Balancing system and unmanned aerial vehicle equipped with mechanical arm

Abstract

The balance system is configured to be connected with the unmanned aerial vehicle and the multi-axis mechanical arm and comprises a first balance rod and a counterweight assembly, the first balance rod is connected to the unmanned aerial vehicle and can rotate relative to the unmanned aerial vehicle, one end of the first balance rod is connected with the multi-axis mechanical arm, and the other end of the first balance rod is connected with the multi-axis mechanical arm. The balance weight assembly comprises a first balance weight body and a second balance weight body, the first balance weight body is connected to the other end of the first balance rod, the weight of the first balance weight body is adjustable, and the second balance weight body is connected to the rotating connecting position of the first balance rod and the unmanned aerial vehicle, is arranged in a deviated mode relative to the gravity center of the first balance rod and is used for driving the first balance rod to rotate relative to the unmanned aerial vehicle; and the unmanned aerial vehicle, the first balance weight body, the second balance weight body and the multi-axis mechanical arm are in a balanced state. The problems that due to the limited rotating speed of the four-rotor unmanned aerial vehicle, when the mechanical arm works, the balance adjusting capacity of the unmanned aerial vehicle is limited, the unmanned aerial vehicle is out of control and overturns easily, and safety risks exist can be effectively solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a balancing system and a UAV equipped with a robotic arm. Background Technology

[0002] As an aerial transport platform, the quadcopter drone has excellent maneuverability. Equipped with a robotic arm and a robotic hand, the quadcopter drone can perform functions such as end effector gripping and has a large number of degrees of freedom of movement to meet various operational requirements.

[0003] For example, Chinese invention patent CN106985159B, entitled "A Flying Robotic Arm with a Flexible Gripper," includes a multi-rotor aircraft, a multi-degree-of-freedom robotic arm, and a flexible gripper. The multi-rotor aircraft is connected to the multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm is connected to the flexible gripper. This device improves the practicality of the multi-degree-of-freedom robotic arm by mounting it under the multi-rotor aircraft, utilizing the rapid movement capability of the multi-rotor aircraft. Simultaneously, using the flexible gripper as the end effector of the multi-degree-of-freedom robotic arm allows it to adapt well to the shape of the object being grasped, thus significantly improving the success rate of grasping tasks. Typically, to prevent the center of gravity from shifting during operation, quadcopter drones maintain overall balance through their four rotors. That is, when the center of gravity of the robotic arm deviates, adjusting the rotation speed of the four rotors allows for a new tilt attitude to maintain balance. The limited rotation speed of existing quadcopter drones restricts their balance adjustment capabilities. When a quadcopter drone exceeds its adjustment capabilities, it is prone to loss of control and tipping over, posing a safety risk. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a balancing system and a drone equipped with a robotic arm. This solves the technical problem in the prior art where the limited rotation speed of a quadcopter drone results in limited balance adjustment capability of the drone during robotic arm operation, which can easily lead to loss of control and overturning of the drone, posing a safety risk.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a balancing system configured to connect a drone and a multi-axis robotic arm, comprising: A first stabilizer bar, connected to the drone and capable of rotating relative to the drone, wherein one end of the first stabilizer bar is connected to the multi-axis robotic arm; and The counterweight assembly includes a first counterweight and a second counterweight. The first counterweight is connected to the other end of the first balance bar and its weight is adjustable. The second counterweight is connected to the rotational connection between the first balance bar and the drone and is offset relative to the center of gravity of the first balance bar. It is used to drive the first balance bar to rotate relative to the drone so that the drone, the first counterweight, the second counterweight, and the multi-axis robotic arm are in a balanced state.

[0006] In some embodiments, the rotatable connection between the first stabilizer bar and the drone is located at the middle of the first stabilizer bar.

[0007] In some embodiments, the first balance bar is rotatable relative to the drone about an axis perpendicular to the first balance bar's axial direction.

[0008] In some embodiments, the first stabilizer bar is rotatable relative to the drone about its axial direction.

[0009] In some embodiments, the balancing system further includes a hinge connected to the first balancing bar and hinged to the drone.

[0010] In some embodiments, the balancing system further includes a connector, one end of which is connected to the hinge and the other end of which is connected to the first balance bar.

[0011] In some embodiments, the balancing system further includes two second balance bars, which are respectively disposed at both ends of the first balance bar. One end of one second balance bar is connected to the multi-axis robotic arm and the other end is connected to the first balance bar. The other second balance bar is connected at one end to the first counterweight and the other end is connected to the first balance bar.

[0012] In some embodiments, the two second balance bars are respectively inclined relative to the first balance bar.

[0013] In some embodiments, the first balance bar includes a first segment and a second segment, the first segment and the second segment are respectively disposed on both sides of the connector and are both inclined relative to the connector, and an adjustable angle is formed between the first segment and the second segment.

[0014] Secondly, the present invention also provides a drone equipped with a robotic arm, comprising: a drone, a multi-axis robotic arm, and a balancing system as described above, wherein a first balance bar is rotatably connected to the drone, and both ends of the first balance bar are respectively connected to the multi-axis robotic arm and a first counterweight, and a second counterweight is connected to the first balance bar.

[0015] Compared with the prior art, the beneficial effects of the balancing system and the drone equipped with a robotic arm provided by the present invention include: one end of the first balance bar is connected to a multi-axis robotic arm, and the other end is connected to a first counterweight, the weight of which is adjustable; the first balance bar can rotate relative to the drone; the second counterweight is connected to the rotational connection between the first balance bar and the drone, and is offset relative to the first balance bar to drive the first balance bar to rotate relative to the drone, so that the drone, the first counterweight, the second counterweight, and the multi-axis robotic arm are in a balanced state. Compared to existing technologies, by setting the first counterweight and the multi-axis robotic arm at opposite ends of a first balance bar that can rotate relative to the drone, and by setting the second counterweight with its center of gravity offset relative to the first balance bar, the second counterweight can drive the first balance bar to rotate and tilt relative to the drone. This allows the first counterweight and the multi-axis robotic arm to form a balanced structure, maintaining the multi-axis robotic arm in a balanced state during operation. Furthermore, the weight of the first counterweight is adjustable to accommodate multi-axis robotic arms of different weights. This addresses the technical problem in existing technologies where the limited rotational speed of quadcopter drones restricts the drone's balance adjustment capabilities during robotic arm operation, easily leading to loss of control and tipping over, posing a safety risk. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a balancing system and a drone equipped with a robotic arm according to an embodiment of the present invention; Figure 2 This is a schematic diagram from another perspective of a balancing system and a drone equipped with a robotic arm provided in an embodiment of the present invention; Figure 3 This is a schematic diagram from another perspective of a balancing system and a drone equipped with a robotic arm provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a balancing system and a drone equipped with a robotic arm according to another embodiment of the present invention; Figure 5 This is a schematic diagram from another perspective of a balancing system and a drone equipped with a robotic arm, provided by another embodiment of the present invention; Figure 6 This is a schematic diagram showing the connection of a first balance bar, a second balance bar, a hinge, and a second counterweight according to another embodiment of the present invention; Figure 7 This is a schematic diagram showing the connection of a first balance bar, a second balance bar, a hinge, and a second counterweight according to another embodiment of the present invention; Figure 8 This is a schematic diagram showing the connection of a first balance bar, a second balance bar, a hinge, and a second counterweight according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 100 drones; 200 multi-axis robotic arms; 300 first balance bar; 310 first segment; 320 second segment; 400 first counterweight; 500 hinge; 1st direction a; 2nd direction b; 600 connector; 700 second balance bar; 800 second counterweight. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] To address the technical problem that the limited rotational speed of a quadcopter drone 100 restricts its balance adjustment capabilities during robotic arm operation, potentially leading to loss of control and tipping over, thus posing a safety risk, this invention provides a balancing system and a drone equipped with a robotic arm. This system achieves balance by placing a first counterweight 400 and a multi-axis robotic arm 200 at opposite ends of a first balancing bar 300 that can rotate relative to the drone 100. A second counterweight 800 is positioned offset relative to the center of gravity of the first balancing bar 300, allowing the second counterweight 800 to drive the first balancing bar 300 to rotate and tilt relative to the drone 100. This creates a balanced structure between the first counterweight 400 and the multi-axis robotic arm 200, maintaining the multi-axis robotic arm 200 in a balanced state during operation. Furthermore, the weight of the first counterweight 400 is adjustable to accommodate multi-axis robotic arms 200 of varying weights.

[0020] Please see Figures 1 to 3 , Figure 3 This is a schematic diagram of a balancing system and a drone equipped with a robotic arm according to an embodiment of the present invention. The system is configured to connect a drone 100 and a multi-axis robotic arm 200. The system includes: a first balance bar 300 and a counterweight assembly. The first balance bar 300 is connected to the drone 100 and is rotatable relative to the drone 100. One end of the first balance bar 300 is connected to the multi-axis robotic arm 200. The counterweight assembly includes a first counterweight 400 and a second counterweight 800. The first counterweight 400 is connected to the other end of the first balance bar 300 and its weight is adjustable. The second counterweight 800 is connected to the rotatable connection between the first balance bar 300 and the drone 100 and is offset relative to the center of gravity of the first balance bar 300. It is used to drive the first balance bar 300 to rotate relative to the drone 100, so that the drone 100, the first counterweight 400, the second counterweight 800, and the multi-axis robotic arm 200 are in a balanced state.

[0021] In this device, compared to existing technologies, the first counterweight 400 and the multi-axis robotic arm 200 are respectively positioned at both ends of a first balance bar 300 that can rotate relative to the drone 100. A second counterweight 800 is positioned offset relative to the center of gravity of the first balance bar 300, allowing the second counterweight 800 to drive the first balance bar 300 to rotate and tilt relative to the drone 100. This creates a balanced structure between the first counterweight 400 and the multi-axis robotic arm 200, maintaining the multi-axis robotic arm 200 in a balanced state during operation. Furthermore, the weight of the first counterweight 400 is adjustable to ensure the drone 100 remains balanced even when the multi-axis robotic arm 200 is not in operation. This effectively prevents the drone 100 from tipping over due to robotic arm operation, solving the technical problem in existing technologies where the limited rotational speed of the quadcopter drone 100 restricts its balance adjustment capabilities during robotic arm operation, easily leading to tipping over and posing safety risks.

[0022] Furthermore, the drone 100 here is a common and readily available quadcopter drone 100 on the market. The four rotors of the quadcopter drone 100 are distributed in an "X" or "H" shape. The quadcopter drone 100 here is a conventional configuration known to those skilled in the art, and will not be described in detail here.

[0023] Furthermore, the multi-axis robotic arm 200 here is a robotic arm with multiple degrees of freedom available on the market, capable of high-altitude unmanned operation. For reference, please refer to Chinese invention patent with publication number CN106985159B, entitled "A Flying Robotic Arm with a Flexible Grabber", or Chinese invention patent with publication number CN105014687A, entitled "A Robotic Arm with a Multi-rotor UAV 100". The multi-axis robotic arm 200 here is a conventional configuration known to those skilled in the art, and will not be described in detail here.

[0024] Furthermore, in some embodiments, the multi-axis robotic arm 200 is followed by an end effector such as a robotic hand.

[0025] Furthermore, the multi-axis robotic arm 200 includes a robotic arm portion plus an end effector portion, the end effector portion being able to perform different functions, which will not be elaborated here.

[0026] In some embodiments, the multi-axis robotic arm 200 is a robotic hand, and the first balance bar 300 can be directly connected to the robotic hand, without the robotic arm part. The robotic hand is a type of end effector, which is a conventional setting known to those skilled in the art and will not be described in detail here.

[0027] Furthermore, the first counterweight 400 here is a common and readily available intelligent dynamic balancing system on the market, such as: integrating weighing sensors (such as strain gauge sensors) and control algorithms to automatically adjust the counterweight position or output signals by monitoring weight changes in real time, or the first counterweight 400 is a modular combination counterweight block: the total weight can be directly changed by increasing or decreasing the number of independent counterweight blocks, which will not be elaborated here.

[0028] In this embodiment, as Figures 2 to 5 As shown, the rotatable connection between the first balance bar 300 and the UAV 100 is located in the middle of the first balance bar 300.

[0029] By setting the rotational connection between the first balance bar 300 and the drone 100 at the middle of the first balance bar 300, the first balance bar 300, the multi-axis robotic arm 200, the first counterweight 400 and the second counterweight 800 can form a lever-like balance system, which improves the stability of the drone 100 during flight and prevents the drone 100 from tipping over.

[0030] In one embodiment, please refer to Figures 2 to 5 The balancing system also includes a hinge 500, which is connected to the first balance bar 300 and hinged to the drone 100.

[0031] The hinge 500 is used to realize the rotational connection between the UAV 100 and the first stabilizer bar 300.

[0032] Furthermore, the hinge 500 here is a hinge kinematic pair, such as a shaft and bearing that are common and readily available on the market, or a device similar to a hinge. The hinge kinematic pair is connected to the first balance bar 300 and the body of the UAV 100 respectively, which will not be described in detail here.

[0033] In some embodiments, the hinge 500 has a damping effect, which can improve the stability of the first balance bar 300 when rotating relative to the UAV 100.

[0034] In one embodiment, please refer to Figure 8 The balancing system also includes a connector 600, one end of which is connected to the hinge 500 and the other end is connected to the first balance bar 300.

[0035] The connector 600 is disposed between the hinge 500 and the first balance bar 300 to create a rotation gap between the drone 100 and the first balance bar 300, thereby preventing the drone 100's fuselage from restricting the rotation of the first balance bar 300 during rotation.

[0036] In this embodiment, please refer to Figure 8The first balance bar 300 can rotate relative to the UAV 100 about an axis perpendicular to the axis of the first balance bar 300.

[0037] The direction perpendicular to the axis of the first balance bar 300 is the first direction a, which is the X-axis direction in the Cartesian coordinate system.

[0038] In one embodiment, please refer to Figure 8 The first balance bar 300 can rotate relative to the UAV 100 about the axis of the first balance bar 300.

[0039] Here, the axis of the first balance bar 300 is the second direction b, which is the Y-axis direction in the Cartesian coordinate system. This will not be elaborated further here.

[0040] Furthermore, by setting the first balance bar 300 to be able to rotate relative to the drone 100 about an axis perpendicular to the first balance bar 300 or about an axis perpendicular to the first balance bar 300, the balance adjustment range of the drone 100's balance system can be improved to meet various auxiliary operation scenarios.

[0041] In this embodiment, as Figures 5 to 7 As shown, the balancing system also includes two second balance bars 700, which are respectively disposed at both ends of the first balance bar 300. One end of one second balance bar 700 is connected to the multi-axis robotic arm 200 and the other end is connected to the first balance bar 300. One end of the other second balance bar 700 is connected to the first counterweight 400 and the other end is connected to the first balance bar 300.

[0042] By setting two second balance bars 700 that are inclined relative to the first balance bar 300, it is convenient to connect the multi-axis robotic arm 200 or the first counterweight 400 to the first balance bar 300.

[0043] In one embodiment, please refer to Figure 4 The two second balance bars 700 are respectively inclined relative to the first balance bar 300.

[0044] Furthermore, the second balance bar 700 is inclined relative to the first balance bar 300, which can increase the working range of the multi-axis robotic arm 200 located at one end of the first balance bar 300, thereby improving the adjustment range of the balance system.

[0045] Furthermore, in some embodiments, such as Figures 4 to 6 As shown, the two second balance bars 700 are arranged in parallel directions and are both connected to the first balance bar 300.

[0046] Furthermore, in some embodiments, such as Figure 7 As shown, the extension directions of the two second balance bars 700 form different angles with the first balance bar 300. The size of the angle can be set according to the specific application scenario, which will not be elaborated here.

[0047] In one embodiment, please refer to Figure 7 The first balance bar 300 includes a first segment 310 and a second segment 320. The first segment 310 and the second segment 320 are respectively disposed on both sides of the connector 600 and are inclined relative to the connector 600. An adjustable angle is formed between the first segment 310 and the second segment 320.

[0048] The first balance bar 300 is composed of a first segment 310 and a second segment 320. By adjusting the angle between the first segment 310 and the second segment 320, the range of motion of objects set on both sides of the first balance bar 300 can be increased, thereby improving the adjustment range of the balance system.

[0049] In some instances, the first segment 310 and the second segment 320 are set to be collinear.

[0050] An embodiment of the present invention also provides a drone equipped with a robotic arm, comprising: a drone 100, a multi-axis robotic arm 200 and the above-mentioned balancing system, wherein a first balance bar 300 is rotatably connected to the drone 100, and both ends of the first balance bar 300 are respectively connected to the multi-axis robotic arm 200 and a first counterweight 400, and a second counterweight 800 is connected to the first balance bar 300.

[0051] The first balance bar 300 is connected to the lower part of the drone 100 via the connector 600, and the multi-axis robotic arm 200 and the first counterweight 400 are respectively disposed at both ends of the first balance bar 300. Driven by the hinge 500, the first balance bar 300 can rotate relative to the drone 100 about the first direction a as the axis or about the second direction b as the axis, thereby adjusting the drone 100 to maintain a balanced state.

[0052] Furthermore, the second counterweight 800 is connected to the middle of the first balance bar 300.

[0053] To better understand this invention, the following is combined with... Figures 1 to 8 The technical solution of the present invention will be described in detail below: One end of the first balance bar 300 is connected to the multi-axis robotic arm 200, and the other end is connected to the first counterweight 400. The weight of the first counterweight 400 is adjustable. The first balance bar 300 can rotate relative to the drone 100. The second counterweight 800 is connected to the rotational connection between the first balance bar 300 and the drone 100, and is biased relative to the first balance bar 300. It is used to drive the first balance bar 300 to rotate relative to the drone 100, so that the drone 100, the first counterweight 400, the second counterweight 800, and the multi-axis robotic arm 200 are in a balanced state. Compared to existing technologies, by setting the first counterweight 400 and the multi-axis robotic arm 200 at the two ends of the first balance bar 300 that can rotate relative to the drone 100, and setting the second counterweight 800 with its center of gravity offset relative to the first balance bar 300, the second counterweight 800 can drive the first balance bar 300 to rotate and tilt relative to the drone 100, so that the first counterweight 400 and the multi-axis robotic arm 200 can form a balanced structure to maintain the multi-axis robotic arm 200 on the drone 100 in a balanced state during operation. At the same time, the weight of the first counterweight 400 is adjustable to suit multi-axis robotic arms 200 of different weights.

[0054] The self-balancing robotic arm mounted on the UAV 100 proposed in this invention can operate beyond the vertical and horizontal dimensions of the UAV 100, enabling aerial operations without blind spots.

[0055] Furthermore, the balancing system provided in this application can achieve self-balancing of the UAV 100, provide restoring force for positional deviations during multi-degree-of-freedom robotic arm operations, maintain a new balance when deviating from the initial balance posture under the action of external force, and restore the initial balance posture after the external force disappears.

[0056] This application, through the aforementioned system, can solve the technical problem in the prior art where the limited rotational speed of the quadcopter drone 100 results in limited balance adjustment capability of the drone 100 during robotic arm operation, which can easily lead to the drone 100 losing control and tipping over, posing a safety risk.

[0057] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A balancing system configured to connect a drone and a multi-axis robotic arm, characterized in that, include: A first balance bar is connected to the drone and can rotate relative to the drone, and one end of the first balance bar is connected to the multi-axis robotic arm; as well as The counterweight assembly includes a first counterweight and a second counterweight. The first counterweight is connected to the other end of the first balance bar and its weight is adjustable. The second counterweight is connected to the rotational connection between the first balance bar and the drone and is offset relative to the center of gravity of the first balance bar. It is used to drive the first balance bar to rotate relative to the drone so that the drone, the first counterweight, the second counterweight, and the multi-axis robotic arm are in a balanced state.

2. The balancing system according to claim 1, characterized in that, The first balance bar is located at the center of the first balance bar, where it is connected to the rotating part of the UAV.

3. The balancing system according to claim 1, characterized in that, The first balance bar is capable of rotating relative to the UAV about an axis perpendicular to the first balance bar's axial direction.

4. The balancing system according to claim 1, characterized in that, The first balance bar is capable of rotating relative to the UAV about its axial direction.

5. The balancing system according to claim 1, characterized in that, The balancing system also includes a hinge, which is connected to the first balancing bar and hinged to the drone.

6. The balancing system according to claim 5, characterized in that, The balancing system also includes a connector, one end of which is connected to the hinge and the other end of which is connected to the first balance bar.

7. The balancing system according to claim 6, characterized in that, The balancing system also includes two second balance bars, which are respectively disposed at both ends of the first balance bar. One end of one second balance bar is connected to the multi-axis robotic arm and the other end is connected to the first balance bar. The other second balance bar is connected to the first counterweight and the other end is connected to the first balance bar.

8. The balancing system according to claim 7, characterized in that, The two second balance bars are respectively inclined relative to the first balance bar.

9. The balancing system according to claim 6, characterized in that, The first balance bar includes a first segment and a second segment, which are respectively disposed on both sides of the connecting body and are inclined relative to the connecting body. An adjustable angle is formed between the first segment and the second segment.

10. A drone equipped with a robotic arm, characterized in that, include: The unmanned aerial vehicle (UAV), a multi-axis robotic arm, and a balancing system as described in any one of claims 1-9, wherein the first balance bar is rotatably connected to the UAV, and both ends of the first balance bar are respectively connected to the multi-axis robotic arm and a first counterweight, and the second counterweight is connected to the first balance bar.

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