A quick mounting and dismounting device for flying manipulators

Abstract

The application discloses a clamping type quick mounting and dismounting device for a flying manipulator, which comprises a Z-shaped through-groove structural member, a rotating pull pin, a main connecting rod, a secondary connecting rod, a caliper, a structural member connected with a UAV, a bolt, a nut and a "work" shaped structural member. The application has the following beneficial effects: a design can realize quick mounting of a manipulator and a UAV, the mounting steps are few, the dismounting is simple and fast, and safety and reliability in the flight process are ensured, which is of great significance for the flying manipulator.

Description

Technical Field

[0001] The invention belongs to the field of aircraft, and in particular relates to a clamping type quick installation and removal device for a flying manipulator. Background Art

[0002] With the growing demand for small drone applications, small rotary-wing flying robots with manipulators have become a leading research area at internationally renowned research institutions in recent years, with the goal of enabling them to grasp specific objects. A flying manipulator is a robotic arm installed beneath the fuselage of a rotary-wing drone to perform tasks such as grasping and moving specific objects.

[0003] Currently, the primary method of installing a manipulator is through direct bolting. This involves connecting the manipulator to the drone base using bolts and nuts. While bolted connections offer high security and ease of attachment, assembly and disassembly can be complex. The two holes must be aligned during assembly, making assembly and disassembly particularly difficult when space is limited at the flight receiving connection. Furthermore, frequent bolt removal can damage the threaded holes, potentially causing the bolted connection to loosen under long-term dynamic loads, posing a hazard to flight. Summary of the Invention

[0004] The present invention provides a clamping type quick installation and disassembly device for a flying manipulator, aiming to solve the above-mentioned technical problems.

[0005] The present invention adopts the following technical solutions:

[0006] A clamping type quick installation and removal device for a flying manipulator, comprising a Z-shaped through-slot structure 1, a rotating pull pin 2, a main connecting rod 3, a secondary connecting rod 4, a caliper 5, a structure 6 connected to a drone, a bolt 7, a nut 8, and an "I"-shaped structure 9;

[0007] The structural member 6 connected to the drone is used to be installed on the lower side of the drone, and the "I"-shaped structural member 9 is used to be connected to the manipulator.

[0008] The rotating pull pin 2 is used to push the Z-shaped through-slot structural member 1 to slide inside the structural member 6 connected to the drone.

[0009] The upper circular through hole 3.1 of the main connecting rod 3 is connected with a long bolt 7, and the long bolt 7 can slide on the Z-shaped through groove 1.6 on the Z-shaped through groove structural member 1. The lower circular through hole 3.2 of the main connecting rod 3 is connected to the first sub-rod 2.1 and the second sub-rod 2.2 through a short bolt. The first sub-rod 2.1 and the second sub-rod 2.2 are respectively connected to the left caliper 5 and the right caliper 5. The left caliper 5 and the right caliper 6 are used to clamp the "I"-shaped structural member 9.

[0010] Furthermore, the structural member 6 connected to the drone is provided with an inner cavity 6.1, the left end of the structural member 6 connected to the drone is provided with a semicircular groove 6.2, the middle part of the structural member 6 connected to the drone is provided with a side through groove 6.6, a rectangular through groove 6.3 is provided between the side through groove 6.6 and the left end of the structural member 6 connected to the drone, a semicircular through groove 6.4 is provided on the left side of the rectangular through groove 6.3, a bottom V-shaped groove 6.5 is provided on the lower side of the side through groove 6.6, and a lower rectangular hole 6.7 is provided on the bottom V-shaped groove 6.5.

[0011] Furthermore, the Z-shaped through-groove structural member 1 is square in shape, and protrusions 1.1 are respectively provided at the four corners. An internal rectangular cavity 1.3 is provided inside the Z-shaped through-groove structural member 1, and a guide surface 1.2 is provided on the side panel of the internal rectangular cavity 1.3. Circular through holes 1.4 are provided on both end surfaces of the Z-shaped through-groove structural member 1, and square through holes 1.5 are symmetrically provided on the side surfaces of the Z-shaped through-groove structural member 1, and a Z-shaped through groove 1.6 is provided between the square through holes 1.5.

[0012] Furthermore, the rotating pull pin 2 consists of a first secondary rod 2.1, a second secondary rod 2.2 and a main cylindrical rod 2.3. The first secondary rod 2.1 and the second secondary rod 2.2 are symmetrically arranged on both sides of the main cylindrical rod 2.3. The main cylindrical rod 2.3 has a connecting end 2.4.

[0013] Furthermore, a single ear piece 4.1 is provided at one end of the main body of the secondary connecting rod 4, and a double ear piece 4.2 is provided at the other end.

[0014] Furthermore, the caliper 5 has a vertical column 5.1, a C-shaped body 5.2 is provided at the bottom of the vertical body 5.1, and a circular hole 5.3 and a horizontal column 5.4 are provided on the vertical column 5.1.

[0015] Furthermore, the "I"-shaped structural member 9 is composed of a flat plate 9.1, a cylindrical block 9.2 and an elliptical protrusion 9.3. The flat plate 9.1 is used to connect the robot, the cylindrical block 9.2 is arranged between the flat plate 9.1 and the elliptical protrusion 9.3, and grooves 9.4 are arranged on both sides of the elliptical protrusion 9.3.

[0016] The present invention has the following beneficial effects: a method is designed to realize the rapid installation of the manipulator and the drone, with fewer installation steps, simple and quick disassembly, and ensure safety and reliability during flight, which is of great significance for the flying manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 In the prior art, the manipulator is connected to the drone via bolts;

[0018] Figure 2 Z-shaped through-groove structural member 1;

[0019] Figure 3 Rotating pull pin 2;

[0020] Figure 4 Partial assembly (I);

[0021] Figure 5 Main connecting rod 3;

[0022] Figure 6 Auxiliary connecting rod 4;

[0023] Figure 7 Caliper structural part 5;

[0024] Figure 8 connecting rod caliper structure subassembly;

[0025] Figures 9(a), 9(b), and 9(c) show the structural member 6 connected to the drone;

[0026] Figure 10 A "工"-shaped structural member 9 connected to the manipulator;

[0027] Figure 11 Flight manipulator quick connection and separation device (disassembled state);

[0028] Figure 12 Flight manipulator quick connection and separation device (installed state);

[0029] In the figure, the Z-shaped through-slot structure 1, the protrusion 1.1, the guide surface 1.2, the internal rectangular cavity 1.3, the circular through hole 1.4, the square through hole 1.5, the Z-shaped through-slot 1.6, the rotating pull pin 2, the first auxiliary rod 2.1, the second auxiliary rod 2.2, the main cylindrical rod 2.3, the connecting end 2.4, the main connecting rod 3, the upper circular through hole 3.1, the lower circular through hole 3.2, the auxiliary connecting rod 4, the single ear piece 4.1, the double ear piece 4.2, the caliper 5, the vertical Cylinder 5.1, C-shaped body 5.2, circular hole 5.3, horizontal cylinder 5.4, structure 6 connected to the drone, inner cavity 6.1, first semicircular groove 6.2, rectangular through-groove 6.3, second semicircular groove 6.4, bottom V-shaped groove 6.5, side through-groove 6.6, lower rectangular hole 6.7, bolt 7, nut 8, "I"-shaped structure 9, flat plate 9.1, cylindrical block 9.2, elliptical protrusion 9.3, groove 9.4. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be understood that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0032] In the present invention, unless otherwise expressly specified or limited, terms such as "disposed," "installed," "connected," "connected," and "fixed" should be understood broadly. For example, they may refer to fixed or detachable connections, mechanical connections, direct connections, or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0033] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly indicate the quantity of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0034] The design of the flying manipulator quick installation and disassembly device of the present invention mainly consists of nine parts: a Z-shaped through-slot structural part 1, a rotating pull pin 2, a main connecting rod 3, a secondary connecting rod 4, a caliper structural part 5, a structural part 6 connected to the drone, a bolt 7, a nut 8, and an "I"-shaped structural part 9 connected to the manipulator.

[0035] like Figure 2 As shown, the Z-shaped through-slot structural member 1 mainly includes the following features: four protrusions 1.1 at the four ends, four guide surfaces 1.2 on the upper and lower sides, an internal rectangular cavity 1.3, a circular through hole 1.4, a square through hole 1.5, and a Z-shaped through-slot 1.6. The protrusions 1.1 are adapted to fit within the guide surfaces 1.2 and the T-slot of the structural member 6.

[0036] like Figure 3 As shown, the main features of the rotating pull pin 2 are: a main cylindrical rod 2.3 and two auxiliary rods 2.1 and 2.2 perpendicular to the main cylindrical rod.

[0037] As shown in Figure 4 , the diameter of the main cylindrical rod 2.3 of the rotating pull pin 2 is matched with the diameter of the circular through hole 1.4 of the side of the Z-shaped channel structure 1, so that a clearance fit can be achieved; the square through hole 1.5 of the Z-shaped channel structure 1 can be put into a standard nut 8; one end 2.4 of the rotating pull pin 2 enters the Z-shaped channel structure 1 through the circular through hole 1.4, and the standard nut 8 is fixed on one end 2.4 of the rotating pull pin 2, so that the relative fixed connection between the rotating pull pin 2 and the Z-shaped channel structure 1 is achieved through the standard nut 8, but the rotating pull pin 2 can rotate around the axis of the main cylindrical rod 2.3.

[0038] As shown in Figure 5 , the main feature of the main connecting rod 3 is that both ends have circular through holes 3.1 and 3.2.

[0039] As shown in Figure 6 , the main feature of the auxiliary connecting rod 4 is that one end is a single ear 4.1 and the other end is a double ear 4.2.

[0040] As shown in Figure 7 , the caliper structure 5 is mainly composed of a cylindrical body 5.1 with a circular hole 5.3, a C-shaped body 5.2, and a cylindrical body 5.4 perpendicular to 5.1. The thickness of the distance 9.3 from the lower end face of the cylindrical body 5.4 to the upper end face of the C-shaped body 5.2 is matched (a clearance fit can be achieved).

[0041] As shown in Figure 8 , one end of the single ear 4.1 of the auxiliary connecting rod 4 is connected to the circular hole 3.2 of the main connecting rod 3 through a bolt 7 to realize the connection and assembly of the auxiliary connecting rod 4 and the main connecting rod 3 (after assembly, the auxiliary connecting rod 4 can rotate around the axis of the bolt 7 passing through the lower circular through hole 3.2); the auxiliary connecting rod 4 and the caliper structure 5 are connected and assembled through the bolt 7 passing through the circular hole of the double ear 4.2 and the circular hole 5.3 of the caliper structure 5 (after assembly, the caliper structure 5 can rotate around the axis of the bolt 7).

[0042] As shown in Figures 9(a), (b) and (c), the main feature of the structural member 6 connected to the drone is that the inner cavity 6.1 (the inner cavity 6.1 is preferably along the length direction of the structural member 6 and passes through this structural member 6) is adapted to the Z-shaped through-groove structural member 1, and is suitable for the Z-shaped through-groove structural member 1 to slide in the inner cavity 6.1; in Figures 9(a), (b) and (c), the structural member 6 is provided with a semicircular groove 6.2, a rectangular through-groove 6.3 and a side through-groove 6.6 from left to right, the semicircular groove 6.2 being provided on the left side of the structural member 6, the semicircular groove 6.4 being provided on the left side of the rectangular through-groove 6.3, and a bottom V-shaped groove 6.5 being provided on the structural member 6 below the side through-groove 6.6. The side rectangular through groove 6.3 is used for the rotation of the second secondary rod 2.2 of the rotating pull pin 2; the two ends of the side through groove 6.6 are semi-cylindrical, which is used for the up and down sliding of the bolt 7 passed through the upper circular through hole 3.1; the bolt 7 passed through the upper circular through hole 3.1 can slide in the Z-shaped through groove 1.6 at the same time, the bottom V-shaped groove 6.5 is used to constrain the movement range of the secondary connecting rod 4, and the rectangular hole 6.7 at the lower end is used for the vertical movement of the main connecting rod 3.

[0043] Will Figure 4 The partial assembly (I) shown is connected by a Z-shaped through-slot slider (such as Figure 4 As shown, the Z-shaped slot sliders are arranged on the four corners of the Z-shaped slot structure 1) and are installed in the inner cavity of the structure 6, as shown in FIG. Figure 11 As shown. Push the Z-shaped slot structure 1, and the Z-shaped slot slider slides in the inner cavity of the structure 6 until it overlaps with the bottom of the inner cavity of the structure 6, as shown. Figure 12 As shown, at this time, the axis of the second sub-rod 2.2 of the rotating pull pin 2 is in the same plane as the axis of the rectangular through-slot 6.3 on the side of the structural member 6, and is parallel to the end face of the structural member 6. Under the action of rotation, the first sub-rod 2.1 and the second sub-rod 2.2 enter the semicircular groove 6.2 and the semicircular groove 6.4 respectively. Since the first sub-rod 2.1 and the second sub-rod 2.2 are cylindrical, when the rotating pull pin 2 is rotated by the rotation of an external force, the first sub-rod 2.1 and the second sub-rod 2.2 abut against the end face of the Z-shaped through-slot structural member 1 and the side wall of the rectangular through-slot 6.3. After rotating into place, they enter their respective corresponding semicircular grooves. During disassembly, the rotating pull pin 2 is rotated forcefully, and the first sub-rod 2.1 and the second sub-rod 2.2 pass over their respective semicircular grooves. The first sub-rod 2.1 and the second sub-rod 2.2 may undergo a certain deformation to complete the above-mentioned action.

[0044] The bolt 7 in the present invention is fixed by a fixing method known to those skilled in the art.

[0045] like Figure 10 As shown, the main features of the "I"-shaped structural member 9 connected to the manipulator are: a flat plate 9.1, a cylindrical block 9.2, an elliptical protrusion 9.3, and grooves 9.4 on both sides of the elliptical protrusion 9.3.

[0046] The working principle of the flying manipulator quick mounting and dismounting is as follows:

[0047] The mounting process is as follows: the clamping caliper 5 connected with the unmanned aerial vehicle is used for the characteristics of the Z-shaped through slot and the connecting rod cooperation, that is, when the Z-shaped through slot structure 1 slides left and right, the main connecting rod 3 moves up and down, when the Z-shaped through slot slider moves to the right, the main connecting rod moves up and drives the auxiliary connecting rod 4 to move. The bottom V-shaped groove 6.5 can constrain the movement of the auxiliary connecting rod 4, so that the auxiliary connecting rod 4 performs a contraction action and drives the caliper to clamp the "work" shaped structure 9 connected with the manipulator, finally rotates the rotating pull pin by 90 degrees, and the second auxiliary rod 2.2 of the rotating pull pin can play a positioning locking role, preventing collision and shaking during operation from causing the movement of the Z-shaped through slot slider. Figure 12 As shown in the figure.

[0048] The dismounting action analysis is as follows: when the unmanned aerial vehicle stops landing, the rotating pull pin 2 is only rotated by 90 degrees, and the Z-shaped through slot structure 1 is moved to the left to make the main connecting rod 3 descend, and at the same time drive the auxiliary connecting rod 4 to move downward, and the caliper 5 is opened, and finally the manipulator is taken out by external force, so that the unmanned aerial vehicle and the manipulator are separated, thereby realizing the quick mounting and dismounting function of the manipulator and the unmanned aerial vehicle. Figure 11 As shown in the figure.

[0049] The present application has the following beneficial effects: a kind of can realize the quick installation of manipulator and unmanned aerial vehicle two bodies, installation steps are few, dismounting is simple and fast, and it is safe and reliable in flight process, it is of great significance for flying manipulator.

[0050] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A clamping type quick installation and removal device for a flying manipulator, characterized by: The quick installation and disassembly device includes a Z-shaped through-groove structural member (1), a rotary pull pin (2), a main connecting rod (3), a sub-connecting rod (4), a caliper (5), a structural member (6) connected to the drone, a bolt (7), a nut (8), and an "I"-shaped structural member (9); The structural member (6) connected to the drone is used to be installed on the lower side of the drone, and the "I"-shaped structural member (9) is used to be connected to the manipulator. The rotary pull pin (2) is used to push the Z-shaped through-groove structural member (1) to slide within the structural member (6) connected to the drone. The Z-shaped through-groove structural member (1) is square, with bumps (1.1) respectively arranged at four corners. An internal rectangular cavity (1.3) is arranged inside the Z-shaped through-groove structural member (1). Guide surfaces (1.2) are arranged on the side plates of the internal rectangular cavity (1.3). Circular through-holes (1.4) are arranged on both end faces of the Z-shaped through-groove structural member (1). Square through-holes (1.5) are symmetrically arranged on the side surface of the Z-shaped through-groove structural member (1). A Z-shaped through-groove (1.6) is arranged between the square through-holes (1.5). The structural member (6) connected to the drone is provided with an inner cavity (6.1). A first semi-circular groove (6.2) is arranged at the left end of the structural member (6) connected to the drone. A side through-groove (6.6) is arranged in the middle of the structural member (6) connected to the drone. A rectangular through-groove (6.3) is arranged between the side through-groove (6.6) and the left end of the structural member (6) connected to the drone. A second semi-circular groove (6.4) is arranged on the left side of the rectangular through-groove (6.3). A bottom V-shaped groove (6.5) is opened on the lower side of the side through-groove (6.6). A lower-end rectangular hole (6.7) is arranged at the bottom V-shaped groove (6.5). The upper circular through-hole (3.1) of the main connecting rod (3) is connected to the bolt (7). The bolt (7) in the upper circular through-hole (3.1) can slide on the Z-shaped through-groove (1.6) of the Z-shaped through-groove structural member (1). The lower circular through-hole (3.2) of the main connecting rod (3) is connected to two sub-connecting rods 4 through bolts (7). The two sub-connecting rods 4 are respectively connected to the left caliper (5) and the right caliper (5). The left caliper (5) and the right caliper (6) are used to clamp the "I"-shaped structural member (9).

2. A clamping type quick installation and removal device for a flying manipulator according to claim 1, characterized in that: The rotary pull pin (2) consists of a first sub-rod (2.1), a second sub-rod (2.2), and a main cylindrical rod (2.3). The first sub-rod (2.1) and the second sub-rod (2.2) are respectively symmetrically arranged on both sides of the main cylindrical rod (2.3). The main cylindrical rod (2.3) has a connecting end (2.4).

3. The clamping type quick installation and removal device for a flying manipulator according to claim 1, characterized in that: A single ear plate (4.1) is arranged at one end of the main body of the sub-connecting rod (4), and a double ear plate (4.2) is arranged at the other end.

4. The clamping type quick installation and removal device for a flying manipulator according to claim 1, characterized in that: The caliper (5) has a vertical cylinder (5.1). A C-shaped body (5.2) is arranged at the bottom of the vertical main body (5.1). A round hole (5.3) and a horizontal cylinder (5.4) are arranged on the vertical cylinder (5.1).

5. The clamping type quick installation and removal device for a flying manipulator according to claim 1, characterized in that: The "I"-shaped structural member (9) is composed of a flat plate (9.1), a cylindrical block (9.2) and an elliptical convex block (9.3); the flat plate (9.1) is used to connect the manipulator; the cylindrical block (9.2) is arranged between the flat plate (9.1) and the elliptical convex block (9.3); and grooves (9.4) are arranged on both sides of the elliptical convex block (9.3).

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