Multifunctional mechanical arm device of aerial robot

Abstract

The invention discloses a multifunctional mechanical arm device of an aerial robot, which belongs to the technical field of multi-degree-of-freedom mechanical arm devices of unmanned aerial vehicles; the device comprises two mechanical arms, four steering engines, two motors, two pairs of mechanical claws, two damping mechanisms and two intermittent mechanisms. The defect that a traditional mechanical arm is single in function is overcome, the traditional grabbing function can be achieved, the function of supporting the unmanned aerial vehicle to stand can also be achieved, a special supporting mechanism is not needed when the unmanned aerial vehicle stays on the ground, meanwhile, the arm body of the mechanical arm can make direct contact with the ground, and the unmanned aerial vehicle can stand stably; by means of combination of the incomplete gear and the grooved wheel mechanism, opening and closing of the mechanical claw can be achieved, upward rotation of the mechanical claw can also be achieved, the mechanical claw does not affect attachment of the whole mechanical arm and the ground when the unmanned aerial vehicle stands, and the stability of the standing function of the mechanical arm is guaranteed. In addition, a damping mechanism is additionally arranged on the mechanical arm, and the influence of the impact load on the unmanned aerial vehicle can be reduced.

Description

technical field [0001] The invention belongs to a multi-degree-of-freedom mechanical arm device of an unmanned aerial vehicle. Background technique [0002] At present, most of the applications of UAVs stay at the level of shooting and monitoring. People are not satisfied with "seeing", so some researchers imagined that UAVs equipped with mechanical arms can be combined into aerial robots to realize UAVs "doing" function of things. [0003] In 2016, Japanese manufacturer PRODRONE released a large UAV equipped with dual arms——PD6B-AW-ARM. Its fuselage is made of the company’s existing UAV PD6B-AW model. The unique 5-axis robotic arm can grab and carry objects of various shapes, and can perform tasks at an altitude of up to 5,000 meters, at a distance or in a more dangerous environment, such as cutting cables, collecting dangerous objects, and throwing life buoys. The load is up to 10kg, and the battery life is about 30 minutes. Although this drone can use the mechanical arm...

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Problems solved by technology

[0003] In 2016, Japanese manufacturer PRODRONE released a large UAV equipped with dual arms——PD6B-AW-ARM. Its fuselage is made of the company’s existing UAV PD6B-AW model. The unique 5-axis robotic arm can grab and carry objects of various shapes, and can perform tasks at an altitude of up to 5,000 meters, at a distance or in a more dangerous environment, such as cutting cables, collecting dangerous objects, and throwing life buoys. The load is up to 10kg, and the battery life is about 30 minutes. Although this drone can use the mechanical arm to fix the fuselage, it can only stop intermittently on the branches or railings, mainly relying on the landing gear to stand

[0004] In 2018, scientists and researchers at Seoul National University in South Korea also developed a combination of a drone and a robotic arm. The robotic arm of this drone uses the principle of "origami" to connect deformable boxes in series. A controllable motor is installed on the top of the drone to pull its wire to control the contraction and extension of the robotic arm. It can be retracted at leisure without taking up space at all. It can be stretched into a 70 cm long robotic arm when it is used, and then equipped with a camera and Different equipment such as mechanical grippers are used to complete corresponding tasks, such as collecting samples or inspecting chimneys, pipes and other narrow spaces, cleaning ditches and grabbing garbage, but his shortcoming is that the mechanical arm can only extend directly downward, and the mechanical The working range of the arm is limited

[0005] In 2019, Nanjing University of Science and Technology in China designed an EOD drone, which installed a robotic arm platform on its fuselage to grab the detonator and then put it in a safe location, but considering the real environment, such as mounds, ravines On complex terrain such as bomb craters, drones cannot land smoothly or remain stable at the landing point. Even if they can land, the height of the gripper from the ground is much lower than that on flat ground, which will cause the detonator grabbed by the robotic arm to be ineffective. Accurately placed at the target point, it can be seen that in the face of complex working conditions, it is particularly important for the EOD drone to realize the function of standing independently

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