An unmanned aerial vehicle arm integrating passive telescopic gripper and roll shaft adaptive joint

Abstract

The application discloses a UAV arm integrated with passive telescopic clamping jaws and Roll shaft adaptive joints, which comprises a support, a rudder, an arm, a sliding rod, a sliding block, a connecting line, a soft clamp sleeve and a soft clamp installed on the soft clamp sleeve; the rudder is installed in the support; one end of the arm is connected with the rudder, and the other end is provided with a motor fixing seat and a sliding rod fixing frame on the upper end face and is provided with a sliding rail on the lower end face; the support is provided with a line wheel on each side; the motor fixing seat is provided with a motor, and the motor is provided with a rotating blade; the sliding rod is slidingly installed in the sliding rod fixing frame and is connected with the line wheels through lines at both ends; one end of the connecting line is connected with the middle part of the sliding rod, and the other end is connected with the sliding block after penetrating through the motor fixing seat and the end of the arm. The clamping jaw telescoping process is completely driven by a mechanical structure, and no additional motor or control algorithm is needed, so that the structure is simple and quick in response.

Description

Technical Field

[0001] This invention relates to a drone arm that integrates a passive telescopic gripper and a Roll axis adaptive joint, belonging to the field of drone technology. Background Technology

[0002] In current technology, drone arms do not integrate gripper structures with passive telescopic capabilities. Traditional robotic arms typically rely on additional drive devices (such as motors or cylinders) and complex control algorithms for their telescopic grippers. This results in bulky structures and an inability to automatically identify gripping needs and adjust the gripper position accordingly. Furthermore, common two-finger parallel four-bar grippers are only suitable for gripping regular objects. For irregularly shaped objects or objects with non-parallel gripping surfaces (such as water bottles or spheres), their gripping stability and adaptability are poor, limiting their versatility and flexibility in practical applications. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by providing a drone arm that integrates a passive telescopic gripper and a Roll axis adaptive joint.

[0004] The technical solution provided by this invention to solve the above-mentioned technical problems is: a UAV arm integrating a passive telescopic gripper and a Roll axis adaptive joint, comprising a bracket, a servo motor, an arm, a slide bar, a slider, a connecting line, a soft sleeve, and a soft clamp mounted on the soft sleeve; the servo motor is mounted inside the bracket; One end of the arm is connected to the servo motor, and the upper surface of the other end is provided with a motor mounting base and a slide rod mounting bracket, while the lower surface is provided with a slide rail. Both sides of the bracket are provided with reels; the motor is mounted on the motor mounting base, and the motor is provided with rotating blades; The slide bar is slidably installed inside the slide bar fixing frame, and its two ends are respectively connected to the line wheel via a line; One end of the connecting line is connected to the middle of the slide bar, and the other end passes through the motor mounting base and the end of the machine arm before connecting to the slider.

[0005] A further technical solution is that the servo motor is mounted in the bracket via flanges on both sides.

[0006] A further technical solution is that limiting components are provided at both ends of the slide rod.

[0007] A further technical solution is that the lower end face of the arm is provided with two bearing seats, and the two ends of the slide rail are respectively provided with a left connector and a right connector, and the left connector and the right connector are respectively installed in the two bearing seats through bearings.

[0008] A further technical solution is that the bearing housing includes a left bearing outer ring limiting member and a right bearing outer ring limiting member; the left connecting member includes a left bearing inner ring limiting member I and a right bearing inner ring limiting member I; and the right connecting member includes a left bearing inner ring limiting member II and a right bearing inner ring limiting member II.

[0009] A further technical solution is that the left connector is provided with a hanging spring, and the right end of the hanging spring is connected to the left end of the slider.

[0010] A further technical solution is that the connecting line passes through the right connector and connects to the right end of the slider.

[0011] A further technical solution is that the lower end face of the arm is provided with a plate connecting seat, a plate, and a connecting corner block, and the two ends of the plate are respectively connected to the plate connecting seat and the connecting corner block.

[0012] A further technical solution is that Roll shaft return spring I and Roll shaft return spring II are respectively provided on both sides of the motor mounting base, and the lower ends of Roll shaft return spring I and Roll shaft return spring II are respectively connected to both sides of the slide rail.

[0013] A further technical solution is to provide a spring between the spool and the line.

[0014] The present invention has the following beneficial effects: 1. The gripper extension and retraction process is entirely driven by mechanical structure, requiring no additional motor or control algorithm, resulting in a simple structure and rapid response; 2. The gripper has automatic extension and retraction capabilities, which can be dynamically adjusted according to task requirements to improve the efficiency of drone operations; 3. The Roll axis adaptive joint gives the gripper good adaptability and can stably grip irregularly shaped objects; 4. The overall structure is compact and lightweight, making it suitable for integration into small unmanned aerial vehicle platforms and possessing good engineering application prospects. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is the front view of the present invention; Figure 3 This is a right view of the present invention; Figure 4 This is a bottom view of the present invention; Figure 5 This is a three-dimensional diagram of the present invention. Detailed Implementation

[0016] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the invention, 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 scope of protection of the present invention.

[0017] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] like Figures 1-5 As shown, a UAV arm integrating a passive telescopic gripper and a Roll axis adaptive joint according to the present invention includes a bracket 1, a servo motor 2, an arm 3, a slide bar 4, a slider 5, a connecting line 6, a soft sleeve 7, and a soft clip 8 installed on the soft sleeve 7; the servo motor 2 is installed in the bracket 1; One end of the arm 3 is connected to the servo motor 2, and the upper end of the other end is provided with a motor mounting base 9 and a slide rod mounting bracket 10, and the lower end is provided with a slide rail 11. Both sides of the bracket 1 are provided with reels 12; the motor mounting base 9 is provided with a motor 13, and the motor 13 is provided with rotating blades 14; The slide bar 4 is slidably installed in the slide bar fixing frame 10, and its two ends are respectively connected to the reel 12 via the line 15; One end of the connecting line 6 is connected to the middle of the slide bar 4, and the other end passes through the motor mounting base 9 and the end of the machine arm 3 before being connected to the slider 5.

[0021] In this embodiment, the servo motor 2 is mounted in the bracket 1 on both sides via flanges 16.

[0022] In this embodiment, in order to limit the two ends of the slide rod 4, the preferred implementation is that both ends of the slide rod 4 are provided with limiting members 17, so that the slide rod 4 will not move left or right during the sliding process, ensuring the stability of the slide rod's movement trajectory and preventing deviation from the slide groove.

[0023] In this embodiment, to accommodate the gripping requirements of objects with different shapes, a preferred implementation is that the lower end face of the arm 3 is provided with two bearing seats, and the two ends of the slide rail 11 are respectively provided with a left connector and a right connector. The left connector and the right connector are respectively installed in the two bearing seats through bearings 18. The bearing seats include a left bearing outer ring limiting member 19 and a right bearing outer ring limiting member 20; the left connector includes a left bearing inner ring limiting member I 21 and a right bearing inner ring limiting member I 22, and the right connector includes a left bearing inner ring limiting member II 23 and a right bearing inner ring limiting member II 24.

[0024] The bearing 18 is reliably fixed axially and radially to the left and right connecting parts through two sets of bearing seats. Specifically, the left bearing inner ring limiting part I21 and the right bearing inner ring limiting part II24 are fastened to the left and right ends of the slide rail 11 by screws. At the same time, the right bearing inner ring limiting part I22 and the left bearing inner ring limiting part II23 are connected to the left bearing inner ring limiting part I21 and the right bearing inner ring limiting part II24 respectively, and together they press the inner ring of the bearing 18. The top of the left bearing outer ring limiting part 19 is connected to the arm 3 by screws. At the same time, the right bearing outer ring limiting part 20 is connected to the left bearing outer ring limiting part 19, and together they press the outer ring of the bearing 18, thereby fixing the entire telescopic mechanism to the end of the arm 3.

[0025] In this embodiment, the motor mounting base 9 is provided with Roll axis return spring I 28 and Roll axis return spring II 29 on both sides, and the lower ends of the Roll axis return spring I 28 and Roll axis return spring II 29 are respectively connected to both sides of the slide rail 11. In this way, when the gripper rotates around the Roll axis due to gripping an irregular object, the return springs on both sides are twisted, thereby providing a restoring torque to ensure that the gripper can automatically return to the initial horizontal position after the gripping task is completed.

[0026] In this embodiment, to facilitate the reset of slider 3, a preferred implementation is that the left connector is provided with a hanging spring, and the right end of the hanging spring is connected to the left end of slider 3; in this way, when slider 3 slides, it can be returned to the initial position by the pulling force of the hanging spring.

[0027] In this embodiment, in order to facilitate the sliding of the slider 3 on the slide rail 11 by the connecting wire 6, the connecting wire 6 passes through the central through hole of the motor mounting base 9, the central through hole of the right bearing inner ring limiting member II 24 and the left bearing inner ring limiting member II 23 in sequence, and is finally fixedly connected to the right end of the slider 3.

[0028] In this embodiment, in order to improve the strength of the arm 3, the preferred embodiment is that the lower end face of the arm 3 is provided with a plate connecting seat 25, a plate 26, and a connecting corner block 27, and the two ends of the plate 26 are respectively connected to the plate connecting seat 25 and the connecting corner block 27.

[0029] The passive forward extension of this invention is achieved as follows: When the drone performs a grasping task, the servo motor 2 controls the arm 3 to bend downwards, and the lines 15 at both ends of the slide bar 4 rotate around the fixed reel 12, generating an additional stroke (maximum one-quarter of the circumference), thereby pulling the slide bar 4 backwards. The slide bar 4 is connected to the slider 5 equipped with grippers via the connecting line 6, causing the grippers to extend forward and expanding the grasping range.

[0030] The lines 15 at both ends of the slider 4 are connected to one end of the spring, and the other end of the spring is fixed to the wheel 12. The end of the slider 4 is also fixed by a tension spring and the left connector. The spring constant k of the tension spring fixed to the left connector is smaller than that of the spring fixed to the wheel 12. Therefore, when the gripper is fully extended (arm folded 67.5°), if the arm 3 is folded further, the spring fixed to the wheel 12 will deform, allowing the folding angle of the arm 3 to be further increased.

[0031] Implementation of passive garbage collection: Once the gripping task is completed, arm 3 begins to retract. If the folding angle is greater than 67.5°, the spring fixed to the reel 12 gradually contracts, while the spring at the end of slider 3 remains stretched. When the folding angle is equal to 67.5°, the spring on reel 12 returns to its original length. When the folding angle is less than 67.5°, the tension spring at the end of slider begins to contract, driving the gripper to retract until arm 3 returns to a horizontal position and the gripper returns to its initial position. Throughout the entire process, the wire remains taut to ensure structural stability.

[0032] The above description is not intended to limit the present invention in any way. Although the present invention has been disclosed through the above embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An unmanned aerial vehicle arm integrating passive telescopic gripper and Roll-axis adaptive joint, characterized in that, It includes a bracket, a servo motor, an arm, a slide bar, a slider, a connecting cable, a soft sleeve, and a soft clip mounted on the soft sleeve; the servo motor is mounted inside the bracket; One end of the arm is connected to the servo motor, and the upper surface of the other end is provided with a motor mounting base and a slide rod mounting bracket, while the lower surface is provided with a slide rail. Both sides of the bracket are provided with reels; the motor is mounted on the motor mounting base, and the motor is provided with rotating blades; The slide bar is slidably installed inside the slide bar fixing frame, and its two ends are respectively connected to the line wheel via a line; One end of the connecting line is connected to the middle of the slide bar, and the other end passes through the motor mounting base and the end of the machine arm before connecting to the slider.

2. The unmanned aerial vehicle arm of claim 1, wherein, The servo motor is mounted in the bracket on both sides via flanges.

3. The unmanned aerial vehicle arm of claim 1, wherein, Both ends of the slide rod are equipped with limiting components.

4. The unmanned aerial vehicle arm of claim 1, wherein, The lower end face of the arm is provided with two bearing seats, and the two ends of the slide rail are respectively provided with a left connector and a right connector. The left connector and the right connector are respectively installed in the two bearing seats through bearings.

5. The integrated passive telescopic gripper and Roll-axis self-adapting jointed drone arm of claim 4, wherein, The bearing housing includes a left bearing outer ring limiting member and a right bearing outer ring limiting member; the left connecting member includes a left bearing inner ring limiting member I and a right bearing inner ring limiting member I; the right connecting member includes a left bearing inner ring limiting member II and a right bearing inner ring limiting member II.

6. The unmanned aerial vehicle arm of claim 4, wherein, The left connector is equipped with a hanging spring, which is connected to the slider.

7. The integrated passive telescopic gripper and Roll-axis self-adapting jointed drone arm of claim 4, wherein, The connecting line passes through the right connector and connects to the slider.

8. The unmanned aerial vehicle arm of claim 1, wherein, The lower end face of the arm is provided with a plate connecting seat, a plate, and a connecting corner block. The two ends of the plate are respectively connected to the plate connecting seat and the connecting corner block.

9. The unmanned aerial vehicle arm of claim 1, wherein, The motor mounting base is provided with Roll shaft return spring I and Roll shaft return spring II on both sides respectively, and the lower ends of Roll shaft return spring I and Roll shaft return spring II are respectively connected to both sides of the slide rail.

10. The unmanned aerial vehicle arm of claim 1, wherein, A spring is provided between the spool and the line.

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