Water-air dual-purpose unmanned aerial vehicle self-adaptive grabbing and attaching hand based on line driving

Abstract

The invention discloses a water-air dual-purpose unmanned aerial vehicle self-adaptive grabbing and attaching hand based on line driving. The self-adaptive grabbing hand adopts a modular design, has the characteristics of simple structure and light weight, can effectively reduce the complexity of the system and the load of the unmanned aerial vehicle, and is suitable for being used as an accessory part of the unmanned aerial vehicle to meet the application requirements in a multi-task scene. The unmanned aerial vehicle main controller sends a control signal to the motor of the grabbing and attaching hand, the motor accurately rotates according to an instruction, the motor drives the wire wheel to drive the driving wire to achieve bidirectional tensioning operation, and therefore the opening and closing movement of the grabbing and attaching hand is controlled to complete the grabbing and attaching action. And the driving wire is tensioned through rotation of the motor, so that the grabbing hand can flexibly adjust the posture and adapt to target objects in different shapes, and high efficiency and safety in the grabbing process are ensured. Meanwhile, due to the modular design thought, the grabbing and attaching hand can be conveniently integrated with the unmanned aerial vehicle, high adaptability and expansibility are achieved, and diversified task requirements are met.

Description

Technical Field

[0001] The present invention relates to the field of auxiliary components of unmanned aerial vehicles, and particularly to an adaptive grasping hand for a water-air dual-use unmanned aerial vehicle based on wire drive. Background Art

[0002] The combination of unmanned aerial vehicles and robotic gripper technology has important applications in various logistics and transportation tasks. Especially in remote areas, areas with inconvenient transportation or lacking infrastructure, it can significantly improve transportation efficiency. In addition to traditional express delivery and cargo delivery, this technology can also be widely applied to disaster rescue, medical supply distribution, emergency response, agricultural plant protection, environmental monitoring, and the military field, etc. When traditional robotic grippers achieve precise fitting with the surface of the object to be grasped, sensors are usually installed at key nodes to feedback the force information of the contact points, so as to adjust the torque of the driving motor. This design is usually relatively complex, involving the integration of data from multiple sensors, and at the same time poses high requirements on the performance of the motor drive program. In contrast, a robotic grasping hand based on wire drive can reduce the inertia of the end effector through a reasonable arrangement method, thereby improving the dynamic response performance of the robotic hand, enabling it to precisely fit the surface of the object to be grasped. In addition, the robotic grasping hand can not only provide simple staying support, but also allow the unmanned aerial vehicle to be attached to the target object or structure through the robotic grasping hand to enhance its staying ability in an unstable environment and avoid drifting or losing control caused by external interference.

[0003] For example, the patent application with the application number 201921131610.X discloses a robotic claw device for an unmanned aerial vehicle. The finger part of this robotic claw is composed of a single rigid link, with limited motion forms, difficult to adapt to complex target surfaces, lacking flexibility and good adaptability. Moreover, the control motor of this robotic claw is installed on the unmanned aerial vehicle, and the motor output power is transmitted to the meshing disc through a power transmission component. The transmission path is relatively long, and there is a large amount of energy loss during the power transmission process, resulting in low transmission efficiency and slow response speed, thus reducing the control accuracy and flexibility of the gripper.

[0004] For example, the patent application with the application number 202010340820.0 discloses a grasping device suitable for a flying and perching robot. This grasping device uses an electric push rod to realize the opening and closing of the gripper. However, since the electric push rod requires a long axial stroke to complete its linear motion, it occupies a large amount of axial space, restricting the compact design of the overall structure of the unmanned aerial vehicle, and may also affect the layout optimization of other functional modules. This grasping device can achieve "flexible" grasping with adaptability, but the complex grasping structure will increase the mass, power consumption, and control difficulty of the unmanned aerial vehicle. Summary of the Invention

[0005] Aiming at the defects existing in the above background art, the invention object of the present invention is:

[0006] a) Improve the UAV's mission execution capability: Relying on the adaptive grasping hand function, the application scenarios of the UAV are expanded, enabling it to perform tasks such as grasping, moving and releasing objects, which is suitable for scenarios such as logistics transportation and material delivery.

[0007] b) Adapt to diverse working environments: The gripper supports the drone to stay on vertical, inclined or other structural surfaces to meet the requirements of tasks such as inspection, maintenance, and monitoring, reduce energy consumption and extend working hours, and improve the applicability and stability of the drone in special working environments.

[0008] c) Adaptability to cross-domain water and air environments: The wire-driven mechanical gripper only requires a single waterproof motor to drive it, which greatly reduces the difficulty of underwater sealing and the complexity of sensors. It not only reduces the number of failure points but also improves system reliability while reducing the overall weight. It is suitable for the stringent requirements of water and air dual-use environments for compactness, corrosion resistance and ease of maintenance.

[0009] The technical solution adopted by the present invention is:

[0010] An adaptive grabbing arm for a dual-purpose water-air UAV based on line drive, comprising a fixed wing plate, an actuator joint assembly and a power transmission assembly; the fixed wing plate is used to fix the grabbing arm on the UAV;

[0011] The execution joint components are arranged in pairs; the execution joint components include a first grasping joint, a joint-joint fixing pin, and a second grasping joint; the first grasping joint and the second grasping joint are responsible for executing the action, and the two are connected by the joint-joint fixing pin, and the first grasping joint and the second grasping joint can rotate around the joint-joint fixing pin; the release and grasping of the object are realized by the opening and closing actions of the paired execution joint components;

[0012] The power transmission component includes a waterproof motor, a motor-driven wire wheel, an intra-joint roller A and an intra-joint roller B respectively fixed inside the first grasping joint and the second grasping joint, an inter-joint roller A fixed between the first grasping joint and the fixed wing plate, and an inter-joint roller B fixed between the first grasping joint and the second grasping joint, and the joint-joint fixing pin passes through the inter-joint roller B; the fixed wing plate is fixedly connected to the drone; the motor-driven wire wheel converts the power generated by the waterproof motor into tension on the driving line, which is finally applied to the first grasping joint and the second grasping joint through the intra-joint roller A, the intra-joint roller B, the inter-joint roller A and the inter-joint roller B, and drives the two to realize opening and closing actions; the driving line can control the paired execution joint components to point to the grasping space for grasping action or to leave the grasping space for opening action.

[0013] In the above technical solution, further, a wing plate-joint fixing pin is also provided on the fixed wing plate. The wing plate-joint fixing pin passes through the inter-joint roller A, thereby connecting the fixed wing plate and the first grasping joint, and the first grasping joint can rotate around the wing plate-joint fixing pin.

[0014] Further, movable rubber grasping pads A and B are respectively provided on the first grasping joint and the second grasping joint to prevent sliding during the grasping action.

[0015] Further, in the execution joint assembly, the number of grasping joints can be more than two.

[0016] Further, the first grasping joint further includes a first grasping joint housing and a roller fixing pin A; the roller fixing pin A, the movable rubber grasping pad A, the inner joint roller A, and the inter-joint roller A are all arranged on the first grasping joint housing; the roller fixing pin A is used to connect the first grasping joint housing and the inner joint roller A.

[0017] Further, the second grasping joint further includes a second grasping joint housing and a roller fixing pin B; the roller fixing pin B, the movable rubber grasping pad B, the inner joint roller B, and the inter-joint roller B are all arranged on the second grasping joint housing; the roller fixing pin B is used to connect the second grasping joint housing and the inner joint roller B.

[0018] Further, the drive wire for controlling the grasping action of the joint is led out from the motor drive wire wheel and wound around the inner or outer side of the inter-joint roller A between the fixed wing plate and the first grasping joint, the inner joint roller A inside the first grasping joint, the inter-joint roller B between the first grasping joint and the second grasping joint, and the inner joint roller B inside the second grasping joint in a certain order according to the sequence. By rotating the waterproof motor clockwise and counterclockwise, the opening and closing movement of the grasping joint is realized. The specific winding method of the drive wire is as follows:

[0019] The drive wire for controlling the grasping action of the left execution joint assembly is led out counterclockwise above the motor drive wire wheel, and the drive wire for controlling the grasping action of the right execution joint assembly is led out counterclockwise below the motor drive wire wheel. After passing around the inner side of the inter-joint roller A, it is pressed against the outer side of the inner joint roller A, then introduced into the inner side of the inter-joint roller B, and finally fixedly connected to the inner side of the inner joint roller B. This winding method can control the drive wire to generate a force pointing to the grasping space on the first grasping joint and the second grasping joint when the waterproof motor rotates clockwise;

[0020] The driving line that controls the left-side executing joint component to realize the opening action is led out from the bottom of the motor driving wire wheel in a clockwise direction, and the driving line that controls the right-side executing joint component to realize the opening action is led out from the top of the motor driving wire wheel in a clockwise direction, passes around the outside of the roller A between the joints, is pressed on the inside of the roller A inside the joint, and then is introduced to the outside of the roller B between the joints, and finally is fixedly connected to the outside of the roller B inside the joint. This winding method can control the driving line to generate a force to separate the first grasping joint and the second grasping joint from the grasping space when the waterproof motor rotates counterclockwise.

[0021] Furthermore, the grab arm as an auxiliary part of the drone is modularly connected to the drone through a fixed wing panel.

[0022] The adaptive grasping arm of the dual-purpose water and air drone based on wire drive of the present invention sends a control signal to the motor through the drone main controller, and the motor rotates accurately according to the command, and the motor drives the wire wheel to drive the driving wire to realize the bidirectional tightening operation, thereby controlling the opening and closing movement of the grasping arm to complete the grasping action. By tightening the driving wire through the rotation of the motor, the grasping arm can flexibly adjust its posture and adapt to target objects of different shapes, ensuring the efficiency and safety of the grasping process. At the same time, the modular design concept makes the grasping arm easy to integrate with the drone, has strong adaptability and expansibility, and meets the needs of diversified tasks.

[0023] The beneficial effects of the present invention are:

[0024] 1. The adaptive gripper adopts a modular design with the characteristics of simple structure and light weight. It can effectively reduce the complexity of the system and reduce the load of the UAV. It is suitable as an auxiliary component of the UAV to meet the application requirements in multi-task scenarios.

[0025] 2. Based on the motor's rotational motion, the power is transmitted to the drive line through the motor-driven wire wheel. Compared with the electric push rod, it has a significant advantage in energy conversion efficiency, reduces transmission loss, and thus effectively reduces power consumption. In addition, it saves the large linear motion space required when using the electric push rod, making the UAV have a compact structural design and more suitable for long-term mission execution.

[0026] 3. The combination of motor and wire drive enables the entire transmission process to have higher dynamic response performance, and its starting, stopping and adjustment speeds are faster. In addition, due to its smaller inertia, it can significantly improve the sensitivity of the actuator joint components and meet the needs of precise control in complex tasks.

[0027] 4. The adaptive grasping hand combines the functions of clamping and supporting. In the clamping mode, it can achieve stable grasping and precise handling of objects; in the dwelling mode, it can not only serve as a landing bracket to support the drone, but also achieve stable dwelling on complex surfaces (such as tree branches, pipes, rocks, etc.) through adaptive grasping. This not only significantly improves the environmental adaptability of the drone, but also effectively reduces the energy consumption of the system in the standby state and extends the mission endurance time.

[0028] 5. The adaptive grasping hand synchronously drives the movement of the double-finger four-joint through a single waterproof motor. Based on the dynamic balance of the driving line tension and the joint force, and combined with the current signal feedback of the waterproof motor to form a closed loop, it completes the adaptive flexible grasping of the target object. This design can not only dynamically adjust the grasping force to adapt to different structural characteristics, but also effectively protect the target object from damage caused by excessive clamping force, improving the safety and adaptability of the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is the front view of the present invention;

[0030] Figure 2 is the top view of the present invention;

[0031] Figure 3 is the front view of the first grasping joint in the present invention;

[0032] Figure 4 is the bottom view of the first grasping joint in the present invention;

[0033] Figure 5 is the front view of the second grasping joint in the present invention;

[0034] Figure 6 is the bottom view of the second grasping joint in the present invention;

[0035] Figure 7 is a schematic diagram of the inner roller of the second grasping joint in the present invention

[0036] Figure 8 is a schematic diagram of the present invention in the open state;

[0037] Figure 9 is a schematic diagram of the present invention in the grasping state;

[0038] Description of the reference numerals: 1 - fixed wing plate; 2 - waterproof motor; 3 - motor-driven wire wheel; 4 - wing plate-joint fixing pin; 5 - first grasping joint; 51 - first grasping joint housing; 52 - roller fixing pin A; 53 - movable rubber grasping pad A; 54 - inner joint roller A; 55 - inter-joint roller A; 6 - joint-joint fixing pin; 7 - second grasping joint; 71 - second grasping joint housing; 72 - roller fixing pin B; 73 - movable rubber grasping pad B; 74 - inner joint roller B; 75 - inter-joint roller B; 8 - grasping space. Detailed implementation manner

[0039] As Figure 1 and 2 shown, this embodiment provides an adaptive grasping hand for a water-air dual-use unmanned aerial vehicle based on wire drive. The grasping hand adopts a single-motor-driven double-finger four-joint structure, and realizes the synchronous opening and closing of the double-finger four-joint structure through a specific wire winding method, and has strong adaptability in the water-air environment.

[0040] The adaptive grasping hand for the water-air dual-use unmanned aerial vehicle based on wire drive includes a fixing device, a power transmission component and an execution joint component.

[0041] The fixing device is the fixed wing plate 1, which is used to fix the grasping hand as an accessory on the unmanned aerial vehicle, and can also provide installation positions for the waterproof motor 2 and the motor-driven wire wheel 3.

[0042] There are two execution joint components and they are arranged oppositely; the execution joint component includes the first grasping joint 5 (as Figure 3 and 4 shown), the joint-joint fixing pin 6, the second grasping joint 7 (as Figure 5 and 6 shown), and the movable rubber grasping pads A 53 and B 73 arranged on the first grasping joint 5 and the second grasping joint 7. By the opening and closing actions of the paired execution joint components, the releasing and grasping of an object are realized.

[0043] The power transmission component includes the waterproof motor 2 fixed on the fixed wing plate 1, the motor-driven wire wheel 3, the inner joint rollers A 54 and B 74 respectively fixed inside the first grasping joint 5 and the second grasping joint 7 (as Figure 7As shown in the figure, the inter-joint roller A55 fixed between the first grasping joint 5 and the fixed wing plate 1, and the inter-joint roller B75 fixed between the first grasping joint 5 and the second grasping joint 7; the joint-joint fixing pin 6 passes through the inter-joint roller B75. The motor driving wire wheel 3 converts the power generated by the waterproof motor 2 into tension on the driving line, and finally applies it to the first grasping joint 5 and the second grasping joint 7 through the inner joint roller A54, the inner joint roller B74, the inter-joint roller A55 and the inter-joint roller B75, driving the two to realize the opening and closing actions; the driving line can control the paired execution joint components to point to the grasping space for grasping action or to leave the grasping space for opening action.

[0044] The fixed wing plate 1 is also provided with a wing plate-joint fixing pin 4, and the wing plate-joint fixing pin 4 passes through the inter-joint roller A55, so as to connect the fixed wing plate 1 and the first grabbing joint 5, and the first grabbing joint 5 can rotate around the wing plate-joint fixing pin 4.

[0045] The first grasping joint 5 and the second grasping joint 7 are respectively provided with a movable rubber grasping pad A53 and a movable rubber grasping pad B73 for preventing slipping during grasping.

[0046] The first grasping joint 5 also includes a first grasping joint shell 51 and a roller fixing pin A52; the roller fixing pin A52, the movable rubber grasping pad A53, the intra-joint roller A54 and the inter-joint roller A55 are all arranged on the first grasping joint shell 51; the roller fixing pin A52 is used to connect the first grasping joint shell 51 and the intra-joint roller A54.

[0047] The second grasping joint 7 also includes a second grasping joint shell 71 and a roller fixing pin B72; the roller fixing pin B72, the movable rubber grasping pad B73, the intra-joint roller B74 and the inter-joint roller B75 are all arranged on the second grasping joint shell 71; the roller fixing pin B72 is used to connect the second grasping joint shell 71 and the intra-joint roller B74.

[0048] In the actuator joint assembly, the number of the grasping joints may be more than two.

[0049] like Figure 8 , Figure 9 When the waterproof motor 2 rotates counterclockwise, the control driving wire drives the two fingers and four joints on both sides to leave the grasping space and open. When the waterproof motor 2 rotates clockwise, the control driving wire drives the two fingers and four joints on both sides to point to the grasping space and grasp. The specific winding method of the driving wire is as follows:

[0050] The drive line that controls the left execution joint assembly to perform the grasping action is led out counterclockwise above the motor drive pulley 3, bypasses the inner side of the inter-joint roller A55, presses on the outer side of the inner-joint roller A54, then is introduced into the inner side of the inter-joint roller B75, and finally is fixedly connected to the inner side of the inner-joint roller B74. This winding method can control the drive line to generate a force pointing to the grasping space 8 on the first grasping joint 5 and the second grasping joint 7 of the left execution joint assembly when the waterproof motor 2 rotates clockwise.

[0051] The drive line that controls the left execution joint assembly to perform the opening action is led out clockwise below the motor drive pulley 3, bypasses the outer side of the inter-joint roller A55, presses on the inner side of the inner-joint roller A54, then is introduced into the outer side of the inter-joint roller B75, and finally is fixedly connected to the outer side of the inner-joint roller B74. This winding method can control the drive line to generate a force to disengage from the grasping space 8 on the first grasping joint 5 and the second grasping joint 7 of the left execution joint assembly when the waterproof motor 2 rotates counterclockwise.

[0052] The drive line that controls the right execution joint assembly to perform the grasping action is led out counterclockwise below the motor drive pulley 3, bypasses the inner side of the inter-joint roller A55, presses on the outer side of the inner-joint roller A54, then is introduced into the inner side of the inter-joint roller B75, and finally is fixedly connected to the inner side of the inner-joint roller B74. This winding method can control the drive line to generate a force pointing to the grasping space 8 on the first grasping joint 5 and the second grasping joint 7 of the right execution joint assembly when the waterproof motor 2 rotates clockwise.

[0053] The drive line that controls the right execution joint assembly to perform the opening action is led out clockwise above the motor drive pulley 3, bypasses the outer side of the inter-joint roller A55, presses on the inner side of the inner-joint roller A54, then is introduced into the outer side of the inter-joint roller B75, and finally is fixedly connected to the outer side of the inner-joint roller B74. This winding method can control the drive line to generate a force to disengage from the grasping space 8 on the first grasping joint 5 and the second grasping joint 7 of the right execution joint assembly when the waterproof motor 2 rotates counterclockwise.

[0054] Figure 8 For an opening action embodiment of this adaptive grasping hand, the waterproof motor 2 rotates counterclockwise in this schematic diagram. At this time, the drive line located on the inner side of the inner-joint roller A54 is in a stressed and tightened state, generating a force on the inner-joint roller A54 that is outward from the grasping space 8, realizing the rotational opening action of the first grasping joint 5 with the wing plate-joint fixing pin 4 as the axis; at the same time, this drive line is connected to the outer side of the inner-joint roller B74, also generating a force on the inner-joint roller B74 that is outward from the grasping space 8, and the second grasping joint 7 unfolds around the first grasping joint 5 with the joint-joint fixing pin 6 as the axis, realizing the opening action of the second grasping joint 7, thereby enabling the entire grasping hand to achieve the opening action.

[0055] Figure 9 This is an embodiment of the grasping action of the adaptive gripper. The waterproof motor 2 rotates clockwise in this schematic diagram. At this time, the drive line located outside the inner roller A54 of the joint is in a stressed and taut state, generating a force on the inner roller A54 of the joint that points inward towards the grasping space 8, realizing the rotational adduction action of the first grasping joint 5 with the wing plate-joint fixing pin 4 as the axis; at the same time, this drive line is connected to the inside of the inner roller B74 of the joint, also generating a force on the inner roller B74 of the joint that points inward towards the grasping space 8, and the second grasping joint 7 adducts around the first grasping joint 5 with the joint-joint fixing pin 6 as the axis, realizing the grasping action of the second grasping joint 7, thereby enabling the entire gripper to achieve the grasping action.

Claims

1. An adaptive gripper for a dual-purpose water-air drone based on line drive, characterized in that: It includes a fixed wing plate, an actuator joint assembly and a power transmission assembly; the fixed wing plate is used to fix the grabber on the drone; The execution joint components are arranged in pairs; the execution joint components include a first grasping joint, a joint-joint fixing pin, and a second grasping joint; The first grasping joint and the second grasping joint are connected by a joint-joint fixing pin, and the first grasping joint and the second grasping joint can rotate around the joint-joint fixing pin; The objects can be released and grasped by opening and closing the paired execution joint components; The power transmission assembly includes a waterproof motor, a motor-driven wire wheel, an intra-joint roller A and an intra-joint roller B respectively fixed inside the first grasping joint and the second grasping joint, an inter-joint roller A fixed between the first grasping joint and the fixed wing plate, and an inter-joint roller B fixed between the first grasping joint and the second grasping joint, and the joint-joint fixing pin passes through the inter-joint roller B; the fixed wing plate is fixedly connected to the drone; the motor-driven wire wheel converts the power generated by the waterproof motor into tension on the driving line, and finally applies it to the first grasping joint and the second grasping joint through the intra-joint roller A, the intra-joint roller B, the inter-joint roller A and the inter-joint roller B, and drives the two to realize opening and closing actions; The driving lines can control the paired actuator joint components to point to the grasping space to perform a grasping action or to leave the grasping space to perform an opening action.

2. The adaptive gripper for a water-air dual-purpose UAV based on line drive according to claim 1 is characterized in that: The fixed wing plate is also provided with a wing plate-joint fixing pin, and the wing plate-joint fixing pin passes through the inter-joint roller A, so as to connect the fixed wing plate and the first grasping joint, and the first grasping joint can rotate around the wing plate-joint fixing pin.

3. The adaptive gripper for a water-air dual-purpose UAV based on line drive according to claim 1 is characterized in that: The first grasping joint and the second grasping joint are respectively provided with a movable rubber grasping pad A and a movable rubber grasping pad B, which are used to prevent sliding when grasping.

4. The adaptive gripper for a water-air dual-purpose UAV based on line drive according to claim 1 is characterized in that: The first grasping joint further comprises a first grasping joint housing and a roller fixing pin A; The roller fixing pin A, the movable rubber gripping pad A, the intra-joint roller A and the inter-joint roller A are all arranged on the first gripping joint housing; The roller fixing pin A is used to connect the first grasping joint shell and the roller A inside the joint.

5. The adaptive gripper for a dual-purpose water-air drone based on line drive according to claim 1 is characterized in that: The second grasping joint further comprises a second grasping joint shell and a roller fixing pin B; the roller fixing pin B, the movable rubber grasping pad B, the inner joint roller B and the inter-joint roller B are all arranged on the second grasping joint shell; The roller fixing pin B is used to connect the second grasping joint shell and the roller B inside the joint.

6. The adaptive gripper for a water-air dual-purpose UAV based on line drive according to claim 1 is characterized in that: In the execution joint assembly, the number of the grasping joints is more than two.

7. The adaptive gripper for a water-air dual-purpose UAV based on line drive according to claim 1 is characterized in that: The winding method of the drive line is: The driving line for controlling the left execution joint assembly to realize the grasping action is led out from the top of the motor driving wire wheel in the counterclockwise direction, and the driving line for controlling the right execution joint assembly to realize the grasping action is led out from the bottom of the motor driving wire wheel in the counterclockwise direction, passes around the inner side of the roller A between the joints, is pressed on the outer side of the roller A inside the joint, and then is introduced into the inner side of the roller B between the joints, and finally is fixedly connected to the inner side of the roller B inside the joint. This winding method can control the driving line to generate a force pointing to the grasping space on the first grasping joint and the second grasping joint when the waterproof motor rotates clockwise; The driving line that controls the left-side executing joint component to realize the opening action is led out from the bottom of the motor driving wire wheel in a clockwise direction, and the driving line that controls the right-side executing joint component to realize the opening action is led out from the top of the motor driving wire wheel in a clockwise direction, passes around the outside of the roller A between the joints, is pressed on the inside of the roller A inside the joint, and then is introduced to the outside of the roller B between the joints, and finally is fixedly connected to the outside of the roller B inside the joint. This winding method can control the driving line to generate a force to separate the first grasping joint and the second grasping joint from the grasping space when the waterproof motor rotates counterclockwise.

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