Mechanical arm, grabbing unmanned aerial vehicle, winch and unmanned aerial vehicle suspension system
By adopting a self-locking mechanism in the robotic arm, the problem of easy opening of the helicopter or drone hoisting device is solved, and the stable clamping and safe transportation of the target object are achieved.
Patent Information
- Application Number
- CN202421996867.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-16
- Publication Date
- 2025-05-09
- Estimated Expiration
- 2034-08-16
AI Technical Summary
Existing helicopters or drone lifting devices are easily stretched out when clamping heavy objects, causing heavy objects to fall from the air and cause damage.
A robotic arm is designed to use a self-locking mechanism to securely clamp the target object. The robotic arm includes a first clamping jaw and a second clamping jaw. By driving by the driving member, the locking member is automatically locked under the action of the gravity of the target object to ensure stable clamping of the target object.
It effectively avoids the target object falling off from the air, ensures the safe transportation of the target object, and automatically unlocks after the target object is placed, making it easier to pick it up in the next time.
Smart Images
Figure CN222845481U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of aircraft, and in particular to a mechanical arm, a grabbing unmanned aerial vehicle, a winch and an unmanned aerial vehicle suspension system. Background Art
[0002] As a common means of transportation, hoisting has been widely used in various industries. Currently, there are tower crane hoisting, truck crane hoisting, crawler crane hoisting, etc. However, in actual applications, due to site limitations, conventional hoisting solutions are difficult to implement in some high-rise buildings, mountains, tidal flats and other locations. Helicopter or drone hoisting methods can be used in complex environments, so helicopter or drone hoisting technology has been widely used.
[0003] The current helicopter or drone lifting device usually directly deploys a mechanical gripper under the helicopter or drone to clamp the target object. However, when the target clamped by the mechanical gripper is too heavy, the target will stretch the mechanical gripper, causing the mechanical gripper to fail, and the target will fall from the air, causing damage to the target. Utility Model Content
[0004] Therefore, the technical problem to be solved by the utility model is the defect that the mechanical gripper is easily stretched open by the target object, thereby providing a mechanical arm, a grabbing drone, a winch and a drone suspension system. To achieve the above purpose, the technical solution adopted by the utility model is:
[0005] A mechanical arm, comprising: a driving member; a first clamping jaw, a first end of which is connected to the driving end of the driving member, and a second end of which has a first locking portion; a second clamping jaw, a first end of which is connected to the driving end of the driving member, and a second end of which has a second locking portion, and under the drive of the driving member, the first locking portion overlaps or separates with the second locking portion; a self-locking mechanism, which is arranged on the first locking portion or the second locking portion, and when the first locking portion and the second locking portion overlap to grasp a target object, the self-locking mechanism locks the first locking portion and the second locking portion under the action of gravity of the target object; and the self-locking mechanism releases the first locking portion and the second locking portion after the action of gravity of the target object disappears.
[0006] To further optimize the technical solution, the first clamp includes: a first connecting rod; a first gear located at the first end of the first connecting rod, the first gear being connected to the driving end of the driving member; a first locking rod located at the second end of the first connecting rod and forming an L-shape with the first connecting rod; the second clamp includes: a second connecting rod; a second gear located at the first end of the second connecting rod, the second gear being meshed with the first gear; a second locking rod located at the second end of the second connecting rod and forming an L-shape with the second connecting rod; when the first locking rod and the second locking rod overlap to grasp the target object, the second locking rod is located above the first locking rod, and the self-locking mechanism is located on the upper surface of the second locking rod.
[0007] Further optimizing the technical solution, the first locking rod has a first through hole, the second locking rod has a second through hole, and the self-locking mechanism includes:
[0008] A locking pin is slidably disposed in the second through hole, and under the action of the gravity of the target object, the locking pin partially extends into the first through hole; a contact portion is disposed on the locking pin and is located at an end of the locking pin away from the first locking rod; a spring is sleeved on the locking pin, and the spring is located between the contact portion and the second locking rod.
[0009] To further optimize the technical solution, the upper surface of the contact portion is a curved surface, and the two ends of the contact portion close to the first connecting rod and the second connecting rod are higher than the middle of the contact portion.
[0010] A grabbing drone, comprising:
[0011] A drone body capable of hovering in the air; the mechanical arm is arranged on the drone body; and the laser radar and / or camera are arranged on the drone body.
[0012] To further optimize the technical solution, the grabbing drone is a rotor drone, and the grabbing drone also includes: a protective cover, which is arranged on the rotor drone, and the protective cover is located above the blades of the rotor drone.
[0013] To further optimize the technical solution, the arms of the rotary-wing UAV are foldable.
[0014] A winch comprises: a first fixed plate; a second fixed plate, which is spaced apart from the first fixed plate and connected to the first fixed plate; a rotating shaft, which is rotatably passed through the first fixed plate and the second fixed plate; a first rotating motor, which is arranged on the second fixed plate, and the output shaft end of the first rotating motor is connected to the rotating shaft; a winding drum, which is sleeved on the rotating shaft and located between the first fixed plate and the second fixed plate, and the winding drum is configured to wind a rope.
[0015] To further optimize the technical solution, the rotating shaft is a hollow structure; and / or the winding drum is configured as a hollow cylinder; and / or the first rotating motor is a joint motor.
[0016] To further optimize the technical solution, the winch also includes: a first baffle, arranged at the first end of the winding drum; and a second baffle, arranged at the second end of the winding drum.
[0017] To further optimize the technical solution, the winch also includes an idle wire-paying mechanism; the idle wire-paying mechanism includes: a fixed frame, which is arranged on the first fixed plate and / or the second fixed plate; a third gear, which is arranged on the fixed frame, and the third gear is coaxially connected with the first extrusion shaft, and the outer periphery of the first extrusion shaft is provided with a first groove; a fourth gear, which is arranged on the fixed frame, and the fourth gear is coaxially connected with the second extrusion shaft, and the outer periphery of the second extrusion shaft is provided with a second groove; a second rotating motor, which is arranged on the fixed frame, and the rotating end of the second rotating motor is connected to the third gear; wherein, the first groove is arranged opposite to the second groove, and the relative position of the first groove and the second groove is configured to contact the rope; under the drive of the second rotating motor, the first extrusion shaft and the second extrusion shaft rotate relative to each other, and generate a force in the same direction as the rope conveying direction.
[0018] To further optimize the technical solution, the winch also includes a rope limiting structure; the rope limiting structure includes: a guide column, which is arranged between the first fixed plate and the second fixed plate; a first limiting column, which is arranged between the first fixed plate and the second fixed plate and is located below the guide column, and a first limiting groove is arranged on the circumference of the first limiting column; a second limiting column, which is arranged between the first fixed plate and the second fixed plate and is located below the guide column, and a second limiting groove is arranged on the circumference of the second limiting column, the first limiting groove and the second limiting groove are arranged opposite to each other, and the rope is located in a position relative to the first limiting groove and the second limiting groove.
[0019] To further optimize the technical solution, the diameters at both ends of the guide column are larger than the diameter in the middle.
[0020] A drone suspension system comprises: a carrier; a winch arranged on the carrier, a rope wound on a reel of the winch; and a grabbing drone connected to one end of the rope.
[0021] To further optimize the technical solution, one end of the rope connected to the grabbing drone is rigid.
[0022] To further optimize the technical solution, the carrier is communicatively connected to the winch, and the winch is communicatively connected to the grabbing drone.
[0023] The technical solution of this utility model has the following advantages:
[0024] 1. The utility model provides a mechanical arm, which is provided with a self-locking mechanism. Therefore, after the first clamp and the second clamp grasp the target object, the target object generates pressure on the self-locking mechanism, and the self-locking mechanism directly locks the first clamp and the second clamp, thereby firmly grasping the target object, effectively preventing the target object from falling from the air and causing damage to the target object. After the mechanical arm transports the target object to the designated position and places the target object at the position, the target object no longer generates pressure on the self-locking mechanism, and the self-locking mechanism automatically unlocks the first clamp and the second clamp, making it easier to grasp the next target object.
[0025] 2. The utility model provides a robotic arm, in which the upper surface of the contact part is a curved surface, and the two ends of the contact part close to the first connecting rod and the second connecting rod are higher than the middle of the contact part, so that the target object can be more stably positioned on the upper surface of the contact part, making it less likely for the target object to shake, thereby improving the stability of the target object transportation.
[0026] 3. The utility model provides a grabbing drone, wherein a protective cover is arranged on the rotor drone, and the protective cover is located above the blades of the rotor drone, and the protective cover is arranged to prevent collision and prevent the winch rope from being drawn into the blades.
[0027] 4. The utility model provides a grabbing drone, the arm of the rotor drone is foldable, and when the grabbing drone is not working, the arm is folded downward to reduce the horizontal area, making it convenient to recover the grabbing drone into the carrier.
[0028] 5. The utility model provides a winch in which the rotating shaft is arranged as a hollow structure, which greatly reduces the overall weight of the winch.
[0029] The winding drum is configured as a hollow drum, and thus the weight of the winding drum can be effectively reduced without reducing the outer diameter of the winding drum, thereby greatly reducing the overall weight of the winch and reducing the total load consumption of the carrier.
[0030] The first rotating motor is a joint motor, which has the characteristics of light weight and high precision. The joint motor is used to accurately control the length of the rope and reduce the consumption of the overall load of the carrier.
[0031] 6. The utility model provides a winch, which also includes a no-load pay-off mechanism. When the winch structure pays off the line and the grabbing drone is in a no-load state, the no-load pay-off mechanism provides tension for the rope. After the grabbing drone takes off, an additional counterweight can be provided to the no-load rope to keep the rope taut and not loose, so as to avoid affecting the chaos of the winch rope winding.
[0032] Driven by the second rotating motor, the first extrusion shaft and the second extrusion shaft rotate relative to each other and generate a force in the same direction as the rope conveying direction. When the winch is unloaded, the first extrusion shaft and the second extrusion shaft rotate relative to each other to squeeze the rope and convey the rope normally, thus avoiding the problem that the winch cannot unload normally when running without load.
[0033] 7. The utility model provides a winch, in which the rope output from the winding drum passes around the guide column and enters the conveying channel formed between the first limiting groove and the second limiting groove 1, and is limited by the first limiting groove and the second limiting groove, so that the rope output by the winch in a specific direction is limited to the left and right of the rope wound on the winch structure to avoid rope confusion.
[0034] 8. The utility model provides a winch, in which the diameters at both ends of the guide column are larger than the diameter in the middle, so that the left and right positions of the rope can be further limited.
[0035] 9. The utility model provides a UAV suspension system, which transports a winch and a grabbing UAV through a carrier, thereby improving the carrying capacity of the grabbing UAV for the target object, so that the grabbing UAV can grab a target object of larger weight.
[0036] 10. The utility model provides a UAV suspension system, in which one end of the rope connected to the grabbing UAV is rigid, so that the rope will not be tangled when released, ensuring that the rope is not easily entangled by the blades of the grabbing UAV.
[0037] 11. The utility model provides a UAV suspension system, which also includes a beacon. The beacon has a beacon handle that is grasped or released by a robotic arm. When the robotic arm grasps the beacon handle on the beacon when grasping a target object, on the one hand, the volume of the robotic arm will not be set according to the volume of the target object, which can reduce the volume of the robotic arm. On the other hand, after the beacon and the target object move to the target position, the robotic arm moves downward slightly, and the beacon and the target object no longer exert pressure on the self-locking mechanism on the robotic arm, so that the self-locking mechanism can be automatically unlocked. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0039] Figure 1 A schematic diagram of the structure of the mechanical arm provided by the utility model;
[0040] Figure 2 A partial enlarged view of the mechanical arm provided by the utility model;
[0041] Figure 3 A schematic diagram of the structure of the mechanical arm provided by the utility model when the clamping claw housing is removed;
[0042] Figure 4 This is a first-person perspective structural diagram of the grabbing drone provided by the utility model;
[0043] Figure 5 A schematic diagram of the second viewing angle structure of the grabbing drone provided by the utility model;
[0044] Figure 6 A schematic diagram of the structure of the winch provided by the utility model from a first perspective;
[0045] Figure 7 A second perspective structural schematic diagram of the winch provided by the utility model;
[0046] Figure 8 A schematic diagram of the structure of the winch provided by the utility model when the first fixing plate is disassembled;
[0047] Fig. 9 A schematic diagram of the structure of the winch provided by the utility model when it is cut open;
[0048] Fig.10 A schematic diagram of the structure of a winding drum in a winch provided by the utility model;
[0049] Fig.11 A schematic diagram of the structure of the main shaft in the winch provided by the utility model;
[0050] Fig.12 A schematic diagram of the structure of the rope limiting structure and the no-load pay-off mechanism in the winch provided by the utility model;
[0051] Fig.13 A structural schematic diagram of another embodiment of the no-load pay-off mechanism in the winch provided by the utility model;
[0052] Fig.14 A schematic diagram of the structure of the rope limiting structure in the winch provided by the utility model;
[0053] Fig.15 A schematic diagram of the structure of the UAV suspension system provided by the utility model;
[0054] Fig.16 This is a schematic diagram of the structure of the grabbing drone provided by the utility model when the machine arm is folded and the mechanical arm is opened;
[0055] Fig.17 This is a schematic diagram of the structure of the grabbing drone provided by the utility model when grabbing a beacon.
[0056] Reference numerals:
[0057] 1. Carrier; 2. Winch; 21. First rotating motor; 22. Winch structure; 221. Reel; 222. Rotating shaft; 223. Coupling; 224. Transmission top screw; 225. Flange bearing; 226. Support washer; 227. First baffle; 228. Second baffle; 23. First fixed plate; 24. Positioning rod; 25. Guide column; 26. First limiting column; 261. First limiting groove; 27. No-load pay-off mechanism; 271. Third gear; 272. Fourth gear; 273. Second rotating motor; 274. First extrusion shaft; 275. Second extrusion shaft; 276. First groove; 277. Second groove; 278. Fixed frame; 28. Second limiting column; 281. Second Limiting groove; 3. Grab the drone, 31. Battery, 32. Brushless motor, 33. Blade, 34. Protective cover, 35. Arm, 351. First arm, 352. Second arm; 4. Mechanical arm, 41. Driving member, 411. Driving gear, 42. First clamp, 421. First connecting rod, 422. First gear, 423. First locking rod, 424. First through hole, 43. Second clamp, 431. Second connecting rod, 432. Second gear, 433. Second locking rod, 44. Self-locking mechanism, 441. Contact part, 442. Locking pin, 443. Spring, 45. Clamp housing, 46. Mechanical arm fixing plate; 5. Target; 6. Remote control; 7. Rope; 8. Carrier remote control. DETAILED DESCRIPTION
[0058] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0059] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "an" as used herein may also be meant to include the plural forms. The terms "comprise", "include" and "have" are inclusive and therefore specify the presence of stated features, elements and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.
[0060] Although the terms first, second, etc. may be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. In addition, in the description of the utility model, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the utility model can be understood according to the specific circumstances.
[0061] For ease of description, spatial relative terms can be used in the text to describe the relationship of an element or feature relative to another element or feature as shown in the figure, and these relative terms are, for example, "front", "rear", "middle", "inside", "longitudinal", "lateral", "side", "vertical", "outside", etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figure. For example, if the mechanism in the figure flips, the element described as "below other elements or features" or "below other elements or features" will be subsequently oriented to "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include the orientation on and below. The mechanism can be oriented in addition (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.
[0062] The current helicopter or drone lifting device usually directly deploys a mechanical gripper under the helicopter or drone to clamp the target object. However, when the target clamped by the mechanical gripper is too heavy, the target will stretch the mechanical gripper, causing the mechanical gripper to fail, and the target will fall from the air, causing damage to the target.
[0063] Based on this, the utility model provides a robotic arm, which automatically self-locks after grasping a target object, thereby ensuring the stability of the target object clamping, and automatically unlocks after releasing the target object, making it easier to clamp the next target object.
[0064] Example 1
[0065] The specific embodiments of the present invention are described in detail below in conjunction with the mechanical arm of the first aspect of the present invention.
[0066] It should be noted that the robotic arm of the first aspect of the utility model is only a preferred embodiment of the utility model. The robotic arm of the utility model can adopt the robotic arm of the first aspect of the utility model or other structures. For the convenience of explanation, the robotic arm of the first aspect of the utility model is explained below.
[0067] Combination Figures 1 to 3 As shown, this embodiment discloses a mechanical arm, and the mechanical arm 4 includes a driving member 41, a first clamping jaw 42, a second clamping jaw 43 and a self-locking mechanism 44. The first end of the first clamping jaw 42 is connected to the driving end of the driving member 41, and the second end of the first clamping jaw 42 has a first locking portion. The first end of the second clamping jaw 43 is connected to the driving end of the driving member 41, and the second end of the second clamping jaw 43 has a second locking portion. Under the drive of the driving member 41, the first locking portion overlaps or separates with the second locking portion. Among them, the driving member 41 has a driving end, and the driving member 41 includes but is not limited to a steering gear and a motor, which is used to control the opening and closing of the first clamping jaw 42 and the second clamping jaw 43.
[0068] The self-locking mechanism 44 is arranged on the second locking part. When the first locking part and the second locking part overlap to grasp the target object, the self-locking mechanism 44 locks the first locking part and the second locking part under the gravity of the target object, and the self-locking mechanism 44 releases the first locking part and the second locking part after the gravity of the target object disappears. After the robot arm 4 grasps the target object by using the first locking part and the second locking part, the gravity of the target object locks the first locking part and the second locking part with the self-locking structure 44. After the robot arm 4 puts down the target object by using the first locking part and the second locking part, the gravity of the target object on the self-locking mechanism 44 disappears, and the self-locking mechanism 44 releases the first locking part and the second locking part. Among them, the target objects include but are not limited to photovoltaic cleaning robots, unmanned transport vehicles, etc.
[0069] The above-mentioned mechanical arm is provided with a self-locking mechanism 44, so after the first clamping jaw 42 and the second clamping jaw 43 grasp the target object, the target object generates pressure on the self-locking mechanism 44 by gravity, and the self-locking mechanism 44 directly locks the first clamping jaw 42 and the second clamping jaw 43, thereby firmly grasping the target object, effectively preventing the target object from falling from the air and causing damage to the target object. After the mechanical arm transports the target object to the designated position and places the target object at the position, the target object no longer generates pressure on the self-locking mechanism 44, and the self-locking mechanism 44 automatically unlocks the first clamping jaw 42 and the second clamping jaw 43, so as to facilitate the grasping of the next target object.
[0070] In some embodiments, the first clamping jaw 42 includes a first connecting rod 421, a first gear 422, and a first locking rod 423. The first gear 422 is located at the first end of the first connecting rod 421, and the first gear 422 is connected to the driving end of the driving member 41. The first locking rod 423 is located at the second end of the first connecting rod 421, and the first locking rod 423 and the first connecting rod 421 are L-shaped. The first locking rod 423 and the first connecting rod 421 can be connected by a locking screw.
[0071] The second clamping jaw 43 includes a second connecting rod 431, a second gear 432, and a second locking rod 433. The second gear 432 is located at the first end of the second connecting rod 431, and the second gear 432 is gear-engaged with the first gear 422. The second locking rod 433 is located at the second end of the second connecting rod 431, and the second locking rod 433 and the second connecting rod 431 are L-shaped. The second locking rod 433 and the second connecting rod 431 can be connected by a locking screw. When the first locking rod 423 and the second locking rod 433 overlap to grasp the target object, the second locking rod 433 is located above the first locking rod 423, and the self-locking mechanism 44 is located on the upper surface of the second locking rod 433.
[0072] In some embodiments, the first locking rod 423 has a first through hole 424, and the second locking rod 433 has a second through hole. The self-locking mechanism 44 includes a locking pin 442, a contact portion 441, and a spring 443. The locking pin 442 is slidably disposed in the second through hole. Under the gravity of the target object, the locking pin 442 partially extends into the first through hole 424, thereby locking the second locking rod 433 and the first locking rod 423 together. The contact portion 441 is disposed on the locking pin 442 and is located at an end of the locking pin 442 away from the first locking rod 423. The spring 443 is sleeved on the locking pin 442, and the spring 443 is located between the contact portion 441 and the second locking rod 433.
[0073] In this embodiment, when the first locking rod 423 and the second locking rod 433 overlap, the mechanical arm moves upward again, so that the contact portion 441 contacts the target object, and the contact portion 441 supports the target object. Under the gravity of the target object, the contact portion 441 and the locking pin 442 move downward, and the locking pin 442 is inserted into the first through hole 424 of the first locking rod 423, thereby realizing the self-locking of the first locking rod 423 and the second locking rod 433, and at this time, the spring 443 is squeezed. When the target object moves into place, the target object no longer exerts pressure on the contact portion 441, and the contact portion 441 and the locking pin 442 move upward under the action of the spring 443, and return to the initial position, so that the first locking rod 423 and the second locking rod 433 are unlocked.
[0074] In some embodiments, the upper surface of the contact portion 441 is a curved surface, and the two ends of the contact portion 441 close to the first link 421 and the second link 431 are higher than the middle of the contact portion 441, so that the target object can be more stably positioned on the upper surface of the contact portion 441, making it less likely for the target object to shake, thereby improving the stability of the target object transportation.
[0075] In some embodiments, a plurality of locking pins 442 are provided, and the first through hole 424 is provided in a long hole shape. Each locking pin 442 can be positioned in the first through hole 424 respectively, so that the positioning of the first locking rod 423 and the second locking rod 433 is more stable.
[0076] In some embodiments, the mechanical arm further includes a gripper housing 45 and a mechanical arm fixing plate 46. The driving end of the driving member 41 is connected to a driving gear 411, the driving gear 411 is meshed with a first gear 422, the first gear 422 is meshed with a second gear 432, and the driving gear 411, the first gear 422, and the second gear 432 are respectively arranged on the gripper housing 45. A mechanical arm fixing plate 46 is arranged above the gripper housing 45, and the mechanical arm fixing plate 46 is configured to the grabbing drone.
[0077] Example 2
[0078] The specific embodiments of the present invention are described in detail below in conjunction with the grabbing drone of the second aspect of the present invention.
[0079] It should be noted that the grabbing drone of the second aspect of the utility model is only a preferred embodiment of the utility model. The grabbing drone of the utility model can adopt the grabbing drone of the second aspect of the utility model or other structures. For the convenience of explanation, the grabbing drone of the second aspect of the utility model is explained below.
[0080] Combination Figures 4 to 5As shown, this embodiment discloses a grabbing drone, and the grabbing drone 3 is used to fly and lock, grab and release the grabbing target object. The grabbing drone includes a drone body, a mechanical arm 4, and a first sensor system. The drone body can hover in the air, and the mechanical arm is the mechanical arm 4 in Example 1. The mechanical arm is arranged on the drone body, and more specifically, the mechanical arm is arranged below the drone body. The first sensor system is arranged on the drone body, and the first sensor system includes but is not limited to a laser radar and a camera. The laser radar can be used to construct an environmental map around the mechanical arm, and the camera can be used to take pictures of the environment around the mechanical arm.
[0081] The grabbing drone can be a rotary-wing drone, and the grabbing drone includes a protective cover 34, a flight control board, a drone control board, a blade structure, a battery 31, and an electric adjustment module. The protective cover 34 is set on the rotary-wing drone, and the protective cover 34 is located above the blades of the rotary-wing drone. The protective cover 34 is used to prevent collisions and prevent the winch rope from being rolled into the blades. The blades of the rotary-wing drone may be interfered by ropes and the like when rotating. Installing a protective cover can avoid interference and ensure flight safety.
[0082] The UAV has a four-rotor structure, and the blade structure includes an arm 35, a blade 33 and a brushless motor 32. There are multiple arms 35, blades 33 and brushless motors 32, and the numbers are one-to-one corresponding. The brushless motor 32 and the blades 33 are arranged on the arm 35, the output shaft of the brushless motor 32 is connected to the blades 33, and the controlled end of the brushless motor 32 is connected to the output end of the flight control board.
[0083] In some embodiments, the arm 35 of the rotary wing drone is divided into a first arm 351 and a second arm 352, and the first arm 351 and the second arm 352 are hinged to realize the folding of the arm 35. Fig.16 As shown, when the grabbing drone is not working, the arm 35 is folded downward to reduce the horizontal area, making it easier to recover the grabbing drone into the carrier. If the carrier has a larger storage space, the arm 35 can also be a straight arm.
[0084] The first sensor system includes a first global shutter camera and / or a 3D laser radar. The output end of the first global shutter camera is connected to the input end of the drone control board. The first global shutter camera is used to identify and capture feature points on the grasped target object, and further accurately locate the position of the grasped target object. The output end of the 3D laser radar is connected to the input end of the drone control board. The 3D laser radar is used to perform 3D modeling of the surrounding environment and control the drone to fly to a suitable grasping position.
[0085] The drone control board contains a computing module, which contains motion control algorithms and various interfaces such as Ethernet, USB, and serial ports. It is used to connect with other modules on the grabbing drone for communication, flight control, grabbing control and other tasks.
[0086] The radio frequency module is also a self-organizing network module, which can be connected and communicated with the radio frequency modules on the remote control and the winch in the same network.
[0087] Example 3
[0088] The specific embodiments of the present invention are described in detail below in conjunction with the winch of the third aspect of the present invention.
[0089] It should be noted that the winch of the third aspect of the utility model is only a preferred embodiment of the utility model. The winch of the utility model can adopt the winch of the third aspect of the utility model or other structures. For the convenience of explanation, the winch of the third aspect of the utility model is explained below.
[0090] Combination Figures 6 to 12 As shown, this embodiment discloses a winch, which includes a winch structure 22, a motor system, a winch control board, a radio frequency module, a power supply system, a second global shutter camera and other modules, which are used for retracting and releasing the rope of the grabbing system and communicating with the grabbing drone to coordinate the retraction and release of the rope.
[0091] The winch structure 22 includes a first fixed plate 23, a second fixed plate, a rotating shaft 222 and a winding drum 221. The second fixed plate is spaced apart from the first fixed plate 23. The rotating shaft 222 is rotatably arranged on the first fixed plate 23 and the second fixed plate. More specifically, the rotating shaft 222 is rotatably arranged on the first fixed plate 23 and the second fixed plate through flange bearings 225. The motor system includes a first rotating motor 21, which is arranged on the second fixed plate, and the output shaft end of the first rotating motor 21 is connected to the rotating shaft 222 through a coupling 223. The winding drum 221 is sleeved on the rotating shaft 222 and is located between the first fixed plate 23 and the second fixed plate. The winding drum 221 is configured to wind the rope 7. In this embodiment, the first rotating motor 21 drives the rotating shaft 222 and the winding drum 221 to rotate, thereby realizing the control of the retraction and release of the rope 7.
[0092] As a specific embodiment, the rotating shaft 222 is connected to the winding drum 221 via a plurality of transmission top screws 224 . The transmission top screws 224 pass through the winding drum 221 and are positioned on the side wall of the winding drum 221 .
[0093] The current winch is heavy, and the carrying capacity of the grabbing drone is limited, which makes the winch unable to work well with the grabbing drone. In order to solve this technical problem, the present embodiment sets the rotating shaft 222 as a hollow structure, which greatly reduces the weight of the whole winch. As an alternative embodiment, combined with Fig.10As shown, in this embodiment, the winding drum 221 can also be set as a hollow cylinder. A plurality of grooves and / or hollow holes are provided on the side wall of the winding drum 221, thereby effectively reducing the weight of the winding drum 221 without reducing the outer diameter of the winding drum 221, greatly reducing the weight of the hoist as a whole, and reducing the total load consumption of the carrier. The first rotating motor 21 is a joint motor, which has the characteristics of small weight and high precision. The joint motor is used to accurately control the length of the rope 7 and reduce the overall load consumption of the carrier.
[0094] The rotating shaft 222 passes through the rotating shaft through hole provided on the winding drum 221, and the inner diameter of the rotating shaft through hole is equivalent to the outer diameter of the rotating shaft 222, so the winding drum 221 can evenly transfer the load it receives to the rotating shaft 222. The two ends of the rotating shaft 222 are rotatably provided on the first fixing plate 23 and the second fixing plate in turn through the flange bearings 225, and the rotating shaft 222 can transfer the load it receives to the two flange bearings 225, and the stability of the rotating shaft 222 is enhanced through the two flange bearings 225, so that it can bear a large weight. In addition, the rotating shaft 222 is set as a hollow structure, which can reduce the overall weight of the winch without affecting its rigidity, and enable the winch to bear a large weight, thereby greatly improving the hoisting performance of the winch.
[0095] In some embodiments, the winch further includes a first baffle 227 and a second baffle 228. The first baffle 227 is disposed at the first end of the winding drum 221. The second baffle 228 is disposed at the second end of the winding drum 221. In this embodiment, the rope 7 wound on the winding drum 221 can be effectively blocked by the first baffle 227 and the second baffle 228, and can be effectively blocked by the first fixing plate 23 and the second fixing plate, so as to avoid the rope 7 being wound around the blades of the grabbing drone, thereby ensuring the stability of the grabbing drone. A support washer 226 is also disposed between the second baffle 228 and the second fixing plate, so that the winch structure 22 is more stably positioned between the first fixing plate and the second fixing plate.
[0096] When the grabbing drone takes off to perform the grabbing task, the rope is in an unloaded state with minimal stress. The rope will be in a chaotic state when it is unloaded, and in serious cases, it will cause the problem of the grabbing drone winding the rope. In order to solve this technical problem, in some embodiments, the winch also includes an unloaded wire-releasing mechanism 27, which is arranged on the side of the winch structure 22, and the controlled end of the unloaded wire-releasing mechanism 27 is connected to the output end of the winch control board. The unloaded wire-releasing mechanism 27 is suitable for providing tension to the rope when the winch structure 22 releases the wire and the grabbing drone is in an unloaded state. After the grabbing drone takes off, an additional counterweight can be provided to the unloaded rope to keep the rope taut and not loose, so as not to affect the chaotic winding of the winch rope.
[0097] The no-load pay-off mechanism 27 includes a fixed frame 278, a third gear 271, a fourth gear 272, a first extrusion shaft 274, a second extrusion shaft 275 and a second rotating motor 273. The fixed frame 278 is arranged on the first fixed plate 23 and / or the second fixed plate. The third gear 271 is arranged on the fixed frame 278, and the third gear 271 is coaxially connected to the first extrusion shaft 274, and a first groove 276 is arranged on the outer periphery of the first extrusion shaft 274. The fourth gear 272 is arranged on the fixed frame 278, and the fourth gear 272 is coaxially connected to the second extrusion shaft 275, and a second groove 277 is arranged on the outer periphery of the second extrusion shaft 275. The second rotating motor is arranged on the fixed frame 278, and the rotating end of the second rotating motor is connected to the third gear 271. Combined with Fig.12 As shown, the rotating end of the second rotating motor is connected to a rotating gear, and the rotating gear is meshed with the third gear 271. As an alternative embodiment, in combination with Fig.13 As shown, the rotating shaft end of the second rotating motor is coaxially connected to the third gear 271 .
[0098] The first groove 276 and the second groove 277 are arranged opposite to each other and form a rope conveying channel, and the relative position of the first groove 276 and the second groove 277 is configured to contact the rope. Driven by the second rotating motor 273, the first extrusion shaft 274 and the second extrusion shaft 275 rotate relative to each other and generate a force in the same direction as the rope conveying direction. When the winch is performing no-load wire release, the first extrusion shaft 274 and the second extrusion shaft 275 rotate relative to each other to squeeze the rope and convey the rope normally, thereby avoiding the problem that the winch cannot release the wire normally when it is running no-load.
[0099] In some embodiments, in combination Fig.12 and Fig.14 As shown, the winch also includes a rope limiting structure, which is arranged beside the winch structure 22, and the rope limiting structure is suitable for limiting the rope wound around the winch structure 22 to the left and right. The rope limiting structure includes a guide column 25, a first limiting column 26, and a second limiting column 28. The guide column 25 is arranged between the first fixing plate 23 and the second fixing plate. The first limiting column 26 is arranged between the first fixing plate 23 and the second fixing plate, and is located below the guide column 25. The first limiting column 26 is provided with a first limiting groove 261 in the circumferential direction. The second limiting column 28 is arranged between the first fixing plate 23 and the second fixing plate, and is located below the guide column 25. The second limiting column 28 is provided with a second limiting groove 281 in the circumferential direction. The first limiting groove 261 and the second limiting groove 281 are arranged opposite to each other, and the rope is located in the relative position of the first limiting groove 261 and the second limiting groove 281.
[0100] In this embodiment, the rope output from the winding drum 221 passes around the guide column 25 and enters the conveying channel formed between the first limiting groove 261 and the second limiting groove 281, and is limited by the first limiting groove 261 and the second limiting groove 281, thereby allowing the winch to output the rope in a specific direction.
[0101] In some embodiments, the diameters at both ends of the guide column 25 are larger than the diameter in the middle, and the middle position of the guide column 25 corresponds to the position between the first limiting groove 261 and the second limiting groove 281, so that the rope can enter the position between the first limiting groove 261 and the second limiting groove 281 along the middle position of the guide column 25, and the left and right positions of the rope can be limited.
[0102] In some embodiments, the winch structure also includes a reciprocating winding structure, which can be used to regularly retract and release the winch rope, making the winch structure less likely to get tangled and assisting the winch in organizing the retracting and releasing rope.
[0103] In some embodiments, the winch control board includes a processor, CAN, 485, network port and other communication interfaces, which are connected to other modules such as the motor RF module and camera, and are used for business logic processing of the winch part, battery power monitoring, motor motion control, torque monitoring, inter-system communication and other functions. The RF module is also a self-organizing network module, which can be connected to the RF module on the remote control and the grabbing drone in the same network. The power supply system is used to provide power to the winch, which can be battery-powered or powered by the carrier aircraft and then converted to provide power for the winch. The camera module is a global shutter camera with a telephoto or zoom lens, which operates downward and is used to monitor and record the operation process and assist in detecting whether there is a beacon below the current position and the hoisted object.
[0104] In some embodiments, in combination Figure 6 As shown, a positioning rod 24 is also provided on the winch, so that the winch can be assembled on the carrier 1 through the positioning rod 24.
[0105] Example 4
[0106] The specific embodiments of the present invention are described in detail below in conjunction with the drone suspension system of the fourth aspect of the present invention.
[0107] It should be noted that the UAV suspension system of the fourth aspect of the utility model is only a preferred embodiment of the utility model. The UAV suspension system of the utility model can adopt the UAV suspension system of the fourth aspect of the utility model, and can also adopt other structures. For the convenience of explanation, the UAV suspension system of the fourth aspect of the utility model is explained below.
[0108] Combination Figures 15 to 17As shown, this embodiment discloses a UAV suspension system, which includes a carrier 1, a hoist 2, and a grabbing UAV 3. The hoist 2 is the hoist in Embodiment 3, which is arranged on the carrier 1, and a rope 7 is wound on the winding drum of the hoist 2. The grabbing UAV 3 is the grabbing UAV in Embodiment 2, and the grabbing UAV is connected to one end of the rope 7.
[0109] In the above-mentioned drone suspension system, the carrier 1 can be a drone or a traditional lifting and installation equipment, which is used to provide an installation site for the winch and transport the grabbing drone to a designated location. Since the winch and the grabbing drone are transported by the carrier 1, the carrying capacity of the grabbing drone for the target object is improved, so that the grabbing drone can grab a target object of greater weight.
[0110] In some embodiments, one end of the rope connected to the grabbing drone is rigid, so that the rope will not be tangled when released, ensuring that the rope is not easily entangled by the blades of the grabbing drone.
[0111] At present, in actual applications, due to site limitations, conventional lifting solutions are difficult to implement in some high-rise buildings, mountains, beaches and other locations. A small number of helicopter or drone lifting methods also require personnel to cooperate in disassembling and assembling the target object to be lifted. The operation is complicated and there are also restrictions on use in places where personnel are difficult to reach. In order to solve this problem, the present embodiment is provided with an identification code on the target object 5, and the identification code is used to be identified by the captured drone as a spatial coordinate reference to locate the appropriate grasping position. More specifically, the identification code is a QR code or a barcode or other special pattern. The first sensor system of the grasping drone can capture information on the identification code of the target object 5 to locate the grasping position, and cooperate with the carrier 1 and the grasping drone to move to the target position to be grasped, which is not affected by the terrain and can achieve the purpose of fully automatic or semi-automatic long-distance lifting.
[0112] In some embodiments, the drone suspension system also includes a remote controller 6 and a carrier remote controller 8. Radio frequency modules are respectively provided on the carrier 1, the hoist 2 and the grabbing drone, and the carrier 1, the hoist 2 and the grabbing drone respectively communicate wirelessly with the remote controller 6 through the radio frequency modules. The carrier 1 and the hoist 2 are connected by wire or wirelessly through their respective radio frequency modules. The radio frequency module of the hoist 2 is wirelessly connected to the radio frequency module of the grabbing drone. The carrier remote controller 8 is interactively connected to the carrier 1, and the carrier remote controller 8 is interactively connected to the remote controller 6. In this embodiment, the hoist, the remote controller and the grabbing drone are connected by radio frequency modules in the form of long-distance self-organizing networks.
[0113] The remote controller 6 can control the retraction and extension of the hoist rope, the movement of the grabbing drone and the opening and closing of the gripper, and includes a host and a radio frequency module. The host can be a conventional PC, mobile phone, tablet, industrial computer, etc. The radio frequency module is a wireless ad hoc network module, which can form an ad hoc local area network with the radio frequency modules on the hoist and the grabbing drone, so that all components of the system can communicate in the same network.
[0114] In the above-mentioned UAV suspension system, the process of the robotic arm grabbing the target object can be:
[0115] After the first sensor system of the grabbing drone recognizes the identification code on the target object, the first sensor system feeds back the identification information to the drone control board. The drone control board of the grabbing drone generates the location information of the target object based on the comparison of the identification information and the set information, and feeds back the location information of the target object to the carrier 1. The carrier 1 drives the grabbing drone to move to the position of the beacon 5. After the carrier 1 moves into position, the carrier 1 feeds back the movement position information to the winch control board, and then the winch control board controls the first rotating motor 21 to operate and release the rope. When the rope is released into position, the winch control board feeds back the rope position information to the drone control board of the grabbing drone, and the drone control board controls the driving member 41 in the mechanical arm to operate, and controls the first clamp 42 and the second clamp 43 to open through the driving member 41. Then the winch control board controls the rope to release a section again, and the drone control board controls the driving member 41 to operate again, controls the first clamp 42 and the second clamp 43 to close, and clamps the beacon handle. Then the winch control panel controls the first rotating motor 21 to operate, collect the rope, the first clamp 42 and the second clamp 43 rise, the first clamp 42 and the second clamp 43 contact the self-locking mechanism 44, press the self-locking mechanism 44, and the self-locking mechanism 44 locks the first clamp 42 and the second clamp 43. Finally, the carrier 1 drives the winch, the grabbing drone, the beacon and the hoisted object to move to the target position.
[0116] In the above-mentioned drone suspension system, the process of the mechanical arm releasing the beacon handle can be:
[0117] When the beacon and the hoisted object move to the target position, the hoisted object is placed at the target position, and then the winch control panel controls the first rotating motor 21 to run, releasing a small section of the rope. At this time, the first clamp 42 and the second clamp 43 are out of contact with the self-locking mechanism 44, and the self-locking mechanism 44 no longer locks the first clamp 42 and the second clamp 43. The drone control panel controls the driving member 41 to run, and controls the first clamp 42 and the second clamp 43 to open. The winch control panel controls the first rotating motor 21 to run, and collects the rope. Finally, the carrier 1 drives the winch and grabs the drone to move out of the target position.
[0118] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.
Claims
1. A robotic arm, characterized in that: The robotic arm comprises: A driving member (41); A first clamping claw (42), a first end of which is connected to the driving end of the driving member (41), and a second end of which has a first locking portion; A second clamping jaw (43), a first end of which is connected to the driving end of the driving member (41), and a second end of which has a second locking portion, and under the drive of the driving member (41), the first locking portion overlaps with or separates from the second locking portion; A self-locking mechanism (44) is arranged on the second locking part. When the first locking part and the second locking part overlap to grasp a target object, the self-locking mechanism (44) locks the first locking part and the second locking part under the action of the gravity of the target object. The self-locking mechanism (44) releases the first locking part and the second locking part after the gravity of the target object disappears.
2. The robotic arm according to claim 1, characterized in that: The first clamping jaw (42) comprises: A first connecting rod (421); A first gear (422) is located at a first end of the first connecting rod (421), and the first gear (422) is connected to a driving end of the driving member (41); The first locking rod (423) is located at the second end of the first connecting rod (421) and is L-shaped with the first connecting rod (421); the second clamping claw (43) comprises: A second connecting rod (431); A second gear (432) is located at the first end of the second connecting rod (431), and the second gear (432) is meshed with the first gear (422); The second locking rod (433) is located at the second end of the second connecting rod (431) and is L-shaped with the second connecting rod (431); when the first locking rod (423) and the second locking rod (433) overlap to grasp the target object, the second locking rod (433) is located above the first locking rod (423), and the self-locking mechanism (44) is located on the upper surface of the second locking rod (433).
3. The robotic arm according to claim 2, characterized in that: The first locking rod (423) has a first through hole (424), the second locking rod (433) has a second through hole, and the self-locking mechanism (44) comprises: a locking pin (442) slidably disposed in the second through hole, wherein under the gravity of the target object, the locking pin (442) partially extends into the first through hole (424); A contact portion (441) is provided on the locking pin (442) and is located at an end of the locking pin (442) away from the first locking rod (423); A spring (443) is sleeved on the locking pin (442), and the spring (443) is located between the contact portion (441) and the second locking rod (433).
4. The mechanical arm according to claim 3, characterized in that: The upper surface of the contact portion (441) is a curved surface, and the two ends of the contact portion (441) close to the first connecting rod (421) and the second connecting rod (431) are higher than the middle of the contact portion (441).
5. A grabbing drone, characterized in that: The grabbing drone comprises: The drone body can hover in the air; The mechanical arm as claimed in any one of claims 1 to 4, arranged on the drone body; The laser radar and / or camera are arranged on the drone body.
6. The grabbing drone according to claim 5, characterized in that: The grabbing drone is a rotary-wing drone, and the grabbing drone also includes: A protective cover (34) is arranged on the rotary-wing UAV, and the protective cover (34) is located above the blades of the rotary-wing UAV.
7. The grabbing drone according to claim 6, characterized in that: The arm (35) of the rotary-wing UAV is foldable.
8. A winch, characterized in that: The hoist comprises: A first fixing plate (23); a second fixing plate, spaced apart from the first fixing plate (23); A rotating shaft (222) is rotatably disposed on the first fixing plate (23) and the second fixing plate; A first rotating motor (21) is arranged on the second fixed plate, and an output shaft end of the first rotating motor (21) is connected to the rotating shaft (222); A winding drum (221) is sleeved on the rotating shaft (222) and is located between the first fixing plate (23) and the second fixing plate. The winding drum (221) is configured to wind a rope.
9. The winch according to claim 8, characterized in that: The rotating shaft is a hollow structure; And / or the winding drum (221) is configured as a hollow cylinder; And / or the first rotating motor (21) is a joint motor.
10. The winch according to claim 8, characterized in that: The hoist also includes: A first baffle (227) is disposed at a first end of the winding drum (221); A second baffle (228) is disposed at the second end of the winding drum (221).
11. The winch according to any one of claims 8 to 10, characterized in that: The hoist also includes an unloaded wire-releasing mechanism (27); the unloaded wire-releasing mechanism (27) includes: A fixing frame (278) disposed on the first fixing plate (23) and / or the second fixing plate; A third gear (271) is arranged on the fixing frame (278); the third gear (271) is coaxially connected to a first extrusion shaft (274); a first groove (276) is arranged on the outer periphery of the first extrusion shaft (274); a fourth gear (272) disposed on the fixing frame (278); the fourth gear (272) is coaxially connected to a second extrusion shaft (275); a second groove (277) is disposed on the outer periphery of the second extrusion shaft (275); A second rotating motor (273) is disposed on the fixing frame (278), and a rotating end of the second rotating motor (273) is connected to the third gear (271); The first groove (276) and the second groove (277) are arranged opposite to each other, and the positions where the first groove (276) and the second groove (277) are opposite to each other are configured to contact the rope; Driven by the second rotating motor (273), the first extrusion shaft and the second extrusion shaft rotate relative to each other and generate a force in the same direction as the rope conveying direction.
12. The winch according to claim 11, characterized in that: The hoist also includes a rope limiting structure; the rope limiting structure includes: A guide column (25) is arranged between the first fixing plate (23) and the second fixing plate; A first limiting column (26) is arranged between the first fixing plate (23) and the second fixing plate and is located below the guide column (25); a first limiting groove (261) is arranged on the circumference of the first limiting column (26); The second limiting column (28) is arranged between the first fixing plate (23) and the second fixing plate and is located below the guide column (25); a second limiting groove (281) is arranged on the circumference of the second limiting column (28); the first limiting groove (261) and the second limiting groove (281) are arranged opposite to each other, and the rope is located in the relative position of the first limiting groove (261) and the second limiting groove (281).
13. The winch according to claim 12, characterized in that: The diameters at both ends of the guide column (25) are larger than the diameter in the middle.
14. A UAV suspension system, characterized in that: The UAV suspension system comprises: Carrier (1); A winch as claimed in any one of claims 8 to 13, arranged on the carrier (1), a rope (7) being wound around a winding drum of the winch; A grabbing drone as described in any one of claims 5 to 7, connected to one end of the rope (7).
15. The drone suspension system according to claim 14, characterized in that: One end of the rope (7) connected to the grabbing drone is rigid.
16. The UAV suspension system according to claim 14 or 15, characterized in that: The UAV suspension system also includes: The carrier (1) is communicatively connected to a winch, and the winch is communicatively connected to a grabbing drone.