A kind of unpowered self-adapting quick linkage type manipulator and unmanned plane capturing device

Abstract

This invention discloses a non-powered adaptive rapid-linkage manipulator and a drone capture device, comprising a base and a gripper mechanism rotatably mounted on the base. The gripper mechanism includes a cantilever, a first traction rope, a second traction rope, an elastic rope, a movable sleeve fitted on the cantilever, and a gripper structure disposed at the first end of the movable sleeve. The base of the non-powered adaptive rapid-linkage manipulator is mounted on the bottom surface of the drone. By combining the manipulator with the drone, illegal drones can be captured and seized using a gripping method to prevent unauthorized filming.

Description

Technical Field

[0001] This invention relates to the field of optical microscope technology, and in particular to a non-powered adaptive rapid linkage manipulator and a drone capture device. Background Technology

[0002] Currently, during major sporting events (such as the Asian Games and the Olympic Games), photography enthusiasts or illegal live broadcasters often use drones to film and record live programs. In terms of existing technology, to prevent unauthorized filming, public security organs use signal jammers or shoot down these drones to disable them. However, such methods can result in the drone crashing down and hitting people or objects below. Since objects falling from high altitudes have a large impact force, especially when they hit people, they can cause very serious injuries and lead to serious consequences. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the aforementioned technologies by designing a non-powered, adaptive, rapid-linkage robotic arm and a drone capture device.

[0004] The present invention discloses a powerless adaptive rapid linkage manipulator, which includes a base and a gripper mechanism that is rotatably mounted on the base.

[0005] The gripper mechanism includes a cantilever, a first traction rope, a second traction rope, an elastic rope, a movable sleeve fitted on the cantilever, and a gripper structure disposed at the first end of the movable sleeve;

[0006] The inner end of the cantilever is hinged to the base pin, and a locking device is fitted between them to lock the cantilever when it is in a horizontal state. When the locking device is unlocked, the cantilever rotates to a vertical state.

[0007] The gripper structure includes a fixed gripper and a movable gripper arranged opposite to each other. The fixed gripper and the movable gripper are respectively located on opposite sides of the first end of the movable sleeve. The fixed gripper is fixed to one side of the first end of the movable sleeve. The movable gripper includes a first gripper body and a second gripper body. One end of the first gripper body is hinged to the other side of the first end of the movable sleeve via a torsion spring, and the other end of the first gripper body is hinged to one end of the second gripper body via a torsion spring.

[0008] The movable sleeve is provided with a guide rail, which is set along the length of the movable sleeve. The guide rail is provided with a movable sliding block and a fixed plate. A trigger rod is provided on one side of the plate. The hinge end of the trigger rod is hinged to the hinge pin of the guide rail. The hook of the trigger rod is engaged with the side of the sliding block facing the claw structure. A first fulcrum is provided on the plate at the upper end of the trigger rod. At least one of the second end of the movable sleeve and the end of the guide rail facing the base is provided with a second fulcrum.

[0009] One end of the first traction rope is connected to the end of the trigger rod with a hook, and the other end passes through the first fulcrum and the second fulcrum in sequence before entering the movable sleeve and connecting to the end of the cantilever facing the gripper structure.

[0010] One end of the second traction rope and one end of the elastic rope are respectively connected to the opposite sides of the sliding block. The other end of the second traction rope passes around the second fulcrum and then passes through the cantilever, the movable sleeve, and the first claw body in sequence before being connected to the outer end of the second claw body. The other end of the elastic rope is connected to the end of the movable sleeve facing the claw structure. The elastic force of the elastic rope is greater than that of the second traction rope.

[0011] When the hook engages with the side of the sliding block facing the gripper structure, the distance between the side of the sliding block facing the gripper structure and the end of the movable sleeve closest to the gripper structure is greater than the distance between the side of the sliding block facing away from the gripper structure and the other end of the movable sleeve away from the gripper structure.

[0012] When the movable sleeve, the first fulcrum, and the second fulcrum all move toward the base, the first traction rope is tensioned, causing the trigger rod to rotate toward the base. This causes the hook of the trigger rod to disengage from the sliding block. Under the action of the elastic rope, the sliding block moves toward the gripper structure, so that the first claw and the second column are pulled to rotate toward the fixed claw by the second traction rope, thereby closing the fixed claw and the movable claw to grasp the object.

[0013] A further preferred embodiment includes a hinge block on the base, a hinge groove on the hinge block, and the lower port and side opening of the hinge groove are interconnected. The inner end of the cantilever is inserted into the hinge groove through the lower port or side opening and hinged to the hinge groove pin. The locking device includes a third traction rope and a fan-shaped stop pin hinged to the inner end of the cantilever. The two ends of the third traction rope are respectively connected to the sliding block and the end of the fan-shaped stop facing the movable sleeve. When locked, the sliding block is located on the left side, and the arc surface of the fan-shaped stop abuts against the side of the hinge block. When unlocked, the sliding block moves to the right to pull the fan-shaped stop to rotate through the third traction rope, so that the arc surface of the fan-shaped stop disengages from the hinge block.

[0014] In a further optimized design, one end of the trigger rod near the base is hinged to the other end of the guide rail near the base. The guide rail is provided with a guide channel along the length of the movable sleeve and an elongated locking hole communicating with the guide channel. The sliding block is slidably disposed in the guide channel, and the hook of the trigger rod extends into the guide channel through the elongated locking hole.

[0015] Further optimization involves installing limit blocks at both ends of the guide channel.

[0016] A further optimized solution is provided where an elongated guide hole is provided on the cantilever along its length direction, and the second fulcrum on the movable sleeve is inserted into the elongated guide hole to guide and limit the displacement of the movable sleeve.

[0017] In a further optimized design, hooks are provided at the outer ends of both the fixed claw and the second claw body.

[0018] A further preferred embodiment also includes a ball head shaft. The outer end of the movable sleeve is provided with a mounting sleeve, and the inner wall of the mounting sleeve is formed with a spherical annular groove. The ball head of the ball head shaft fits into the spherical annular groove. Mounting blocks are respectively provided on both sides of the shaft portion of the ball head shaft. One end of the fixed claw is fixed to a mounting block. One end of the first claw body is hinged to the pin of another mounting block through a torsion spring. A spring is provided inside the movable sleeve. The two ends of the spring abut against the inner end of the mounting sleeve and the ball head of the ball head, respectively. The spring makes the ball head fit tightly with the spherical annular groove.

[0019] On the other hand, a drone capture device is characterized by comprising an unmanned aircraft and a non-powered adaptive rapid linkage manipulator as described above, wherein the base of the non-powered adaptive rapid linkage manipulator is mounted on the bottom surface of the unmanned aircraft.

[0020] The present invention discloses a non-powered adaptive rapid linkage robotic arm and a drone capture device. By combining the robotic arm with the drone, the robotic arm can capture and seize illegal drones to prevent unauthorized filming. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the capture device. Figure 1 ;

[0022] Figure 2 This is a schematic diagram of the capture device. Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the capture device with the robotic arm in a vertical position;

[0024] Figure 4 This is a schematic diagram of the robotic arm. Figure 1 ;

[0025] Figure 5 This is a schematic diagram of the robotic arm. Figure 2 ;

[0026] Figure 6 This is a schematic diagram of the gripper structure after the angle and orientation have been adjusted.

[0027] In the diagram: 1. Base; 2. Gripper mechanism; 3. Fan-shaped stop; 4. Spring; 5. Ball head shaft; 6. First traction rope; 7. Second traction rope; 8. Third traction rope; 9. Elastic rope; 21. Cantilever; 22. Movable sleeve; 23. Trigger rod; 24. Guide rail; 25. Gripper structure; 26. Sliding block; 27. Plate; 28. Mounting sleeve; 211. Long guide hole; 221. Second fulcrum; 231. Hook; 241. Guide channel; 242. Guide protrusion; 251. Fixed claw; 252. Movable claw; 253. First claw body; 254. Second claw body; 271. Mounting sleeve; 281. Spherical annular groove; 521. Mounting block; 255. Hook body. Detailed Implementation

[0028] Example

[0029] like Figure 1-6 As shown in the figure, the drone capture device described in this embodiment includes a drone and a non-powered adaptive rapid linkage manipulator. The non-powered adaptive rapid linkage manipulator includes a base 1 and a gripper mechanism 2 that is rotatably mounted on the base 1. The base 1 of the non-powered adaptive rapid linkage manipulator is mounted on the bottom surface of the drone. Its main purpose is to drive the drone to operate and carry the manipulator to capture the drone of the illegal photographer when a spy is detected in the sky.

[0030] The gripper mechanism 2 includes a cantilever 21, a first traction rope 6, a second traction rope 7, an elastic rope 9, a movable sleeve 22 fitted on the cantilever 21, and a gripper structure 25 disposed at the first end of the movable sleeve 22. The inner end of the cantilever 21 is hinged to the base 1 with a pin, and its specific cooperation structure is as follows.

[0031] The gripper structure 25 includes a fixed gripper 251 and a movable gripper 252 arranged opposite to each other. The fixed gripper 251 and the movable gripper 252 are respectively disposed on opposite sides of the first end of the movable sleeve 22. The fixed gripper 251 is fixed to one side of the first end of the movable sleeve 22. The movable gripper 252 includes a first gripper body 253 and a second gripper body 254. One end of the first gripper body 253 is hinged to the other side of the first end of the movable sleeve 22 by a pin through a torsion spring. The other end of the first gripper body 253 is hinged to one end of the second gripper body 254 by a pin through a torsion spring. When the traction force on the movable gripper 252 disappears, the first gripper body 253 and the second gripper body 254 rotate counterclockwise under the elastic force of the torsion spring, so that the fixed gripper 251 and the movable gripper 252 are in an open state.

[0032] The movable sleeve 22 is provided with a guide rail 24, which is arranged along the length of the movable sleeve 22. The guide rail 24 is provided with a movable sliding block 26 and a fixed plate 27. A trigger rod 23 is provided on one side of the plate 27. The hinge end of the trigger rod 23 is hinged to the hinge pin of the guide rail 24. The hook 231 of the trigger rod 23 cooperates with the side of the sliding block 26 facing the gripper structure 25. A first fulcrum is provided on the plate 27 at the upper end of the trigger rod 23. At least one of the second end of the movable sleeve 22 and the end of the guide rail 24 facing the base 1 is provided with a second fulcrum 221. The space between the first fulcrum and the second fulcrum is a cylinder. One end of the first traction rope 6 is connected to the end of the trigger rod 23 with the hook 231, and the other end passes through the first fulcrum and the second fulcrum 221 in sequence before entering the movable sleeve 22 and connecting to the end of the cantilever 21 facing the gripper structure 25. One end of the second traction rope 7 and the end of the elastic rope 9 are respectively connected to the opposite ends of the sliding block 26. The second traction rope 7 is connected to the side. The other end of the second traction rope 7 passes around the second fulcrum 221 and then sequentially through the cantilever 21, the movable sleeve 22, and the first claw body 253 before connecting to the outer end of the second claw body 254. The other end of the elastic rope 9 is connected to the end of the movable sleeve 22 facing the gripper structure 25. The elasticity of the elastic rope 9 is greater than that of the second traction rope 7. During grasping and capture, the hook 231 engages with the side of the sliding block 26 facing the gripper structure 25. The distance between one side of the sliding block 26 and the inner end of the movable sleeve 22 is greater than the distance between the other side of the sliding block 26 and the movable sleeve 22. The distance between the outer ends of the elastic rope 9 is such that the first traction rope 6 and the second traction rope 7 are in normal condition. When the illegal drone is located between the fixed claw 251 and the movable claw 252, the outer end of the movable sleeve 22 will come into contact with the illegal drone and generate a certain force that acts on the movable sleeve 22, causing the movable sleeve 22, the first fulcrum and the second fulcrum 221 to displace towards the base 1. This causes the first traction rope 6 to tighten and drive the trigger rod 23 to rotate towards the base 1, so that the hook 231 moves away from the sliding block 26 and unlocks. Under the elastic force of the elastic rope 9, the sliding block 26 is driven to move towards the gripper structure 25, thereby pulling the second traction rope 7 to pull the first claw body 253 and the second claw body 254, causing both the first claw body 253 and the second claw body 254 to rotate towards the fixed claw 251, causing the fixed claw 251 and the movable claw 252 to cooperate to grab the illegal drone. In order to make the capture more stable, hooks 255 are provided at the outer ends of the fixed claw 251 and the outer ends of the second claw body 254, so that the hooks 255 can be locked with the illegal drone.

[0033] Because the inner end of the cantilever 21 is fitted with a locking device that locks the cantilever 21 when it is in a horizontal state, the locking device includes a third traction rope 8 and a fan-shaped stop 3 hinged to the inner end of the cantilever 21 by a pin. The two ends of the third traction rope 8 are respectively connected to the sliding block 26 and the end of the fan-shaped stop 3 facing the movable sleeve 22. The base 1 is provided with a hinge block, and the hinge block is provided with a hinge groove. The lower port and the side opening of the hinge groove are interconnected. The inner end of the cantilever 21 is inserted through the lower port or the side opening of the hinge groove. The sliding block 26 is inserted into the hinge slot and hinged to the hinge slot pin. When locked, the sliding block 26 is located on the left side, and the arc surface of the fan-shaped stop 3 abuts against the side of the hinge block. When unlocked, the sliding block 26 gripper structure 25 is displaced to pull the fan-shaped stop 3 to rotate through the third traction rope 8, so that the arc surface of the fan-shaped stop 3 is disengaged from the hinge block. After the locking device is unlocked, the cantilever 21 rotates to a vertical state under the weight of the gripper mechanism 2, thereby stabilizing the center of gravity of the capture device of the present invention and achieving the purpose of stable flight.

[0034] In this embodiment, the trigger rod 23 is hinged at one end near the base 1 to the guide rail 24 at the same end near the base 1. The guide rail 24 is provided with a guide channel 241 along the length of the movable sleeve and an elongated locking hole communicating with the guide channel 241. The sliding block 26 is slidably disposed in the guide channel 241. The hook 231 of the trigger rod 23 extends into the guide channel 241 through the elongated locking hole. The inner wall of the guide channel 241 is provided with a guide protrusion 242 along its length. The sliding block 26 is provided with a guide groove, and the guide protrusion 242 is embedded in the guide groove. The above-mentioned structure makes the displacement of the sliding block 26 more stable and reliable.

[0035] Preferably, limit blocks are provided at both ends of the guide channel 241 to limit the displacement distance of the sliding block 26 and prevent the sliding block 26 from dislodging.

[0036] Preferably, the cantilever 21 is provided with an elongated guide hole 211 along its length direction, and the second fulcrum 221 on the movable sleeve is inserted into the elongated guide hole 211 to guide and limit the displacement of the movable sleeve 22 and prevent the movable sleeve 22 from dislodging.

[0037] In this embodiment, a ball head shaft 5 is also included. An mounting sleeve 271 is provided on the outer end of the movable sleeve 22. A spherical annular groove 281 is formed on the inner wall of the mounting sleeve 271. The ball head of the ball head shaft 5 fits into the spherical annular groove 281. Mounting blocks 521 are respectively provided on opposite sides of the shaft portion of the ball head shaft 5. One end of the fixing claw 251 is fixed to one mounting block 521. One end of the first claw body 253 is hinged to another mounting block 521 via a torsion spring. A spring 4 is provided inside the movable sleeve 22. The two ends of the spring 4... The ball head 51 of the ball head shaft 5 and the inner end of the mounting sleeve 271 respectively abut against each other. The ball head 51 of the ball head shaft 5 cooperates with the spherical annular groove 281 to adjust the angle and orientation of the gripper structure 25. The ball head and the spherical annular groove 281 are tightly fitted by the spring 4 to achieve the positioning of the gripper structure 25. The two ends of the spring 4 are respectively positioned in the positioning groove of the ball head and the end positioning groove of the mounting sleeve 271. The spring 4 is a spring with a large elastic force, so that the ball head cannot be easily rotated.

Claims

1. A powerless, adaptive, rapid-action robotic arm, characterized in that, Includes a base and a gripper mechanism that is rotatably mounted on the base; The gripper mechanism includes a cantilever, a first traction rope, a second traction rope, an elastic rope, a movable sleeve fitted on the cantilever, and a gripper structure disposed at the first end of the movable sleeve; The inner end of the cantilever is hinged to the base pin, and a locking device is fitted between them to lock the cantilever when it is in a horizontal state. When the locking device is unlocked, the cantilever rotates to a vertical state. The gripper structure includes a fixed gripper and a movable gripper arranged opposite to each other. The fixed gripper and the movable gripper are respectively located on opposite sides of the first end of the movable sleeve. The fixed gripper is fixed to one side of the first end of the movable sleeve. The movable gripper includes a first gripper body and a second gripper body. One end of the first gripper body is hinged to the other side of the first end of the movable sleeve via a torsion spring, and the other end of the first gripper body is hinged to one end of the second gripper body via a torsion spring. The movable sleeve is provided with a guide rail, which is set along the length of the movable sleeve. The guide rail is provided with a movable sliding block and a fixed plate. A trigger rod is provided on one side of the plate. The hinge end of the trigger rod is hinged to the hinge pin of the guide rail. The hook of the trigger rod is engaged with the side of the sliding block facing the claw structure. A first fulcrum is provided on the plate at the upper end of the trigger rod. At least one of the second end of the movable sleeve and the end of the guide rail facing the base is provided with a second fulcrum. One end of the first traction rope is connected to the end of the trigger rod with a hook, and the other end passes through the first fulcrum and the second fulcrum in sequence before entering the movable sleeve and connecting to the end of the cantilever facing the gripper structure. One end of the second traction rope and one end of the elastic rope are respectively connected to the opposite sides of the sliding block. The other end of the second traction rope passes around the second fulcrum and then passes through the cantilever, the movable sleeve, and the first claw body in sequence before being connected to the outer end of the second claw body. The other end of the elastic rope is connected to the end of the movable sleeve facing the claw structure. The elastic force of the elastic rope is greater than that of the second traction rope. When the hook engages with the side of the sliding block facing the gripper structure, the distance between the side of the sliding block facing the gripper structure and the end of the movable sleeve closest to the gripper structure is greater than the distance between the side of the sliding block facing away from the gripper structure and the other end of the movable sleeve away from the gripper structure. When the movable sleeve, the first fulcrum, and the second fulcrum all move toward the base, the first traction rope is tensioned, causing the trigger rod to rotate toward the base. This causes the hook of the trigger rod to disengage from the sliding block. Under the action of the elastic rope, the sliding block moves toward the gripper structure, so that the first claw and the second column are pulled to rotate toward the fixed claw by the second traction rope, thereby closing the fixed claw and the movable claw to grasp the object.

2. The unpowered adaptive rapid linkage robotic arm according to claim 1, characterized in that, A hinge block is provided on the base, and a hinge groove is provided on the hinge block. The lower port and the side opening of the hinge groove are connected to each other. The inner end of the cantilever is inserted into the hinge groove through the lower port or the side opening of the hinge groove and is hinged to the hinge groove pin. The locking device includes a third traction rope and a fan-shaped stop hinged to the inner end of the cantilever. The two ends of the third traction rope are respectively connected to the sliding block and the end of the fan-shaped stop facing the movable sleeve. When locked, the sliding block is located on the left side, and the arc surface of the fan-shaped stop abuts against the side of the hinge block. When unlocked, the sliding block moves to the right to pull the fan-shaped stop to rotate through the third traction rope, so that the arc surface of the fan-shaped stop disengages from the hinge block.

3. The unpowered adaptive rapid linkage robotic arm according to claim 2, characterized in that, One end of the trigger rod near the base is hinged to the other end of the guide rail near the base. The guide rail is provided with a guide channel along the length of the movable sleeve and an elongated locking hole communicating with the guide channel. The sliding block is slidably disposed in the guide channel, and the hook of the trigger rod extends into the guide channel through the elongated locking hole.

4. The unpowered adaptive rapid linkage robotic arm according to claim 3, characterized in that, Limit blocks are installed at both ends of the guide channel.

5. The unpowered adaptive rapid linkage robotic arm according to claim 4, characterized in that, The cantilever is provided with an elongated guide hole along its length. The second fulcrum on the movable sleeve is inserted into the elongated guide hole to guide and limit the displacement of the movable sleeve.

6. The unpowered adaptive rapid linkage robotic arm according to claim 5, characterized in that, Hooks are provided on the outer ends of the fixed claw and the outer ends of the second claw body.

7. A powerless adaptive rapid linkage manipulator according to any one of claims 1-6, characterized in that, It also includes a ball head shaft, with a mounting sleeve on the outer end of the movable sleeve. The inner wall of the mounting sleeve forms a spherical annular groove. The ball head of the ball head shaft fits into the spherical annular groove. Mounting blocks are respectively provided on both sides of the shaft portion of the ball head shaft. One end of the fixed claw is fixed to a mounting block. One end of the first claw body is hinged to the pin of another mounting block through a torsion spring. A spring is provided inside the movable sleeve. The two ends of the spring abut against the inner end of the mounting sleeve and the ball head of the ball head, respectively. The spring makes the ball head fit tightly with the spherical annular groove.

8. A drone capture device, characterized in that, The invention includes unmanned aerial vehicles (UAVs) and a non-powered adaptive rapid linkage manipulator as described in any one of claims 1-7, wherein the base of the non-powered adaptive rapid linkage manipulator is mounted on the bottom surface of the UAV.

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