Mechanical arm structure applied to unmanned aerial vehicle

Abstract

The utility model discloses a mechanical arm structure applied to an unmanned aerial vehicle. The mechanical arm structure comprises a mounting disc module, a sliding rail module and a self-adaptive mechanical claw module. The mounting disc module is used for being connected with an unmanned aerial vehicle; the sliding rail module is used for connecting the mounting disc module with the self-adaptive mechanical claw module; and the self-adaptive mechanical claw module is used for grabbing and clamping objects. Flight pressure after the unmanned aerial vehicle is loaded is relieved, loading and unloading are convenient, and objects in different shapes can be grabbed in a self-adaptive mode.

Description

Technical Field

[0001] The utility model belongs to the technical field of robotic arms, and particularly relates to a robotic arm structure applied to drones. Background Art

[0002] In recent years, with the continuous development of drone technology, drones have been continuously applied in various fields. The characteristics of remote operation, small size and light weight have enabled drones to develop towards diversification and multi-functionality. As a robotic device that can simulate the functions of a human arm, a robotic arm can accurately perform various complex operation tasks under human control.

[0003] The existing robotic arms applied to drones not only have a heavy mass, increasing the flight pressure after the drone is loaded, but also have certain requirements for the shape of the grasped items, and are no longer sufficient to meet the needs of production and life. There is an urgent need for a light and adaptive robotic arm that combines drone technology and robotic arm technology. Summary of the Utility Model

[0004] The utility model aims at the deficiencies of the prior art and provides a robotic arm structure applied to drones.

[0005] The technical solution adopted by the utility model to solve its technical problems is as follows:

[0006] A robotic arm structure applied to drones includes a mounting plate module, a slide rail module and an adaptive robotic claw module;

[0007] The mounting plate module is used for connecting with the drone;

[0008] The slide rail module is used for connecting the mounting plate module and the adaptive robotic claw module;

[0009] The adaptive robotic claw module is used for grasping items.

[0010] As a preferred technical solution, the mounting plate module includes a transmission device, and the transmission device is a two-phase hybrid stepper motor with a model of 42HS02A.

[0011] As a preferred technical solution, the two-phase hybrid stepper motor drives the slide rail module and the adaptive robotic claw module to perform circular motion, and provides the driving force during the circular motion; the circular motion is adjusted by the two-phase hybrid stepper motor.

[0012] As a preferred technical solution, the adaptive robotic claw module includes a driving member, a fixing member, a spring, a transmission mechanism, a link mechanism and an execution module;

[0013] The driving member is connected to the transmission mechanism;

[0014] The spring is connected to the transmission mechanism through a fixing member;

[0015] The execution module is connected to the transmission mechanism through the link mechanism.

[0016] As a preferred technical solution, the link mechanism includes an external connecting plate, a clamping link, and a gripper connecting rod; the execution module is connected to the transmission mechanism through the gripper connecting rod.

[0017] As a preferred technical solution, the driving member of the adaptive mechanical claw module is a jaw gear.

[0018] As a preferred technical solution, the robotic arm structure is made of lightweight carbon fiber material.

[0019] As a preferred technical solution, the mounting plate module folds up the robotic arm before takeoff or landing through the two-phase hybrid stepper motor (42HS02A).

[0020] Compared with the prior art, the present utility model has the following beneficial effects:

[0021] 1. Through the power provided by the slide rail module and the circular motion driven by the two-phase hybrid stepper motor, the mechanical claw can grasp items of various shapes, with a wide grasping range and rich application scenarios.

[0022] 2. The use of lightweight carbon fiber material makes the robotic arm lightweight and reduces the flight pressure after the UAV is loaded.

[0023] 3. More standard parts are used, making it easier to assemble. Description of the Drawings

[0024] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present utility model.

[0025] Figure 2 is a schematic diagram of the structure of the mounting plate module of an embodiment of the present utility model.

[0026] Figure 3 is a schematic diagram of the structure of the slide rail module of an embodiment of the present utility model.

[0027] Figure 4 is a schematic diagram of the detailed structure of the slide rail module of an embodiment of the present utility model.

[0028] Figure 5 is a schematic diagram of the structure of the adaptive mechanical claw module of an embodiment of the present utility model.

[0029] Figure 6 is a side view schematic diagram of the adaptive mechanical claw module of an embodiment of the present utility model.

[0030] Figure 7It is the top view of the overall structure of the embodiment of the present utility model.

[0031] As shown in the figure by the reference numerals:

[0032] Mounting plate module I, two-phase hybrid stepper motor (42HS02A) I-1, servo mounting plate I-2, flange coupling I-3, diamond seat bearing connecting shaft I-4, diamond seat bearing I-5, right-angle connector I-6, connecting plate I-7; Slide rail module II, middle section synchronous belt fixing arm II-1, two-phase hybrid stepper motor (42HS02A) II-2, synchronous belt II-3, D-hole synchronous belt pulley II-4, guide rail connecting plate R II-5, guide rail connecting plate L II-6, TE micro linear guide rail L II-7, TE micro linear guide rail R II-8, round-hole synchronous belt pulley II-9, mechanical gripper fixing plate II-10, TE micro linear guide rail slider L II-11, TE micro linear guide rail slider R II-12, diamond seat bearing II-13, right-angle connector II-14, synchronous belt pressing plate II-15, synchronous pulley fixing shaft II-16, copper column II-17; Adaptive mechanical claw module III, external bottom plate III-1, right-angle connector III-2, diamond pressing plate III-3, jaw gear R III-4, gear connecting rod R III-5, spring R III-6, external plate pseudo-clamping connecting rod R III-7, external plate pseudo-clamping connecting rod L III-8, gripper connecting rod III-9, gear connecting rod L III-10, spring L III-11, jaw gear III-12, TBS servo III-13, connecting disc III-14, gear bottom plate III-15, large-width jaw III-16. Specific implementation manner

[0033] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model.

[0034] As Figure 1 shown, in this embodiment, the mounting plate module I and the adaptive mechanical claw module III are connected together through the slide rail module II.

[0035] As Figure 2 shown, the mounting plate module I includes a two-phase hybrid stepper motor I-1, a servo mounting plate I-2, a flange coupling I-3, a diamond seat bearing connecting shaft I-4, a diamond seat bearing I-5, a right-angle connector I-6, and a connecting plate I-7.

[0036] The uppermost part of the mounting plate I is the servo mounting plate I-2, which is fixed by screws through the right-angle connector I-6, screws, and bolts to the two-phase hybrid stepper motor connecting plate and the diamond seat bearing connecting plate I-7. The flange coupling I-3 is fixed to the middle synchronous belt fixing arm II-1 of the slide rail module II by the cooperation of screws and nuts, and remains relatively stationary with the two-phase hybrid stepper motor shaft. The two-phase hybrid stepper motor is connected to the two-phase hybrid stepper motor connecting plate by screws. The diamond seat bearing I-5 is connected to the diamond seat bearing connecting shaft I-4 and fixed to the diamond seat bearing connecting plate I-7 by screws, playing a role in balancing the radial force of the two-phase hybrid stepper motor shaft on the synchronous belt fixing arm. In particular, four nuts are used for joint connection, enhancing the stability during the operation of the robotic arm.

[0037] As Figure 3 , Figure 4 shown, in this embodiment, the slide rail module II provides the driving force for the entire mechanism. The slide rail module II includes a middle synchronous belt fixing arm II-1, a two-phase hybrid stepper motor II-2, a synchronous belt II-3, a D-shaped hole synchronous belt pulley II-4, a guide rail connecting plate R II-5, a guide rail connecting plate L II-6, a TE micro linear guide rail L II-7, a TE micro linear guide rail R II-8, a round hole synchronous belt pulley II-9, a mechanical gripper fixing plate II-10, a TE micro linear guide rail slider L II-11, a TE micro linear guide rail slider R II-12, a diamond seat bearing II-13, a right-angle connector II-14, a synchronous belt pressing plate II-15, a synchronous pulley fixing shaft II-16, and a copper column II-17.

[0038] The middle synchronous belt fixing arm II-1 is connected to the two-phase hybrid stepper motor (42HS02A) I-1 in the mounting plate module I, enabling the slide rail module II to rotate around the mounting plate module I. The two-phase hybrid stepper motor (42HS02A) II-2 is connected to the middle synchronous belt fixing arm II-1 by screws. The synchronous belt II-3 covers the round hole synchronous belt pulley II-9 and the D-shaped hole synchronous belt pulley II-4. The D-shaped hole synchronous belt pulley II-4 is matched with the two-phase hybrid stepper motor (42HS02A) II-2 through the motor shaft and rotates around the motor shaft, driving the round hole synchronous belt pulley II-9 to move through the synchronous belt II-3. The round hole synchronous belt pulley II-9 is connected to the diamond seat bearing II-13 through the synchronous pulley fixing shaft II-16.

[0039] The guide rail connecting plate R Ⅱ-5 and the guide rail connecting plate L Ⅱ-6 are connected to the TE micro linear guide rail R Ⅱ-8 and the TE micro linear guide rail L Ⅱ-7 respectively through three right-angle connectors Ⅱ-14, screws and nuts. The mechanical gripper fixing plate Ⅱ-10 is connected to the TE micro linear guide rail slider L Ⅱ-11, the TE micro linear guide rail slider R Ⅱ-12 and the synchronous belt pressing plate Ⅱ-15 through screws and bolts respectively, and is fixed to the gear bottom plate through right-angle connectors Ⅱ-14, screws and nuts. The synchronous belt pressing plate Ⅱ-15 meshes with the synchronous belt Ⅱ-3, and the upper and lower pressing plates are fixed through screws and nuts, which can keep relatively stationary and drive the mechanical gripper fixing plate Ⅱ-10 to move up and down. The copper column Ⅱ-17 is fixed on the guide rail connecting plate R Ⅱ-5 and the guide rail connecting plate L Ⅱ-6 through screws, playing a role in supporting and connecting the synchronous belt fixing arm.

[0040] Among them, the two-phase hybrid stepper motor (42HS02A) Ⅱ-2 drives the synchronous belt Ⅱ-3 to move, thereby controlling the height of the adaptive mechanical claw. The slide rail module Ⅱ rotates around the mounting disc module Ⅰ, which is driven by the two-phase hybrid stepper motor (42HS02A) Ⅰ-1 to drive the circular motion of the slide rail module Ⅱ and the adaptive mechanical claw module Ⅲ. In particular, such circular motion can be adjusted by the two-phase hybrid stepper motor to achieve precise swinging of the robotic arm at any angle. Such motion makes the present utility model have stronger adaptability and can be used to grasp objects at different heights.

[0041] As Figure 5 , Figure 6 and Figure 7 shown, the adaptive mechanical claw module Ⅲ includes an external bottom plate Ⅲ-1, a right-angle connector Ⅲ-2, a diamond pressing plate Ⅲ-3, a jaw gear R Ⅲ-4, a gear connecting rod R Ⅲ-5, a spring R Ⅲ-6, an external plate pseudo-clamping connecting rod RⅢ-7, an external plate pseudo-clamping connecting rod L Ⅲ-8, a gripper connecting rod Ⅲ-9, a gear connecting rod L Ⅲ-10, a spring L Ⅲ-11, a jaw gear Ⅲ-12, a TBS servo Ⅲ-13, a connecting disc Ⅲ-14, a gear bottom plate Ⅲ-15, and a large-width jaw Ⅲ-16.

[0042] The external bottom plate III-1 is fixed to the external plate quasi-clamping link R III-7, the external plate quasi-clamping link L III-8, the gear bottom plate III-15, the jaw gear III-12, and the diamond pressing plate III-3 in sequence through screws and nuts. The jaw gear III-12 and the jaw gear R III-4 are fixed to the gear link L III-10 and the gear link R III-5 respectively through screws, and are also fixed to the connecting disc III-14. At the same time, they are connected through the combination of the spring R III-6 and the spring L III-11 and the screws. The external plate quasi-clamping link R III-7 and the external plate quasi-clamping link L III-8 are connected and fixed to the gear bottom plate III-15 and the large-width jaw III-16 respectively through screws. The large-width jaw is connected to the gear link through the gripper connecting rod III-9. The right-angle connector III-2 clamps the gear bottom plate III-15 in the middle and is connected to the mechanical gripper fixing plate II-10 to play a fixing role. The TBS servo III-13 is fixed to the external bottom plate III-1 through copper posts, screws, and nuts, and can control the rotation of one side of the large-width jaw III-16, and drive the other side to move synchronously through the jaw gear.

[0043] In this embodiment, the adaptive mechanical claw module III is installed on the mechanical gripper fixing plate II-10 of the slide rail module II through nuts, indirectly realizing synchronous movement with the slide rail module II, and mainly realizing the function of grasping objects. When an object enters and touches the external plate quasi-clamping link R III-7 and the external plate quasi-clamping link L III-8: if the object is large, pressure is applied to the spring R III-6 and the spring L III-11 through the action of the link and gear transmission, so as to realize the enlargement of the gripper opening to adapt to the size of the object; if the object is small, pressure is applied to the spring R III-6 and the spring L III-11 through the action of the link and gear transmission, so as to realize the reduction of the gripper opening to adapt to the size of the object. In particular, the large-volume adaptive mechanical claw module III has a stronger ability to grasp items.

[0044] Preferably, the robotic arm structure applied to the drone adopts lightweight materials of carbon fiber, which reduces the weight of the robotic arm without affecting the quality of grasping items, and reduces the pressure when the drone drives.

[0045] Preferably, the robotic arm structure applied to the drone uses standard parts and sheet metal parts as much as possible to reduce the manufacturing burden.

[0046] In summary, the present utility model designs a small robotic arm that can be assembled on a drone, realizing the combination of the drone and the robotic arm with lightweight and convenient loading and unloading, and greatly expanding the capabilities and application scope of the drone.

[0047] The embodiments described above are only descriptions of the preferred embodiments of the present utility model, and do not limit the concept and scope of the present utility model. Without departing from the design concept of the present utility model, various modifications and improvements made by those of ordinary skill in the art to the technical solutions of the present utility model shall fall within the protection scope of the present utility model. The technical content claimed by the present utility model has been fully recorded in the claims.

Claims

1. A mechanical arm structure applied to a drone, characterized in that: The mechanical arm structure includes a mounting plate module, a slide rail module and an adaptive mechanical claw module; The installation disk module is used for connection with the drone; The slide rail module is used to connect the mounting plate module with the adaptive mechanical claw module; The adaptive mechanical claw module is used to grasp objects; The mounting plate module includes a transmission device, which is a two-phase hybrid stepping motor, model 42HS02A; The two-phase hybrid stepper motor drives the slide rail module and the adaptive mechanical claw module to perform circular motion and provides driving force during the circular motion; the circular motion is adjusted by the two-phase hybrid stepper motor; The adaptive mechanical claw module includes a driving part, a fixing part, a spring, a transmission mechanism, a connecting rod mechanism and an execution module; The driving member is connected to the transmission mechanism; The spring is connected to the transmission mechanism through a fixing member; The execution module is connected via the connecting rod mechanism and the transmission mechanism; The connecting rod mechanism includes an external plate quasi-clamping connecting rod and a clamping connecting rod; the execution module is connected to the transmission mechanism through the clamping connecting rod; The driving element of the adaptive mechanical claw module is a claw gear.

2. The mechanical arm structure used for a drone according to claim 1, characterized in that: The mechanical arm structure adopts the lightweight material of carbon fiber.

3. The mechanical arm structure used for a drone according to claim 1, characterized in that: The mounting plate module folds up the robot arm before flying or landing through the two-phase hybrid stepping motor.

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