An unmanned aerial vehicle-mounted end picking executor and picking method

Abstract

This invention discloses an end effector for unmanned aerial vehicles (UAVs), comprising: a robotic gripper module, a motion drive module, and a power output module. The motion drive module is connected to the robotic gripper module, and the motion drive module is also connected to the power output module. The robotic gripper module includes a fixed base and multiple robotic grippers. Each robotic gripper includes a rear gripper piece, a front gripper piece, and a connecting chain. The rear gripper piece and the front gripper piece are hinged together by a connecting pin to form a motion joint. A protective cover is provided outside the motion joint. The connecting chain sequentially connects the fixed base, the rear gripper piece, the motion joint, and the front gripper piece. The end effector of this invention is lightweight and compact, allowing it to be mounted on a UAV. The encased shell greatly reduces interference, occupies little space, and is adaptable to various application environments. The robotic gripper of this invention utilizes the elastic potential energy of a spring during retraction, requiring no energy consumption and effectively extending the device's operating time.

Description

Technical Field

[0001] This invention belongs to the field of automatic gripper technology, and in particular relates to an end-effector for picking on a drone and its usage method. Background Technology

[0002] Using drones with grippers is a new way of harvesting. Due to the limitations of drone structure and power, the energy consumption control and precise grasping control of the grippers are particularly important.

[0003] In existing technologies, the retraction and opening of the gripper are driven by a motor, which consumes a lot of energy and affects the timeliness of use. Adding a power supply would affect the operation of the drone and result in low service life.

[0004] To improve grasping accuracy, existing technologies mainly use multi-sensor control for coordinated control, which increases power consumption and further affects its durability. Summary of the Invention

[0005] The purpose of this invention is to provide an end-effector for drones to solve the problems of high energy consumption and poor drone durability in the prior art.

[0006] To achieve the objectives of this invention, an end-effector for harvesting on a drone is disclosed, comprising: a robotic claw capture module, a motion drive module, and a power output module. The motion drive module is connected to the robotic claw capture module, and the motion drive module is connected to the power output module. The robotic claw capture module includes a fixed base and multiple robotic claws. Each robotic claw includes a rear claw plate, a front claw plate, and a connecting chain. The rear claw plate and the front claw plate are hinged together by a connecting pin to form a motion joint. A protective cover is provided outside the motion joint. The connecting chain sequentially connects the fixed base, the rear claw plate, the motion joint, and the front claw plate.

[0007] Preferably, a torsion spring is provided at the joint, and the torsion spring is supported between the rear claw plate and the front claw plate.

[0008] Preferably, the motion drive module includes a motion drive housing, a mounting plate is provided at one end of the motion drive housing, a pressure sensor is provided on the mounting plate, a reset mechanism is provided inside the motion drive housing, a hub device is installed on the reset mechanism, and the hub device is connected to the connecting chain.

[0009] Preferably, the reset mechanism includes a fixed ring fixedly installed inside the motion drive housing and a movable ring slidably installed inside the motion drive housing. A reset spring is provided between the fixed ring and the movable ring. A pull rod is provided on the movable ring. One end of the pull rod is connected to the cable gathering device, and a rope hook is provided on one end of the movable ring.

[0010] Preferably, a limiting mechanism is provided inside the motion drive housing. The limiting mechanism is connected to a pressure sensor and is used to limit the position of the moving ring. The function of the limiting mechanism is to maintain the elastic potential energy converted from the kinetic energy of the motor and to release the elastic potential energy, so that the wire-gathering device moves with the moving ring to complete the contraction and opening of the machine gripper.

[0011] Preferably, the power output module includes a pull rope, a secondary gear, a primary gear, and a motor. One end of the pull rope is connected to a rope hook, and the other end is connected to the secondary gear. The motor is connected to the primary gear, and the primary gear meshes with the secondary gear. The motor drives the primary gear to rotate, which in turn drives the secondary gear to rotate, thus enabling the secondary gear to retract the pull rope.

[0012] Preferably, both the rear claw and the front claw have a hollow structure in the middle, and the connecting chain is disposed within the hollow structure. The hollow structure can reduce weight and reduce the stress on the drone while ensuring strength.

[0013] Preferably, the pull rope is a flexible rope. A flexible rope can increase the redundancy of the equipment, prevent breakage, and avoid affecting its use.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The end-effector of this invention is small in weight and size, can be mounted on a drone, and the outer shell can greatly reduce interference, occupy little space, and adapt to the application environment.

[0016] The motor used in this invention has low requirements, only needing a speed of 3-6 revolutions per second, which reduces the power consumption of the drone.

[0017] This invention provides stable capture; the claw can only be released after the drone sends a signal, and it can capture fruit even after power failure, further reducing energy consumption.

[0018] The robotic claw capturing module of this invention is replaceable, and different claws can be used depending on the type of fruit, making it easy to maintain.

[0019] This invention has certain mechanical and electrical outputs, can be combined with various electrical signal inputs, and can be used with various operating tools to perform operating tasks. Attached Figure Description

[0020] Figure 1 This is one of the schematic diagrams of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the robotic gripper capture module of the present invention;

[0022] Figure 3This is a schematic diagram of the robotic gripper structure of the present invention;

[0023] Figure 4 This is the second schematic diagram of the overall structure of the present invention;

[0024] Figure 5 This is a schematic diagram of the motion drive module structure of the present invention.

[0025] Reference numerals: 1. Robotic gripper module; 10. Fixed base; 11. Rear gripper; 12. Front gripper; 14. Connecting chain; 15. Protective cover; 16. Connecting pin; 2. Motion drive module; 20. Motion drive housing; 21. Mounting plate; 23. Pull rod; 24. Return spring; 25. Limiting mechanism; 26. Moving ring; 27. Rope hook; 28. Cable gathering device; 29. ​​Fixing ring; 3. Power output module; 30. Pull rope; 31. Secondary gear; 32. Main gear; 33. Motor; 22. Pressure sensor. Detailed Implementation

[0026] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0027] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] like Figures 1 to 5 As shown, the end effector of the drone in this embodiment includes: a robotic gripper module 1, a motion drive module 2, and a power output module 3. The motion drive module 2 is connected to the robotic gripper module 1, and the motion drive module 2 is connected to the power output module 3. The robotic gripper module 1 includes a fixed base 10 and multiple robotic grippers. Each robotic gripper includes a rear gripper 11, a front gripper 12, and a connecting chain 14. The rear gripper 11 and the front gripper 12 are hinged together by a connecting pin 16 to form a motion joint. A protective cover 15 is provided outside the motion joint. The connecting chain 14 connects the fixed base 10, the rear gripper 11, the motion joint, and the front gripper 12 in sequence. The connecting chain 14 is an elastic rope. Pulling the connecting chain 14 causes the robotic gripper to open, and releasing the elastic rope causes the robotic gripper to retract. The non-working state is a retracted structure.

[0031] To ensure the elastic movement of the robotic gripper, a torsion spring is installed at the joint, supported between the rear gripper 11 and the front gripper 12. The torsion spring increases elasticity. Using a torsion spring design eliminates the need for a highly elastic connecting chain 14.

[0032] The motion drive module 2 includes a motion drive housing 20, with a mounting plate 21 at one end. A pressure sensor 22 is mounted on the mounting plate 21. A reset mechanism is located inside the motion drive housing 20, and a cable collection device 28 is mounted on the reset mechanism. The cable collection device 28 is connected to the connecting chain 14. The cable collection device 28 collects one end of the connecting chain 14, and the movement of the cable collection device 28 driven by the reset mechanism enables the opening and retraction of the robotic gripper. A limit mechanism 25 is located inside the motion drive housing 20, connected to the pressure sensor 22, and is used to limit the position of the moving ring 26. The limit mechanism 25 adopts a snap ring structure or an electrically controlled limit structure. Its function here is to fix the moving ring 26 when the reset mechanism reaches the preset position, which can reduce the energy consumption of the power mechanism. When release is needed, the restriction on the moving ring 26 is released, and the elastic potential energy of the reset spring 24 causes the pull rod 23 to reset, thus resetting the cable collection device 28.

[0033] Once the fruit is captured, it squeezes the pressure sensor 22. The pressure of the measured medium acts directly on the diaphragm of the pressure sensor, causing a micro-displacement of the diaphragm proportional to the medium pressure. This changes the resistance value of the sensor, and the electronic circuitry detects this change, converting it into a standard measurement signal corresponding to this pressure and sending it to the limiting mechanism 25. The limiting mechanism 25 releases the restriction on the moving ring 26, the spring releases the pressure, and pulls the moving ring 26 and the lever 23 back to their original positions, causing the robotic gripper to retract and gather the target object into the gripper. The drone then uses its own flight to pull and break off the fruit's stem. Alternatively, sharp blades can be installed on the robotic gripper for shearing, but this would compromise safety. Therefore, this option is optional and should be chosen based on specific needs.

[0034] The reset mechanism includes a fixed ring 29 fixedly installed inside the motion drive housing 20 and a sliding ring 26 slidably installed inside the motion drive housing 20. A reset spring 24 is provided between the fixed ring 29 and the sliding ring 26. A pull rod 23 is provided on the sliding ring 26, one end of which is connected to the cable collection device 28, and a rope hook 27 is provided on the other end of the sliding ring 26. In use, pulling the rope hook 27 drives the pull rod 23 to move, which in turn drives the cable collection device 28 to move synchronously, opening and closing the machine claw in real time. The cable collection device 28 and the pull rod 23 are connected by threads for easy disassembly and maintenance.

[0035] The power output module 3 includes a pull rope 30, a secondary gear 31, a primary gear 32, and a motor 33. These components are housed within a casing to protect rotating parts from external influences. The casing is made of lightweight materials to reduce overall weight. One end of the pull rope 30 is connected to the hook 27, and the other end is connected to the secondary gear 31. The motor 33 is connected to the primary gear 32, which meshes with the secondary gear 31. The primary gear 32 and secondary gear 31 employ a bevel gear meshing structure. The motor 33 drives the primary gear 32, which in turn drives the secondary gear 31 to reel in the pull rope 30. A standard motor can be used for the motor 33; it can rotate under external force even after power is off.

[0036] Both the rear claw plate 11 and the front claw plate 12 have hollow structures in the middle, and the connecting chain 14 is set inside the hollow structures. The hollow structures provide space for the connecting chain 14, avoiding movement interference during harvesting, while also achieving a lightweight effect, effectively reducing the overall weight of the equipment, reducing the drone's load, and not affecting flight stability.

[0037] The pull rope 30 is a flexible rope. Since the motor 33 does not have a braking mechanism, it is prone to loss of control. Using a rigid rope would easily break the pull rope or damage related structures. Using a flexible rope provides redundancy and extends its service life.

[0038] This embodiment discloses a harvesting method using a terminal harvesting actuator mounted on a drone, including the following steps:

[0039] S1. Locate the target and control the drone to fly to the target.

[0040] S2. The drone adjusts its grasping posture. At this time, it is necessary to determine the current posture of the robotic claw. If the robotic claw is in a retracted posture, the drive motor 33 rotates to make the pull rope 30 wind around the secondary gear 31, causing the moving ring 26 to move backward, opening the robotic claw and reaching the preset position. The limit mechanism 25 locks the reset mechanism, the drive motor 33 is de-energized, and the robotic claw remains in the open posture. Since the robotic claw may remain in the open posture after releasing the grasped target in step S5, if it was in the open posture before grasping, it does not need to be opened again.

[0041] S3. The drone flies toward the target to be captured until the target collides with the pressure sensor 22. The pressure sensor 22 controls the limit mechanism 25 to release, and the moving ring 26 moves forward under the return of the return spring 24. The robotic claw retracts and wraps around the target.

[0042] S4. The drone moves away from the target and attempts to grab it. If the target is not successfully grabbed during this process, step S2 is executed again to grab the target.

[0043] S5. The drone flies to the placement area and drives the motor 33 to rotate, causing the rope 30 to wind around the secondary gear 31, which causes the moving ring 26 to move backward, opening the robotic claw and causing the captured target to fall.

[0044] The robotic gripper of this invention utilizes the elastic potential energy of a spring during retraction, requiring no energy consumption and effectively extending the device's lifespan. Both the motion drive module 2 and the power output module 3 are encased in a shell, significantly reducing material waste and interference with other components of the drone, while also preventing environmental interference with the end effector. The motor 33 used in this invention is a low-speed motor, operating at single-digit speeds (3-6 rpm here), reducing the drone's power requirements and contributing to extended flight time while minimizing power consumption. The overall material composition and simplicity of this invention greatly reduce material waste, resulting in lower overall material consumption in the end effector, facilitating production and operation, minimizing impact on drone operation and performance, and reducing power consumption. This, in turn, increases the drone's flight time.

[0045] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics of the solutions is not described in detail here. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A terminal harvesting actuator mounted on a drone, characterized in that, include: The robot gripper capture module (1), motion drive module (2), and power output module (3) are connected to the robot gripper capture module (1) and the motion drive module (2) is connected to the power output module (3). The robot gripper capture module (1) includes a fixed base (10) and multiple robot grippers. Each robot gripper includes a rear gripper (11), a front gripper (12), and a connecting chain (14). The rear gripper (11) and the front gripper (12) are hinged together by a connecting pin (16) to form a motion joint. A protective cover (15) is provided outside the motion joint. The connecting chain (14) connects the fixed base (10), the rear gripper (11), the motion joint, and the front gripper (12) in sequence. The motion drive module (2) includes a motion drive housing (20), one end of which is provided with a mounting plate (21), a pressure sensor (22) is provided on the mounting plate (21), a reset mechanism is provided inside the motion drive housing (20), a hub device (28) is installed on the reset mechanism, and the hub device (28) is connected to the connecting chain (14); The reset mechanism includes a fixed ring (29) fixedly installed inside the motion drive housing (20) and a movable ring (26) slidably installed inside the motion drive housing (20). A reset spring (24) is provided between the fixed ring (29) and the movable ring (26). A pull rod (23) is provided on the movable ring (26). One end of the pull rod (23) is connected to the cable gathering device (28). A rope hook (27) is provided on one end of the movable ring (26). The motion drive housing (20) is provided with a limiting mechanism (25), which is connected to a pressure sensor (22) and is used to limit the position of the moving ring (26).

2. The end-effector for picking up goods mounted on a drone according to claim 1, characterized in that, A torsion spring is provided at the joint, and the torsion spring is supported between the rear claw plate (11) and the front claw plate (12).

3. The end-effector for picking up goods on a drone according to claim 1, characterized in that, The power output module (3) includes a pull rope (30), a secondary gear (31), a main gear (32) and a motor (33). One end of the pull rope (30) is connected to the rope hook (27), and the other end is connected to the secondary gear (31). The motor (33) is connected to the main gear (32), and the main gear (32) meshes with the secondary gear (31).

4. The end-effector for picking up goods on a drone according to claim 1, characterized in that, Both the rear claw plate (11) and the front claw plate (12) have hollow structures in the middle, and the connecting chain (14) is located inside the hollow structure.

5. The end-effector for picking up goods on a drone according to claim 3, characterized in that, The pull rope (30) is a flexible rope.

6. A harvesting method, using an end-effector harvesting actuator mounted on a drone as described in claim 5, characterized in that, Includes the following steps: S1. Locate the target and control the drone to fly to the target. S2. The drone adjusts its gripping posture and drives the motor (33) to rotate so that the pull rope (30) is wound around the secondary gear (31), causing the moving ring (26) to move backward, opening the robotic claw and reaching the preset position. The limiting mechanism (25) locks the reset mechanism, the drive motor (33) is de-energized, and the robotic claw remains in the open posture. S3. The drone flies toward the target to be captured until the target collides with the pressure sensor (22). The pressure sensor (22) controls the limit mechanism (25) to release. The moving ring (26) moves forward under the return of the return spring (24). The robotic claw retracts and wraps around the target. S4. The drone moves away from the target and grabs and pulls it. S5. The drone flies to the placement area and drives the motor (33) to rotate, causing the pull rope (30) to wind around the secondary gear (31), causing the moving ring (26) to move backward, opening the robotic claw, and causing the captured target to fall.

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