Clamping type unmanned aerial vehicle with air reconfiguration capability

Abstract

The application discloses a clamping type unmanned plane with an air variable configuration capability, which comprises a frame, two unmanned plane arms, two fixed seats and two electric machines I with paddles; the frame is provided with a driving device, a driving shaft, a synchronous shaft I and a synchronous shaft II; the driving shaft is provided with a gear, the synchronous shaft I is provided with a gear I engaged with the gear, and the synchronous shaft II is provided with a gear II engaged with the gear I; the two fixed seats are respectively installed on the lateral sides of the frame; the fixed seat is provided with a rotating shaft, the bottom of the electric machine I is provided with a mounting frame I, the rotating shaft is installed in the mounting frame I, and the rotating shaft is provided with a synchronous wheel; the synchronous shaft II is provided with two synchronous belts; and the two ends of the synchronous shaft I are connected with the two unmanned plane arms. The application realizes the coupling movement of the two arms and the two paddles in the pitch direction by using a single steering machine, significantly improves the structural efficiency, reduces the weight of the whole machine and simplifies the control system.

Description

Technical Field

[0001] This invention relates to a clamp-on unmanned aerial vehicle (UAV) with the ability to change configuration in the air, belonging to the field of UAV technology. Background Technology

[0002] Existing drones equipped with grippers or robotic arms typically employ external robotic arm structures, resulting in large overall size and increased weight, making them unsuitable for home or office environments where size and flexibility are critical. Furthermore, these drones exhibit poor maneuverability when navigating obstacles or narrow gaps, their grasping range is limited by the propeller plane, and they cannot flexibly adjust their body attitude to approach target objects, thus limiting their application potential in complex environments.

[0003] Specifically, the existing technology has the following drawbacks: 1. External robotic arms or grippers result in a bulky overall structure, making it difficult to achieve miniaturization and weight reduction; 2. The limited maneuverability of drones prevents them from effectively navigating narrow spaces; 3. The grasping range is limited by the blade layout, and the working range cannot be expanded by adjusting the attitude. Summary of the Invention

[0004] The purpose of this invention is to address the problems existing in the prior art by providing a gripping drone with aerial configuration capability. This invention achieves gripping function without external robotic arm through structural reconstruction and attitude coordination control, and has multi-tasking capabilities such as passing through narrow gaps and perching.

[0005] The technical solution provided by the present invention to solve the above-mentioned technical problems is: a clamping drone with aerial variable configuration capability, including a frame, two drone arms, two fixed bases, and two first motors with propellers; The frame is provided with a drive device, a drive shaft connected to the drive device, and a longitudinally arranged synchronous shaft I and synchronous shaft II; the drive shaft is provided with a drive gear, the synchronous shaft I is provided with a gear I that meshes with the drive gear, and the synchronous shaft II is provided with a gear II that meshes with the gear I. Two fixed seats are respectively installed on the transverse sides of the frame; a rotating shaft is provided on the fixed seat, and a mounting bracket I is provided at the bottom of the first motor. The two ends of the rotating shaft are respectively installed in the mounting bracket I through flange I, and a synchronous pulley is provided on the rotating shaft; The synchronous shaft II is equipped with two synchronous belts mounted on two synchronous pulleys; The two ends of the synchronous shaft I are connected to the two drone arms respectively via flange coupling I.

[0006] A further technical solution is that the UAV arm includes a bracket, a servo motor, an arm, a slide bar, a slider, a connecting line, a soft sleeve, and a soft clip installed on the soft sleeve; the servo motor is installed 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 bar mounting bracket, and the lower surface is provided with a slide rail; both sides of the bracket are provided with rollers; a second motor is provided on the motor mounting base, and the second motor is provided with rotating blades; the slide bar is slidably installed inside the slide bar mounting bracket, and its two ends are respectively connected to the rollers via lines; 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 arm before connecting to the slider.

[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 connecting member is provided with a hanging spring, the right end of the hanging spring is connected to the left end of the slider, and a spring is provided between the reel and the line.

[0010] 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.

[0011] 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.

[0012] A further technical solution is that the frame includes a horizontally arranged frame mainboard, a lower clamping plate, and upper and lower plate support columns. The lower clamping plate is mounted on the lower end face of the frame mainboard via the upper and lower plate support columns. The bottom of the lower clamping plate is provided with a bottom bracket, and the bottom of the bottom bracket is provided with a bottom pad. The drive device is mounted on the lower clamping plate. The lower clamping plate is provided with two clamping plate support seats. The two ends of the synchronous shaft I are rotatably mounted in the two clamping plate support seats. The synchronous shaft II is rotatably mounted in the bottom bracket. Two fixed seats are respectively mounted on both ends of the frame mainboard. Support plates are provided on both sides of the lower end face of the frame mainboard.

[0013] A further technical solution is that the support plate is provided with tension wheel I and tension wheel II.

[0014] A further technical solution is that two bottom tension springs are provided on both sides of the bottom bracket, and the two bottom tension springs are connected to both sides of the drone arm.

[0015] The present invention has the following beneficial effects: 1. High integration and lightweight: No external robotic arm or gripper mechanism is required. It achieves multi-degree-of-freedom grasping capability through its own configuration transformation. The structure is compact and suitable for operation in confined spaces. 2. Enhanced mobility and adaptability: It has the ability to change configurations and adjust the overall size to pass through narrow passages and adapt to complex terrain; 3. Expanded grasping range: By adjusting the body posture and coordinating the movement of the arm, it can get closer to the target object, expanding the effective working range; 4. Energy efficiency and control optimization: The wedge angle motor design and power distribution strategy effectively suppress torque imbalance and improve flight stability and system energy efficiency. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic 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 the front view of the rack; Figure 5 This is a 3D diagram of the rack; Figure 6 This is a schematic diagram of the lower clamping plate. Figure 7 This is a schematic diagram of the bottom structure of the lower clamping plate; Figure 8 This is a schematic diagram showing the connection between the mounting base and the first motor; Figure 9 This is a three-dimensional structural diagram of the drone's arm; Figure 10 This is the front view of the drone's arm; Figure 11 This is a right view of the drone's arm; Figure 12 A bottom view of the drone's arm; Figure 13 This is a 3D diagram of the drone's arm. Detailed Implementation

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] like Figures 1-13 As shown, a clamping drone with aerial configuration capability according to the present invention includes a frame, two drone arms 30, two fixed bases 31, and two first motors 32 with propellers. The frame is provided with a drive device 33, a drive shaft 34 connected to the drive device 33, and a longitudinally arranged synchronous shaft I 35 and synchronous shaft II 36; the drive shaft 36 is provided with a drive gear 37, the synchronous shaft I 35 is provided with a gear I 38 that meshes with the drive gear 37, and the synchronous shaft II 36 is provided with a gear II 39 that meshes with the gear I 38. Two fixed seats 31 are respectively installed on the transverse sides of the frame; a rotating shaft 40 is provided on the fixed seat 31, and a mounting bracket I 41 is provided at the bottom of the first motor 32. The two ends of the rotating shaft 40 are respectively installed in the mounting bracket I 41 through the flange I 42, and a synchronous pulley 43 is provided on the rotating shaft 40. The synchronous shaft II 36 is provided with two synchronous belts 44 mounted on two synchronous pulleys 43; The two ends of the synchronous shaft I35 are connected to the two UAV arms 30 via flange couplings I45, respectively.

[0022] In this invention, the UAV arms 30 are connected to the central axis via servo motors and can fold downwards to achieve non-concentric gripping. The synchronous shaft II 36 is driven by the drive device 33 (servo motor) to control the synchronous forward and backward rotation of the two folding arms. The front and rear propellers can rotate around their respective shafts 40. The shafts 40 are fitted with synchronous pulleys 43, which are connected to the synchronous shaft II 36 at the bottom of the fuselage via a synchronous belt 44. The gear II 39, coaxial with the synchronous shaft II 36, meshes with the gear on the arm shaft. The two gears rotate in opposite directions, thereby enabling the fuselage to maintain an elevation angle and hover during forward gripping, avoiding interference from the front propellers with target gripping.

[0023] In this embodiment, the frame includes a horizontally arranged frame main board 45, a lower clamping plate 46, and upper and lower plate support columns 47. The lower clamping plate 46 is mounted on the lower end surface of the frame main board 45 via the upper and lower plate support columns 47. The bottom of the lower clamping plate 46 is provided with a bottom bracket 48, and the bottom of the bottom bracket 48 is provided with a bottom pad 49. The drive device 33 is mounted on the lower clamping plate 46. The lower clamping plate 46 is provided with two clamping plate support seats 50. The two ends of the synchronous shaft I 35 are rotatably mounted in the two clamping plate support seats 50. The two ends of the synchronous shaft II 36 are rotatably mounted in the bottom bracket 48. Two fixed seats 31 are respectively mounted on both ends of the frame main board 45. Support plates 51 are provided on both sides of the lower end surface of the frame main board 45.

[0024] In this embodiment, in order to better tension the synchronous belt 44, a preferred implementation is that the support plate 51 is provided with tensioning wheel I 52 and tensioning wheel II 53.

[0025] In this embodiment, in order to facilitate the reset of the two drone arms 30, the preferred implementation is that two bottom tension springs 54 are provided on both sides of the bottom bracket 48, and the two bottom tension springs 54 are connected to both sides of the drone arms 30.

[0026] In this embodiment, as Figures 9-13 As shown, the UAV arm 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 mounted on the soft sleeve 7; the servo motor 2 is installed inside the bracket 1; one end of the arm 3 is connected to the servo motor 2, and the upper surface of the other end is provided with a motor mounting base 9 and a slide bar mounting bracket 10, and the lower surface is provided with a slide rail 11; both sides of the bracket 1 are provided with rollers 12; a second motor 13 is provided on the motor mounting base 9, and the second motor 13 is provided with rotating blades 14; the slide bar 4 is slidably installed inside the slide bar mounting bracket 10, and its two ends are respectively connected to the rollers 12 through lines 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 arm 3 and is connected to the slider 5.

[0027] In this embodiment, the servo motor 2 is mounted in the bracket 1 on both sides via flanges 16.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] In this embodiment, the propeller motors of the two folded drone arms rotate at higher speeds to balance the drone's spin. Therefore, the second motor 13 is equipped with a wedge angle so that when the second motor 13 accelerates its rotation during the folding process, the reverse torque distributed to the horizontal plane is greater, which avoids the motor speed of the folding arm from being too fast and causing overheating, while also reducing power consumption.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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. A clamp-on unmanned aerial vehicle (UAV) with aerial variable configuration capability, characterized in that, It includes a frame, two drone arms, two mounting bases, and two first motors with propellers; The frame is provided with a drive device, a drive shaft connected to the drive device, and a longitudinally arranged synchronous shaft I and synchronous shaft II; the drive shaft is provided with a drive gear, the synchronous shaft I is provided with a gear I that meshes with the drive gear, and the synchronous shaft II is provided with a gear II that meshes with the gear I. Two fixed seats are respectively installed on the transverse sides of the frame; a rotating shaft is provided on the fixed seat, and a mounting bracket I is provided at the bottom of the first motor. The two ends of the rotating shaft are respectively installed in the mounting bracket I through flange I, and a synchronous pulley is provided on the rotating shaft; The synchronous shaft II is equipped with two synchronous belts mounted on two synchronous pulleys; The two ends of the synchronous shaft I are respectively connected to the two drone arms via flange coupling I; The UAV arm includes a bracket, a servo motor, an arm, a slide bar, a slider, a connecting line, a soft sleeve, and a soft clip mounted on the soft sleeve; the servo motor is installed 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 bar mounting bracket, and the lower surface is provided with a slide rail; both sides of the bracket are provided with rollers; a second motor is provided on the motor mounting base, and the second motor is provided with rotating blades; the slide bar is slidably installed in the slide bar mounting bracket, and its two ends are respectively connected to the rollers via lines; 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 arm before connecting to the slider.

2. The clamping UAV with aerial variable configuration capability according to claim 1, characterized in 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. The left connector and the right connector are respectively installed in the two bearing seats through bearings.

3. A clamping UAV with aerial variable configuration capability according to claim 2, characterized in 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; the right connecting member includes a left bearing inner ring limiting member II and a right bearing inner ring limiting member II.

4. A clamping UAV with aerial variable configuration capability according to claim 2, characterized in that, The left connector is equipped with a hanging spring, which is connected to the slider, and a spring is provided between the reel and the line.

5. A clamping unmanned aerial vehicle with aerial variable configuration capability according to claim 1, characterized in that, 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.

6. A clamping unmanned aerial vehicle with aerial variable configuration capability according to claim 1, characterized in that, 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.

7. A clamping unmanned aerial vehicle with aerial variable configuration capability according to claim 1, characterized in that, The frame includes a horizontally arranged main frame, a lower clamping plate, and upper and lower plate support columns. The lower clamping plate is mounted on the lower end face of the main frame via the upper and lower plate support columns. The bottom of the lower clamping plate is provided with a bottom bracket, and the bottom of the bottom bracket is provided with a bottom pad. The drive device is mounted on the lower clamping plate. The lower clamping plate is provided with two clamping plate support seats. The two ends of the synchronous shaft I are rotatably mounted in the two clamping plate support seats. The two ends of the synchronous shaft II are rotatably mounted in the bottom bracket. Two fixed seats are respectively mounted on both ends of the main frame. Support plates are provided on both sides of the lower end face of the main frame.

8. A clamping unmanned aerial vehicle with aerial variable configuration capability according to claim 7, characterized in that, The support plate is equipped with tension wheel I and tension wheel II.

9. A clamping unmanned aerial vehicle with aerial variable configuration capability according to claim 7, characterized in that, Two bottom tension springs are provided on both sides of the bottom bracket, and the two bottom tension springs are connected to the two sides of the drone arm.

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