Multi-task adaptive aerial work unmanned aerial vehicle mechanical arm quick-change execution device

Abstract

The application relates to the technical field of unmanned aerial vehicle equipment, in particular to a multi-task-adapted high-altitude operation unmanned aerial vehicle mechanical arm quick-change execution device, which comprises an unmanned aerial vehicle body, a mechanical arm, a cabin, a rotating motor and a clamping unit used for detachably mounting an execution tool; the execution tool comprises a first execution tool and a second execution tool, the first execution tool is provided with a first fixed column, and the second execution tool is provided with a second fixed column; the clamping unit comprises a pre-tightening mechanism used for pre-clamping and positioning the first fixed column or the second fixed column when the first fixed column or the second fixed column is inserted into a mounting box; and a fixing mechanism used for driving and clamping the first fixed column or the second fixed column; the execution tool with different geometric size fixed columns is arranged, and the clamping unit capable of self-adaptive clamping is matched, so that the same unmanned aerial vehicle platform can quickly replace and be compatible with multiple different types and specifications of execution tools, and the application range of the unmanned aerial vehicle is greatly expanded.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) equipment technology, specifically to a multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator. Background Technology

[0002] With the development of industrial drone technology, drones have been widely used in high-altitude operation scenarios such as power line inspection, wind power maintenance, communication tower repair, bridge inspection, building exterior wall maintenance, and disaster emergency rescue. In order to expand the operational capabilities of drones, many industrial-grade drones are equipped with robotic arms, which are equipped with different types of execution tools at the end of the robotic arms to complete tasks such as grasping, cutting, spraying, cleaning, or inspection.

[0003] However, existing drone robotic arm end effectors typically use bolted connections or simple plug-in structures. When tools need to be replaced, manual disassembly and installation are required. In high-altitude working environments, this method is not only inefficient but also poses certain safety risks. Furthermore, different tools often use different connection interface structures, lacking a unified standard, making it difficult to achieve rapid interchangeability between tools. Summary of the Invention

[0004] The purpose of this invention is to provide a quick-change actuator for a high-altitude unmanned aerial vehicle (UAV) robotic arm that is adaptable to multiple tasks. This addresses the problem mentioned in the background art: existing UAV robotic arm end effectors typically use bolted connections or simple plug-in structures. When tool replacement is required, manual disassembly and installation are necessary. In high-altitude working environments, this method is not only inefficient but also poses certain safety risks. Furthermore, different tools often use different connection interface structures, lacking a unified standard, making it difficult to achieve rapid interchangeability between tools. This solution, by setting actuators with fixed columns of different geometric dimensions and cooperating with an adaptive clamping unit, enables the same UAV platform to quickly change and be compatible with multiple different types and specifications of actuators, greatly expanding the application range of UAVs.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator, comprising, The drone itself; The robotic arm is mounted to the lower end of the drone body using fastening bolts. The cabin is installed at the end of the robotic arm; A rotary motor is installed inside the engine room, and its output shaft extends outside the engine room and is connected to a mounting box; A clamping unit, disposed within the mounting box, is used for detachably mounting the actuator; The actuator includes a first gripper and a second gripper. The first gripper has a first fixing post, and the second gripper has a second fixing post. The first fixing post and the second fixing post have different geometric dimensions, and both can be inserted into the mounting box and clamped and fixed by the clamping unit. The clamping unit includes: A pre-tightening mechanism is used to pre-clamp and position the first or second fixed post when it is inserted into the mounting box. The fixing mechanism is used to drive and clamp the first or second fixing post after pre-tightening and positioning, and improves the clamping stability through a magnetic attraction enhancement structure. The fixing mechanism includes a driving component, a clamping component, an electromagnetic adsorption component, and a triggering component; the driving component is used to drive the clamping component to move towards each other to clamp the first fixing post or the second fixing post; the electromagnetic adsorption component is used to generate a magnetic adsorption force on the first fixing post or the second fixing post after clamping is completed to enhance the fixing; the triggering component is used to trigger the electromagnetic adsorption component to be energized during the clamping process.

[0006] Preferably, the height of the first fixing column is twice the height of the second fixing column; both the first fixing column and the second fixing column are made of carbon steel.

[0007] Preferably, the bottom wall of the mounting box is equipped with a multi-source connector female that is electrically connected to the UAV control unit. The lower end of the multi-source connector female extends to the outside of the mounting box and is used to plug into and cooperate with the multi-source connector male provided on the first gripper to realize the electrical signal connection between the first gripper and the UAV control unit.

[0008] Preferably, the pre-tightening mechanism includes two symmetrically arranged clamping plates, a first rotating shaft, a connecting frame, a second rotating shaft, a first slider, a first spring, and a second spring; The two clamping plates are symmetrically distributed inside the mounting box for pre-clamping the first or second fixing post, and their lower ends are provided with a sloping layer to guide the insertion of the first or second fixing post. The upper end of the clamp is rotatably connected to the first rotating shaft; A connecting frame is fixedly connected to the outer wall of the first rotating shaft, and the end of the connecting frame away from the first rotating shaft is connected to the second rotating shaft; The second rotating shaft is rotatably connected to the first slider, and the first slider is slidably disposed on the inner wall of the mounting box; The first spring is disposed between the upper end of the first slider and the inner wall of the mounting box; The second spring is disposed between the end of the clamp plate near the inner wall of the mounting box and the inner wall of the mounting box.

[0009] Preferably, the fixing mechanism includes a clamping motor, a support frame, a rotating plate, a third rotating shaft, a connecting sleeve, a fourth rotating shaft, a limiting plate, and a clamping block; The support frame is fixed inside the mounting box, and the clamping motor is mounted on the upper end of the support frame; The output shaft of the clamping motor is fixedly connected to the rotating plate; The third rotating shaft is symmetrically rotatably connected to both ends of the rotating plate; The lower end of the third rotating shaft is rotatably connected to the fourth rotating shaft via the connecting sleeve; The upper end of the fourth rotating shaft is connected to the limiting plate, and the clamping block is integrally formed on the lower end of the limiting plate; The bottom end of the clamping block is slidably connected to the inner wall of the mounting box, forming a crank-slider mechanism to achieve opposite or opposite movements under the drive of the clamping motor.

[0010] Preferably, the support frame has a limiting groove; the upper end of the limiting plate is provided with a limiting block that slides with the limiting groove to limit the movement direction of the clamping block.

[0011] Preferably, electromagnets are embedded on opposite sides of the two clamping blocks; when the clamping blocks clamp the fixing post, the electromagnets are energized and generate magnetism, producing a magnetic attraction force on the carbon steel fixing post.

[0012] Preferably, the triggering component includes a second slider, a first metal contact, a second metal contact, a power supply, a third spring, and a first wire; The second slider is L-shaped and is slidably disposed inside the clamping block; The first metal contact is fixed to one end of the second slider facing the first or second fixed post; The second metal contact and the power supply are both fixed to the inner wall of the clamping block and are arranged opposite to the first metal contact; The third spring is disposed between the second slider and the inner wall of the clamping block, and is used to provide an elastic force to move the first metal contact away from the second metal contact; The power supply, electromagnet, first metal contact, and second metal contact are connected in series via a first wire. When the clamping block clamps the first or second fixed post, the side wall of the first or second fixed post presses against the second slider, causing it to move against the elastic force of the third spring, thereby making the first metal contact contact the second metal contact, conducting the circuit, and supplying power to the electromagnet.

[0013] Preferably, an opening is formed between two adjacent electromagnets, and one end of the second slider slides within the opening.

[0014] Preferably, it further includes an identification component for identifying the type of actuator; The identification component includes an identification plate, a partition, an identification camera, and a control unit; Multiple identification plates are fixed to the inner wall of one of the clamping blocks at intervals by the partition, and each identification plate has a pattern layer representing different types of utensils at its end; The identification camera is slidably disposed within one of the openings and is electrically connected to the control unit; When fixed posts of different heights are inserted into the mounting box, the recognition camera is pushed to the corresponding height position by the upper end of the fixed post, thereby recognizing the pattern layer on the recognition plate at the corresponding height and sending the recognition signal to the control unit to start the working program corresponding to the actuator.

[0015] Compared with the prior art, the beneficial effects of the present invention are: By setting actuators with fixed columns of different geometric dimensions and cooperating with an adaptive clamping unit, the same UAV platform can quickly replace and be compatible with various types and specifications of actuators, greatly expanding the application range of UAVs. The system combines a pre-tightening mechanism with a fixing mechanism. The pre-tightening mechanism provides initial guidance and clamping the fixed column upon insertion, preventing it from shaking. The fixing mechanism generates a strong mechanical clamping force through a drive component, which, combined with the magnetic attraction force generated by the electromagnetic adsorption component, achieves a dual locking of "mechanical + magnetic attraction." This ensures that the actuator remains firmly fixed and will not fall off even in strong winds at high altitudes or when the UAV's attitude changes. The trigger component design ensures that the electromagnet is only energized after the clamping block has fully clamped the fixed column, avoiding ineffective work and overheating of the electromagnet, and preventing magnetic interference during installation or disassembly when not clamped. The identification component can automatically identify the type of actuator installed and send a signal to the UAV control unit to start the corresponding working program (e.g., activating the clamping program when installing the gripper, and activating the cleaning program when installing the cleaning brush), achieving plug-and-play intelligent operation and reducing the risk of manual intervention and misoperation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall device of the present invention; Figure 2 This is a schematic bottom view of the device of the present invention; Figure 3 This is a schematic diagram of the internal structure of the mounting box in this invention; Figure 4 This is a schematic diagram of the pre-tightening mechanism in this invention; Figure 5 This is a schematic diagram of the second actuator structure in this invention; Figure 6 This is a schematic diagram of the clamping plate and inclined layer structure in this invention; Figure 7 This is a schematic diagram of the triggering component and the identification component in this invention; Figure 8 This is a schematic diagram of the lower end structure of the support frame in this invention; Figure 9 This is a schematic diagram of the distribution structure of the electromagnet, limiting groove, and limiting block in this invention.

[0017] In the diagram: 1. UAV body; 2. Robotic arm; 3. Cabin; 4. Rotary motor; 5. Mounting box; 6. Actuator; 61. First fixing post; 62. Second fixing post; 7. Clamping unit; 71. Pre-tightening mechanism; 711. Clamping plate; 7111. Inclined layer; 712. First rotating shaft; 713. Connecting frame; 714. Second rotating shaft; 715. First slider; 716. First spring; 717. Second spring; 72. Fixing mechanism; 721. Clamping motor; 722. Support frame; 7221. Limiting groove; 723. 724. Rotating plate; 725. Third rotating shaft; 726. Connecting sleeve; 727. Fourth rotating shaft; 728. Limiting plate; 729. Limiting block; 720. Clamping block; 721. Opening; 722. Electromagnetic adsorption assembly; 731. Electromagnet; 742. Triggering assembly; 743. Second slider; 744. First metal contact; 745. Second metal contact; 746. Power supply; 747. Third spring; 8. Multi-source connector female socket; 9. Identification assembly; 91. Identification plate; 911. Pattern layer; 92. Partition; 93. Identification camera. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 - Figure 9 One embodiment provided by the present invention: A multi-task-adaptive high-altitude operation drone robotic arm quick-change actuator includes, The drone body 1; the robotic arm 2 is installed at the lower end of the drone body 1 by fastening bolts, providing the end effector 6 with multi-degree-of-freedom spatial movement capability; the cabin 3 is fixedly installed at the end of the robotic arm 2; the rotary motor 4 is set inside the cabin 3, and its output shaft extends to the outside of the cabin 3 and is connected to the mounting box 5. The rotary motor 4 can drive the mounting box 5 to rotate 360 ​​degrees to adjust the working angle of the end effector 6; The clamping unit 7 is located inside the mounting box 5 and is used for detachably mounting the actuator 6; To achieve multi-task adaptation, the actuator 6 includes at least a first fixture and a second fixture. The first fixture has a first fixing post 61, and the second fixture has a second fixing post 62. The first fixing post 61 and the second fixing post 62 have different geometric dimensions. The height of the first fixing post 61 is twice the height of the second fixing post 62 to facilitate subsequent identification and differentiation. To enhance the fixing effect, both the first fixing post 61 and the second fixing post 62 are made of carbon steel and can be inserted into the mounting box 5 and clamped and fixed by the clamping unit 7. Clamping unit 7 includes: The pre-tightening mechanism 71 is used to pre-clamp and position the first fixed post 61 or the second fixed post 62 when it is inserted into the mounting box 5, so as to cooperate with the electromagnetic adsorption component 73 to generate a magnetic adsorption effect. The fixing mechanism 72 is used to drive and clamp the first fixing post 61 or the second fixing post 62 after pre-tightening and positioning, and improves the clamping stability through the magnetic attraction enhancement structure. The fixing mechanism 72 includes a driving component, a clamping component, an electromagnetic adsorption component 73, and a triggering component 74; the driving component is used to drive the clamping component to move towards each other to clamp the first fixing post 61 or the second fixing post 62; the electromagnetic adsorption component 73 is used to generate a magnetic adsorption force on the first fixing post 61 or the second fixing post 62 after clamping is completed to enhance the fixing; the triggering component 74 is used to trigger the electromagnetic adsorption component 73 to be energized during the clamping process.

[0020] Please see Figure 2 and Figure 3 In this embodiment, the bottom wall of the mounting box 5 is equipped with a multi-source connector female 8 that is electrically connected to the control unit (not shown in the figure) inside the UAV body 1. The lower end of the multi-source connector female 8 extends to the outside of the mounting box 5 and is used to engage with the multi-source connector male 8 provided on the first gripper to realize the electrical signal connection between the first gripper and the UAV control unit. When the first fixing post 61 is inserted into the mounting box 5 and clamped, the multi-source connector male 8 and female 8 are precisely engaged, thereby providing working power 744 and transmitting control signals to the first gripper (such as an electric gripper). Specifically, it should be noted that the drive motor is electrically connected to the control unit via a third wire. The specific working principle is based on existing technology and will not be elaborated further here. The multi-source connector female 8 is electrically connected to the control unit built into the UAV body 1 via a fourth wire. A matching multi-source connector male is inserted into the lower end of the multi-source connector female 8. The multi-source connector male is electrically connected to the drive motor in the electric gripper assembly via a fifth wire. When the first fixing post 61 is inserted into the mounting box 5, the multi-source connector male in the electric gripper assembly will be inserted into the multi-source connector female 8, thereby facilitating the control unit inside the UAV body 1 to transmit commands to the drive motor.

[0021] Please see Figure 3 , Figure 4 and Figure 6 In this embodiment, the pre-tightening mechanism 71 is used to guide and initially clamp and position the fixed column in the initial stage of inserting it into the mounting box 5, so as to prevent it from shaking or falling before the fixing mechanism 72 is activated. The pre-tightening mechanism 71 includes two symmetrically arranged clamping plates 711, a first rotating shaft 712, a connecting frame 713, a second rotating shaft 714, a first slider 715, a first spring 716 and a second spring 717. Two clamping plates 711 are symmetrically distributed in the mounting box 5 for pre-clamping the first fixing post 61 or the second fixing post 62. The lower end of the clamping plates 7111 is provided with a sloping layer 7111 to guide the insertion of the first fixing post 61 or the second fixing post 62. When the first fixing post 61 or the second fixing post 62 is pushed upward, the sloping layer 7111 can guide the fixing post to smoothly enter between the two clamping plates 711. The upper end of the clamping plate 711 is rotatably connected to the first rotating shaft 712; A connecting frame 713 is fixedly connected to the outer wall of the first rotating shaft 712, and the end of the connecting frame 713 away from the first rotating shaft 712 is connected to the second rotating shaft 714. The second rotating shaft 714 is rotatably connected to the first slider 715, and the first slider 715 is slidably disposed on the inner wall of the mounting box 5. The first spring 716 is disposed between the upper end of the first slider 715 and the inner wall of the mounting box 5; The second spring 717 is located between the end of the clamping plate 711 near the inner wall of the mounting box 5 and the inner wall of the mounting box 5. When the first fixing post 61 or the second fixing post 62 is inserted, it will push the two clamping plates 711 upward. At this time, the clamping plates 711 slide to both sides and push the first slider 715 upward through the connecting frame 713 and the second rotating shaft 714, compressing the first spring 716. At the same time, the second spring 717 is compressed. When the fixing post is fully inserted, the restoring force of the first spring 716 and the second spring 717 will drive the clamping plates 711 to clamp the fixing post inward, thereby achieving pre-tight positioning.

[0022] Please see Figure 3 , Figure 5 , Figure 7 and Figure 8 In this embodiment, the fixing mechanism 72 includes a clamping motor 721, a support frame 722, a rotating plate 723, a third rotating shaft 724, a connecting sleeve 725, a fourth rotating shaft 726, a limiting plate 727, and a clamping block 728. The support frame 722 is fixed inside the mounting box 5. A limit groove 7221 is provided on the support frame 722. A limit block 7271 that slides with the limit groove 7221 is provided on the upper end of the limit plate 727 to limit the movement direction of the clamping block 728 and ensure the stability of the clamping process. The clamping motor 721 is installed on the upper end of the support frame 722. The output shaft of the clamping motor 721 is fixedly connected to the rotating plate 723; The two ends of the rotating plate 723 are symmetrically connected to a third rotating shaft 724; The lower end of the third rotating shaft 724 is rotatably connected to the fourth rotating shaft 726 via a connecting sleeve 725; The upper end of the fourth rotating shaft 726 is connected to the limiting plate 727, and the lower end of the limiting plate 727 is integrally formed with a clamping block 728; The bottom end of the clamping block 728 is slidably connected to the inner wall of the mounting box 5 to form a crank-slider mechanism, so as to achieve opposite or opposite movements under the drive of the clamping motor 721. When the clamping motor 721 drives the rotating plate 723 to rotate, it drives the third rotating shaft 724 to make a circular motion, which in turn pulls the limiting plate 727 and the clamping block 728 to make a linear reciprocating motion in the horizontal direction through the connecting sleeve 725 and the fourth rotating shaft 726. Since the two clamping blocks 728 are symmetrically arranged, the rotation of the rotating plate 723 will cause them to move synchronously towards each other (clamping) or away from each other (releasing). In order to ensure the linearity and stability of the movement of the clamping block 728, a limiting groove 7221 is provided on the support frame 722, and the limiting block 7271 provided on the upper end of the limiting plate 727 slides in cooperation with the limiting groove 7221.

[0023] Please see Figure 7 , Figure 8 and Figure 9 In this embodiment, in order to further enhance the stability of clamping, especially to cope with strong winds and vibrations during high-altitude operations, electromagnets 731 are embedded on opposite sides of the two clamping blocks 728. When the clamping blocks 728 clamp the fixing post, the electromagnets 731 are energized to generate magnetism, which generates a strong magnetic attraction force on the first fixing post 61 or the second fixing post 62 made of carbon steel, thereby enhancing the clamping stability.

[0024] Please see Figure 5 and Figure 7 In this embodiment, the trigger component 74 includes a second slider 741, a first metal contact 742, a second metal contact 743, a power supply 744, a third spring 745, and a first wire. The second slider 741 is L-shaped and is slidably disposed inside the clamping block 728; The first metal contact 742 is fixed to one end of the second slider 741 facing the first fixed post 61 or the second fixed post 62; The second metal contact 743 and the power supply 744 (e.g., a button battery or power drawn from a drone) are both fixed to the inner wall of the clamp 728 and are arranged opposite to the first metal contact 742; The third spring 745 is disposed between the second slider 741 and the inner wall of the clamp 728, and always applies a spring force to the second slider 741 to move it outward (away from the clamp 728), thereby keeping the first metal contact 742 and the second metal contact 743 separated. At this time, the circuit is open (broken circuit), and no current flows through the electromagnet 731, so the electromagnet 731 has no magnetism. When contact occurs: when the second slider 741 is pushed, the first metal contact 742 moves with it, and when the first metal contact 742 contacts the second metal contact 743, the circuit is connected (closed loop). The current first flows from the positive terminal of the power supply 744 to the electromagnet 731, then to the first metal contact 742, then to the second metal contact 743, and finally to the negative terminal of the power supply 744, forming a loop. The coil of the electromagnet 731 has current and immediately generates magnetism, increasing the attraction to the first fixed post 61 or the second fixed post 62. The power supply 744, electromagnet 731, first metal contact 742 and second metal contact 743 are connected in series through a first wire; When the clamping block 728 clamps the first fixed post 61 or the second fixed post 62, and the clamping block 728 moves towards each other under the drive of the clamping motor 721 and gradually clamps the first fixed post 61 or the second fixed post 62, the side wall of the first fixed post 61 or the second fixed post 62 will press against the end of the second slider 741 extending from the opening 7281. As the clamping force increases, the second slider 741 is pressed into the clamping block 728, overcoming the elastic force of the third spring 745, and finally the first metal contact 742 contacts the second metal contact 743. At this time, the circuit is turned on, the electromagnet 731 is energized to generate a strong magnetic force, and firmly attracts the first fixed post 61 or the second fixed post 62. When it is necessary to change the tool, the clamping block 728 is released, the third spring 745 pushes the second slider 741 to reset, the contact is disconnected, the electromagnet 731 is demagnetized, and it is convenient to remove the first tool or the first tool. This ensures that the magnetic attraction force only takes effect after the clamping is fully tightened, which is both safe and energy-saving.

[0025] Please see Figure 5 , Figure 7 and Figure 8 In this embodiment, an identification component 9 for identifying the type of actuator 6 is also included; The identification component 9 includes an identification plate 91, a partition 92, an identification camera 93, and a control unit; Multiple identification plates 91 are fixed to the inner wall of one of the clamping blocks 728 at intervals by partitions 92, and each identification plate 91 has a pattern layer 911 representing different types of utensils at its end; The identification camera 93 is slidably mounted in one of the openings 7281 and is electrically connected to the control unit via a second wire; When the first fixed post 61 or the second fixed post 62 of different heights are inserted into the mounting box 5, their tops will be at different heights. The bottom of the recognition camera 93 will be pushed by the top of the fixed post, so that it slides in the opening 7281 to a position corresponding to the height of the first fixed post 61 or the second fixed post 62. At this time, the recognition camera 93 is exactly aligned with the recognition plate 91 at the same height and takes a picture of it for recognition. The recognized pattern layer 911 information is sent to the control unit. The control unit determines which type of actuator 6 is currently installed and automatically loads and executes the corresponding working program (for example, switching to the clamping mode when the first actuator is an electric gripper or the cleaning mode when the first actuator is a cleaning brush). This design realizes the plug-and-play functionality of the tool and the automatic configuration of the task.

[0026] Working principle: The drone carrying the installation box 5 flies to the tool room or is assisted by ground personnel. The first fixing post 61 or the second fixing post 62 welded to the first tool is aligned with the insertion port at the bottom of the installation box 5 and pushed upward. During the upward movement of the fixing post, its top end first contacts the inclined layer 7111 at the lower end of the clamping plate 711 of the pre-tightening mechanism 71. The inclined layer guides the fixing post smoothly into the space between the two clamping plates 711 and forces the clamping plates 711 to move outward. The opening action of the clamping plates 711 is converted into the upward sliding of the first slider 715 through the connecting frame 713, compressing the first spring 716. At the same time, the second spring 717 is also compressed. When the fixing post reaches the predetermined position, the release force of the first spring 716 and the second spring 717 drives the clamping plate to move outward. Plate 711 springs back inward, forming a preliminary pre-clamping position on the fixed post, ensuring it will not shake or fall off inside the mounting box 5, preparing for subsequent strong clamping. The UAV control unit sends a command to start the clamping motor 721 of the fixing mechanism 72. The motor drives the rotating plate 723 to rotate. Through the transmission mechanism composed of the third rotating shaft 724, connecting sleeve 725, and fourth rotating shaft 726, the limiting plates 727 and clamping blocks 728 on both sides move precisely in a straight line towards each other along the limiting groove 7221. The two clamping blocks 728 approach the fixed post from both sides and finally apply mechanical clamping force to firmly hold it. When the clamping blocks 728 clamp, the side wall of the fixed post will press against the second slider 741 of the trigger component 74 hidden in the opening 7281. The two sliders 741 are pressed in, causing the first metal contact 742 to contact the second metal contact 743, thereby activating the power supply circuit of the electromagnet 731. The electromagnet 731 instantly generates a strong magnetic force, firmly adsorbing the carbon steel fixing post onto the clamping block 728. This achieves a dual locking mechanism of "mechanical clamping force + electromagnetic adsorption force," ensuring that the tool will not shift or loosen under extreme conditions such as high-altitude strong winds or violent maneuvers. Simultaneously, the identification camera 93 is pushed to the corresponding height position by the top of the fixing post (for example, the taller first fixing post 61 pushes the identification camera 93 to a higher position, while the shorter second fixing post 62 pushes it to a lower position). The identification camera 93 then focuses on the identification plate 91, which is located at the same height. The system reads the pattern layer 911 on the device and identifies the information (such as "gripper" and "cleaning brush"), which is then sent to the UAV control unit in real time. Based on the identification results, the control unit automatically loads and starts the working mode and program parameters that match the actuator 6, achieving "plug and play". As the fixing column is finally clamped in place, the multi-source connector female 8 installed at the bottom of the mounting box 5 precisely engages with the multi-source connector male 8 on the actuator 6, providing the tool with the power supply 744 and control signal path required for operation. After the tool is installed and identified, the UAV can take off or adjust its attitude to begin performing specific high-altitude tasks. When the UAV body 1 arrives near the target, the robotic arm 2 extends, roughly delivering the mounting box 5 and the actuator 6 to the work point.When precision operations are required (such as adjusting the angle of the electric gripper or cleaning with a cleaning brush), the rotary motor 4 starts, driving the mounting box 5 to rotate 360 ​​degrees. This precisely adjusts the end orientation of the actuator 6 or drives the cleaning brush to rotate continuously, ensuring perfect alignment with the target. The control unit sends specific operating instructions (such as gripper opening and closing, cleaning brush cleaning, etc.) to the actuator 6 through the established multi-source connector to execute the predetermined task. When it is necessary to change tools to perform the next task, the control unit first cuts off the circuit of the electromagnet 731 to demagnetize it; then it controls the clamping motor 721 to reverse, driving the clamping block 728 to move in opposite directions to release the fixing post. Afterward, the actuator 6 is pushed downward to separate from the mounting box 5, completing the tool unloading and initiating a new replacement process.

[0027] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A quick-change actuator for a high-altitude operation drone robotic arm that adapts to multiple tasks, characterized in that, include, Unmanned aerial vehicle body (1); The robotic arm (2) is mounted on the lower end of the UAV body (1) by fastening bolts; The cabin (3) is installed at the end of the robotic arm (2); A rotary motor (4) is installed inside the engine compartment (3), and its output shaft extends outside the engine compartment (3) and is connected to a mounting box (5). The clamping unit (7) is located inside the mounting box (5) and is used to disassemble or install the actuator (6). The actuator (6) includes a first fixture and a second fixture. The first fixture has a first fixing post (61), and the second fixture has a second fixing post (62). The first fixing post (61) and the second fixing post (62) have different geometric dimensions and are both inserted into the mounting box (5) and clamped and fixed by the clamping unit (7). The clamping unit (7) includes: The pre-tightening mechanism (71) is used to pre-clamp and position the first fixing post (61) or the second fixing post (62) when it is inserted into the mounting box (5); The fixing mechanism (72) is used to drive and clamp the first fixing post (61) or the second fixing post (62) after pre-tightening positioning; The fixing mechanism (72) includes a driving component, a clamping component, an electromagnetic adsorption component (73), and a triggering component (74); the driving component is used to drive the clamping component to move towards each other to clamp the first fixing post (61) or the second fixing post (62); the electromagnetic adsorption component (73) is used to generate a magnetic adsorption force on the first fixing post (61) or the second fixing post (62) after clamping to enhance the fixation; the triggering component (74) is used to trigger the electromagnetic adsorption component (73) to be energized during the clamping process.

2. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 1, characterized in that: The height of the first fixing post (61) is twice the height of the second fixing post (62); both the first fixing post (61) and the second fixing post (62) are made of carbon steel.

3. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 1, characterized in that: The bottom wall of the mounting box (5) is equipped with a multi-source connector female (8) that is electrically connected to the UAV control unit. The lower end of the multi-source connector female (8) extends to the outside of the mounting box (5) and is used to plug into and cooperate with the multi-source connector male set on the first gripper to realize the electrical signal connection between the first gripper and the UAV control unit.

4. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 1, characterized in that: The pre-tightening mechanism (71) includes two symmetrically arranged clamping plates (711), a first rotating shaft (712), a connecting frame (713), a second rotating shaft (714), a first slider (715), a first spring (716), and a second spring (717). Two clamping plates (711) are symmetrically distributed in the mounting box (5) for pre-clamping the first fixing post (61) or the second fixing post (62), and the lower end of the clamping plates (7111) is provided with a sloping layer (7111) to guide the insertion of the first fixing post (61) or the second fixing post (62). The first rotating shaft (712) is rotatably connected to the upper end of the clamp (711). A connecting frame (713) is fixedly connected to the outer wall of the first rotating shaft (712), and the end of the connecting frame (713) away from the first rotating shaft (712) is connected to the second rotating shaft (714); The second rotating shaft (714) is rotatably connected to the first slider (715), and the first slider (715) is slidably disposed on the inner wall of the mounting box (5); The first spring (716) is disposed between the upper end of the first slider (715) and the inner wall of the mounting box (5); The second spring (717) is located between the end of the clamping plate (711) near the inner wall of the mounting box (5) and the inner wall of the mounting box (5).

5. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 1, characterized in that: The fixing mechanism (72) includes a clamping motor (721), a support frame (722), a rotating plate (723), a third rotating shaft (724), a connecting sleeve (725), a fourth rotating shaft (726), a limiting plate (727), and a clamping block (728). The support frame (722) is fixed inside the mounting box (5), and the clamping motor (721) is installed on the upper end of the support frame (722); The output shaft of the clamping motor (721) is fixedly connected to the rotating plate (723); The rotating plate (723) is symmetrically rotatably connected to the third rotating shaft (724) at both ends. The lower end of the third rotating shaft (724) is rotatably connected to the fourth rotating shaft (726) through the connecting sleeve (725); The upper end of the fourth rotating shaft (726) is connected to the limiting plate (727), and the lower end of the limiting plate (727) is integrally formed with the clamping block (728). The bottom end of the clamping block (728) is slidably connected to the inner wall of the mounting box (5) to form a crank-slider mechanism, so as to achieve opposite or opposite movements under the drive of the clamping motor (721).

6. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 5, characterized in that: The support frame (722) has a limiting groove (7221); the upper end of the limiting plate (727) is provided with a limiting block (7271) that slides with the limiting groove (7221) to limit the movement direction of the clamping block (728).

7. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 5, characterized in that: Electromagnets (731) are embedded on opposite sides of the two clamping blocks (728); when the clamping blocks (728) clamp the fixing post, the electromagnets (731) are energized and generate magnetism, which generates magnetic attraction force on the carbon steel fixing post.

8. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 5, characterized in that: The triggering component (74) includes a second slider (741), a first metal contact (742), a second metal contact (743), a power supply (744), a third spring (745), and a first wire; The second slider (741) is L-shaped and is slidably disposed inside the clamping block (728); The first metal contact (742) is fixed to one end of the second slider (741) facing the first fixed post (61) or the second fixed post (62); The second metal contact (743) and the power supply (744) are both fixed to the inner wall of the clamp (728) and are arranged opposite to the first metal contact (742); The third spring (745) is disposed between the second slider (741) and the inner wall of the clamp (728) to provide an elastic force that moves the first metal contact (742) away from the second metal contact (743); The power supply (744), electromagnet (731), first metal contact (742), and second metal contact (743) are connected in series via a first wire; When the clamping block (728) clamps the first fixed post (61) or the second fixed post (62), the side wall of the first fixed post (61) or the second fixed post (62) presses against the second slider (741), causing it to move against the elastic force of the third spring (745), thereby making the first metal contact (742) contact the second metal contact (743), conducting the circuit, and supplying power to the electromagnet (731).

9. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 8, characterized in that: An opening (7281) is formed between two adjacent electromagnets (731), and one end of the second slider (741) slides within the opening (7281).

10. The multi-task-adaptive high-altitude operation UAV robotic arm quick-change actuator according to claim 9, characterized in that: It also includes an identification component (9) for identifying the type of actuator (6); The identification component (9) includes an identification plate (91), a partition (92), an identification camera (93), and a control unit; Multiple identification plates (91) are fixed at intervals to the inner sidewall of one of the clamps (728) via the partition (92), and each identification plate (91) has a pattern layer (911) representing different types of utensils at its end. The identification camera (93) is slidably disposed in one of the openings (7281) and electrically connected to the control unit; When the fixed posts of different heights are inserted into the mounting box (5), the recognition camera (93) is pushed to the corresponding height position by the upper end of the fixed post, thereby recognizing the pattern layer (911) on the recognition plate (91) of the corresponding height, and sending the recognition signal to the control unit to start the working program corresponding to the actuator (6).

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