Dynamic target capturing device and flying robot

Abstract

The application relates to a dynamic target capturing device and a flying robot, comprising a mechanical arm unit, which comprises a flexible telescopic mechanism, a rigid guide mechanism and a telescopic driving module, the rigid guide mechanism is coaxially arranged with the flexible telescopic mechanism, and the rigid guide mechanism and the flexible telescopic mechanism are telescopic; the rigid guide mechanism has a containing space, and the flexible telescopic mechanism is contained in the containing space; the telescopic driving module is connected with the flexible telescopic mechanism to drive the flexible telescopic mechanism to telescopically extend in a first direction, and the rigid guide mechanism is synchronously moved under the driving of the flexible telescopic mechanism; a clamping unit, which comprises a shell, a susceptor module, a clamping jaw module and a ratchet and pawl module, and the shell is connected with the rigid guide mechanism. The application has the characteristics of light weight, low inertia, fast response and high stability, and can solve the problems of large inertia, slow response speed of the flying robot mechanical arm and high dynamic target difficult to be quickly captured due to complex coupling dynamics modeling.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a dynamic target acquisition device and a flying robot. Background Technology

[0002] Flying robots (also known as drones) are an important carrier of the low-altitude economy, widely used in fields such as safety inspection, surveying and modeling, logistics and transportation, emergency rescue, and agricultural plant protection. However, drones are frequently used illegally and improperly to attack people and disrupt public order, thus posing a threat to public safety. By integrating multiple operating mechanisms into flying robots, it is possible to counteract flying robots, thereby capturing those that endanger public safety and preventing such incidents. Currently, the operating mechanism of a flying robot typically consists of a robotic arm and an end effector. Structurally, the robotic arm can be mainly classified into four types: fixed, serial, parallel, and flexible robotic arms.

[0003] However, existing technologies still have limitations. Fixed robotic arms have a simple structure but lack active positioning and attitude adjustment capabilities; serial robotic arms have flexible configurations and large workspaces, but high overall mass and inertia, and low positioning accuracy; parallel robotic arms have a large number of links, small workspaces, and complex dynamic models; while flexible robotic arms can perform adaptive grasping, but have slow response speeds and low positioning accuracy. In actual capture processes, most grippers apply relatively small restraining forces to the target, and when the energy released instantaneously by the captured dynamic target exceeds the energy barrier of the bistable mechanism, the dynamic target is very likely to break free from the gripper's restraint, resulting in capture failure. Therefore, existing capture mechanisms for flying robots still have significant shortcomings in terms of structural weight, inertial coupling, response speed, and dynamic capture capabilities, making it difficult to meet the capture requirements for highly dynamic targets in UAV countermeasures. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a dynamic target capture device and a flying robot. The capture mechanism has the characteristics of being lightweight, having low inertia, fast response, and high stability, thereby solving the problems of large inertia, slow response speed, and difficulty in quickly capturing highly dynamic targets due to the complex coupled dynamics modeling of the flying robot's robotic arm.

[0005] To address the aforementioned technical problems, the present invention provides a dynamic target acquisition device, comprising: A robotic arm unit includes a flexible telescopic mechanism, a rigid guide mechanism, and a telescopic drive module. The rigid guide mechanism is coaxially arranged with the flexible telescopic mechanism, and the rigid guide mechanism and the flexible telescopic mechanism are telescopic along a first direction. The rigid guide mechanism has a receiving space, and the flexible telescopic mechanism is received in the receiving space. The telescopic drive module is connected to the flexible telescopic mechanism to drive the flexible telescopic mechanism to telescopically extend and retract along the first direction. The rigid guide mechanism moves synchronously under the drive of the flexible telescopic mechanism. The clamping unit includes a housing, a sensor module, a gripper module, and a ratchet-pawl module. The ratchet-pawl module is installed inside the housing, and the housing is connected to the rigid guide mechanism. The gripper module is connected to the ratchet-pawl module, and the sensor module is throttle-connected to the gripper module. The sensor module senses a dynamic target and drives the gripper module to perform a grasping action. The ratchet-pawl module is used to lock the gripper module. A degree-of-freedom adjustment unit, which is connected to the robotic arm unit, is used to adjust the angles of the robotic arm unit in the second and third directions; The control unit is communicatively connected to the robotic arm unit, the gripping unit, and the degree-of-freedom adjustment unit to output control signals to the robotic arm unit, the gripping unit, and the degree-of-freedom adjustment unit.

[0006] In one embodiment of the present invention, the flexible telescopic mechanism includes a first telescopic body and a second telescopic body arranged sequentially along the first direction, the first telescopic body and the second telescopic body being connected to form a corrugated tube structure; the internal chamber of the first telescopic body is in communication with the internal chamber of the second telescopic body, and the first telescopic body is connected to the telescopic drive module.

[0007] In one embodiment of the present invention, the rigid guiding mechanism includes a first connecting plate, a second connecting plate, a third connecting plate, a first link assembly, and a second link assembly. The third connecting plate is connected to the telescopic drive module, and the first connecting plate is connected to the clamping unit. The first link assembly and the second link assembly are disposed opposite to each other on both sides of the flexible telescopic mechanism. The first connecting plate, the second connecting plate, and the third connecting plate are spaced apart along the first direction. The first link assembly includes a first link, a second link, a third link, and a fourth link. One end of the first link is rotatably connected to the first connecting plate, and the other end of the first link is rotatably connected to the second link. The other end of the second link is rotatably connected to the second connecting plate. One end of the third link is rotatably connected to the second connecting plate, and the other end of the third link is rotatably connected to the fourth link. The other end of the fourth link is rotatably connected to the third connecting plate. The second link assembly has the same structure as the first link assembly.

[0008] In one embodiment of the present invention, the sensor module includes a tactile panel, an annular airbag, an elastic component, and a transmission mechanism. The tactile panel is disposed at the front end of the clamping unit. The annular airbag is attached to the tactile panel and is connected to an air source. The tactile panel is coupled to the elastic component through the transmission mechanism. The elastic component is connected to the tactile panel through the transmission mechanism to transmit the pressure applied by the target object to the gripper module.

[0009] In one embodiment of the present invention, the transmission mechanism includes a mounting plate, a first transmission rod, a second transmission rod, a third transmission rod, a fourth transmission rod, a fifth transmission rod, and a sixth transmission rod. The mounting plate is provided with a first guide groove and a second guide groove, the extension directions of which are perpendicular to each other. The second transmission rod, the third transmission rod, the fourth transmission rod, and the fifth transmission rod are sequentially rotatably connected by a revolute joint, and the revolute joint is respectively confined within the first guide groove and the second guide groove, forming a parallelogram structure. One end of the first transmission rod is connected to the tactile panel, and the other end of the first transmission rod is rotatably connected to the second transmission rod and the fifth transmission rod. The sixth transmission rod is disposed opposite to the first transmission rod, one end of which abuts against the elastic component, and the other end of the sixth transmission rod is rotatably connected to the third transmission rod and the fourth transmission rod.

[0010] In one embodiment of the present invention, the elastic component includes a contact plate and a torsion spring, the contact plate being bent to form a receiving cavity, and the torsion spring being received within the receiving cavity.

[0011] In one embodiment of the present invention, the gripper module includes a drive shaft assembly, a gear assembly, a first drive member, a first finger assembly, and a second finger assembly; the drive shaft assembly includes a first drive shaft, a second drive shaft, a third drive shaft, and a fourth drive shaft; the gear assembly includes a first gear, a second gear, a third gear, and a fourth gear, with the first gear disposed on the first drive shaft, the second gear disposed on the second drive shaft, the third gear disposed on the third drive shaft, and the fourth gear disposed on the fourth drive shaft; the elastic component is connected to the second drive shaft; the first finger assembly is mounted on the first drive shaft, the second finger assembly is mounted on the fourth drive shaft, the first gear meshes with the second gear, the second gear meshes with the third gear, and the third gear meshes with the fourth gear; the first finger assembly includes a first pre-tensioning member and a first finger and a second finger coaxially connected; the second finger assembly includes a second pre-tensioning member and a third finger and a fourth finger coaxially connected; the first drive member is connected to the second drive shaft; the first finger and the second finger are mounted on the first drive shaft via the first pre-tensioning member, and the third finger and the fourth finger are mounted on the fourth drive shaft via a second fastener.

[0012] In one embodiment of the present invention, the ratchet and pawl module includes a ratchet assembly, a pawl assembly, a fifth gear, a sixth gear, a fifth drive shaft, a sixth drive shaft, a seventh drive shaft, an eighth drive shaft, a first conveyor belt, a second conveyor belt, and a second driving member. The ratchet assembly includes a first ratchet, a second ratchet, a third ratchet, and a fourth ratchet. The pawl assembly includes a first pawl, a second pawl, a third pawl, and a fourth pawl. The first ratchet and the second ratchet are connected to the first drive shaft, and the third ratchet and the fourth ratchet are connected to the fourth drive shaft. The first pawl and the second pawl are disposed on the fifth drive shaft, and the third pawl and the fourth pawl are disposed on the sixth drive shaft. The first pawl abuts against the first ratchet, the second pawl abuts against the second ratchet, the third pawl abuts against the third ratchet, and the fourth pawl abuts against the fourth ratchet. The pawl assembly is connected to the second driving member via the first conveyor belt and the second conveyor belt, and the second driving member is connected to the eighth drive shaft.

[0013] In one embodiment of the present invention, the telescopic drive module includes a combustion chamber, an igniter, a connector, a gas inlet, and a gas outlet. The igniter, the connector, the gas inlet, and the gas outlet are disposed in the combustion chamber. The combustion chamber is connected to the flexible telescopic mechanism through the connector.

[0014] The present invention also provides a flying robot, including a flying unit and a dynamic target acquisition device as described above, wherein the dynamic target acquisition device is assembled on the flying unit.

[0015] The technical solution of the present invention has the following advantages compared with the prior art: The present invention discloses a dynamic target acquisition device comprising a robotic arm unit, a gripping unit, a degree-of-freedom adjustment unit, and a control unit. Through a high-power-density telescopic drive module in conjunction with a flexible telescopic mechanism, the gripping unit achieves rapid ejection and stable support. The fuel-driven operation offers significantly higher power density and instantaneous response speed compared to traditional electric and pneumatic drives, meeting the stringent requirements of high-speed forward extension in dynamic target acquisition. The combined rigid-flexible coupling design of the flexible telescopic mechanism and the rigid guide mechanism ensures both a large telescopic ratio and smooth movement of the robotic arm unit, while also achieving a flexible and flexible design through the rigid guide mechanism. The directional guidance effectively suppresses lateral bending and buckling instability, while providing high-rigidity and high-precision load-bearing and guiding support for the end-effector gripping unit. In addition, the gripping unit integrates a sensor module, a gripper module, and a ratchet-pawl module. The sensor module sets the surface equivalent energy barrier, thereby actively setting the trigger threshold to achieve sensitive response and state reset to different dynamic targets. The finger structure in the gripper module is staggered and the preload is adjustable, which can adaptively envelop the shape of the target. The ratchet-pawl module ensures unidirectional self-locking after gripping to prevent the target from falling off, improving the reliability and adaptability of capturing complex targets. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the overall structure of the dynamic target acquisition device and flight unit in a preferred embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of a dynamic target capturing device (excluding the housing and base) according to a preferred embodiment of the present invention.

[0019] Figure 3 This is a partial structural schematic diagram of the clamping unit according to a preferred embodiment of the present invention.

[0020] Figure 4 This is a partial structural schematic diagram of the clamping unit according to a preferred embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the clamping unit according to a preferred embodiment of the present invention.

[0022] Figure 6This is a schematic diagram of the flight unit and degree-of-freedom adjustment unit according to a preferred embodiment of the present invention.

[0023] Explanation of reference numerals in the instruction manual: 1. Flexible telescopic mechanism; 11. First telescopic body; 12. Second telescopic body; 2. Rigid guide mechanism; 21. First connecting plate; 22. Second connecting plate; 23. Third connecting plate; 24. First link; 25. Second link; 26. Third link; 27. Fourth link; 3. Telescopic drive module; 30. Ignition device; 31. Gas inlet; 32. Gas outlet; 4. Shell; 5. Sensor module; 50. Base; 51. Tactile panel; 52. Annular airbag; 53. Elastic component; 530. Contact plate; 531. Torsion spring; 540. Mounting plate; 541. First transmission rod; 542. Second transmission rod; 543. Third transmission rod; 544. Fourth transmission rod; 545. Fifth transmission rod; 546. Sixth transmission rod; 6. Gripper module; 60. First drive component; 61. First drive shaft; 62. Second drive shaft; 63. Third drive shaft; 64. Fourth drive shaft; 65. First gear; 66. Second gear; 67. Third gear; 68. Fourth gear; 691. First finger; 692. Second finger; 693. Third finger; 694. Fourth finger; 7. Ratchet and pawl module; 70. Second drive component; 701. First ratchet; 702. Second ratchet; 703. Third ratchet; 704. Fourth ratchet; 705. First pawl; 706. Second pawl; 707. Third pawl; 708. Fourth pawl; 71. Fifth gear; 72. Sixth gear; 73. Fifth drive shaft; 74. Sixth drive shaft; 75. Seventh drive shaft; 76. Eighth drive shaft; 77. First conveyor belt; 78. Second conveyor belt; 8. Degrees of freedom adjustment unit; 81. First platform; 82. Second platform; 83. First push rod; 84. Second push rod; 85. Third push rod; 9. Flight Unit. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention. Example 1

[0025] Reference Figures 1 to 6 As shown, the present invention discloses a dynamic target acquisition device for use in conjunction with a flying robot.

[0026] Specifically, the dynamic target capturing device includes a robotic arm unit, which includes a flexible telescopic mechanism 1, a rigid guide mechanism 2, and a telescopic drive module 3. The rigid guide mechanism 2 is coaxially arranged with the flexible telescopic mechanism 1, and the rigid guide mechanism 2 and the flexible telescopic mechanism 1 are telescopic along a first direction. The rigid guide mechanism 2 has a receiving space, and the flexible telescopic mechanism 1 is received in the receiving space. On the one hand, the rigid guide mechanism 2 can provide axial guidance and constraint for the flexible telescopic mechanism 1, thereby avoiding lateral bending and buckling instability of the flexible telescopic mechanism 1 during the elongation process. On the other hand, the rigid guide mechanism 2 can serve as a high-rigidity, high-precision, and foldable load-bearing frame, providing reliable support for the integration of other structures and load transfer. The telescopic drive module 3 is connected to the flexible telescopic mechanism 1 to drive the flexible telescopic mechanism 1 to extend and retract along the first direction, and the rigid guide mechanism 2 performs telescopic movement synchronously under the drive of the flexible telescopic mechanism 1. The dynamic target capturing device further includes a clamping unit, which comprises a housing 4, a sensor module 5, a gripper module 6, and a ratchet-pawl module 7. The ratchet-pawl module 7 is installed inside the housing 4, and the housing 4 is connected to the rigid guide mechanism 2 to move under the drive of the rigid guide mechanism 2. The gripper module 6 is connected to the ratchet-pawl module 7, and the sensor module 5 is kinetically connected to the gripper module 6. The sensor module 5, the gripper module 6, and the ratchet-pawl module 7 work together to achieve the functions of triggering and sensing dynamic targets, rapid closing and grasping, and one-way self-locking.

[0027] The sensor module 5 senses a dynamic target and drives the gripper module 6 to grasp it. The ratchet and pawl module effectively locks the gripper module 6 after grasping, ensuring grasping stability. Specifically, the sensor module 5 senses contact with the dynamic target and triggers the grasping action, while also having an active energy barrier adjustment function; after being triggered, the gripper module 6 closes quickly to grasp the dynamic target; the ratchet and pawl module 7 restricts the unidirectional rotation of the gripper module 6, thereby achieving a self-locking function after grasping.

[0028] The dynamic target acquisition device also includes a degree-of-freedom adjustment unit 8, which is connected to the robotic arm unit and integrated into one end of the robotic arm unit. The degree-of-freedom adjustment unit 8 is used to realize the rapid pointing and precise orientation of the end gripper unit to the dynamic target, and can realize the angle adjustment of the robotic arm unit in a second direction and a third direction respectively; the second direction is the horizontal direction and the third direction is the pitch direction, so that the end gripper is always aligned with the dynamic target during the hovering or flight of the UAV, providing attitude aiming capability for high-speed acquisition tasks.

[0029] The dynamic target capture device also includes a control unit, which is communicatively connected to the robotic arm unit, the gripping unit, and the degree-of-freedom adjustment unit to output control signals to the robotic arm unit, the gripping unit, and the degree-of-freedom adjustment unit.

[0030] During operation, when a dynamic target comes into contact with the sensor module 5, if the impact force exceeds the energy barrier threshold, a bistable transition occurs, triggering the rapid closing of the gripper module 6. During the closing process, the gripper module 6 adaptively envelops the shape of the target object, and the ratchet and pawl module 7 achieves unidirectional self-locking to ensure stable gripping. After the gripping task is completed, the second drive component 70 controls the ratchet and pawl module 7 to open, and the first drive component 60 controls the gripper module 6 to reset, waiting for the next operation.

[0031] Therefore, it can be seen that the dynamic target acquisition device disclosed in this invention includes a robotic arm unit, a gripping unit, a degree-of-freedom adjustment unit, and a control unit. Through a high-power-density telescopic drive module in conjunction with a flexible telescopic mechanism, the gripping unit achieves rapid ejection and stable support. The fuel-driven operation offers significantly higher power density and instantaneous response speed compared to traditional electric and pneumatic drives, meeting the stringent requirements of high-speed forward extension in dynamic target acquisition. The combination of a flexible telescopic mechanism and a rigid guide mechanism in a rigid-flexible coupling design ensures both a large telescopic ratio and smooth movement of the robotic arm unit. Furthermore, the rigid guide effectively suppresses lateral bending and buckling instability, while providing high-rigidity and high-precision load-bearing and guiding support for the end-effector gripping unit. In addition, the gripping unit integrates a sensor module, a gripper module, and a ratchet-pawl module. The sensor module sets the surface equivalent energy barrier, thereby actively setting the trigger threshold to achieve sensitive response and state reset to different dynamic targets. The finger structure in the gripper module is staggered and the pre-tightening force is adjustable, which can adaptively envelop the shape of the target. The ratchet-pawl module ensures one-way self-locking after gripping to prevent the target from falling off, thereby improving the reliability and adaptability of capturing complex targets.

[0032] In detail, the flexible telescopic mechanism 1 includes a first telescopic body 11 and a second telescopic body 12 arranged sequentially along the first direction. The first telescopic body 11 and the second telescopic body 12 are connected to form a corrugated tube structure. Furthermore, the internal chamber of the first telescopic body 11 is interconnected with the internal chamber of the second telescopic body 12. The first telescopic body 11 is connected to the telescopic drive module 3.

[0033] As a preferred embodiment, the first telescopic body 11 and the second telescopic body 12 can be corrugated artificial muscles, whose shape and structural compliance are inspired by biological retractable muscles, combining high flexibility and a large stretch ratio, and can maintain structural integrity and smooth movement during rapid stretching and contraction.

[0034] In a preferred embodiment, the rigid guide mechanism 2 is configured as a Sarrus single-degree-of-freedom parallel mechanism. Specifically, the rigid guide mechanism 2 includes a first connecting plate 21, a second connecting plate 22, a third connecting plate 23, a first link assembly, and a second link assembly. The third connecting plate 23 is connected to the telescopic drive module 3, and the first connecting plate 21 is connected to the clamping unit. The first link assembly and the second link assembly are symmetrically arranged on both sides of the flexible telescopic mechanism 1; the first connecting plate 21, the second connecting plate 22, and the third connecting plate 23 are spaced apart along the first direction; the first link assembly includes a first link 24, a second link 25, a third link 26, and a fourth link 27, one end of the first link 24 is rotatably connected to the first connecting plate 21 via a revolute joint, the other end of the first link 21 is rotatably connected to the second link 25 via a revolute joint, the other end of the second link 25 is rotatably connected to the second connecting plate 22 via a revolute joint, one end of the third link 26 is rotatably connected to the second connecting plate 22 via a revolute joint, the other end of the third link 26 is rotatably connected to the fourth link 27 via a revolute joint, and the other end of the fourth link 27 is rotatably connected to the third connecting plate 23 via a revolute joint; Preferably, the second link assembly has the same structure as the first link assembly.

[0035] Preferably, the rigid guide mechanism 2 further includes a third link assembly and a fourth link assembly, which have the same structure and are symmetrically arranged on both sides of the flexible telescopic mechanism 1. In this way, the first link assembly, the second link assembly, the third link assembly, and the fourth link assembly cooperate to form a symmetrical and foldable skeleton structure.

[0036] Furthermore, the sensor module 5 includes a base 50, a tactile panel 51, an annular airbag 52, an elastic component 53, and a transmission mechanism. The base 50 has a receiving chamber, and the transmission mechanism is housed in the receiving chamber. The base 50 is connected to the housing 4, and the receiving chamber communicates with the housing 4. The tactile panel 51 is disposed at the front end of the clamping unit, and the annular airbag 52 is fitted with the tactile panel 51 and communicates with an external air source. The annular airbag 52 is also fixed to the base 50, and the base 50 is connected to the housing 4. The tactile panel 51 is coupled to the elastic component 53 through the transmission mechanism, and the elastic component 53 is connected to the gripper module 6 to transmit the pressure applied by the target object to be captured to the gripper module 6.

[0037] During operation, by adjusting the internal pressure of the annular airbag 52, the equivalent energy barrier on the surface of the tactile panel 51 can be continuously controlled, thereby setting the threshold and sensitivity of dynamic target triggering bistable transition, and realizing the active switching and reset of the state of the tactile panel 51; the tactile panel 51 is coupled to the elastic component 53 through the transmission mechanism. When the tactile panel 51 is impacted by a target object and exceeds the set energy barrier, a bistable transition occurs, triggering the rapid release of elastic potential energy of the elastic component 53.

[0038] Specifically, the transmission mechanism includes a mounting plate 540, a first transmission rod 541, a second transmission rod 542, a third transmission rod 543, a fourth transmission rod 544, a fifth transmission rod 545, and a sixth transmission rod 546. The mounting plate 540 is provided with a first guide groove and a second guide groove, the extension directions of the first guide groove and the second guide groove are perpendicular to each other; the extension direction of the first guide groove is consistent with the first direction.

[0039] The second transmission rod 542, the third transmission rod 543, the fourth transmission rod 544, and the fifth transmission rod 545 are sequentially rotatably connected by a revolute joint, and the revolute joint is respectively confined within the first guide groove and the second guide groove, thereby forming a parallelogram structure; wherein, one end of the first transmission rod 541 is connected to the tactile panel 51, and the other end of the first transmission rod 541 is rotatably connected to the second transmission rod 542 and the fifth transmission rod 545; the sixth transmission rod 546 is disposed opposite to the first transmission rod 541, one end of the sixth transmission rod 546 abuts against the elastic component 53, and the other end of the sixth transmission rod 546 is rotatably connected to the third transmission rod 543 and the fourth transmission rod 544.

[0040] In a preferred embodiment, the elastic component 53 includes a contact plate 530 and a torsion spring 531, wherein the contact plate 530 is bent to form a receiving cavity, and the torsion spring 531 is received within the receiving cavity.

[0041] Further, the gripper module 6 includes a drive shaft assembly, a gear assembly, a first drive member 60, a first finger assembly, and a second finger assembly; wherein, the drive shaft assembly includes a first drive shaft 61, a second drive shaft 62, a third drive shaft 63, and a fourth drive shaft 64, and the gear assembly includes a first gear 65, a second gear 66, a third gear 67, and a fourth gear 68, wherein the first gear 65 is disposed on the first drive shaft 61, the second gear 66 is disposed on the second drive shaft 62, the third gear 67 is disposed on the third drive shaft 63, and the fourth gear 68 is disposed on the fourth drive shaft 64; the elastic component 53 is connected to the second drive shaft 62; The first finger assembly is mounted on the first drive shaft 61, and the second finger assembly is mounted on the fourth drive shaft 64. The first gear 65 meshes with the second gear 66, the second gear 66 meshes with the third gear 67, and the third gear 67 meshes with the fourth gear 68. The first finger assembly includes a first preload member and a first finger 691 and a second finger 692 coaxially connected. The second finger assembly includes a second preload member and a third finger 693 and a fourth finger 694 coaxially connected. The first drive member 60 is connected to the second drive shaft 62.

[0042] The first and second fingers are mounted to the first drive shaft via the first pre-tensioning member, and the third and fourth fingers are mounted to the fourth drive shaft via the second fastener. Preferably, the first pre-tensioning member is a bolt, and the second pre-tensioning member is a bolt; two first pre-tensioning members are provided, each cooperating with the first and second fingers respectively, and two second pre-tensioning members are provided, each cooperating with the third and fourth fingers respectively; the first pre-tensioning member is connected to the first drive shaft 61, and the second pre-tensioning member is connected to the fourth drive shaft 64. The pre-tensioning force between the fingers and the drive shaft can be adjusted via the bolts to achieve adaptive envelope of each finger to the dynamic target shape.

[0043] Preferably, the first driving element 60 is a pneumatic actuator.

[0044] Furthermore, the ratchet and pawl module 7 includes a second drive unit 70, a ratchet assembly, a pawl assembly, a fifth gear 71, a sixth gear 72, a fifth drive shaft 73, a sixth drive shaft 74, a seventh drive shaft 75, an eighth drive shaft 76, a first conveyor belt 77, and a second conveyor belt 78. It should be noted that the fifth drive shaft 73, the sixth drive shaft 74, the seventh drive shaft 75 and the eighth drive shaft 76 are arranged in parallel to each other and are respectively parallel to the first drive shaft 61; The ratchet assembly includes a first ratchet 701, a second ratchet 702, a third ratchet 703, and a fourth ratchet 704; the pawl assembly includes a first pawl 705, a second pawl 706, a third pawl 707, and a fourth pawl 708; wherein the first ratchet 701 and the second ratchet 702 are coaxially connected to the first drive shaft 61, and the third ratchet 703 and the fourth ratchet 704 are coaxially connected to the fourth drive shaft 64; The first pawl 705 and the second pawl 706 are disposed on the fifth drive shaft 73, the third pawl 707 and the fourth pawl 708 are disposed on the sixth drive shaft 74, and the first pawl 705 abuts against the first ratchet 701, the second pawl 706 abuts against the second ratchet 702, the third pawl 707 abuts against the third ratchet 703, and the fourth pawl 708 abuts against the fourth ratchet 704; The pawl assembly is connected to the second drive unit 70 via the first conveyor belt 77 and the second conveyor belt 78, and the second drive unit 70 is connected to the eighth drive shaft 76.

[0045] The sixth gear 72 and the first conveyor belt 77 are connected to the eighth drive shaft 76, and the fifth gear 71 and the second conveyor belt 78 are connected to the seventh drive shaft 76; the fifth gear 71 and the sixth gear 72 are connected by a gear pair. The second conveyor belt 78, the first pawl 705, and the second pawl 706 are connected to the fifth drive shaft 73, and the first conveyor belt 77, the third pawl 707, and the fourth pawl 708 are connected to the sixth drive shaft 74; each pawl is connected to a corresponding return spring to limit the unidirectional rotation of the ratchet, thereby preventing the finger from rotating due to external force during the grasping process. When the second drive member 70 operates, it pulls the first conveyor belt 77 and the second conveyor belt 78, causing all pawls to disengage from the ratchet simultaneously. At this time, the finger can rotate in the reverse direction under the drive of the first drive member 60 to complete the reset.

[0046] Preferably, the second drive element 70 is a pneumatic actuator.

[0047] With this configuration, when a dynamic target contacts the tactile panel 51, if the impact force exceeds the energy barrier threshold set by the annular airbag, the tactile panel 51 undergoes a bistable transition, triggering the torsion spring to release elastic potential energy via the transmission mechanism. The torsion spring 531 drives the finger rotation shaft to rotate via a gear pair, causing the finger to close rapidly. During the closing process, the finger adapts to the shape of the target and achieves unidirectional self-locking through the ratchet and pawl module 7, ensuring stable grasping. After the grasping task is completed, the second drive unit 70 actuates, causing all pawls to disengage from the ratchet via the conveyor belt, and then the first drive unit 60 drives the finger to rotate reversibly and reset, waiting for the next operation.

[0048] In a preferred embodiment, the telescopic drive module 3 includes a combustion chamber, an igniter 30, a connection port, a gas inlet 31, and a gas outlet 32. The igniter 30, the connection port, the gas inlet 31, and the gas outlet 32 ​​are disposed in the combustion chamber. The connection port is connected to the air inlet of the flexible telescopic mechanism 1, and the combustion chamber is connected to the flexible telescopic mechanism through the connection port. Preferably, the igniter 30 is an electric spark igniter.

[0049] During operation, the mixed gas enters the combustion chamber through the gas inlet 31. The electric spark igniter is used to ignite the mixed gas to generate high-pressure gas output to the flexible telescopic mechanism 1, causing it to extend. During retraction, the chamber pressure is quickly reduced by suction through the gas outlet 32 ​​(pressure relief / suction port), realizing the rapid reset of the robotic arm unit. Preferably, propane-oxygen mixed gas is used as the power source, and combustion is used for driving. Compared with traditional electric and pneumatic drives, it has extremely high power density and instantaneous response speed, meeting the stringent requirements of high-speed forward extension for dynamic target acquisition.

[0050] Specifically, the operation of the telescopic drive module 3 includes the following stages: During the preloading phase, the mixed gas is injected into the combustion chamber at the bottom of the artificial muscle to complete energy storage; During the rapid ejection phase, the electric spark ignition triggers the explosion of the mixed gas, which then opens the interface between the combustion chamber and the artificial muscle, causing a sudden increase in internal air pressure and high-speed axial elongation of the artificial muscle, and simultaneously driving the parallel mechanism and the end gripper to complete the rapid forward extension. During the retraction phase, the cavity pressure is reduced by rapid suction, enabling the robotic arm to quickly reset and repeat actions.

[0051] In detail, the degree-of-freedom adjustment unit 8 is integrated into one end of the robotic arm unit, used to achieve rapid pointing and precise orientation of the end effector towards a dynamic target. The degree-of-freedom adjustment unit 8 includes a first platform 81, a second platform 82, a first push rod 83, a second push rod 84, a third push rod 85, and four ball joints. The first platform 81 is connected to the telescopic drive module 3, and the second platform 82 is connected to the flying robot. The first platform 81 and the second platform 82 are connected through one of the ball joints. The first push rod 83, the second push rod 84, and the third push rod 85 are respectively connected to the first platform 81 through three ball joints, thereby realizing two degrees of freedom rotation of the overall module. During the process of the UAV approaching the target, the flight control system calculates the attitude angle in real time according to the target position and controls the two-degree-of-freedom rotation adjustment module to adjust the robotic arm pointing, ensuring that the end gripper is always aligned with the target, providing accurate initial alignment for subsequent rapid ejection and grasping. Example 2

[0052] The present invention also discloses a flying robot, including a flight unit 9 and a dynamic target acquisition device as described in Embodiment 1, wherein the dynamic target acquisition device is assembled on the flight unit 9.

[0053] Specifically, the flight unit 9 is connected to the degree-of-freedom adjustment unit 8 of the dynamic target acquisition device.

[0054] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A dynamic target acquisition device, characterized in that: include, A robotic arm unit includes a flexible telescopic mechanism, a rigid guide mechanism, and a telescopic drive module. The rigid guide mechanism is coaxially arranged with the flexible telescopic mechanism, and the rigid guide mechanism and the flexible telescopic mechanism are telescopic along a first direction. The rigid guide mechanism has a receiving space, and the flexible telescopic mechanism is received in the receiving space. The telescopic drive module is connected to the flexible telescopic mechanism to drive the flexible telescopic mechanism to telescopically extend and retract along the first direction. The rigid guide mechanism moves synchronously under the drive of the flexible telescopic mechanism. The clamping unit includes a housing, a sensor module, a gripper module, and a ratchet-pawl module. The ratchet-pawl module is installed inside the housing, and the housing is connected to the rigid guide mechanism. The gripper module is connected to the ratchet-pawl module, and the sensor module is throttle-connected to the gripper module. The sensor module senses a dynamic target and drives the gripper module to perform a grasping action. The ratchet-pawl module is used to lock the gripper module. A degree-of-freedom adjustment unit, which is connected to the robotic arm unit, is used to adjust the angles of the robotic arm unit in the second and third directions; The control unit is communicatively connected to the robotic arm unit, the gripping unit, and the degree-of-freedom adjustment unit to output control signals to the robotic arm unit, the gripping unit, and the degree-of-freedom adjustment unit.

2. The dynamic target acquisition device according to claim 1, characterized in that: The flexible telescopic mechanism includes a first telescopic body and a second telescopic body arranged sequentially along the first direction. The first telescopic body and the second telescopic body are connected to form a corrugated tube structure. The internal chamber of the first telescopic body is interconnected with the internal chamber of the second telescopic body. The first telescopic body is connected to the telescopic drive module.

3. The dynamic target acquisition device according to claim 1, characterized in that: The rigid guiding mechanism includes a first connecting plate, a second connecting plate, a third connecting plate, a first link assembly, and a second link assembly. The third connecting plate is connected to the telescopic drive module, and the first connecting plate is connected to the clamping unit. The first link assembly and the second link assembly are disposed opposite to each other on both sides of the flexible telescopic mechanism. The first connecting plate, the second connecting plate, and the third connecting plate are spaced apart along the first direction. The first link assembly includes a first link, a second link, a third link, and a fourth link. One end of the first link is rotatably connected to the first connecting plate, and the other end of the first link is rotatably connected to the second link. The other end of the second link is rotatably connected to the second connecting plate. One end of the third link is rotatably connected to the second connecting plate, and the other end of the third link is rotatably connected to the fourth link. The other end of the fourth link is rotatably connected to the third connecting plate. The second link assembly has the same structure as the first link assembly.

4. The dynamic target acquisition device according to claim 1, characterized in that: The sensor module includes a tactile panel, an annular airbag, an elastic component, and a transmission mechanism. The tactile panel is disposed at the front end of the clamping unit. The annular airbag is attached to the tactile panel and is connected to an air source. The tactile panel is coupled to the elastic component through the transmission mechanism. The elastic component is connected to the tactile panel through the transmission mechanism to transmit the pressure applied by the target object to the gripper module.

5. A dynamic target acquisition device according to claim 4, characterized in that: The transmission mechanism includes a mounting plate, a first transmission rod, a second transmission rod, a third transmission rod, a fourth transmission rod, a fifth transmission rod, and a sixth transmission rod. The mounting plate has a first guide groove and a second guide groove, the extension directions of which are perpendicular to each other. The second transmission rod, the third transmission rod, the fourth transmission rod, and the fifth transmission rod are rotatably connected sequentially via a revolute joint, and the revolute joint is respectively confined within the first guide groove and the second guide groove, forming a parallelogram structure. One end of the first transmission rod is connected to the tactile panel, and the other end of the first transmission rod is rotatably connected to the second transmission rod and the fifth transmission rod. The sixth transmission rod is disposed opposite to the first transmission rod, one end of the sixth transmission rod abuts against the elastic component, and the other end of the sixth transmission rod is rotatably connected to the third transmission rod and the fourth transmission rod.

6. A dynamic target acquisition device according to claim 4, characterized in that: The elastic component includes a contact plate and a torsion spring, the contact plate being bent to form a receiving cavity, and the torsion spring being received within the receiving cavity.

7. A dynamic target acquisition device according to claim 4, characterized in that: The gripper module includes a drive shaft assembly, a gear assembly, a first drive member, a first finger assembly, and a second finger assembly. The drive shaft assembly includes a first drive shaft, a second drive shaft, a third drive shaft, and a fourth drive shaft. The gear assembly includes a first gear, a second gear, a third gear, and a fourth gear. The first gear is disposed on the first drive shaft, the second gear is disposed on the second drive shaft, the third gear is disposed on the third drive shaft, and the fourth gear is disposed on the fourth drive shaft. The elastic component is connected to the second drive shaft. The first finger assembly is mounted on the first drive shaft, and the second finger assembly is mounted on the fourth drive shaft. The first gear meshes with the second gear, the second gear meshes with the third gear, and the third gear meshes with the fourth gear. The first finger assembly includes a first pre-tensioning member and a first finger and a second finger coaxially connected. The second finger assembly includes a second pre-tensioning member and a third finger and a fourth finger coaxially connected. The first drive member is connected to the second drive shaft. The first finger and the second finger are mounted on the first drive shaft via the first pre-tensioning member, and the third finger and the fourth finger are mounted on the fourth drive shaft via a second fastener.

8. A dynamic target acquisition device according to claim 7, characterized in that: The ratchet and pawl module includes a ratchet assembly, a pawl assembly, a fifth gear, a sixth gear, a fifth drive shaft, a sixth drive shaft, a seventh drive shaft, an eighth drive shaft, a first conveyor belt, a second conveyor belt, and a second driving member. The ratchet assembly includes a first ratchet, a second ratchet, a third ratchet, and a fourth ratchet. The pawl assembly includes a first pawl, a second pawl, a third pawl, and a fourth pawl. The first and second ratchets are connected to the first drive shaft, and the third and fourth ratchets are connected to the fourth drive shaft. The first and second pawls are located on the fifth drive shaft, and the third and fourth pawls are located on the sixth drive shaft. The first pawl abuts against the first ratchet, the second pawl abuts against the second ratchet, the third pawl abuts against the third ratchet, and the fourth pawl abuts against the fourth ratchet. The pawl assembly is connected to the second driving member via the first and second conveyor belts, and the second driving member is connected to the eighth drive shaft.

9. A dynamic target acquisition device according to claim 1, characterized in that: The telescopic drive module includes a combustion chamber, an igniter, a connector, a gas inlet, and a gas outlet. The igniter, the connector, the gas inlet, and the gas outlet are located in the combustion chamber. The combustion chamber is connected to the flexible telescopic mechanism through the connector.

10. A flying robot, characterized in that: It includes a flight unit and a dynamic target acquisition device as described in any one of claims 1-9, wherein the dynamic target acquisition device is mounted on the flight unit.

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