Four-rotor unmanned aerial vehicle with bionic inhabitation grabbing arms and inhabitation control method

Abstract

The invention provides a four-rotor unmanned aerial vehicle with bionic inhabiting grabbing arms and an inhabiting control method. The unmanned aerial vehicle comprises an unmanned aerial vehicle body used for providing flight power, and a grabbing arm assembly is installed at the bottom of the unmanned aerial vehicle body; the grabbing arm assembly comprises a large arm and a small arm, one end of the large arm is rotationally connected with the bottom of the unmanned aerial vehicle body, a grabbing arm joint is formed at the other end of the large arm, and the top face of the large arm is connected with the unmanned aerial vehicle body through a first elastic piece so that the large arm can rise upwards. One end of the small arm is rotationally connected with the grabbing arm joint, the other end of the small arm droops relative to the grabbing arm joint and is provided with a clamping gripper, and the clamping gripper has a clamping state and an opening state; the driving assembly is installed on the unmanned aerial vehicle main body, a pull rope is connected to the driving assembly, and the pull rope is used for pulling the clamping tongs to grasp the unmanned aerial vehicle main body; and the pull rope is tensioned when the grabbing arm joint is straightened. According to the unmanned aerial vehicle, accurate grabbing can be achieved, the clamping tongs can be clamped through the dead weight of the unmanned aerial vehicle during inhabiting, and electricity consumption is reduced.

Description

Technical Field

[0001] The present disclosure generally relates to the field of UAV technology, and more particularly to a quadrotor UAV with a bionic perching grabbing arm and a perching control method. Background Art

[0002] With the rapid development of drone technology, drones are used in a variety of industries, such as earthquake relief, aerial photography, group performances, military reconnaissance, etc. Especially in the field of military reconnaissance, adding simulated grippers to drones can make them perch on tree branches, then stop the rotors, and use cameras to detect the enemy's movements without being easily discovered, further saving war expenses.

[0003] Existing simulated grippers for drones are generally too large and are not suitable for installation on small drones. In addition, the simulated grippers are completely triggered by the rotation of the motor, which increases the power consumption of the drone. Summary of the invention

[0004] In view of the above defects or deficiencies in the prior art, it is desirable to provide a quadrotor drone with a simulated perching grabbing arm and a perching control method to solve the above problems.

[0005] The first aspect of the present application provides a quadrotor drone with a bionic perching grabbing arm, comprising: A drone body, the drone body is used to provide flight power, and a grab arm assembly is installed at the bottom of the drone body; The grab arm assembly comprises: A big arm and a small arm, one end of the big arm is rotatably connected to the bottom of the drone body, and the other end is formed with a grabbing arm joint, and the top surface of the big arm is connected to the drone body through a first elastic member so that the big arm is raised; one end of the small arm is rotatably connected to the grabbing arm joint, and the other end is drooped relative to the grabbing arm joint and is equipped with a clamping gripper, and the clamping gripper includes a clamping state and an open state; A drive assembly is installed on the drone body, a pull rope is wound around the drive assembly, the pull rope passes through the upper arm and the lower arm and the end portion is connected to the clamping gripper, when the pull rope is loosened, the clamping gripper is placed in the open state, when the pull rope is tightened, the clamping gripper is placed in the clamping state, and the drive assembly is used to retract and release the pull rope; the pull rope is tightened when the grabbing arm joint is straightened.

[0006] According to the technical solution provided in the embodiment of the present application, the interior of the upper arm is hollow and is equipped with a first pulley group, and a first opening is provided on the side of the upper arm away from the first elastic member, and the first opening is connected to the interior of the upper arm; the interior of the lower arm is hollow and is equipped with a second pulley group, and a second opening is provided on the side of the lower arm away from the first elastic member, and the second opening is connected to the interior of the lower arm; the pull rope is connected to the clamping gripper through the first pulley group, the first opening, the second opening and the second pulley group in sequence.

[0007] According to the technical solution provided in the embodiment of the present application, the first pulley group includes a pair of first guide pulleys, a first limiting groove is provided in the middle of the first guide pulley, and the first limiting grooves of the pair of first guide wheels cooperate to form a first rope threading portion for the pull rope to pass through; the second pulley group includes a pair of second guide pulleys, a second limiting groove is provided in the middle of the second guide pulley, and the second limiting grooves of the pair of second guide wheels cooperate to form a second rope threading portion for the pull rope to pass through.

[0008] According to the technical solution provided in the embodiment of the present application, the driving assembly is installed at the bottom of the drone body, and the driving assembly includes: A pulley, the pulley being used to wind the pull rope; A worm wheel and a worm, the worm wheel and the worm are meshed, and the worm wheel is coaxially arranged with the pulley and is transmission-connected; A driving device, wherein the output shaft of the driving device is drivingly connected to the worm, and the driving device is used for driving the worm to rotate.

[0009] According to the technical solution provided in the embodiment of the present application, the clamping gripper includes: A gripping arm, the gripping arm is fixedly connected to the end of the forearm, a pair of movable parts are rotatably mounted on the gripping arm, and arc-shaped grippers are respectively mounted on the pair of movable parts; A connecting member, wherein the connecting member is slidably mounted in the grab arm, one end of the connecting member is connected to the end of the pull rope, and the other end of the connecting member is hinged with a pair of transmission members, and the pair of transmission members are respectively hinged with the corresponding movable members; A pair of second elastic members, the pair of second elastic members corresponding to the pair of arc-shaped grippers are arranged, one end of the second elastic member is hinged to the arc-shaped gripper, and the other end is hung on the gripper arm According to the technical solution provided in the embodiment of the present application, it also includes a steering gear assembly, and the large arm is installed on the drone body through the steering gear assembly; The steering gear assembly comprises: A steering gear seat, the steering gear seat is installed at the bottom of the UAV body, a rotating shaft is rotatably installed on the steering gear seat, and the large arm is rotatably installed on the rotating shaft; A driving servo is fixedly mounted on one side of the servo seat, a guide is fixedly mounted on an output shaft of the driving servo, the guide is fixedly connected to the boom, and the guide is driven to rotate by the driving servo to drive the boom to rotate.

[0010] According to the technical solution provided in the embodiment of the present application, a pair of limiting plates are fixedly installed on the rotating shaft, and a limiting portion for limiting the pull rope is formed between the pair of limiting plates.

[0011] According to the technical solution provided in the embodiment of the present application, a GPS positioning module is installed on the top of the drone body, and a landing gear is installed on the bottom of the drone body.

[0012] According to the technical solution provided in the embodiment of the present application, the upper arm and the lower arm are hollowed out.

[0013] A second aspect of the present application provides a method for controlling a perching of a drone, based on the quadrotor drone with a bionic perching grabbing arm as described above, the method comprising: Controlling the movement of the drone body to enable the clamping gripper to clamp at a clamping position; Controlling the driving assembly to tighten the pull rope so that the clamping gripper is placed in the clamping state and clamped at the clamping position; Controlling the power of the drone body to descend until the drone body drives the grab arm joint to straighten under the action of gravity, so as to tighten the pull rope; Control the UAV main body power to shut down.

[0014] Compared with the prior art, the beneficial effect of the present application is that when the UAV needs to perch, the pull rope is tightened by the driving component, so that the clamping gripper is changed from an open state to a clamping state to clamp on a columnar structure such as a tree branch. At this time, the clamping gripper has not completely grasped the branch. By reducing the flight power of the UAV, the UAV drives the upper arm to descend under the action of gravity, and at the same time the lower arm rotates relative to the branch until the grabbing arm joint is straightened. During the straightening process of the grabbing arm joint, the pull rope is further tightened, and the pull rope is further clamped on the branch to achieve the perching of the UAV. Since the perching process of the UAV is not completely driven by electric energy to clamp the clamping gripper, electric energy consumption is saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram of the structure of a quadrotor drone with a bionic perching grabbing arm provided in Example 1; Figure 2 for Figure 1 A top view of a quadrotor drone with a bionic perching grabber arm is shown; Figure 3 for Figure 2 A cross-sectional view of the quadrotor drone with a bionic perching grabber arm along the AA direction is shown; Figure 4 is a schematic diagram of the structure of the drive component; Figure 5 for Figure 4 a right side view of the drive assembly shown; Figure 6 is a schematic diagram of the structure of the grab arm assembly; Figure 7 for Figure 6 a left side view of the grab arm assembly shown; Figure 8 is a structural schematic diagram of the first pulley block; Fig. 9 It is a schematic diagram of the structure of the second pulley group.

[0016] Figure numbers: 100, drone body; 101, GPS positioning module; 102, landing gear; 103, frame; 104, battery; 105, control module; 106, propeller; 107, brushless motor; 108, bottom plate; 200, grab arm assembly; 210, big arm; 211, first elastic member; 212, first pulley block; 213, first opening; 214, first guide pulley; 215, first limit groove; 220, small arm; 221, second pulley block; 222, second opening; 223, second guide pulley; 224, second limit Positioning slot; 230, grab arm joint; 240, clamping gripper; 241, grab arm; 242, movable part; 243, arc gripper; 244, connecting part; 245, transmission part; 246, second elastic part; 250, driving assembly; 251, pull rope; 252, pulley; 253, worm gear; 254, worm; 255, driving device; 256, first transmission gear; 257, second transmission gear; 260, servo assembly; 261, servo seat; 262, rotating shaft; 263, driving servo; 264, guide; 265, limit plate. DETAILED DESCRIPTION

[0017] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0018] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0019] Example 1 Please refer to Figure 1-Figure 9 This embodiment provides a quadrotor drone with a bionic perching grabbing arm, comprising: A drone body 100, the drone body 100 is used to provide flight power, and a grab arm assembly 200 is installed at the bottom of the drone body 100; The grab arm assembly 200 includes: A big arm 210 and a small arm 220, one end of the big arm 210 is rotatably connected to the bottom of the drone body 100, and the other end is formed with a grabbing arm joint 230, and the top surface of the big arm 210 is connected to the drone body 100 through a first elastic member 211, so that the big arm 210 is raised; one end of the small arm 220 is rotatably connected to the grabbing arm joint 230, and the other end is drooped relative to the grabbing arm joint 230 and is equipped with a clamping gripper 240, and the clamping gripper 240 includes a clamping state and an open state; A drive assembly 250 is installed on the drone body 100. A pull rope 251 is wound around the drive assembly 250. The pull rope 251 passes through the upper arm 210 and the lower arm 220 and the end portion is connected to the clamping gripper 240. When the pull rope 251 is relaxed, the clamping gripper 240 is placed in the open state. When the pull rope 251 is tightened, the clamping gripper 240 is placed in the clamping state. The drive assembly 250 is used to retract and release the pull rope 251; the pull rope 251 is tightened when the grabbing arm joint 230 is straightened.

[0020] Specifically, Figure 1 and Figure 2 As shown, the drone body 100 includes a frame 103, a battery 104, a control module 105, four propellers 106, and four DC brushless motors 107 corresponding to the four propellers 106. The DC brushless motors 107 are electrically connected to the battery 104 and the control module 105. The battery 104 is used to provide electrical energy, and the control module 105 is used to adjust the speed of the four DC brushless motors 107 respectively. The drone body 100 is used to provide the entire drone with flying power. The grab arm assembly 200 is installed at the bottom of the drone body 100, and the grab arm assembly 200 is used to provide the entire drone with grabbing and perching functions.

[0021] Specifically, Figure 1 and Figure 2As shown, a base plate 108 is fixedly installed at the bottom of the frame 103, and a grab arm assembly 200 is installed on the bottom surface of the base plate 108. The grab arm assembly 200 includes a large arm 210, a small arm 220, a clamping gripper 240 and a driving assembly 250, wherein the large arm 210 and the small arm 220 form a grab arm, one end of the large arm 210 is rotatably installed on the base plate 108, and the axis of rotation is parallel to the bottom surface of the base plate 108. The other end of the large arm 210 is hinged to one end of the small arm 220, and the position where the large arm 210 and the small arm 220 are hinged forms a grab arm joint 230. The arm 210 and the forearm 220 can be bent relative to each other at the grabbing arm joint 230; a first elastic member 211 is installed on one side of the top surface of the upper arm 210, and the other end of the first elastic member 211 is hung on the bottom plate 108. The first elastic member 211 can be freely extended and retracted. Optionally, the first elastic member 211 is a spring; in a natural state, the upper arm 210 is in an upward posture due to the pulling force of the first elastic member 211. Since the upper arm 210 and the forearm 220 are connected in a hinged manner, the forearm 220 is in a drooping posture, and the grabbing arm joint 230 is in a complete state.

[0022] The clamping gripper 240 is installed at the free end of the forearm 220, and the clamping gripper 240 achieves gripping by switching between a clamping state and an open state; the movement of the clamping gripper 240 is achieved by a driving assembly 250, and the driving assembly 250 is installed on the base plate 108. The driving assembly 250 is connected to the clamping gripper 240 through a pull rope 251, and the driving assembly 250 controls the clamping gripper 240 by retracting and releasing the pull rope 251. When the pull rope 251 is relaxed, the clamping gripper 240 is placed in an open state, making it convenient to grip; when the pull rope 251 is tightened, the clamping gripper 240 is placed in a clamping state under the pulling action of the pull rope 251, so that clamping can be performed. One end of the pull rope 251 is wound around the driving assembly 250 , and the other end passes through the upper arm 210 and the lower arm 220 to be connected to the clamping gripper 240 . The pull rope 251 will be further pulled closer when the grabbing arm joint 230 is straightened, thereby further increasing the tension of the pull rope 251 on the clamping gripper 240 .

[0023] Working process: When the drone needs to perch, the driving component 250 tightens the pull rope 251, so that the clamping gripper 240 is placed in a clamping state from an open state to clamp on a columnar structure such as a tree branch. At this time, the clamping gripper 240 does not completely grasp the columnar structure such as a tree branch, but it can prevent the clamping gripper 240 from being separated from the columnar structure such as a tree branch. By reducing the flight power of the drone, the drone drives the upper arm 210 to descend under the action of gravity, and at the same time, the lower arm 220 rotates relative to the branch until the grabbing arm joint 230 is straightened. During the straightening of the grabbing arm joint 230, the pull rope 251 is further tightened, and the pull rope 251 is further clamped to the branch, so that the drone can perch; because the drone perching process is not completely driven by electric energy to drive the clamping gripper 240 to grasp, it saves electric energy consumption. In addition, the state of the clamping gripper 240 can be switched to achieve the grasping of objects, which can be applied to the transportation operation of objects.

[0024] Furthermore, the upper arm 210 is hollow inside and is installed with a first pulley set 212. The upper arm 210 is provided with a first opening 213 on the side away from the first elastic member 211, and the first opening 213 is connected to the interior of the upper arm 210; the lower arm 220 is hollow inside and is installed with a second pulley set 221. The lower arm 220 is provided with a second opening 222 on the side away from the first elastic member 211, and the second opening 222 is connected to the interior of the lower arm 220; the pull rope 251 is connected to the clamping gripper 240 through the first pulley set 212, the first opening 213, the second opening 222 and the second pulley set 221 in sequence.

[0025] Specifically, Figure 3As shown, both the upper arm 210 and the lower arm 220 are hollow structures. The upper arm 210 and the lower arm 220 with hollow structures can reduce the deadweight of the grabbing arm, thereby reducing the burden of the UAV during flight and improving the operating performance of the UAV. The first pulley block 212 is rotatably mounted inside the upper arm 210. When the pull rope 251 passes through the upper arm 210, it is slidably guided by the first pulley block 212. The first pulley block 212 can also be used to reduce the resistance of the pull rope 251 when it slides inside the upper arm 210; the second pulley block 221 is rotatably mounted inside the lower arm 220. When the pull rope 251 passes through the lower arm 220, it is slidably guided by the second pulley block 221. The second pulley block 221 can also be used to reduce the resistance of the pull rope 251 when it slides inside the lower arm 220. As shown in the figure, the first opening 213 is opened on the bottom surface of the upper arm 210, and the second opening 222 is opened on the bottom surface of the lower arm 220. The pull rope 251 extends out from the first opening 213 in the upper arm 210 and enters the lower arm 220 through the second opening 222. Such an arrangement enables the drive assembly 250 to tighten the pull rope 251 when the grabbing arm joint 230 is in a bent state. On this basis, the pull rope 251 is further tightened during the process of straightening the grabbing arm joint 230 through the gravity of the drone itself, thereby further tightening the clamping gripper 240, and no power consumption occurs in the process of further tightening.

[0026] Furthermore, the first pulley group 212 includes a pair of first guide pulleys 214, a first limiting groove 215 is provided in the middle of the first guide pulley 214, and the first limiting grooves 215 of the pair of first guide wheels cooperate to form a first rope threading portion for the pull rope 251 to pass through; the second pulley group 221 includes a pair of second guide pulleys 223, a second limiting groove 224 is provided in the middle of the second guide pulley 223, and the second limiting grooves 224 of the pair of second guide wheels cooperate to form a second rope threading portion for the pull rope 251 to pass through.

[0027] Specifically, Figure 8 and Fig. 9As shown, the first pulley block 212 is composed of two first guide pulleys 214, which are arranged in an arrangement inside the arm 210, and a first limiting groove 215 with shallow depth on both sides and deep depth in the middle is formed in the circumference of the first guide pulley 214, and the edges of the two first guide pulleys 214 are arranged oppositely, and the first limiting grooves 215 of the two first guide pulleys 214 form a first rope threading portion, and the pull rope 251 cooperates with the first pulley block 212 through the first rope threading portion. The second pulley block 221 is composed of two second guide pulleys 223, which are arranged in an arrangement inside the arm 220, and a second limiting groove 224 with shallow depth on both sides and deep depth in the middle is formed in the circumference of the second guide pulley 223, and the edges of the two second guide pulleys 223 are arranged oppositely, and the second limiting grooves 224 of the two second guide pulleys 223 form a second rope threading portion, and the pull rope 251 cooperates with the second pulley block 221 through the second rope threading portion.

[0028] Furthermore, the driving assembly 250 is installed at the bottom of the drone body 100, and the driving assembly 250 includes: A pulley 252, the pulley 252 is used to wind the pull rope 251; A worm wheel 253 and a worm 254, wherein the worm wheel 253 and the worm 254 are meshed, and the worm wheel 253 is coaxially arranged with the pulley 252 and is transmission-connected; A driving device 255 , wherein the output shaft of the driving device 255 is drivingly connected to the worm 254 , and the driving device 255 is used for driving the worm 254 to rotate.

[0029] Specifically, Figure 4 and Figure 5As shown, the driving assembly 250 includes a pulley 252, a worm wheel 253, a worm 254 and a driving device 255, wherein the pulley 252 is rotatably mounted on the bottom surface of the base plate 108, the pull rope 251 is wound around the pulley 252, and the pull rope 251 can be retracted and released by rotating the pulley 252; the worm wheel 253 is rotatably mounted on the top surface of the base plate 108, the worm wheel 253 and the pulley 252 are coaxially arranged and transmission is achieved through the cooperation of a key and a keyway; the worm 254 is rotatably mounted on the top surface of the base plate 108, the worm 254 and the worm wheel 253 are meshed with each other, and the worm wheel 253 is driven by the worm 254; the driving device 255 is fixedly mounted The output shaft of the driving device 255 is fixedly mounted on the top surface of the bottom plate 108. The end of the worm 254 is fixedly mounted with a first transmission gear 256. The second transmission gear 257 is meshed with the first transmission gear 256. The output shaft of the driving device 255 rotates to drive the first transmission gear 256 to rotate. The first transmission gear 256 rotates to drive the second transmission gear 257 to rotate. The worm 254 rotates with the rotation of the second transmission gear 257. The rotation of the worm 254 drives the worm wheel 253 to rotate. The rotation of the worm wheel 253 drives the pulley 252 to rotate. The pulley 252 rotates to retract and release the pull rope 251. The driving device 255 is electrically connected to the battery 104 and the control module 105. The driving device 255 is powered by the battery 104. The driving device 255 is controlled by the control module 105 to realize forward and reverse rotation. Optionally, the driving device 255 is a DC motor. The pull rope 251 can be retracted and released by the cooperation of the worm wheel 253 and the worm 254 , so as to ensure accurate control of the clamping degree of the clamping gripper 240 .

[0030] Furthermore, the clamping gripper 240 includes: A gripping arm 241, the gripping arm 241 is fixedly connected to the end of the forearm 220, a pair of movable parts 242 are rotatably mounted on the gripping arm 241, and arc-shaped grippers 243 are respectively mounted on the pair of movable parts 242; A connecting member 244, wherein the connecting member 244 is slidably mounted in the grab arm 241, wherein one end of the connecting member 244 is connected to the end of the pull rope 251, and the other end of the connecting member 244 is hinged with a pair of transmission members 245, wherein the pair of transmission members 245 are respectively hinged with the corresponding movable members 242; A pair of second elastic members 246 are provided corresponding to the pair of arc-shaped grippers 243 , one end of the second elastic member 246 is hinged to the arc-shaped grippers 243 , and the other end is hung on the gripping arm 241 .

[0031] Specifically, Figure 6As shown, the grab arm 241 is a hollow structure, and the grab arm 241 is fixedly installed at one end of the forearm 220 away from the grab arm joint 230. A movable part 242 is hinged on the opposite sides of the grab arm 241, and an arc-shaped grab hand 243 is installed on each of the two movable parts 242. Strip through holes are provided on the opposite sides of the grab arm 241, and the extension direction of the strip through holes is the same as the extension direction of the forearm 220; the connecting member 244 is installed in the grab arm 241 and is slidably connected to the grab arm 241 through the two strip through holes, one end of the connecting member 244 penetrates the grab arm 241, extends into the forearm 220, and is fixed to the free end of the pull rope 251; a pair of transmission members 245 are hinged at the position where the connecting member 244 is slidably connected to the two strip through holes, and the other end of the transmission member 245 is hinged to the movable member 242, and the arc-shaped grab hand 243 is hinged to the movable member 242 and the transmission member 245 respectively. When the pull rope 251 is tightened, the pull rope 251 pulls the connecting member 244 to slide in the gripping arm 241, and the sliding of the connecting member 244 drives the transmission member 245 to move, and the movement of the transmission member 245 drives the movable member 242 to rotate relative to the gripping arm 241, thereby driving the arc-shaped gripping hand 243 to grip.

[0032] Specifically, the two arc-shaped grippers 243 are respectively connected to a second elastic member 246, and the other end of the second elastic member 246 is hung on the gripping arm 241. In a natural state, the two second elastic members 246 pull the two arc-shaped grippers 243 to rotate in opposite directions, thereby opening the two arc-shaped grippers 243, that is, when the pull rope 251 is relaxed, the clamping gripper 240 can be placed in the open state. Optionally, the second elastic member 246 is a spring.

[0033] Furthermore, it also includes a steering engine component 260, and the arm 210 is installed on the drone body 100 through the steering engine component 260; The steering gear assembly 260 includes: A servo seat 261, the servo seat 261 is installed at the bottom of the drone body 100, a rotating shaft 262 is rotatably installed on the servo seat 261, and the arm 210 is rotatably installed on the rotating shaft 262; A driving servo 263 is fixedly mounted on one side of the servo seat 261 , and a guide member 264 is fixedly mounted on an output shaft of the driving servo 263 . The guide member 264 is fixedly connected to the boom 210 , and the guide member 264 is driven to rotate by the driving servo 263 to drive the boom 210 to rotate.

[0034] Specifically, Figure 7As shown, the steering gear assembly 260 is used to realize steering of the upper arm 210 , and the upper arm 210 is rotationally connected to the bottom surface of the base plate 108 through the steering gear assembly 260 . The servo seat 261 is fixedly installed at the bottom of the base plate 108. The servo seat 261 includes two side plates. A rotating shaft 262 is installed between the two side plates. The rotating shaft 262 extends in a direction parallel to the bottom surface of the base plate 108. The boom 210 is rotatably installed on the rotating shaft 262. The rotating shaft 262 is the axis of rotation of the boom 210 relative to the base plate 108. The rotation of the boom 210 is driven by a driving servo 263. The driving servo 263 is installed on the outer side of one of the side plates. The output shaft of the driving servo 263 is fixedly installed with a guide member 264. The guide member 264 can rotate with the output shaft of the driving servo 263. The guide member 264 is fixedly connected to one side of the boom 210. The function of the driving servo 263 is to adjust the grabbing angle of the boom 210 and realize the balance control of the UAV when it is perching.

[0035] Furthermore, a pair of limiting plates 265 are fixedly mounted on the rotating shaft, and a limiting portion for limiting the pull rope 251 is formed between the pair of limiting plates 265 .

[0036] Specifically, Figure 7 As shown, the pull rope 251 between the pulley 252 and the upper arm 210 is limited at the limiting portion to prevent the position deviation of the pull rope 251 from affecting the control accuracy of the clamping gripper 240.

[0037] Furthermore, a GPS positioning module 101 is installed on the top of the drone body 100 , and a landing gear 102 is installed on the bottom of the drone body 100 .

[0038] Specifically, the GPS positioning module 101 can be used to locate the drone in real time, and the landing gear 102 can be used to facilitate the take-off and landing of the drone.

[0039] Furthermore, the upper arm 210 and the lower arm 220 are hollowed out.

[0040] Specifically, a plurality of hollow holes are provided on the upper arm 210 and the lower arm 220. By hollowing out the upper arm 210 and the lower arm 220, the weight of the grabbing arm is further reduced, thereby further improving the operating performance of the UAV.

[0041] Example 2 This embodiment provides a method for controlling a perching of a drone, based on the quadrotor drone with a bionic perching grabbing arm as described in Embodiment 1, the method comprising: S1: Control the drone body 100 to move so that the clamping gripper 240 is stuck in the clamping position; S2: Control the driving assembly 250 to tighten the pull rope 251, so that the clamping gripper 240 is placed in the clamping state and clamped at the clamping position; S3: Control the power of the drone body 100 to descend until the drone body 100 drives the grab arm joint 230 to straighten under the action of gravity, so as to tighten the pull rope 251; S4: Control the power of the drone body 100 to be turned off.

[0042] Specifically, this embodiment provides a method for controlling a drone to perch, which is used to enable a drone to perch on a columnar structure such as a tree branch. The specific process of the control method is as follows: When the drone needs to perch, the clamping gripper 240 maintains a state under the action of the second elastic member 246, determines the target position for perching, and flies the drone to the target position by controlling the drone body 100. Then, the posture of the drone is adjusted by controlling the drone body 100, so that the arc gripper 243 of the clamping gripper 240 can clamp the columnar structure such as tree branches in the open state; then, the driving device 255 is controlled to rotate forward, and the pull rope 251 is wound around the pulley 252 through the transmission action of the first transmission gear 256, the second transmission gear 257, the worm 254, and the worm wheel 253, so that the clamping gripper 240 is placed in a clamping state to clamp on the columnar structure such as tree branches. Structurally; then, the rotation speed of the brushless DC motor 107 is controlled to decrease, so that the drone droops under the action of gravity, and the drone relies on its own weight to drive the arm 210 to move downward. The movement of the arm 210 drives the arm 220 to rotate relative to the tree branch or columnar structure, and finally the grabbing arm joint 230 is straightened. The straightening of the grabbing arm joint 230 will further stretch the pull rope 251, thereby further increasing the clamping force of the clamping gripper 240, ensuring that the drone can completely perch on a columnar structure such as a tree branch through the clamping gripper 240; finally, the brushless DC motor 107 is completely turned off, so that the drone is suspended as a whole on a columnar structure such as a tree branch, and the arm 210 and the arm 220 are both in a vertical direction when suspended.

[0043] Furthermore, when the UAV needs to take off again, the brushless DC motor 107 is restarted to adjust the UAV body 100 to a posture suitable for flying; then the driving device 255 is controlled to reverse, and the pull rope 251 wrapped around the pulley 252 is loosened through the transmission action of the first transmission gear 256, the second transmission gear 257, the worm 254, and the worm wheel 253, and the clamping gripper 240 is placed in an open state by relying on the two second elastic members 246 on the clamping gripper 240, so as to realize the UAV take-off.

[0044] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A quadrotor drone with a bionic perching grabbing arm, characterized in that: include: A drone body (100), the drone body (100) being used to provide flight power, and a grabbing arm assembly (200) being installed at the bottom of the drone body (100); The grab arm assembly (200) comprises: A large arm (210) and a small arm (220), wherein one end of the large arm (210) is rotatably connected to the bottom of the drone body (100), and the other end is formed with a grabbing arm joint (230); the top surface of the large arm (210) is connected to the drone body (100) via a first elastic member (211) so that the large arm (210) is lifted up; one end of the small arm (220) is rotatably connected to the grabbing arm joint (230), and the other end is drooped relative to the grabbing arm joint (230) and is provided with a clamping gripper (240), and the clamping gripper (240) includes a clamping state and an open state; A drive assembly (250) is mounted on the drone body (100). A pull rope (251) is wound around the drive assembly (250). The pull rope (251) passes through the upper arm (210) and the lower arm (220) and an end portion of the pull rope is connected to the clamping gripper (240). When the pull rope (251) is loosened, the clamping gripper (240) is placed in the open state. When the pull rope (251) is tightened, the clamping gripper (240) is placed in the clamping state. The drive assembly (250) is used to retract and release the pull rope (251); the pull rope (251) is tightened when the grabbing arm joint (230) is straightened.

2. The quadrotor drone with a bionic perching grabbing arm according to claim 1, characterized in that: The upper arm (210) is hollow inside and is installed with a first pulley block (212); a first opening (213) is provided on a side of the upper arm (210) away from the first elastic member (211); the first opening (213) is connected to the interior of the upper arm (210); the lower arm (220) is hollow inside and is installed with a second pulley block (221); a second opening (222) is provided on a side of the lower arm (220) away from the first elastic member (211); the second opening (222) is connected to the interior of the lower arm (220); The pull rope (251) passes through the first pulley block (212), the first opening (213), the second opening (222) and the second pulley block (221) in sequence to be connected to the clamping gripper (240).

3. The quadrotor drone with a bionic perching grabbing arm according to claim 2, characterized in that: The first pulley block (212) comprises a pair of first guide pulleys (214), a first limiting groove (215) is provided in the middle of the first guide pulleys (214), and the first limiting grooves (215) of the pair of first guide wheels cooperate to form a first rope threading portion for the pull rope (251) to pass through; the second pulley block (221) comprises a pair of second guide pulleys (223), a second limiting groove (224) is provided in the middle of the second guide pulleys (223), and the second limiting grooves (224) of the pair of second guide wheels cooperate to form a second rope threading portion for the pull rope (251) to pass through.

4. The quadrotor drone with a bionic perching grabbing arm according to claim 3, characterized in that: The driving assembly (250) is installed at the bottom of the drone body (100), and the driving assembly (250) comprises: A pulley (252), the pulley (252) being used to wind the pull rope (251); A worm wheel (253) and a worm (254), wherein the worm wheel (253) and the worm (254) are meshed, and the worm wheel (253) and the pulley (252) are coaxially arranged and transmission-connected; A driving device (255), wherein an output shaft of the driving device (255) is drivingly connected to the worm (254), and the driving device (255) is used to drive the worm (254) to rotate.

5. The quadrotor drone with a bionic perching grabbing arm according to claim 4, characterized in that: The clamping gripper (240) comprises: A gripping arm (241), the gripping arm (241) being fixedly connected to the end of the forearm (220), a pair of movable parts (242) being rotatably mounted on the gripping arm (241), and arc-shaped grippers (243) being respectively mounted on the pair of movable parts (242); A connecting member (244), wherein the connecting member (244) is slidably mounted in the grab arm (241), one end of the connecting member (244) is connected to the end of the pull rope (251), and the other end of the connecting member (244) is hingedly connected to a pair of transmission members (245), and the pair of transmission members (245) are respectively hingedly connected to the corresponding movable members (242); A pair of second elastic members (246), the pair of second elastic members (246) being arranged corresponding to the pair of arc-shaped grippers (243), one end of the second elastic member (246) being hinged to the arc-shaped grippers (243), and the other end being hung on the gripping arm (241).

6. The quadrotor drone with a bionic perching grabbing arm according to claim 5, characterized in that: It also includes a steering gear assembly (260), and the large arm (210) is mounted on the drone body (100) via the steering gear assembly (260); The steering gear assembly (260) comprises: A steering gear seat (261), the steering gear seat (261) being mounted on the bottom of the drone body (100), a rotating shaft (262) being rotatably mounted on the steering gear seat (261), and the large arm (210) being rotatably mounted on the rotating shaft (262); A driving servo (263) is fixedly mounted on one side of the servo seat (261); a guide member (264) is fixedly mounted on an output shaft of the driving servo (263); the guide member (264) is fixedly connected to the upper arm (210); the guide member (264) is driven to rotate by the driving servo (263) to drive the upper arm (210) to rotate.

7. The quadrotor drone with a bionic perching grabbing arm according to claim 6, characterized in that: A pair of limiting plates (265) are fixedly mounted on the rotating shaft, and a limiting portion for limiting the position of the pull rope (251) is formed between the pair of limiting plates (265).

8. The quadrotor drone with a bionic perching grabbing arm according to claim 7, characterized in that: A GPS positioning module (101) is installed on the top of the drone body (100), and a landing gear (102) is installed on the bottom of the drone body (100).

9. The quadrotor drone with a bionic perching grabbing arm according to claim 8, characterized in that: The upper arm (210) and the lower arm (220) are hollowed out.

10. A method for controlling the habitat of an unmanned aerial vehicle, characterized in that: Based on the quadrotor drone with a bionic perching grabbing arm according to any one of claims 1 to 9, the method comprises: Controlling the drone body (100) to move so that the clamping gripper (240) is stuck in a clamping position; Controlling the driving assembly (250) to tighten the pull rope (251) so that the clamping gripper (240) is placed in the clamping state and clamped at the clamping position; Controlling the power of the drone body (100) to descend until the drone body (100) drives the grab arm joint (230) to straighten under the action of gravity, thereby tightening the pull rope (251); The power of the drone body (100) is controlled to be turned off.

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