Multifunctional clamping robot with rotor wings

Abstract

The invention discloses a multifunctional clamping robot with rotor wings, comprising: a base ring as a main structural frame of the robot and connecting each structure; the wings are arranged in four directions of the base body ring and serve as power for lifting of the robot; the linkage tooth set is arranged above the base body ring and used for being connected with the clamping set in the base body ring and driving the clamping set to complete a series of actions. The transmission block is arranged on the inner side of the base body ring and used for connecting the linkage tooth set and the clamping set; the clamping set is connected to the lower portion of the semi-ring tooth, moves along with the linkage tooth set and is used for completing clamping and clamping work and the like. According to the pole-climbing robot, the base body ring and the wings are arranged and matched with the linkage tooth sets, the clamping sets are driven by the connecting blocks of the linkage tooth sets to move, the problems that an existing pole-climbing robot is slow in action and large in climbing height limitation during pole-climbing are solved, and the working efficiency of pole-climbing robots of the same type is improved. The robot can also be used for moving an object with a certain height to another position through clamping, and transportation and transfer of the object are achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a multi-functional gripping robot with rotors. Background Technology

[0002] Low-altitude reconnaissance, agricultural plant protection, power line inspection, atmospheric environmental monitoring, and logistics transportation may all require movement and clamping operations. Based on this, rotor-equipped robots have emerged and developed rapidly.

[0003] Existing rotor-borne robots mainly consist of a robotic arm mechanism for gripping objects and a main unmanned aerial vehicle (UAV) structure for flight. The existing rotor-borne robots primarily rely on robotic arm mechanisms for object grasping, which is more complex. Furthermore, most existing UAVs cannot hover at a certain altitude for extended periods, limiting their application in monitoring tasks. To address these technical challenges, this application aims to provide a rotor-borne robot. Summary of the Invention

[0004] To address the above shortcomings, this invention provides a multi-functional gripping robot with rotors, which can solve the problems of complex movement of existing rotor-equipped robots when their robotic arms grasp objects and the inability of rotor-equipped robots to hover at a certain height for extended periods during monitoring operations.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-functional gripping robot with rotors, comprising: The base ring, which is divided into a left base ring and a right base ring, surrounds the target object when it starts working; The rotor base rod, together with the rotor assembly, is installed around the base ring to enable the overall movement of the robot; A fixed servo bracket is installed at the front end of the right base ring to fix one end of the servo. The servo mount is mounted at the front end of the left base ring and connected to the fixed servo mount via a servo motor. The base ring opens and closes when the servo motor moves.

[0006] Furthermore, the right base ring and the left base ring are provided with annular grooves.

[0007] Furthermore, the fixed servo mount and the rotating servo mount are symmetrically arranged at the front ends of the right base ring and the left base ring.

[0008] Furthermore, the left servo mount is located behind the rotating servo mount and is arranged symmetrically with the rotating servo mount.

[0009] Furthermore, the right servo mount is located at the end of the right base ring and is symmetrically arranged with the left servo mount on the base ring.

[0010] Furthermore, the linkage gear set includes: A semi-circular tooth is mounted on the annular groove of the base ring; Transmission gears are mounted on the servos of the left servo frame and the right servo frame.

[0011] Furthermore, the transmission block includes: A connecting bracket is installed below the inner side of the semi-toothed ring; A double slider is installed inside the base ring and connected to the connecting frame.

[0012] Furthermore, the clamping assembly includes: A slide rail is installed on the inner wall of the base ring and is fixedly connected to the base ring; An annular clamping rod is mounted on the slide rail via the double-linked slider; A support frame is installed at the end of the annular clamp rod to fix the relative position of the upper and lower ends of the annular clamp rod; The spring is mounted on the annular clamp and connected to the base ring.

[0013] Furthermore, the slide rails are divided into four sections, evenly distributed on the base ring, with two sections installed on each of the left and right base rings.

[0014] Furthermore, there are two linkage gear assemblies, which are respectively installed at both ends of the left base ring and the right base ring.

[0015] Furthermore, there are four transmission blocks, which are paired and installed with the four slide rails.

[0016] Furthermore, the clamping assembly consists of four sets, which are paired and installed with the four slide rails. When the annular clamping rod rotates with the system, it can clamp and release the target object under the action of the spring.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The multi-functional gripping robot with rotor of the present invention, by setting a hollow ring structure in conjunction with wings, linkage gear group, transmission block and gripping group, can realize that when moving an object, only two servo motors need to be controlled to rotate simply to drive the structure to clamp the target object and then carry out the moving and transportation operation, which reduces the complexity of existing rotor robots with robotic arms when working. 2. By setting up a hollow structure and a ring clamping mechanism, it is possible to lift up to a certain height along the target column during monitoring operations, and then clamp and stop, solving the problem that existing rotor robots cannot perform monitoring operations for a long time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0019] Figure 1 This is a schematic diagram illustrating the implementation of the rotor-equipped robot clamping operation of the present invention; Figure 2 This is a schematic diagram of the rotor section of the robot with rotors according to the present invention; Figure 3 This is a schematic diagram of the structure of the matrix ring of the present invention when it is closed; Figure 4 This is a schematic diagram of the structure of the present invention during clamping operation; Figure 5 This is a schematic diagram of the internal connection structure of the present invention; Figure 6 This is a schematic diagram of the state of the present invention in its initial state; Figure 7 This is a schematic diagram of the state when the target object is surrounded by the present invention.

[0020] The markings shown in the figure are: 10-Wing; 20-Base ring; 30-Linkage gear assembly; 40-Transmission block; 50-Clamping assembly; 11-Rotor base rod; 12-Protective ring; 13-Rotor; 14-Motor; 21-Right base ring; 22-Left base ring; 211-Fixed servo mount; 212-Right servo mount; 221-Rotating servo mount; 222-Left servo mount; 31-Transmission gear; 32-Half-ring gear; 41-Connecting frame; 42-Double slider; 51-Slide rail; 52-Ring clamp; 53-Support frame; 54-Spring. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0024] Please refer to Figures 1 to 5 A preferred embodiment of the present invention provides a gripping robot with rotors, which mainly includes: wings 10, base ring 20, linkage gear group 30, transmission block 40, and gripping group 50.

[0025] The wing 10 is equipped with a rotor base rod 11, which is used to detach and connect to the base ring 20 around the perimeter, ensuring the overall balance of the robot and providing power for the robot to complete spatial movement, unlike the integrated design of the rotor and the body.

[0026] The base ring 20 serves as the main frame of the robot and is composed of a left base ring 22 and a right base ring 21. It has an arc-shaped structure, and both left and right base rings have annular grooves on their upper surfaces for mounting semi-ring teeth 32. A rotating servo frame 221 and a left servo frame 222 are arranged side by side at the front end of the left base ring 22. A fixed servo frame 211 for mounting the servo is set at the front end of the right base ring 21 to fix one end of the servo, and a right servo frame 212 is set at the other end of the right base ring 21 to mount the fixed servo.

[0027] The rotating servo frame 221 and the fixed servo frame 211 rotate together to realize the function of the base ring 20 opening and closing to surround the target column during operation; the servos on the right servo frame 212 and the left servo frame 222 are used to connect the transmission gear as the starting point of the movement.

[0028] Both semi-toothed rings 32 are completely within the left base ring 22 and the right base ring 21. This position setting will not have any interference effect when the base ring 20 is opened and closed. The left base ring 22 and the right base ring 21 are on the same horizontal line with the cooperation of the fixed servo frame 211 and the rotating servo frame 221, ensuring that the semi-toothed rings 32 can advance normally when rotating and avoid jamming.

[0029] The linkage gear assembly 30 is equipped with a flanged semi-ring tooth 32 that connects to the annular groove on the base ring 20. The transmission tooth 31 is driven by a servo motor mounted on the fixed servo frame 211 that meshes with the semi-ring tooth 32. After surrounding the target column, the two servos mounted on the left servo frame 222 and the right servo frame 212 rotate synchronously. The transmission tooth 31 on the servo motor drives the semi-ring tooth 32 that meshes with it to rotate along the annular groove on the base ring 20. While driving the internal structure to move, it fills the gap between the left base ring 22 and the right base ring 21, further ensuring the stability of the base ring 20 when it rotates.

[0030] The transmission block 40 serves as an intermediate connecting device, connecting the linkage gear group 30 and the clamping group 50 in series. One end of the double slider 42 is connected to the connecting frame 41, and the other end is connected to the ring clamp 52. It is installed on the slide rail 51. The connecting frame 41 is used to connect the half tooth ring 32 and the double slider 42, thereby driving the clamping group 50 to move.

[0031] The clamping assembly 50 mainly consists of a slide rail 51, an annular clamping rod 52, a support frame 53, and a spring 54 connecting the base ring 20 and the annular clamping rod 52.

[0032] The clamping assembly 50, as the main mechanism for the robot to perform clamping operations, is installed inside the base ring 20 and is tightly attached to the inner wall of the base ring 20.

[0033] The annular slide rails 51 are divided into four sections, which are fixedly attached to the left base ring 22 and the right base ring 21 respectively. Two slide rails 51 are installed on the left base ring 22 and the right base ring 21 respectively. Each slide rail 51 is equipped with a set of transmission blocks 40 connected to the semi-annular teeth 32. When the semi-annular teeth 32 rotate, they slide on the fixed slide rails 51 through two sets of connecting brackets 41 and double sliders 42, thereby causing the two annular clamping rods 52 to move forward synchronously. At the same time as the annular clamping rods 52 move, the two sets of springs 54 connected to the annular clamping rods 52 and the base ring 20 are stretched and contracted, thereby causing the annular clamping rods 52 to rotate inward while moving outward. Similarly, the four clamping groups distributed on the left base ring 22 and the right base ring 21 move synchronously to clamp the target column.

[0034] The following is a specific and exemplary embodiment of the present invention: The robot is in its initial state, in which the ends of the left base ring 22 and the right base ring 21 are in contact and closed, both half-tooth rings are completely inside the left base ring 22 and the right base ring 21, four sets of double-linked sliders 42 are located at the front end of the slide rail 51, and four sets of clamping groups 50 are attached to the slide rail 51 and located inside the base ring 20. The base ring 20 has a large area of ​​hollow space in the middle. The robot is moved to the target column position and landed by the wings 10 distributed around the robot. At this time, the rotor 13 stops rotating. Control the servos mounted on the rotating servo frame 221 and the fixed servo frame 211 in front of the target column to open the left base ring 22 and the right base ring 21 to surround the target column. After the surround is completed, because the diameter of the base ring 20 is larger than the diameter of the target column, there is ample space between them for the wing 10 to provide power to complete the rapid ascent along the target column. After ascending to a certain height, the robot is brought to a hovering state. At this time, the servos mounted on the left servo frame 222 and the right servo frame 212 can be controlled to rotate synchronously to make the transmission gears rotate. 31 The servo motor installed on the fixed servo frame 211 meshes with the semi-ring gear 32 for transmission. After surrounding the target column, the two servo motors installed on the left servo frame 222 and the right servo frame 212 rotate synchronously. The transmission gear 31 set on the servo motor drives the semi-ring gear 32 that meshes with it to rotate counterclockwise along the annular groove on the base ring 20. While driving the internal structure to move, it fills and connects the gap between the left base ring 22 and the right base ring 21, further ensuring the stability of the base ring 20 when it rotates. When the semi-ring tooth 32 rotates, it slides on the fixed slide rail 51 via two sets of connecting frames 41 and double sliders 42, causing the two annular clamping rods 52 to move forward synchronously. Simultaneously, the two sets of springs 54 connected to the annular clamping rods 52 and the base ring 20 are stretched and contracted, causing the annular clamping rods 52 to rotate inward while moving outward. Similarly, the four clamping groups distributed on the left base ring 22 and right base ring 21 move synchronously to clamp the target column. After clamping, the wing 10 can stop working, and the robot can then dock at a certain height to complete monitoring and other tasks, effectively saving energy and achieving longer working time. Furthermore, this invention can also transport objects with a near-circular appearance. The workflow is similar to the above implementation, except that the robot does not need to dock and open / close the base ring 20 during object transport. The robot's position is moved by controlling wing 10, similar to the operation of a drone. When the robot is above the object to be moved, wing 10 is lowered to position the object within the hollow area of ​​the base ring 20. Similarly, the servos mounted on the left servo frame 222 and right servo frame 212 are controlled to perform the clamping operation. After clamping the target object, rotor 13 is controlled to move the robot in space, completing the transport and transfer of the target object. This operation is similar to the robotic arm of a drone using a robotic arm to grasp and move objects.

[0035] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-functional gripping robot with rotors, characterized in that, Including: The base ring (20) has a fixed structure on its outer side for mounting the servo motor, which is used to open and close the body and realize the main function of the body through the transmission structure; The wings (10) are located at four positions on the base ring (20) and are connected and fixed to it by protrusions outside the base ring (20) to realize the position movement of the fuselage; The linkage gear assembly (30) is located above the base ring (20), is connected to the base ring (20) through a ring groove, and is connected to the servo motor to realize its rotation along the base ring (20); The clamping assembly (50) is disposed inside the base ring (20) and connected to the base ring (20) by a spring, so that the clamping assembly (50) clamps the target body when it moves; A transmission block (40) is disposed on the inner side of the linkage gear group (30) to connect the linkage gear group (30) and the clamping group (50) to realize the movement of the clamping group (50).

2. The multi-functional gripping robot with rotors according to claim 1, characterized in that, The matrix ring (20) includes: Right base ring (21), left base ring (22); The rotor base rod (11) is installed on both sides of the left base ring (22) and the right base ring (21), that is, at the four corners of the base ring (20); A fixed servo mount (211) is mounted on the front end of the right base ring (21); Rotate the servo mount (221), which is mounted at the front end of the left base ring (22); The right servo mount (212) is mounted at the end of the right base ring (21); The left rudder mount (222) is mounted at the front end of the left base ring (22).

3. A multi-functional gripping robot with rotors according to claim 2, characterized in that, The right base ring (21) and the left base ring (22) are provided with annular grooves; The fixed servo mount (211) and the rotating servo mount (221) are symmetrically arranged at the front ends of the right base ring (21) and the left base ring (22); The left servo frame (222) is located behind the rotating servo frame (221) and is arranged symmetrically with the rotating servo frame (221); The right servo mount (212) is located at the end of the right base ring (21) and is symmetrically arranged with the left servo mount (222) on the base ring (20).

4. A multi-functional gripping robot with rotors according to claim 1, characterized in that, The linkage gear set (30) includes: A semi-circular tooth (32) is mounted on the annular groove of the base ring (20); Transmission gear (31) is mounted on the servos of the left servo frame (212) and the right servo frame (222).

5. A multi-functional gripping robot with rotors according to claim 1, characterized in that, The transmission block (40) includes: A connecting bracket (41) is installed below the inner side of the semi-toothed ring (32); The double slider (42) is installed inside the base ring (20) and connected to the connecting frame (41).

6. A multi-functional robot with rotors according to claim 1, characterized in that, The clamping assembly (50) includes: A slide rail (51) is installed on the inner wall of the base ring (20) and is fixedly connected to the base ring (20); The annular clamp (52) is mounted on the slide rail (51) via the double slider (42); A support frame (53) is installed at the end of the annular clamp (52) to fix the relative position of the upper and lower ends of the annular clamp (52); The spring (54) is mounted on the annular clamp (52) and connected to the base ring (20).

7. A multi-functional robot with rotors according to claim 4, characterized in that, The slide rail (51) is divided into 4 sections, which are evenly distributed on the base ring (20), that is, two are installed on the left base ring (22) and two are installed on the right base ring (21); The linkage gear assembly (30) consists of two parts, which are respectively installed at both ends of the left base ring (22) and the right base ring (21); There are four transmission blocks (40), which are paired and installed with the four slide rails (51); The clamping group (50) consists of 4 groups, which are installed in pairs with the 4 slide rails (51). The ring clamp (52) can clamp and release the target body under the action of the spring (54) when it rotates with the system.

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