Mechanical arm based on unmanned aerial vehicle

Abstract

The mechanical arm based on the unmanned aerial vehicle relates to the technical field of mechanical arms and comprises the unmanned aerial vehicle and a bearing seat, the bearing seat is installed at the bottom of the unmanned aerial vehicle, the mechanical arm is arranged at the bottom of the bearing seat, a gripper is arranged at the movable end of the mechanical arm, and a stabilizing assembly is arranged on the mechanical arm and the bearing seat jointly and comprises a first electric push rod. The first electric push rod is installed on the upper surface of the bearing seat, four supporting frames are fixedly connected to the upper surface of the bearing seat in a rectangular array mode, and the top ends of the four supporting frames are each rotationally connected with a reel. By pulling the chassis and the mechanical arm in four directions, the mechanical arm can be fixed in an auxiliary mode, the swing range of the mechanical arm and goods can be limited, shaking of the mechanical arm is reduced, environmental influences such as external wind power can be effectively resisted, shaking of the goods due to external force can be reduced, and the mechanical arm is more stable in the flying process.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm based on a drone. Background Technology

[0002] A drone-based robotic arm is a collaborative working device that integrates a drone platform and a multi-degree-of-freedom robotic arm. It uses drones to provide aerial mobility and combines end effectors (such as grippers and suction cups) to perform operations such as grasping and transporting target objects. It is widely used in logistics transportation, high-altitude equipment maintenance, disaster relief and other scenarios.

[0003] In the use of existing drone robotic arms, environmental interferences such as external wind force and the downward airflow from the drone propellers during drone flight will interact with the robotic arm, creating multi-directional disturbances to the robotic arm gripper. This can easily cause the robotic arm to sway relative to the drone, which can easily disrupt the stability of the robotic arm gripper in grasping the goods. As a result, the goods held by the drone robotic arm gripper may swing, and the goods may fall off during the flight of the drone.

[0004] To address this, a robotic arm based on a drone is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm based on a drone to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm based on a drone, comprising a drone, a carrier base, the carrier base being installed at the bottom of the drone, a robotic arm being disposed at the bottom of the carrier base, a gripper being disposed at the movable end of the robotic arm, and a stabilizing component, the stabilizing component comprising an electric push rod, the electric push rod being installed on the upper surface of the carrier base, four support frames and four support rods being symmetrically fixedly connected to the carrier base, a winding spool being rotatably connected to the top of the support frame, and a connecting shaft being fixedly connected to one end of the winding spool near the adjacent support rod, the connecting shaft being connected to... Adjacent support rods are rotatably connected. A spring is installed between the winding spool and the adjacent support rod. A rotating wheel is fixedly connected to the end of the winding spool away from the connecting shaft. A push rod is fixedly connected to the telescopic end of the electric push rod. Four limit blocks are fixedly installed on the push rod. The four limit blocks are respectively set to correspond to the positions of the four rotating wheels. Four through slots are symmetrically opened on the bearing seat. The movable end of the robotic arm is rotatably connected to the chassis. A pull rope is wound on the winding spool. One end of the pull rope is fixedly connected to the winding spool. The other end of the pull rope passes through the adjacent through slot and is fixedly connected to the top surface of the chassis.

[0007] Furthermore, two support blocks are symmetrically and fixedly connected to the top surface of the chassis. A rotating shaft is rotatably connected to the top of the support blocks, and a torsion spring is fixedly connected to the rotating shaft. The end of the torsion spring away from the rotating shaft is fixedly connected to the adjacent support block. An electric push rod II is fixedly connected to the support block. An inclined block is fixedly connected to the telescopic end of the electric push rod II. An adjustment plate is rotatably set at the bottom of the inclined block. A round-headed contact block and a clamping plate are fixedly connected to the rotating shaft. Two round-headed contact rods are symmetrically and slidably connected to the chassis. A push plate is fixedly connected to the bottom end of each round-headed contact rod. A bottom spring is sleeved on each round-headed contact rod. The two ends of the bottom spring are fixedly connected to the top surface of the adjacent push plate and the lower surface of the chassis, respectively.

[0008] Furthermore, both the rotating wheel and the limiting block have anti-slip textures on their surfaces.

[0009] Furthermore, the clamping plate includes a connecting part and a clamping part, the connecting part being fixedly connected to the rotating shaft, and the clamping part being rotatably connected to the connecting part.

[0010] Furthermore, the clamping part of the clamp is provided with multiple equally spaced rubber pads.

[0011] Furthermore, the connecting part of the clamp is provided with a slot for the pull rope to move.

[0012] Furthermore, the top of the inclined block near the electric push rod 2 is provided with an inclined surface for pressing and engaging with the round head contact block.

[0013] Compared with the prior art, the beneficial effects of the present invention are: By retracting the telescopic end of the electric push rod, all four wheels are stopped by the corresponding limit blocks, thus restricting the rotation of the four winding shafts. This fixes the length of the four pull ropes, which pull the chassis and the robotic arm in four directions. This provides auxiliary fixation for the robotic arm, limits the swing range of the robotic arm and the cargo, reduces the swaying of the robotic arm, effectively resists the influence of external wind and other environmental factors, and reduces the swaying of the cargo caused by external forces, making the robotic arm more stable during flight. By using clamps and rubber pads to press against the cargo being gripped by the robotic arm, the cargo is less likely to shift under external forces, effectively resisting external interference, reducing cargo sway, lowering the possibility of cargo falling off, and ensuring the reliability of the robotic arm's gripping. Furthermore, when the rubber pads press against the cargo, they deform according to the cargo's shape, conforming to the cargo's outer surface for better pressure application. Two push plates press against the gripper's branch clamps, limiting the gripper and preventing it from loosening and opening. This ensures a tighter contact between the gripper's branch clamps and the cargo, firmly gripping it and preventing cargo from slipping due to external forces during flight. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 This is a three-dimensional schematic diagram of the structure of the bearing seat, pull rope, chassis, etc. of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point B in the middle; Figure 5 For the present invention Figure 3 Enlarged view of point C in the middle; Figure 6 This is a three-dimensional schematic diagram of the structure of the clamping plate, rubber pad, etc. of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of point D; Figure 8 For the present invention Figure 6 Enlarged diagram of point E in the middle.

[0015] In the picture: 11. Drone; 12. Carrier; 13. Robotic arm; 14. Grappling handle; 21. Electric push rod one; 22. Support frame; 23. Winding spool; 24. Pull rope; 25. Connecting shaft; 26. Support rod one; 27. Clockwork spring; 28. Rotating wheel; 29. ​​Top rod; 210. Limiting block; 211. Through groove; 212. Chassis; 213. Support block; 214. Rotating shaft; 215. Torsion spring; 216. Electric push rod two; 217. Inclined block; 2171. Adjusting plate; 218. Round head contact block; 219. Clamping plate; 220. Rubber pad block; 221. Round head contact rod; 222. Push plate; 223. Bottom spring. Detailed Implementation

[0016] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0017] The embodiments provided by this invention: like Figures 1 to 4 as well as Figure 6 and Figure 7As shown, a robotic arm based on a drone includes a drone 11 and a carrier 12. The carrier 12 is installed on the bottom of the drone 11, and a robotic arm 13 is provided on the bottom of the carrier 12. A gripper 14 is provided on the movable end of the robotic arm 13.

[0018] Among them, the drone 11, the robotic arm 13, and the gripper 14 are all existing known technologies, and the drone 11, the robotic arm 13, and the gripper 14 are all controlled by an external controller, which will not be described in detail here. Specifically, when it is necessary to move goods, the user controls the robotic arm 13 to drive the gripper 14 to approach the goods to be moved through the external controller. After the user controls the gripper 14 to grab the goods, the user controls the drone 11 to carry the grabbed goods to fly.

[0019] The drone-based robotic arm also includes a stabilization component, which includes an electric push rod 21. The electric push rod 21 is mounted on the upper surface of the support base 12, with its telescopic end facing upwards. Four support frames 22 and four support rods 26 are symmetrically fixedly connected to the upper surface of the support base 12. The four support rods 26 are respectively positioned corresponding to the four support frames 22. A winding spool 23 is rotatably connected to the top of each support frame 22, with both ends of the winding spool 23 extending out of the support frame 22. A connecting shaft 25 is fixedly connected to the end of the winding spool 23 closest to an adjacent support rod 26, and the connecting shaft 25 is rotatably connected to the adjacent support rod 26. A spring-loaded spring 27 is sleeved on the connecting shaft 25, with both ends of the spring-loaded spring 27 fixedly connected to the support rod 26 and the winding spool 23 respectively. A rotating wheel 28 is fixedly connected to the end of the winding spool 23 furthest from the connecting shaft 25. A top rod is fixedly connected to the telescopic end of the electric push rod 21. 29. The top rod 29 is cross-shaped, with each of its four ends extending upwards towards the four rotating wheels 28. Each of the four ends of the top rod 29 is fixedly connected to a limiting block 210, which corresponds to the positions of the four rotating wheels 28. The support base 12 has four symmetrically arranged through slots 211. The movable end of the robotic arm 13 is rotatably connected to a chassis 212, which is located above the gripper 14. The winding shaft 23 is wound with… The winding has a pull rope 24. One end of the pull rope 24 is fixedly connected to the winding shaft 23, and the other end of the pull rope 24 passes through the adjacent through groove 211 and is fixedly connected to the top surface of the chassis 212. Both the rotating wheel 28 and the limiting block 210 are provided with anti-slip textures. The rotating wheel 28 is located on the path of the limiting block 210 moving downward. When the telescopic end of the electric push rod 21 retracts, it can drive the limiting block 210 to collide with the rotating wheel 28, and under the action of friction, the rotating wheel 28 cannot rotate.

[0020] like Figures 1 to 3 as well as Figure 5 , Figure 6 , Figure 8As shown, two support blocks 213 are symmetrically and fixedly connected to the top surface of the chassis 212. A rotating shaft 214 is rotatably connected to the top of the support block 213. A torsion spring 215 is fixedly connected to the rotating shaft 214. The end of the torsion spring 215 away from the rotating shaft 214 is fixedly connected to the adjacent support block 213. An electric push rod 216 is fixedly connected to the support block 213. An inclined block 217 is fixedly connected to the telescopic end of the electric push rod 216. An adjusting plate 2171 is rotatably provided at the bottom of the inclined block 217. The bottom surface of the rotating shaft 214 is fixedly connected to... There is a round-headed contact block 218. A clamping plate 219 is fixedly connected to the side of the rotating shaft 214 away from the support block 213. Multiple equally spaced rubber pads 220 are fixedly connected to the bottom of the clamping plate 219. Two round-headed contact rods 221 are symmetrically slidably connected on the chassis 212. A push plate 222 is fixedly connected to the bottom end of each round-headed contact rod 221. A bottom spring 223 is sleeved on each round-headed contact rod 221. The two ends of the bottom spring 223 are fixedly connected to the top surface of the adjacent push plate 222 and the lower surface of the chassis 212, respectively.

[0021] Both electric actuator 1 21 and electric actuator 2 216 are electrically connected to an external controller.

[0022] Among them, the spring 27 is always in an elastic deformation state, and the spring 27 provides the force to wind up the rope 24, so that the rope 24 is always in a taut state.

[0023] The function of the chassis 212 being rotatably connected to the movable end of the robotic arm 13 is that when the robotic arm 13 rotates relative to the drone 11, the chassis 212 will not rotate with the robotic arm 13, which can prevent the four pull ropes 24 from getting tangled and knotted.

[0024] like Figure 3 and Figure 6 As shown, the pull rope 24 is set at an angle, so that the chassis 212 is subjected to an upward pulling force.

[0025] like Figure 5As shown, the inclined block 217 has an inclined surface on its top side near the electric push rod 216 for pressing against the round head contact block 218. The round head contact rod 221 is inclined. The adjusting plate 2171 and the inclined block 217 are limited by external bolts (not shown in the attached figure). Specifically, the bottom of the inclined block 217 is rotatably connected to the adjusting plate 2171 via a rotating shaft. The rotating shaft is fixedly connected to the inclined block 217, and the adjusting plate 2171 is rotatably connected to the rotating shaft. The rotating shaft has a threaded hole along the axial direction. A through hole is provided at the position corresponding to the threaded hole. By passing an external bolt through the through hole and screwing it into the threaded hole, the external bolt is pressed against the adjusting plate 2171 and tightened, so that the adjusting plate 2171 and the inclined block 217 can be connected and fixed, so that the adjusting plate 2171 cannot rotate relative to the inclined block 217. After loosening the external bolt, the user can adjust the inclination of the adjusting plate 2171 at the bottom of the inclined block 217. After adjustment, tightening the external bolt again will fix the inclination of the adjusting plate 2171 at the bottom of the inclined block 217.

[0026] The connecting part of the clamp 219 is provided with a slot for the pull rope 24 to move, so that the clamp 219 will not come into contact with the pull rope 24 when it rotates.

[0027] like Figure 2 , Figure 5 As shown, the clamping plate 219 is divided into a connecting part and a clamping part. The connecting part is fixedly connected to the rotating shaft 214, and the clamping part is rotatably connected to the connecting part. The structure of the rotatable connection between the clamping part and the connecting part is similar to the structure of the connection between the adjusting plate 2171 and the inclined block 217. The connecting part and the clamping part can be connected and fixed together by tightening the external bolts, or the tilt angle of the clamping part can be adjusted by loosening the external bolts. The rubber pad 220 is set at the bottom of the clamping part.

[0028] When the electric push rod 216 retracts, the round head contact block 218 is located on the moving path of the inclined block 217, and the round head contact rod 221 is located on the moving path of the adjusting plate 2171. Specifically, when the inclined block 217 is driven by the electric push rod 216 to move towards the support block 213 until it comes into contact with the round head contact block 218, the inclined block 217 can squeeze the round head contact block 218 to make it rotate towards the support block 213. At the same time, the adjusting plate 2171 can squeeze the round head contact rod 221 and drive the round head contact rod 221 to move downward.

[0029] When gripper 14 is not gripping goods, the states of each structure are as follows: The telescopic end of the electric push rod 21 extends upward, and the limiting block 210 does not abut against the rotating wheel 28; all four springs 27 are in an elastic deformation state, and the four springs 27 respectively taut the four pull ropes 24, and then the four pull ropes 24 apply tension to the robotic arm 13 through the chassis 212. At this time, the robotic arm 13 is in a vertical state, and the inclined block 217 and the adjusting plate 2171 do not abut against the round head contact block 218 and the round head contact rod 221; the torsion spring 215 does not produce elastic deformation; the bottom spring 223 does not produce elastic deformation; the gripper 14 does not grab the goods; the branch clamps on the gripper 14 do not converge with each other.

[0030] When the gripper 14 needs to grab goods, the user controls the movement of the robotic arm 13 through an external controller, so that the gripper 14 moves to the position where the goods need to be grabbed. During this process, the position of the robotic arm 13 will change compared to the initial state, but the four pull ropes 24 will always remain taut under the action of the four springs 27. In this way, the pull ropes 24 apply a pulling force to the moving end of the robotic arm 13. The longer the pull rope 24 is pulled out, that is, the greater the distance between the bottom end of the pull rope 24 and the corresponding winding spool 23, the greater the deformation of the spring 27 corresponding to the pull rope 24. Thus, the pull rope 24 exerts a greater force on the robotic arm 13. That is, the four pull ropes 24 can apply an upward pulling force to the four position points at the top of the chassis 212 when the gripper 14 moves to any position.

[0031] When the gripper 14 moves to the position where the goods need to be grasped, the user controls the gripper 14 to clamp the goods via an external controller and operates the electric push rod 21, causing the telescopic end of the electric push rod 21 to retract. As the telescopic end of the electric push rod 21 retracts, the four rotating wheels 28 are all abutted and limited by the corresponding limit blocks 210, thereby restricting the rotation of the four winding spools 23. At this time, the length of the four pull ropes 24 is fixed. By pulling the chassis 212 and the robotic arm 13 in four directions through the four pull ropes 24, the robotic arm 13 can be auxiliaryly fixed, which can limit the swing range of the robotic arm 13 and the goods, reduce the sway of the robotic arm 13, effectively resist the influence of external wind and other environmental factors, and also reduce the sway of the goods caused by external forces, making the robotic arm 13 more stable during flight.

[0032] When the gripper 14 grabs the goods, the branch clamps of the gripper 14 converge and grip the goods. At this time, the telescopic end of the electric push rod 216 retracts. The electric push rod 216 drives the inclined block 217 and the adjusting plate 2171 to move closer to the support block 213. As the inclined block 217 moves, the inclined surface of the inclined block 217 abuts against the round head contact block 218, and the adjusting plate 2171 abuts against the round head contact rod 221, causing the round head contact block 218 to rotate closer to the support block 213, and the round head contact rod 221 to be pressed down.

[0033] When the inclined surface of the inclined block 217 presses against the round-headed contact block 218, it causes the clamping plate 219 and the round-headed contact block 218 to rotate together, causing the two clamping plates 219 to move closer to the goods gripped by the gripper 14. At the same time, the torsion spring 215 undergoes elastic deformation. Simultaneously, when the inclined block 217 moves, it causes the adjusting plate 2171 to move together. The adjusting plate 2171 can press down on the round-headed contact rod 221, causing the round-headed contact rod 221 to drive the push plate 222 to move closer to the adjacent branch clamping rod on the gripper 14. At the same time, the corresponding bottom spring 223 is elastically stretched. Because the adjusting plate 2171 is rotatably connected to the inclined block 217 and can be adjusted... The angle of the adjusting plate 2171 can be adjusted according to different sizes of goods, so that when the electric push rod 216 retracts by the same distance, the push plate 222 moves downward by different distances. When the push plate 222 contacts the gripper 14, the two clamping plates 219 can clamp the goods, making the device adaptable to goods of different sizes. The push plate 222 can prevent the branch clamping rod of the gripper 14 from loosening and opening, and the clamping plates 219 can assist in clamping the goods, making the clamping more stable and preventing the goods from falling. At the same time, the clamping part of the clamping plate 219 can also be angled to make it suitable for more sizes of goods.

[0034] By using clamping plates 219 and rubber pads 220 to press against the goods being gripped by the gripper 14, the goods are less likely to shift when subjected to external forces, effectively resisting external interference, reducing the swaying amplitude of the goods, reducing the possibility of the goods falling off, and ensuring the reliability of the robotic arm 13 in gripping the goods.

[0035] Furthermore, when the rubber pad 220 comes into contact with the goods, it will be squeezed and deformed according to the shape of the goods. The rubber pad 220 can fit the shape of the outer surface of the goods, which can better apply pressure to the goods.

[0036] By using two push plates 222 to abut against the branch clamps of the gripper 14, the gripper 14 can be limited to prevent it from loosening and opening. This makes the branch clamps of the gripper 14 more tightly attached to the cargo, thus firmly gripping the cargo and preventing the cargo from slipping off due to external forces during flight.

[0037] When the drone 11 reaches the unloading position of the goods, the user extends the telescopic end of the electric push rod 21 through the external controller. The electric push rod 21 pushes the top rod 29 to move upward, and the top rod 29 drives the limit block 210 to move upward in sync, so that the limit block 210 no longer jams the rotating wheel 28. At this time, the pull rope 24 is no longer limited. At the same time, the telescopic end of the electric push rod 216 extends. Under the elastic reset action of the torsion spring 215, the clamp 219 rotates away from the robotic arm 13, so that the rubber pad 220 no longer abuts the goods. At the same time, the two push plates 222 move upward under the elastic contraction action of the bottom spring 223, so that the two push plates 222 no longer restrict the gripper 14. At this time, the gripper 14 can release the goods.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm based on a drone, comprising a drone (11) and a carrier (12), the carrier (12) being mounted on the bottom of the drone (11), a robotic arm (13) being disposed on the bottom of the carrier (12), and a gripper (14) being disposed on the movable end of the robotic arm (13), characterized in that, It also includes a stabilizing component, which includes an electric actuator (21) mounted on the upper surface of the support base (12). Four support frames (22) and four support rods (26) are symmetrically fixedly connected to the support base (12). A winding spool (23) is rotatably connected to the top of the support frame (22). A connecting shaft (25) is fixedly connected to the end of the winding spool (23) near the adjacent support rod (26). The connecting shaft (25) is rotatably connected to the adjacent support rod (26). A spring spring (27) is provided between the winding spool (23) and the adjacent support rod (26). The end of the winding spool (23) away from the connecting shaft (25) is fixedly connected. A rotating wheel (28) is fixedly connected to the telescopic end of the electric push rod (21), and a top rod (29) is fixedly connected to the telescopic end of the top rod (29). Four limit blocks (210) are fixedly installed on the top rod (29). The four limit blocks (210) are respectively set to correspond to the positions of the four rotating wheels (28). Four through slots (211) are symmetrically opened on the bearing seat (12). The movable end of the robotic arm (13) is rotatably connected to the chassis (212). A pull rope (24) is wound on the winding shaft (23). One end of the pull rope (24) is fixedly connected to the winding shaft (23), and the other end of the pull rope (24) passes through the adjacent through slot (211) and is fixedly connected to the top surface of the chassis (212).

2. The robotic arm based on a drone according to claim 1, characterized in that, Two support blocks (213) are symmetrically and fixedly connected to the top surface of the chassis (212). A rotating shaft (214) is rotatably connected to the top of the support block (213). A torsion spring (215) is fixedly connected to the rotating shaft (214). The end of the torsion spring (215) away from the rotating shaft (214) is fixedly connected to the adjacent support block (213). An electric push rod II (216) is fixedly connected to the support block (213). An inclined block (217) is fixedly connected to the telescopic end of the electric push rod II (216). The bottom of the inclined block (217) The rotating part is equipped with an adjustment plate (2171), and a round-headed contact block (218) and a clamping plate (219) are fixedly connected on the rotating shaft (214). Two round-headed contact rods (221) are symmetrically slidably connected on the chassis (212). A push plate (222) is fixedly connected to the bottom end of each of the two round-headed contact rods (221). A bottom spring (223) is sleeved on each of the two round-headed contact rods (221). The two ends of the bottom spring (223) are fixedly connected to the top surface of the adjacent push plate (222) and the lower surface of the chassis (212), respectively.

3. The robotic arm based on a drone according to claim 1, characterized in that, The surfaces of the wheel (28) and the limit block (210) are both provided with anti-slip texture.

4. A robotic arm based on a drone according to claim 2, characterized in that, The clamp (219) includes a connecting part and a clamping part. The connecting part is fixedly connected to the rotating shaft (214), and the clamping part is rotatably connected to the connecting part.

5. A robotic arm based on a drone according to claim 4, characterized in that, The clamping part of the clamping plate (219) is provided with multiple equally spaced rubber pads (220).

6. A robotic arm based on a drone according to claim 4, characterized in that, The connecting part of the clamp (219) is provided with a slot for the pull rope (24) to move.

7. A robotic arm based on a drone according to claim 2, characterized in that, The top of the inclined block (217) near the electric push rod (216) has an inclined surface for pressing and engaging with the round head contact block (218).

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