Mechanical arm device of unmanned aerial vehicle

Abstract

The utility model relates to an unmanned aerial vehicle mechanical arm device which comprises a first mechanical arm, a second mechanical arm and a rotary connecting part, the first mechanical arm and the second mechanical arm are rotationally connected through the rotary connecting part, a first concave part is formed in one end of the first mechanical arm, and a second concave part matched with the first concave part is formed in one end of the second mechanical arm. The rotary connecting part comprises a connecting pin, a torsion spring and a connecting screw, one end of the connecting pin is sleeved with the torsion spring, the two ends of the torsion spring are fixedly connected with the first mechanical arm and the second mechanical arm correspondingly, and the end, connected with the torsion spring, of the connecting pin penetrates through the first concave part and the second concave part and is detachably connected with the connecting screw; the elastic rotating connection of the two mechanical arms is realized; the first sunken part is provided with a limiting groove, the second sunken part is provided with a limiting block embedded into the limiting groove, the movement included angle between the first mechanical arm and the second mechanical arm is limited, the unmanned aerial vehicle is helped to keep balance during operation, and the use efficiency of the unmanned aerial vehicle mechanical arms is improved.

Description

Technical Field

[0001] The utility model mainly relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV mechanical arm device. Background Art

[0002] Drones are aircraft widely used in various scenarios such as aerial photography, logistics and transportation, high-altitude construction, and environmental monitoring. By controlling drones, they can help complete many tasks that are difficult to perform manually. With the development of technology, drones have richer functions and wider usage scenarios. Common drone hosts are often equipped with robotic arms, which can facilitate aerial processing and transportation of objects.

[0003] Existing drone robotic arms have complex structures, take up a lot of space, are inconvenient to use, and are easily bumped and damaged. Especially after grabbing an object, the drone will cause it to tilt, limiting its further use and development. Utility Model Content

[0004] The purpose of this application is to provide a drone robotic arm device to solve the above problems.

[0005] The embodiments of the present application can be implemented through the following technical solutions:

[0006] A drone mechanical arm device, the drone mechanical arm device is connected to the drone, comprising a first mechanical arm, a second mechanical arm, and a rotating connection part, the first mechanical arm and the second mechanical arm are rotatably connected through the rotating connection part, one end of the first mechanical arm is provided with a first recessed part, one end of the second mechanical arm is provided with a second recessed part that matches the first recessed part, the rotating connection part comprises a connecting pin, a torsion spring, and a connecting screw, the torsion spring is sleeved on the outside of one end of the connecting pin, and its two ends are fixedly connected to the first mechanical arm and the second mechanical arm respectively, one end of the connecting pin connected to the torsion spring passes through the first recessed part and the second recessed part, and is detachably connected to the connecting screw, thereby realizing the elastic rotation connection between the first mechanical arm and the second mechanical arm;

[0007] Furthermore, a limiting groove is provided on the first recessed portion, and a limiting block corresponding to the limiting groove is provided on the second recessed portion. The limiting block is embedded in the limiting groove and slides along the limiting groove to limit the active angle between the first robotic arm and the second robotic arm.

[0008] Furthermore, along the direction in which the rotating connection portion passes through the robotic arm, the first recessed portion is provided with a first groove, and the second recessed portion is provided with a second groove. The two ends of the torsion spring are respectively connected to the first groove and the second groove, and the inner walls of the first groove and the second groove are in contact, thereby realizing the rebound movement of the second robotic arm.

[0009] Furthermore, the limiting groove is an arc-shaped slide track in the counterclockwise direction, and the limiting block slides along the limiting groove to limit the rotation angle between the first robotic arm and the second robotic arm to between 90° and 100°.

[0010] Furthermore, the other end of the first robotic arm is connected to the UAV base plate, and a robotic arm connecting groove is provided on the UAV base plate. A robotic arm connecting port and a robotic arm connecting plate are provided in the robotic arm connecting groove. The end of the first robotic arm away from the rotating connection part passes through the robotic arm connecting port and is fixedly connected to the robotic arm connecting plate.

[0011] Furthermore, a spring accommodating groove is provided in the robotic arm connecting groove around the robotic arm connecting port, a spring column is provided in the spring accommodating groove, a tension spring is sleeved on the spring column, and the tension spring is placed in the spring accommodating groove.

[0012] Furthermore, a spring pressing portion corresponding to the position of the spring accommodating groove is provided on the robotic arm connecting plate. The spring pressing portion is a hollow cylinder. The spring cylinder can be embedded in the spring pressing portion. The spring pressing portion presses the tension spring along its circumferential outer edge.

[0013] Furthermore, a buffer pad is tightly provided on the side of the robot arm connecting plate facing away from the robot arm connecting port.

[0014] Furthermore, a robotic arm clamp is provided at one end of the second robotic arm away from the rotating connection portion.

[0015] Furthermore, the second robotic arm is a length-adjustable robotic arm.

[0016] Furthermore, a torsion spring protective cover is provided on the torsion spring.

[0017] The embodiment of the present application provides a drone robotic arm device having at least the following beneficial effects:

[0018] 1. The first robotic arm and the second robotic arm are rotatably connected via a rotating connection portion, which has a simple structure and can reduce space occupation.

[0019] 2. The limit slots on the first robotic arm cooperate with the limit blocks on the second robotic arm to limit the movable angle of the robotic arm to within 100°, so that the drone body can maintain balance and improve the efficiency of the drone's robotic arm.

[0020] 3. The establishment of a tension spring in the drone base can act as a buffer when the robotic arm lifts heavy objects, further reducing the pressure burden on the drone, allowing it to operate more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A stereoscopic diagram of connecting the robotic arm to the drone;

[0022] Figure 2 The left picture shows the explosion of the drone's robotic arm;

[0023] Figure 2a The left picture shows a partial view of the drone's robotic arm explosion;

[0024] Figure 3 The right picture shows the explosion of the drone's robotic arm;

[0025] Figure 3a The right picture shows a partial view of the drone's robotic arm explosion;

[0026] Figure 4 This is the initial left view of the UAV robotic arm;

[0027] Figure 5 Rotate the left view for the drone's robotic arm;

[0028] Figure 6 Exploded diagram of the drone's robotic arm connected to the drone's base plate;

[0029] Figure 7 This is the main view of the drone base plate;

[0030] Figure 8 This is a three-dimensional image of the drone base plate;

[0031] Figure 9 This is a partial enlarged view of the drone's bottom plate;

[0032] Figure 10 This is a three-dimensional diagram of the robotic arm connection plate;

[0033] Figure 11 This is the right view of the first robotic arm;

[0034] Figure 11a It is a partial view of the right side of the first robotic arm;

[0035] Figure 12 This is the left view of the second robotic arm;

[0036] Figure 12aThis is a partial view of the left side of the second robotic arm.

[0037] Figure markings: 1-UAV base plate, 11-mechanical arm connecting groove, 111-mechanical arm connecting port, 112-spring accommodating groove, 113-spring column, 12-mechanical arm connecting plate, 121-spring pressing part, 2-first mechanical arm, 21-first recessed portion, 211-first groove, 212-limiting groove, 213-first locking protrusion, 214-first locking groove, 3-second mechanical arm, 31-second recessed portion, 311-second groove, 312-limiting block, 313-second locking protrusion, 314-second locking groove, 4-connecting pin, 5-torsion spring, 6-torsion spring protective cover, 7-connecting screw, 8-tension spring, 9-buffer pad, 10-camera, 20-landing bracket. DETAILED DESCRIPTION

[0038] Hereinafter, the present application will be further described based on preferred embodiments with reference to the accompanying drawings.

[0039] The terms used in this specification are intended to illustrate the embodiments of this application and are not intended to limit this application. Unless otherwise specified or limited, the terms "disposed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will have a clear understanding of the specific meanings of the above terms in this application.

[0040] In addition, in the description of the embodiments of the present application, various components on the drawings are enlarged or reduced in size for ease of understanding, but this practice is not intended to limit the scope of protection of the present application.

[0041] This application provides a UAV robotic arm device, please refer to Figures 1 to 12a :

[0042] A drone mechanical arm device, which is connected to a drone and includes a first mechanical arm 2, a second mechanical arm 3, and a rotating connection part. The first mechanical arm 2 and the second mechanical arm 3 are rotatably connected through the rotating connection part. A first recessed portion 21 is provided at one end of the first mechanical arm 2, and a second recessed portion 31 is provided at one end of the second mechanical arm 3, which cooperates with the first recessed portion 21. The rotating connection part includes a connecting pin 4, a torsion spring 5, and a connecting screw 7. The torsion spring 5 is sleeved on the outside of one end of the connecting pin 4, and its two ends are fixedly connected to the first mechanical arm 2 and the second mechanical arm 3 respectively. One end of the connecting pin 4 connected to the torsion spring 5 passes through the first recessed portion 21 and the second recessed portion 31, and is detachably connected to the connecting screw 7, thereby realizing an elastic rotation connection between the first mechanical arm 2 and the second mechanical arm 3.

[0043] Specifically, a robotic arm gripper is provided at one end of the second robotic arm 3 away from the second recessed portion 31 .

[0044] Specifically, a limiting groove 212 is provided on the first recessed portion 21, and a limiting block 312 corresponding to the limiting groove 212 is provided on the second recessed portion 31. The limiting block 312 is embedded in the limiting groove 212 and slides along the limiting groove 212 to limit the active angle between the first robotic arm 2 and the second robotic arm 3.

[0045] Specifically, the limiting groove 212 is an arc-shaped slide track in the counterclockwise direction, and the limiting block 312 slides along the limiting groove 212 to limit the rotation angle between the first robotic arm 2 and the second robotic arm 3 to between 90° and 100°.

[0046] Specifically, along the direction in which the rotating connection part passes through the robotic arm, the first recessed portion 21 is provided with a first groove 211, the second recessed portion 31 is provided with a second groove 311, and the inner walls of the first groove 211 and the second groove 311 are respectively provided with a first locking protrusion 213 and a second locking protrusion 313, the first locking protrusion 213 is provided with a first locking groove 214, the second locking protrusion 313 is provided with a second locking groove 314, and the two ends of the torsion spring 5 are respectively embedded in the first locking groove 214 and the second locking groove 314; when the second robotic arm 3 is subjected to a force, it will rotate and drive the torsion spring 5 to deform. When the force is removed, the torsion spring 5 returns to its original shape, which can drive the second robotic arm 3 to achieve rebound movement.

[0047] Specifically, the other end of the first robotic arm 2 is connected to the drone base plate 1, and a robotic arm connecting groove 11 and a robotic arm connecting plate 12 are provided on the drone base plate 1. A robotic arm connecting port 111 is provided in the robotic arm connecting groove 11. The end of the first robotic arm 2 away from the first recessed portion 21 passes through the robotic arm connecting port 111 and is fixedly connected to the robotic arm connecting plate 12, thereby realizing the combination of the drone body and the robotic arm.

[0048] Specifically, a spring accommodating groove 112 is provided in the robot arm connecting groove 11 around the robot arm connecting port 111, and a spring column 113 is provided in the spring accommodating groove 112. A tension spring 8 is sleeved on the spring column 113, and the tension spring 8 is placed in the spring accommodating groove 112; in addition, a spring pressing portion 121 corresponding to the position of the spring accommodating groove 112 is provided on the robot arm connecting plate 12, and the spring pressing portion 121 is a hollow cylinder, and the spring column 113 can be embedded in the spring pressing portion 121. During this movement, the circumferential outer edge of the spring pressing portion 121 can press the tension spring 8. When the robotic arm grips a heavy object, under the action of gravity, the robotic arm will drive the spring pressing part 121 on the robotic arm connecting plate 12 to press the tension spring 8, which can play a buffering role between the drone body and the robotic arm; when the robotic arm gripper releases the object, the robotic arm and the robotic arm connecting plate 12 are no longer subject to the gravity exerted by the object, and at this time the tension spring will rebound to its initial state due to insufficient pressure.

[0049] The spring column 113 can fix the tension spring 8 to prevent it from twisting and deforming during use. The spring accommodating groove 112 can serve as a shielding and protective function outside the tension spring 8 to avoid adverse effects of the external environment on the tension spring 8.

[0050] Specifically, a buffer pad 9 is closely attached to the side of the robot arm connecting plate 12 facing away from the robot arm connecting port 111 , which can play a buffering role when the robot arm connecting plate 12 rebounds.

[0051] As an optimization, in the present application, the second robotic arm 3 is a length-adjustable robotic arm, which can appropriately adjust the length of the second robotic arm 3 according to the model of the drone, thereby improving the flexibility of the use of the device.

[0052] Working principle:

[0053] like Figure 1As shown, when the device is in use, the first robotic arm 2 is fixed to the drone base plate 1, located behind the camera 10. The second robotic arm 3 is provided with a robotic arm gripper at one end near the camera 10 to achieve front-to-back balance. The second robotic arm 3 is located within the landing bracket 20, which can greatly reduce space occupation. During use, after the camera 10 locks on the target, the robotic arm gripper opens, gripping the object and allowing the drone to fly. After flying upward to a certain height, under the action of gravity, the clamped object drives the second robotic arm 3 to fall and rotate to expand the angle between it and the first robotic arm 2. When the rotation angle reaches 100°, the limit block 312 will contact the end face of the limit slot 212, thereby limiting the further expansion of the active angle between the first robotic arm 2 and the second robotic arm 3; with the cooperation of the limit block 312 and the limit slot 212, the second robotic arm 3 is fixed, so that the drone body can still maintain a balanced state to operate; when the robotic arm clamp releases the object, the second robotic arm 3 is no longer affected by the gravity exerted by the object. At this time, the torsion spring 5 will pull the second robotic arm 3 to rebound from 100° to 90° to the initial state.

[0054] During use, a single robotic arm device can be set up according to the specific environment and the weight of the clamped object, or two robotic arm devices can be symmetrically set up on the drone body.

[0055] The above is a detailed introduction to the specific implementation methods of the present application. For those skilled in the art, several improvements and modifications can be made to the present application without departing from the principles of the present application. These improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A drone manipulator device, the drone manipulator device being connected to a drone, comprising a first manipulator arm (2), a second manipulator arm (3), and a rotating connection portion, wherein the first manipulator arm (2) and the second manipulator arm (3) are rotatably connected via the rotating connection portion, and characterized in that: A first recessed portion (21) is provided at one end of the first mechanical arm (2), and a second recessed portion (31) matched with the first recessed portion (21) is provided at one end of the second mechanical arm (3). The rotating connection portion comprises a connecting pin (4), a torsion spring (5), and a connecting screw (7). The torsion spring (5) is sleeved on the outside of one end of the connecting pin (4), and its two ends are fixedly connected to the first mechanical arm (2) and the second mechanical arm (3) respectively. One end of the connecting pin (4) connected to the torsion spring (5) passes through the first recessed portion (21) and the second recessed portion (31), and is detachably connected to the connecting screw (7), thereby realizing elastic rotating connection between the first mechanical arm (2) and the second mechanical arm (3); A limiting groove (212) is provided on the first recessed portion (21), and a limiting block (312) corresponding to the limiting groove (212) is provided on the second recessed portion (31), wherein the limiting block (312) is embedded in the limiting groove (212) and slides along the limiting groove (212) to limit the movable angle between the first mechanical arm (2) and the second mechanical arm (3).

2. The UAV mechanical arm device according to claim 1, characterized in that: Along the direction in which the rotating connection portion passes through the first recessed portion (21), the first recessed portion (21) is provided with a first groove (211), and the second recessed portion (31) is provided with a second groove (311). The two ends of the torsion spring (5) are respectively connected to the first groove (211) and the second groove (311), and the inner walls of the first groove (211) and the second groove (311) are in contact with each other, thereby realizing the rebound movement of the second robotic arm (3).

3. The UAV mechanical arm device according to claim 1, characterized in that: The limiting groove (212) is an arc-shaped sliding groove track, and the limiting block (312) slides along the limiting groove (212) to limit the rotation angle between the first mechanical arm (2) and the second mechanical arm (3) to between 90° and 100°.

4. The UAV mechanical arm device according to claim 1, characterized in that: The other end of the first robotic arm (2) is connected to the drone base plate (1); a robotic arm connecting groove (11) is provided on the drone base plate (1); a robotic arm connecting port (111) and a robotic arm connecting plate (12) are provided in the robotic arm connecting groove (11); an end of the first robotic arm (2) away from the rotating connection portion passes through the robotic arm connecting port (111) and is fixedly connected to the robotic arm connecting plate (12).

5. The UAV mechanical arm device according to claim 4, characterized in that: A spring accommodating groove (112) is provided in the mechanical arm connecting groove (11) around the mechanical arm connecting port (111), a spring column (113) is provided in the spring accommodating groove (112), a tension spring (8) is sleeved on the spring column (113), and the tension spring (8) is placed in the spring accommodating groove (112).

6. The UAV mechanical arm device according to claim 5, characterized in that: The mechanical arm connecting plate (12) is provided with a spring pressing portion (121) corresponding to the position of the spring receiving groove (112); the spring pressing portion (121) is a hollow cylinder; the spring cylinder (113) can be embedded in the spring pressing portion (121); and the spring pressing portion (121) presses the tension spring (8) at its circumferential outer edge.

7. The UAV mechanical arm device according to claim 4, characterized in that: A buffer pad (9) is tightly attached to a side of the robot arm connecting plate (12) facing away from the robot arm connecting port (111).

8. The UAV mechanical arm device according to claim 1, characterized in that: The second mechanical arm (3) is provided with a mechanical arm clamp at one end away from the rotating connection portion.

9. The UAV mechanical arm device according to claim 1, characterized in that: The second mechanical arm (3) is a length-adjustable mechanical arm.

10. The UAV mechanical arm device according to claim 1, characterized in that: A torsion spring protection sleeve (6) is provided on the torsion spring (5).

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