A quadrotor unmanned aerial vehicle with a biomimetic habitat grabbing arm and a habitat control method

Abstract

The application provides a quadrotor unmanned aerial vehicle with a bionic habitat grabbing arm and a habitat control method, wherein the unmanned aerial vehicle comprises: an unmanned aerial vehicle body for providing flight power, a grabbing arm assembly being mounted 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, the other end of the large arm is formed with a grabbing arm joint, the top surface of the large arm is connected with the unmanned aerial vehicle body through a first elastic element, so that the large arm is raised; one end of the small arm is rotationally connected with the grabbing arm joint, the other end of the small arm is downwardly inclined relative to the grabbing arm joint and is mounted with a clamping gripper, the clamping gripper comprises a clamping state and an open state; a driving assembly is mounted on the unmanned aerial vehicle body, a pull rope is connected with the driving assembly, the pull rope is used for pulling the clamping gripper to be clamped; the pull rope is pulled tight when the grabbing arm joint is stretched out. The unmanned aerial vehicle provided by the application can realize accurate grabbing, and the clamping gripper can be clamped through the weight of the unmanned aerial vehicle when the unmanned aerial vehicle is in habitat, so that the power consumption is saved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of unmanned aerial vehicle technology, in particular to a quadrotor unmanned aerial vehicle with a bionic perching gripper arm and a perching control method. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles are used in various industries, such as earthquake relief, aerial photography, cluster performance, military reconnaissance, etc. In particular, in the field of military reconnaissance, a simulated gripper is added to the unmanned aerial vehicle, which can enable the unmanned aerial vehicle to perch on a tree branch, then stop the rotor, and use the camera to detect enemy movements without being easily discovered, thereby further saving war expenses.

[0003] The existing simulated gripper for unmanned aerial vehicles is generally too large in size and is not suitable for installation on small unmanned aerial vehicles. Moreover, the simulated gripper relies entirely on the rotation of the motor to trigger, which increases the power consumption of the unmanned aerial vehicle. SUMMARY

[0004] In view of the above-mentioned defects or shortcomings in the prior art, it is desirable to provide a quadrotor unmanned aerial vehicle with a bionic perching gripper arm and a perching control method to solve the above-mentioned problems.

[0005] The first aspect of the present application provides a quadrotor unmanned aerial vehicle with a bionic perching gripper arm, comprising:

[0006] an unmanned aerial vehicle body for providing flight power, the unmanned aerial vehicle body being provided at the bottom with a gripper arm assembly;

[0007] the gripper arm assembly comprising:

[0008] a large arm and a small arm, one end of the large arm being rotatably connected to the bottom of the unmanned aerial vehicle body, the other end of the large arm being formed with a gripper arm joint, the top surface of the large arm being connected to the unmanned aerial vehicle body by a first elastic member to make the large arm rise; one end of the small arm being rotatably connected to the gripper arm joint, the other end of the small arm being downwardly inclined relative to the gripper arm joint and being provided with a clamping gripper, the clamping gripper comprising a clamping state and an open state;

[0009] a driving assembly mounted on the unmanned aerial vehicle body, a pull rope being wound around the driving assembly, the pull rope passing through the large arm and the small arm and being connected at the end to the clamping gripper, the pull rope being relaxed to place the clamping gripper in the open state, the pull rope being tightened to place the clamping gripper in the clamping state, the driving assembly being used to wind and unwind the pull rope; the pull rope being tightened when the gripper arm joint is straightened.

[0010] According to the technical scheme provided in the embodiment of the present application, the large arm is hollow and is provided with a first pulley set, the large arm is provided with a first opening on the side away from the first elastic member, and the first opening is communicated with the inside of the large arm; the small arm is hollow and is provided with a second pulley set, the small arm is provided with a second opening on the side away from the first elastic member, and the second opening is communicated with the inside of the small arm; and the pull rope is connected with the clamping gripper through the first pulley set, the first opening, the second opening and the second pulley set in sequence.

[0011] According to the technical scheme provided in the embodiment of the present application, the first pulley set comprises a pair of first guide pulleys, the middle part of the first guide pulley is provided with a first limiting groove, and the first limiting grooves of the pair of first guide pulleys cooperatively form a first rope passing part for the pull rope to pass through; and the second pulley set comprises a pair of second guide pulleys, the middle part of the second guide pulley is provided with a second limiting groove, and the second limiting grooves of the pair of second guide pulleys cooperatively form a second rope passing part for the pull rope to pass through.

[0012] According to the technical scheme provided in the embodiment of the present application, the driving assembly is installed at the bottom of the unmanned aerial vehicle body, and the driving assembly comprises:

[0013] A belt pulley for winding the pull rope;

[0014] A worm gear and a worm, the worm gear and the worm are engaged, the worm gear is coaxially arranged with the belt pulley and is in transmission connection with the belt pulley;

[0015] A driving device, an output shaft of the driving device is in transmission connection with the worm, and the driving device is used for driving the worm to rotate.

[0016] According to the technical scheme provided in the embodiment of the present application, the clamping gripper comprises:

[0017] A gripper arm, the gripper arm is fixedly connected with the end of the small arm, a pair of movable members are rotatably arranged on the gripper arm, and an arc-shaped gripper is arranged on each movable member;

[0018] A connecting member, the connecting member is slidably arranged in the gripper arm, one end of the connecting member is connected with the end of the pull rope, the other end of the connecting member is hingedly connected with a pair of transmission members, and each transmission member is hingedly connected with a corresponding movable member;

[0019] A pair of second elastic members, the second elastic members are arranged corresponding to the pair of arc-shaped grippers, one end of the second elastic member is hingedly connected with the arc-shaped gripper, and the other end of the second elastic member is hung on the gripper arm

[0020] The technical scheme provided by the embodiment of the present application further comprises a steering engine assembly, the large arm is installed on the unmanned aerial vehicle body through the steering engine assembly;

[0021] The steering engine assembly comprises:

[0022] A steering engine seat is installed at the bottom of the unmanned aerial vehicle body, a rotating shaft is rotatably installed on the steering engine seat, and the large arm is rotatably installed on the rotating shaft;

[0023] A driving steering engine is fixedly installed on one side of the steering engine seat, an output shaft of the driving steering engine is fixedly installed with a guide piece, the guide piece is fixedly connected with the large arm, and the guide piece is driven to rotate by the driving steering engine to drive the large arm to rotate.

[0024] According to the technical scheme provided by the embodiment of the present application, a pair of limiting plates are fixedly installed on the rotating shaft, and a limiting part for limiting the pull rope is formed between the pair of limiting plates.

[0025] According to the technical scheme provided by the embodiment of the present application, a GPS positioning module is installed at the top of the unmanned aerial vehicle body, and a landing gear is installed at the bottom of the unmanned aerial vehicle body.

[0026] According to the technical scheme provided by the embodiment of the present application, the large arm and the small arm are hollowed out.

[0027] The second aspect of the present application provides a method for controlling the habitat of an unmanned aerial vehicle, based on the four-rotor unmanned aerial vehicle with a bionic habitat grabbing arm as described above, the method comprises:

[0028] The unmanned aerial vehicle body is controlled to move so that the clamping gripper clamps the clamping position;

[0029] The driving assembly is controlled to tighten the pull rope, so that the clamping gripper is placed in the clamping state and clamped in the clamping position;

[0030] The power of the unmanned aerial vehicle body is controlled to be turned off.

[0031] The power of the unmanned aerial vehicle body is controlled to be turned off.

[0032] Compared with the prior art, the application has the beneficial effects that when the unmanned aerial vehicle needs to perch, the driving assembly is driven to tighten the pull rope, so that the clamping gripper is placed from the open state to the clamping state to be clamped on the columnar structure such as a tree branch, at this time the clamping gripper does not completely grasp the tree branch, by reducing the flight power of the unmanned aerial vehicle, the unmanned aerial vehicle is lowered under the action of gravity, and the small arm rotates relative to the tree branch until the grabbing arm joint is stretched out, the pull rope is further tightened in the process of stretching out the grabbing arm joint, and the pull rope further clamps the tree branch, so that the unmanned aerial vehicle perches; since the unmanned aerial vehicle perching process is not completely driven by electric energy to clamp the clamping gripper, the electric energy consumption is saved. BRIEF DESCRIPTION OF DRAWINGS

[0033] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments made with reference to the accompanying drawings:

[0034] Figure 1 A structure schematic view of a quad-rotor unmanned aerial vehicle provided with a bionic perching grabbing arm for example 1 is shown in the figure;

[0035] Figure 2 A structure schematic view of a bionic perching grabbing arm for a quad-rotor unmanned aerial vehicle is shown in the figure; Figure 1 A top view of a quad-rotor unmanned aerial vehicle provided with a bionic perching grabbing arm is shown in the figure;

[0036] Figure 3 A structure schematic view of a bionic perching grabbing arm for a quad-rotor unmanned aerial vehicle is shown in the figure; Figure 2 A sectional view of a quad-rotor unmanned aerial vehicle provided with a bionic perching grabbing arm along the A-A direction is shown in the figure;

[0037] Figure 4 A structure schematic view of a driving assembly is shown in the figure;

[0038] Figure 5 A structure schematic view of a bionic perching grabbing arm for a quad-rotor unmanned aerial vehicle is shown in the figure; Figure 4 A right view of a driving assembly is shown in the figure;

[0039] Figure 6 A structure schematic view of a grabbing arm assembly is shown in the figure;

[0040] Figure 7 A structure schematic view of a bionic perching grabbing arm for a quad-rotor unmanned aerial vehicle is shown in the figure; Figure 6 A left view of a grabbing arm assembly is shown in the figure;

[0041] Figure 8 A structure schematic view of a first pulley set is shown in the figure;

[0042] Figure 9 A structure schematic view of a second pulley set is shown in the figure.

[0043] 100, unmanned aerial vehicle main body; 101, GPS positioning module; 102, landing gear; 103, rack; 104, battery; 105, control module; 106, paddle wing; 107, brushless motor; 108, bottom plate; 200, grabbing arm assembly; 210, large arm; 211, first elastic member; 212, first pulley set; 213, first opening; 214, first guide pulley; 215, first limiting groove; 220, small arm; 221, second pulley set; 222, second opening; 223, second guide pulley; 224, second limiting groove; 230, grabbing arm joint; 240, clamping gripper; 241, gripper arm; 242, movable piece; 243, arc-shaped gripper; 244, connecting piece; 245, transmission piece; 246, second elastic member; 250, driving assembly; 251, pull rope; 252, belt pulley; 253, worm gear; 254, worm; 255, driving device; 256, first transmission gear; 257, second transmission gear; 260, steering gear assembly; 261, steering gear seat; 262, rotating shaft; 263, driving steering gear; 264, guide piece; 265, limiting plate. DETAILED DESCRIPTION

[0044] The application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, and not to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for ease of description.

[0045] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0046] Embodiment 1

[0047] Please refer to Figures 1-9 The embodiment provides a four-rotor unmanned aerial vehicle with a bionic habitat grabbing arm, which comprises:

[0048] An unmanned aerial vehicle main body 100 is used to provide flight power, and the unmanned aerial vehicle main body 100 is provided with a grabbing arm assembly 200 at the bottom;

[0049] The grabbing arm assembly 200 comprises:

[0050] The big arm 210 and the small arm 220, one end of the big arm 210 is rotatably connected with the bottom of the unmanned aerial vehicle body 100, the other end forms a grabbing arm joint 230, the top surface of the big arm 210 is connected with the unmanned aerial vehicle body 100 through the first elastic element 211, so that the big arm 210 is raised; one end of the small arm 220 is rotatably connected with the grabbing arm joint 230, the other end is downward relative to the grabbing arm joint 230 and is provided with a clamping gripper 240, the clamping gripper 240 includes a clamping state and an open state;

[0051] The driving assembly 250 is installed on the unmanned aerial vehicle body 100, the driving assembly 250 is wound with a pull rope 251, the pull rope 251 passes through the big arm 210 and the small arm 220 and is connected at the end on the clamping gripper 240, when the pull rope 251 is loosened, the clamping gripper 240 is in the open state, when the pull rope 251 is tightened, the clamping gripper 240 is in the clamping state, the driving assembly 250 is used for winding and unwinding the pull rope 251; the pull rope 251 is tightened when the grabbing arm joint 230 is stretched out.

[0052] Specifically, as shown in Figure 1 and Figure 2 The unmanned aerial vehicle body 100 includes a frame 103, a battery 104, a control module 105, four paddle wings 106 and four direct current brushless motors 107 corresponding to the four paddle wings 106, the direct current brushless motor 107 is electrically connected with the battery 104 and the control module 105, the battery 104 is used for providing electric energy, the control module 105 is used for adjusting the rotating speed of the four direct current brushless motors 107 respectively; the unmanned aerial vehicle body 100 is used for providing the power for the whole unmanned aerial vehicle. The grabbing arm assembly 200 is installed at the bottom of the unmanned aerial vehicle body 100, the grabbing arm assembly 200 is used for providing the grabbing function and the habitat function for the whole unmanned aerial vehicle.

[0053] Specifically, as shown in Figure 1 and Figure 2As shown, the bottom of the frame 103 is fixedly installed with a bottom plate 108, and a grabbing arm assembly 200 is installed on the bottom surface of the bottom plate 108, and the grabbing arm assembly 200 comprises 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 constitute a grabbing arm, the large arm 210 is rotatably installed at one end on the bottom plate 108, the axis of rotation is parallel to the bottom surface of the bottom plate 108, the other end of the large arm 210 is hingedly connected to one end of the small arm 220, the hingedly connected position of the large arm 210 and the small arm 220 forms a grabbing arm joint 230, and the large arm 210 and the small arm 220 can be relatively bent at the grabbing arm joint 230; a first elastic member 211 is installed on one side of the top surface of the large arm 210, the other end of the first elastic member 211 is hung on the bottom plate 108, the first elastic member 211 can freely stretch and retract, and optionally, the first elastic member 211 is a spring; in a natural state, the large arm 210 is in an upward posture through the pulling force of the first elastic member 211, and since the connection mode of the large arm 210 and the small arm 220 is hinged, the small arm 220 is in a drooping posture, and the grabbing arm joint 230 is in a complete state.

[0054] The clamping gripper 240 is installed on the free end of the small arm 220, and the clamping gripper 240 realizes grabbing by switching between a clamping state and an open state; the action of the clamping gripper 240 is realized by the driving assembly 250, the driving assembly 250 is installed on the bottom plate 108, the driving assembly 250 connects the clamping gripper 240 through a pull rope 251, the driving assembly 250 controls the clamping gripper 240 by winding and unwinding the pull rope 251, when the pull rope 251 is relaxed, the clamping gripper 240 is in the open state, so as to facilitate grabbing, and when the pull rope 251 is tightened, the clamping gripper 240 is in the clamping state under the pulling action of the pull rope 251, so as to be capable of clamping. One end of the pull rope 251 is wound on the driving assembly 250, the other end passes through the large arm 210 and the small arm 220 and is connected with the clamping gripper 240, and the pull rope 251 is further pulled close when the grabbing arm joint 230 is stretched, so as to further tighten the pull rope 251 on the clamping gripper 240.

[0055] Working process: when the UAV needs to perch, the pull rope 251 is tightened through the driving assembly 250, so that the clamping gripper 240 is placed in the clamping state from the open state to clamp on the 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 can avoid the clamping gripper 240 from being separated from the columnar structure such as a tree branch, by reducing the flight power of the UAV, the UAV is lowered under the action of gravity, at the same time the small arm 220 rotates relative to the tree branch until the grabbing arm joint 230 is stretched out, the pull rope 251 is further tightened in the process of stretching out the grabbing arm joint 230, and the pull rope 251 further clamps the tree branch, so that the UAV perches; since the UAV perching process is not completely driven by electric energy to clamp the clamping gripper 240, the electric energy consumption is saved. In addition, the object can be gripped by switching the state of the clamping gripper 240, and then applied to the transfer operation of the object.

[0056] Further, the large arm 210 is hollow inside and is provided with a first pulley set 212, a first opening 213 is arranged on the side of the large arm 210 away from the first elastic member 211, and the first opening 213 communicates with the inside of the large arm 210; the small arm 220 is hollow inside and is provided with a second pulley set 221, a second opening 222 is arranged on the side of the small arm 220 away from the first elastic member 211, and the second opening 222 communicates with the inside of the small arm 220; the pull rope 251 is connected with the clamping gripper 240 in sequence through the first pulley set 212, the first opening 213, the second opening 222 and the second pulley set 221.

[0057] Specifically, as shown in FIG. 6, the first elastic member 211 is arranged on the side of the large arm 210 away from the small arm 220, and the first elastic member 211 is arranged on the side of the small arm 220 away from the large arm 210. Figure 3As shown, the large arm 210 and the small arm 220 are both hollow structures, the hollow large arm 210 and the small arm 220 can reduce the self-weight of the grabbing arm, thereby reducing the burden of the unmanned aerial vehicle when flying, and improving the operation performance of the unmanned aerial vehicle. The first pulley set 212 is rotatably installed inside the large arm 210, the pull rope 251 passes through the large arm 210 and is guided by the first pulley set 212, and the first pulley set 212 can also be used to reduce the resistance of the pull rope 251 when sliding in the large arm 210; the second pulley set 221 is rotatably installed inside the small arm 220, the pull rope 251 passes through the small arm 220 and is guided by the second pulley set 221, and the second pulley set 221 can also be used to reduce the resistance of the pull rope 251 when sliding in the small arm 220. As shown, the first opening 213 is provided on the bottom surface of the large arm 210, and the second opening 222 is provided on the bottom surface of the small arm 220. The pull rope 251 extends out of the first opening 213 in the large arm 210 and enters the small arm 220 through the second opening 222; such arrangement makes the driving assembly 250 can tighten the pull rope 251 when the grabbing arm joint 230 is in a bent state, and on this basis, the pull rope 251 is further tightened during the straightening process of the grabbing arm joint 230 by the gravity of the unmanned aerial vehicle itself, thereby the clamping gripper 240 is further clamped, and the process of further clamping does not consume electric energy.

[0058] Further, the first pulley set 212 includes a pair of first guide pulleys 214, the first guide pulleys 214 are provided with first limiting grooves 215 in the middle, and the first limiting grooves 215 of the pair of first guide pulleys 214 cooperatively form a first rope passing part for the pull rope 251 to pass through; the second pulley set 221 includes a pair of second guide pulleys 223, the second guide pulleys 223 are provided with second limiting grooves 224 in the middle, and the second limiting grooves 224 of the pair of second guide pulleys 223 cooperatively form a second rope passing part for the pull rope 251 to pass through.

[0059] Specifically, as Figure 8 and Figure 9As shown, the first pulley set 212 is composed of two first guide pulleys 214 arranged inside the large arm 210, and first limiting grooves 215 with shallow depth on both sides and deep depth in the middle are formed in the circumferential direction of the first guide pulleys 214. The edges of the two first guide pulleys 214 are oppositely arranged, and the first limiting grooves 215 of the two first guide pulleys 214 form a first rope passing part. The pull rope 251 passes through the first rope passing part to cooperate with the first pulley set 212. The second pulley set 221 is composed of two second guide pulleys 223 arranged inside the small arm 220, and second limiting grooves 224 with shallow depth on both sides and deep depth in the middle are formed in the circumferential direction of the second guide pulleys 223. The edges of the two second guide pulleys 223 are oppositely arranged, and the second limiting grooves 224 of the two second guide pulleys 223 form a second rope passing part. The pull rope 251 passes through the second rope passing part to cooperate with the second pulley set 221.

[0060] Further, the driving assembly 250 is installed at the bottom of the unmanned aerial vehicle body 100, and the driving assembly 250 comprises:

[0061] A belt pulley 252 for winding the pull rope 251;

[0062] A worm gear 253 and a worm 254, the worm gear 253 and the worm 254 are engaged, the worm gear 253 is coaxially arranged with the belt pulley 252 and is drivingly connected with the belt pulley 252;

[0063] A driving device 255, an output shaft of the driving device 255 is drivingly connected with the worm 254, and the driving device 255 is used to drive the worm 254 to rotate.

[0064] Specifically, as Figure 4 and Figure 5As shown, the driving assembly 250 comprises a belt pulley 252, a worm gear 253, a worm 254 and a driving device 255, wherein the belt pulley 252 is rotatably installed on the bottom surface of the bottom plate 108, the pull rope 251 is wound on the belt pulley 252, and the belt pulley 252 is rotated to realize the winding and unwinding of the pull rope 251; the worm gear 253 is rotatably installed on the top surface of the bottom plate 108, the worm gear 253 is coaxially arranged with the belt pulley 252 and is driven by the belt pulley 252 through the cooperation of the key and the key groove; the worm 254 is rotatably installed on the top surface of the bottom plate 108, the worm 254 is meshed with the worm gear 253, and the worm gear 253 is driven by the worm 254; the driving device 255 is fixedly installed on the top surface of the bottom plate 108, the output shaft of the driving device 255 is fixedly installed with a first transmission gear 256, the end of the worm 254 is fixedly installed with a second transmission gear 257, the second transmission gear 257 is meshed with the first transmission gear 256, the output shaft of the driving device 255 drives the first transmission gear 256 to rotate, the first transmission gear 256 drives the second transmission gear 257 to rotate, the worm 254 rotates with the rotation of the second transmission gear 257, the worm 254 drives the worm gear 253 to rotate, the worm gear 253 drives the belt pulley 252 to rotate, and the belt pulley 252 is rotated to wind and unwind the pull rope 251. The driving device 255 is electrically connected with the battery 104 and the control module 105, the driving device 255 is powered by the battery 104, and the driving device 255 is controlled to realize the forward rotation and the reverse rotation by the control module 105; optionally, the driving device 255 is a direct current motor. The winding and unwinding of the pull rope 251 are realized by the cooperation of the worm gear 253 and the worm 254, so that the accurate control of the clamping degree of the clamping gripper 240 is ensured.

[0065] Further, the clamping gripper 240 comprises:

[0066] A gripper arm 241 is fixedly connected with the end of the forearm 220, a pair of movable pieces 242 are rotatably installed on the gripper arm 241, and an arc-shaped gripper 243 is respectively installed on each movable piece 242;

[0067] A connecting piece 244 is slidably installed in the gripper arm 241, one end of the connecting piece 244 is connected with the end of the pull rope 251, the other end of the connecting piece 244 is hingedly connected with a pair of transmission pieces 245, and each transmission piece 245 is hingedly connected with a corresponding movable piece 242;

[0068] A pair of second elastic pieces 246 are arranged corresponding to the pair of arc-shaped grippers 243, one end of each second elastic piece 246 is hingedly connected with the arc-shaped gripper 243, and the other end of each second elastic piece 246 is hung on the gripper arm 241.

[0069] Specifically, as Figure 6As shown, the gripper arm 241 is a hollow structure, the gripper arm 241 is fixedly installed at one end of the forearm 220 away from the gripping arm joint 230, and opposite sides of the gripper arm 241 are respectively hinged with an active part 242, and an arc-shaped gripper 243 is respectively installed on the two active parts 242. The opposite sides of the gripper arm 241 are respectively provided with a strip-shaped through hole, and the extension direction of the strip-shaped through hole is the same as the extension direction of the forearm 220; the connecting piece 244 is installed in the gripper arm 241 and is slidably connected with the gripper arm 241 through the two strip-shaped through holes, one end of the connecting piece 244 penetrates the gripper arm 241 and extends into the forearm 220 to be fixed with the free end of the pull rope 251; the position where the connecting piece 244 is slidably connected with the two strip-shaped through holes is respectively hinged with a pair of transmission parts 245, the other end of the transmission part 245 is hinged with the active part 242, and the arc-shaped gripper 243 is hinged with the active part 242 and the transmission part 245 respectively. When the pull rope 251 is tightened, the pull rope 251 pulls the connecting piece 244 to slide in the gripper arm 241, the connecting piece 244 slides to drive the transmission part 245 to move, the transmission part 245 moves to drive the active part 242 to rotate relative to the gripper arm 241, and then drives the arc-shaped gripper 243 to be gripped.

[0070] Specifically, the two arc-shaped grippers 243 are respectively connected with a second elastic part 246, and the other end of the second elastic part 246 is hung on the gripper arm 241. In the natural state, the two second elastic parts 246 pull the two arc-shaped grippers 243 to rotate in opposite directions, so that the two arc-shaped grippers 243 are opened, that is, the clamping gripper 240 can be placed in the opened state when the pull rope 251 is relaxed. Optionally, the second elastic part 246 is a spring.

[0071] Further, it further comprises a steering gear assembly 260, and the forearm 210 is installed on the unmanned aerial vehicle body 100 through the steering gear assembly 260.

[0072] The steering gear assembly 260 comprises:

[0073] A steering gear seat 261 is installed at the bottom of the unmanned aerial vehicle body 100, a rotating shaft 262 is rotatably installed on the steering gear seat 261, and the forearm 210 is rotatably installed on the rotating shaft 262.

[0074] A driving steering gear 263 is fixedly installed on one side of the steering gear seat 261, a guide part 264 is fixedly installed on the output shaft of the driving steering gear 263, the guide part 264 is fixedly connected with the forearm 210, and the guide part 264 is driven to rotate by the driving steering gear 263 to drive the forearm 210 to rotate.

[0075] Specifically, as Figure 7As shown, the steering engine assembly 260 is used to realize steering of the large arm 210, and the large arm 210 is rotationally connected to the bottom surface of the bottom plate 108 through the steering engine assembly 260. The steering engine seat 261 is fixedly installed at the bottom of the bottom plate 108, and the steering engine seat 261 includes two side plates, a rotating shaft 262 is rotationally installed between the two side plates, the rotating shaft 262 extends in a direction parallel to the bottom surface of the bottom plate 108, the large arm 210 is rotationally installed on the rotating shaft 262, and the rotating shaft 262 is the rotation axis of the large arm 210 relative to the bottom plate 108; the rotation of the large arm 210 is realized by driving the steering engine 263, the steering engine 263 is installed outside one of the side plates, a guide piece 264 is fixedly installed on the output shaft of the steering engine 263, the guide piece 264 can rotate with the output shaft of the steering engine 263, the guide piece 264 is fixedly connected to one side of the large arm 210, and the steering engine 263 is used to adjust the grabbing angle of the large arm 210 and realize balance control when the unmanned aerial vehicle perches.

[0076] Further, a pair of limiting plates 265 are fixedly installed on the rotating shaft 262, and a limiting portion for limiting the pull rope 251 is formed between the pair of limiting plates 265.

[0077] Specifically, as shown in the figure, the pull rope 251 between the pulley 252 and the large arm 210 is limited in the limiting portion, so as to avoid that the position deviation of the pull rope 251 affects the control accuracy of the clamping gripper 240. Figure 7

[0078] Further, the GPS positioning module 101 is installed at the top of the unmanned aerial vehicle body 100, and the landing gear 102 is installed at the bottom of the unmanned aerial vehicle body 100.

[0079] Specifically, the GPS positioning module 101 is arranged to realize real-time positioning of the unmanned aerial vehicle, and the landing gear 102 is arranged to facilitate take-off and landing of the unmanned aerial vehicle.

[0080] Further, the large arm 210 and the small arm 220 are hollowed out.

[0081] Specifically, a plurality of hollow holes are arranged on the large arm 210 and the small arm 220, the large arm 210 and the small arm 220 are hollowed out, the grabbing arm is further lightened, and the operation performance of the unmanned aerial vehicle is further improved.

[0082] Embodiment 2

[0083] The embodiment provides a perching control method of an unmanned aerial vehicle, based on the quad-rotor unmanned aerial vehicle with a bionic perching grabbing arm as described in Embodiment 1, and the method comprises the following steps:

[0084] S1: controlling the unmanned aerial vehicle body 100 to move so that the clamping gripper 240 clamps a clamping position; ​

[0085] 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 in the clamping position;

[0086] S3: control the unmanned aerial vehicle body 100 to power down until the unmanned aerial vehicle body 100 drives the grabbing arm joint 230 to stretch out under the action of gravity, so as to tension the pull rope 251;

[0087] S4: control the unmanned aerial vehicle body 100 to power off.

[0088] Specifically, the embodiment provides an unmanned aerial vehicle habitat control method for realizing habitat of an unmanned aerial vehicle on a columnar structure such as a tree branch. The specific process of the control method is as follows:

[0089] When the unmanned aerial vehicle needs to be habitated, the clamping gripper 240 is kept in the state under the action of the second elastic member 246 at this time, the target position of habitat is determined, the unmanned aerial vehicle is flown to the target position by controlling the unmanned aerial vehicle body 100, then the posture of the unmanned aerial vehicle is adjusted by controlling the unmanned aerial vehicle body 100, so that the clamping gripper 240 in the open state is clamped on the columnar structure such as a tree branch; then the driving device 255 is controlled to rotate forward, the pull rope 251 is wound around the belt 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 the clamping state to be clamped on the columnar structure such as a tree branch; then the rotating speed of the brushless direct-current motor 107 is reduced, so that the unmanned aerial vehicle is lowered under the action of gravity, the large arm 210 is driven to move downward by the weight of the unmanned aerial vehicle, the small arm 220 is also rotated relative to the columnar structure such as a tree branch driven by the movement of the large arm 210, and finally the grabbing arm joint 230 is stretched out, the stretching out of the grabbing arm joint 230 further stretches the pull rope 251, and then further increases the clamping force of the clamping gripper 240, so that the unmanned aerial vehicle can be completely habitated on the columnar structure such as a tree branch by the clamping gripper 240; finally, the brushless direct-current motor 107 is completely turned off, and the unmanned aerial vehicle is suspended on the columnar structure such as a tree branch, and the large arm 210 and the small arm 220 are in the vertical direction during the suspension.

[0090] Further, when the unmanned aerial vehicle needs to fly again, the brushless direct-current motor 107 is restarted, and the unmanned aerial vehicle body 100 is adjusted to a posture suitable for flight; then the driving device 255 is controlled to reverse, the pull rope 251 wound around the belt 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 the open state by the two second elastic members 246 on the clamping gripper 240, so as to realize the flight of the unmanned aerial vehicle.

[0091] The above description is only the preferred embodiment of the present application and the explanation of the technical principles. It should be understood by those skilled in the art that the scope of the protection of the present application is not limited to the technical solutions formed by the specific combinations of the above technical features. It should also cover other technical solutions formed by the combinations of the above technical features or their equivalent features without departing from the concept of the present application. For example, the technical solutions formed by the mutual replacements of the above features and the technical features disclosed in the present application (but not limited to) with similar functions.

Claims

1. A quadcopter drone with a biomimetic perching and grasping arm, characterized in that, include: The drone body (100) is used to provide flight power, and a gripping arm assembly (200) is installed at the bottom of the drone body (100). The gripper arm assembly (200) includes: The upper arm (210) and the lower arm (220) are provided. One end of the upper arm (210) is rotatably connected to the bottom of the drone body (100), and the other end forms a gripping arm joint (230). The top surface of the upper arm (210) is connected to the drone body (100) through a first elastic element (211) so that the upper arm (210) can be raised. One end of the lower arm (220) is rotatably connected to the gripping arm joint (230), and the other end hangs down relative to the gripping arm joint (230) and is equipped with a clamping gripper (240). The clamping gripper (240) includes a clamping state and an open state. A drive assembly (250) is mounted on the main body (100) of the drone. 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 its end is connected to the gripper (240). When the pull rope (251) is relaxed, the gripper (240) is in the open state. When the pull rope (251) is tightened, the gripper (240) is in the gripping state. The drive assembly (250) is used to retract and extend the pull rope (251). The pull rope (251) is tightened when the gripping arm joint (230) is extended. The upper arm (210) is hollow inside and is equipped with a first pulley assembly (212). The upper arm (210) has a first opening (213) on the side away from the first elastic member (211), and the first opening (213) communicates with the interior of the upper arm (210). The lower arm (220) is hollow inside and is equipped with a second pulley assembly (221). The lower arm (220) has a second opening (222) on the side away from the first elastic member (211), and the second opening (222) communicates with the interior of the lower arm (220). The pull rope (251) passes through the first pulley group (212), the first opening (213), the second opening (222) and the second pulley group (221) in sequence and is connected to the clamping gripper (240).

2. The quadcopter drone with a biomimetic perching grasping arm according to claim 1, characterized in that, The first pulley group (212) includes a pair of first guide pulleys (214), the first guide pulleys (214) are provided with a first limiting groove (215) in the middle, and the first limiting grooves (215) of the pair of first guide pulleys (214) cooperate to form a first rope threading part for the pull rope (251) to pass through; the second pulley group (221) includes a pair of second guide pulleys (223), the second guide pulleys (223) are provided with a second limiting groove (224) in the middle, and the second limiting grooves (224) of the pair of second guide pulleys (223) cooperate to form a second rope threading part for the pull rope (251) to pass through.

3. The quadcopter drone with a biomimetic perching grasping arm according to claim 2, characterized in that, The drive assembly (250) is mounted on the bottom of the drone body (100), and the drive assembly (250) includes: A pulley (252) is used to wind the pull rope (251); A worm gear (253) and a worm (254) mesh with each other, and the worm gear (253) is coaxially arranged with the pulley (252) and is connected for transmission. A drive device (255) is provided, the output shaft of which is connected to the worm (254) for transmission, and the drive device (255) is used to drive the worm (254) to rotate.

4. The quadcopter drone with a biomimetic perching grasping arm according to claim 3, characterized in that, The clamping gripper (240) includes: A 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 an arc-shaped gripper (243) is mounted on each of the movable parts (242). A connector (244) is slidably installed inside the grab arm (241). One end of the connector (244) is connected to the end of the pull rope (251), and the other end of the connector (244) is hinged to a pair of transmission members (245). The pair of transmission members (245) are respectively hinged to the corresponding movable members (242). A pair of second elastic elements (246) are provided corresponding to a pair of arc-shaped grippers (243). One end of the second elastic element (246) is hinged to the arc-shaped gripper (243), and the other end is attached to the gripper arm (241).

5. The quadcopter drone with a biomimetic perching grasping arm according to claim 4, characterized in that, It also includes a servo assembly (260), through which the large arm (210) is mounted on the unmanned aerial vehicle body (100); The servo assembly (260) includes: Servo mount (261), the servo mount (261) is installed at the bottom of the UAV body (100), a rotating shaft (262) is rotatably mounted on the servo mount (261), and the large arm (210) is rotatably mounted on the rotating shaft (262); A drive servo motor (263) is fixedly installed on one side of the servo motor base (261). A guide (264) is fixedly installed on the output shaft of the drive servo motor (263). The guide (264) is fixedly connected to the boom (210). The guide (264) is driven to rotate by the drive servo motor (263) to drive the boom (210) to rotate.

6. The quadcopter drone with a biomimetic perching grasping arm according to claim 5, characterized in that, A pair of limiting plates (265) are fixedly installed on the rotating shaft (262), and a limiting part for limiting the pull rope (251) is formed between the pair of limiting plates (265).

7. The quadcopter drone with a biomimetic perching grasping arm according to claim 6, characterized in that, The top of the drone body (100) is equipped with a GPS positioning module (101), and the bottom of the drone body (100) is equipped with a landing gear (102).

8. The quadcopter drone with a biomimetic perching grasping arm according to claim 7, characterized in that, The upper arm (210) and the lower arm (220) are hollowed out.

9. A method for controlling the habitat of unmanned aerial vehicles (UAVs), characterized in that, Based on the quadcopter drone with a biomimetic perching grasping arm as described in any one of claims 1-8, the method includes: Control the movement of the drone body (100) so that the gripper (240) locks into the gripping position; Control the drive assembly (250) to tighten the pull rope (251) so that the clamping gripper (240) is placed in the clamping state and clamped in the clamping position; Control the drone body (100) to descend until the drone body (100) drives the gripping arm joint (230) to straighten under the action of gravity, so as to tighten the pull rope (251). The power to the main body (100) of the drone is turned off.

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