecting end and the ball socket form an active movement ball joint, a second connecting end is arranged at the end, facing the actuator platform, of the rigid movement branch chain, and a single-degree-of-freedom rotating joint is arranged on the side face of the actuator platform. The second connecting end is hinged to the single-degree-of-freedom rotating joint, and the second connecting end and the single-degree-of-freedom rotating joint form a passive rotating joint. The robot has the advantages of various movement modes, high load capacity, high cruising ability, good expansibility and high positioning precision.

    本发明提供了基于多无人机异构协同的空中飞行并联机器人,包括无人机和执行器平台,所述无人机有多架,所述无人机作为驱动器,所述执行器平台通过刚性运动支链与无人机连接,所述无人机上设有球窝,所述刚性运动支链朝向无人机的一端设有连接端一,所述连接端一与球窝配合连接,所述连接端一和球窝组成主动运动的球关节,所述刚性运动支链朝向执行器平台的一端设有连接端二,所述执行器平台侧面设有单自由度旋转关节,所述连接端二与单自由度旋转关节铰接,所述连接端二和单自由度旋转关节组成被动转动关节。本发明的优点在于:运动方式多样、负载能力强、续航能力强、拓展性好、定位精度高。


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    Title :

    Aerial flight parallel robot based on heterogeneous cooperation of multiple unmanned aerial vehicles


    Additional title:

    基于多无人机异构协同的空中飞行并联机器人


    Contributors:
    ZHU MINGLEI (author) / QI JUN (author) / XIE MIN (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B25J Manipulatoren , MANIPULATORS / B64U