Telescopic mechanical arm device carried on load-carrying unmanned aerial vehicle

Abstract

The telescopic mechanical arm device carried on the load-carrying unmanned aerial vehicle comprises an installation support, an electric telescopic mechanism and a grabbing mechanism, the installation support is used for being fixedly installed at the bottom of the center of the load-carrying unmanned aerial vehicle, the fixed end of the electric telescopic mechanism is fixedly installed on the installation support, and the movable end of the electric telescopic mechanism is connected with the grabbing mechanism; the movable end of the electric telescopic mechanism horizontally stretches out and draws back. Grabbing in the horizontal direction is achieved, and the grabbing range is expanded through stretching and retracting.

Description

Technical Field

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

[0002] At present, industry applications are mainly achieved through drones equipped with various cameras, sensors or simple loading and unloading mechanisms, mainly with functions such as inspection and observation, exploration, pesticide spraying, lifting and delivery, and it is difficult to complete more complex, refined or precise operations.

[0003] To enhance the flexibility of drone operating systems, meet the needs of the drone industry, and expand the scope of flight operations, robotic gripping has become a research hotspot. Combining remote-controlled robotic gripping technology with rotorcraft technology to enable autonomous aerial operations of rotorcraft breaks through the current limitations of drone applications. Drones equipped with robotic arms actively interact with their environment, assisting humans in completing tasks that would otherwise be dangerous or difficult.

[0004] In the existing technology, our common implementation method is to install the robotic arm on the bottom of the drone. Its movement direction is usually limited to a small range of movement, and most of it is in the vertical direction, which makes horizontal long-distance operation impossible. Utility Model Content

[0005] In order to solve the above-mentioned problems of the prior art, the utility model provides a retractable mechanical arm device mounted on a load-carrying drone, which can realize horizontal grasping and has a large grasping range.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] In a first aspect, the present invention provides a retractable robotic arm device mounted on a load-carrying drone, comprising a mounting bracket, an electric retractable mechanism, and a gripping mechanism. The mounting bracket is fixedly mounted on the center bottom of the load-carrying drone, the fixed end of the electric retractable mechanism is fixedly mounted on the mounting bracket, and the movable end is connected to the gripping mechanism.

[0008] The movable end of the electric telescopic mechanism is horizontally telescopic.

[0009] The beneficial effect of the present invention is that the grabbing mechanism is fixed on the load-carrying drone through the electric telescopic mechanism and the mounting bracket. At this time, the movable end of the electric telescopic mechanism is horizontally extended and retracted, which not only realizes the horizontal grabbing, but also expands the grabbing range through extension and retraction.

[0010] Optionally, the grasping mechanism includes a grasping member and a movable member with multiple degrees of freedom, one end of the movable member is connected to the movable end of the electric telescopic mechanism, and the other end is connected to the grasping member.

[0011] It can be seen from the above description that the gripping range is further improved by the movable parts with multiple degrees of freedom.

[0012] Optionally, the movable member includes a first steering gear and a second steering gear, the first steering gear is mounted on the movable end of the electric telescopic mechanism, the second steering gear is mounted on the first steering gear, and the second steering gear is connected to the grabbing member;

[0013] The first steering gear and the second steering gear are respectively one of a horizontal steering gear and a vertical steering gear.

[0014] According to the above description, the horizontal and vertical servos work together to achieve a full range of grasping in the horizontal and vertical directions.

[0015] Optionally, the movable member further includes a first rotating arm, a third steering gear, a second rotating arm and a fourth steering gear, the second steering gear and the third steering gear are connected via the first rotating arm, the third steering gear and the fourth steering gear are connected via the second rotating arm, and the fourth steering gear is connected to the grabbing member;

[0016] The third steering gear and the fourth steering gear are respectively one of a horizontal steering gear and a vertical steering gear.

[0017] According to the above description, the two front-end horizontal servos and vertical servos make the grasping more flexible.

[0018] Optionally, the torque of the third steering gear and the fourth steering gear is smaller than the torque of the first steering gear and the second steering gear.

[0019] Optionally, the movable member is detachably connected to the grabbing member.

[0020] Optionally, the electric telescopic mechanism includes an electric push rod and a telescopic arm assembly, the electric push rod is fixed on the mounting bracket, and the drive rod is connected to one end of the telescopic arm assembly, and the other end of the telescopic arm assembly is connected to the grasping mechanism as a movable end.

[0021] Optionally, the telescopic arm assembly includes a first fixed arm, a double diagonal brace link assembly and a second fixed arm, and the first fixed arm and the second fixed arm are both horizontally arranged with two, and the double diagonal brace link assembly includes an inverted U-shaped frame and two support arms on each side, and the four support arms are all rotatably connected to the first fixed arm at one end and rotatably connected to one end of the second fixed arm at the other end, and the other end of the second fixed arm is connected to the grasping mechanism as a movable end, and the U-shaped ends of the inverted U-shaped frame are connected to a support arm at the same position on the left and right sides, and the driving rod of the electric push rod is connected to the middle of the U-shaped bottom of the inverted U-shaped frame.

[0022] According to the above description, the U-shaped frame is driven to rotate by the electric push rod, thereby driving the second fixed arm connected to the double diagonal support connecting rod assembly to be parallel to the first fixed arm for horizontal extension and retraction.

[0023] Optionally, the telescopic arm assembly further comprises a first fixing plate and a second fixing plate, wherein the first fixing plate is fixed below the two first fixing arms, and the second fixing plate is fixed above the two second fixing arms;

[0024] One end of each of the four support arms is rotatably connected to the outer protruding shaft of the first fixing plate, and the other end is rotatably connected to the outer protruding shaft of the second fixing plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a telescopic mechanical arm device mounted on a load-carrying drone according to an embodiment of the present utility model being installed on the load-carrying drone;

[0026] Figure 2 This is an overall schematic diagram of a retractable mechanical arm device mounted on a load-carrying drone according to an embodiment of the present utility model;

[0027] Figure 3 This is a three-dimensional schematic diagram of an electric telescopic mechanism according to an embodiment of the present utility model;

[0028] Figure 4 It is a three-dimensional schematic diagram of the grabbing mechanism involved in an embodiment of the present utility model.

[0029] Description of reference numerals:

[0030] 100. Load-carrying drone;

[0031] 1. Install the bracket;

[0032] 2. Electric telescopic mechanism; 21. Electric push rod; 22. First fixed arm; 23. Inverted U-shaped frame; 24. Support arm; 25. Second fixed arm; 26. First fixed plate; 27. Second fixed plate;

[0033] 3. Grasping mechanism; 31. First steering gear; 32. Second steering gear; 33. First rotating arm; 34. Third steering gear; 35. Second rotating arm; 36. Fourth steering gear. DETAILED DESCRIPTION

[0034] To better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0035] Example 1

[0036] Please refer to Figures 1 to 4 A retractable robotic arm device mounted on a load-carrying drone comprises a mounting bracket 1, an electric retractable mechanism 2, and a gripping mechanism 3. Figure 1 It can be seen that the mounting bracket 1 is used to be fixedly mounted on the center bottom of the load-carrying drone 100. It should be noted that the above-mentioned retractable mechanical arm device is not within the wing rotation range of the load-carrying drone 100 and will not interfere with the flight of the load-carrying drone 100 itself.

[0037] like Figure 2 As shown, the fixed end of the electric telescopic mechanism 2 is fixedly mounted on the mounting bracket 1 , and the movable end is connected to the grabbing mechanism 3 .

[0038] In this embodiment, the movable end of the electric telescopic mechanism 2 is horizontally telescopic. Figure 3It can be seen that the electric telescopic mechanism 2 includes an electric push rod 21 and a telescopic arm assembly. The electric push rod 21 is fixed on the mounting bracket 1, and the driving rod is connected to one end of the telescopic arm assembly. The other end of the telescopic arm assembly is connected to the grasping mechanism 3 as a movable end. Specifically, the telescopic arm assembly includes a first fixed arm 22, a double diagonal brace connecting rod assembly, a second fixed arm 25, a first fixed plate 26 and a second fixed plate 27. The first fixed arm 22 and the second fixed arm 25 are both horizontally arranged with two, and the double diagonal brace connecting rod assembly includes an inverted U-shaped frame 23 and two support arms 24 on the left and right sides. The four support arms 24 are all rotatably connected to the first fixed arm 22 at one end and rotatably connected to one end of the second fixed arm 25 at the other end, and the other end of the second fixed arm 25 is connected to the grasping mechanism 3 as a movable end. The U-shaped ends of the inverted U-shaped frame 23 are connected to a support arm 24 at the same position on the left and right sides, and the driving rod of the electric push rod 21 is connected to the middle of the U-shaped bottom of the inverted U-shaped frame 23. The first fixed plate 26 is fixed below the two first fixed arms 22, and the second fixed plate 27 is fixed above the two second fixed arms 25. At this time, the four support arms 24 are all rotatably connected to the outer convex shaft of the first fixed plate 26 at one end and rotatably connected to the outer convex shaft of the second fixed plate 27 at the other end. As a result, a parallelogram connecting rod structure is formed on both the left and right sides. When the driving rod of the electric push rod 21 drives the support arm 24 to swing through the inverted U-shaped frame 23, the parallelogram connecting rod structure enables the second fixed arm 25 to be horizontally extended and retracted parallel to the first fixed arm 22, and the double connecting rod structure on both sides ensures the stability of the second fixed arm 25, thereby ensuring the stability of the grasping mechanism 3.

[0039] In this embodiment, the grabbing mechanism 3 includes a grabbing member and a movable member with multiple degrees of freedom. One end of the movable member is connected to the movable end of the electric telescopic mechanism 2, and the other end is connected to the grabbing member.

[0040] Among them, the movable part is detachably connected to the grasping part, and the grasping part is equivalent to an actuator and can be replaced according to the object to be grasped, such as a gripper, a plug, a hook, etc., which is not shown in the figure.

[0041] like Figure 4 As shown, the movable parts include a first steering gear 31, a second steering gear 32, a first rotating arm 33, a third steering gear 34, a second rotating arm 35 and a fourth steering gear 36. The first steering gear 31 is mounted on the movable end of the electric telescopic mechanism 2, the second steering gear 32 is mounted on the first steering gear 31, the second steering gear 32 and the third steering gear 34 are connected by the first rotating arm 33, the third steering gear 34 and the fourth steering gear 36 are connected by the second rotating arm 35, and the fourth steering gear 36 is connected to the grabbing member.

[0042] In this embodiment, the first and fourth servos 31, 36 are horizontal servos, while the second and third servos 32, 34 are vertical servos. Furthermore, the torque of the third and fourth servos 34, 36 is less than that of the first and second servos 31, 32. Thus, in this embodiment, 180° horizontal and vertical rotation is achieved through the first and second servos 31, 32, while the third and fourth servos 34, 36 enable 180° rotation of the facet joint, thereby ensuring a sufficient grasping range and gripping flexibility.

[0043] In other embodiments, the first steering gear 31 and the second steering gear 32 may be either a horizontal steering gear or a vertical steering gear, respectively, and the third steering gear 34 and the fourth steering gear 36 may be either a horizontal steering gear or a vertical steering gear, respectively.

[0044] In this embodiment, the servos are high-torque digital servos, and all four servos can be controlled individually, and a 12-bit high-precision magnetic encoder is used to obtain the relevant angles.

[0045] It should be noted that the load-carrying drone 100 itself has relevant electronic components to implement corresponding functions, such as a wireless communication module for communicating with a terminal and powered by a battery to achieve drone flight. The electric push rod 21 and servo involved in this embodiment are powered by their corresponding batteries, and the corresponding data is aggregated and communicated with the terminal via the wireless communication module. The above-mentioned electronic connection relationship belongs to the existing general design and is therefore not detailed in this embodiment.

[0046] In summary, this embodiment can achieve full-range and long-distance object grasping, and the grasping is stable and the operation is flexible.

[0047] In the description of this utility model, 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 the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0048] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; and internal connection between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, when a first feature is “above” or “below” a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0050] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0051] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A retractable robotic arm device mounted on a load-carrying drone, characterized in that: It includes a mounting bracket, an electric telescopic mechanism and a grabbing mechanism. The mounting bracket is used to be fixedly mounted on the central bottom of the load-carrying drone. The fixed end of the electric telescopic mechanism is fixedly mounted on the mounting bracket, and the movable end is connected to the grabbing mechanism. The movable end of the electric telescopic mechanism is horizontally telescopic.

2. The retractable robotic arm device mounted on a load-carrying drone according to claim 1, characterized in that: The grabbing mechanism includes a grabbing member and a movable member with multiple degrees of freedom, one end of the movable member is connected to the movable end of the electric telescopic mechanism, and the other end is connected to the grabbing member.

3. The retractable mechanical arm device mounted on a load-carrying drone according to claim 2, characterized in that: The movable member includes a first steering gear and a second steering gear, wherein the first steering gear is mounted on the movable end of the electric telescopic mechanism, and the second steering gear is mounted on the first steering gear, and the second steering gear is connected to the grabbing member; The first steering gear and the second steering gear are respectively one of a horizontal steering gear and a vertical steering gear.

4. The retractable mechanical arm device mounted on a load-carrying drone according to claim 3, characterized in that: The movable member further includes a first rotating arm, a third steering gear, a second rotating arm, and a fourth steering gear, wherein the second steering gear and the third steering gear are connected via the first rotating arm, the third steering gear and the fourth steering gear are connected via the second rotating arm, and the fourth steering gear is connected to the grabbing member; The third steering gear and the fourth steering gear are respectively one of a horizontal steering gear and a vertical steering gear.

5. The retractable mechanical arm device mounted on a load-carrying drone according to claim 4, characterized in that: The torque of the third steering gear and the fourth steering gear is smaller than the torque of the first steering gear and the second steering gear.

6. The retractable mechanical arm device mounted on a load-carrying drone according to claim 2, characterized in that: The movable part is detachably connected to the grabbing part.

7. The retractable mechanical arm device mounted on a load-carrying drone according to claim 1, characterized in that: The electric telescopic mechanism includes an electric push rod and a telescopic arm assembly. The electric push rod is fixed on the mounting bracket, and the driving rod is connected to one end of the telescopic arm assembly. The other end of the telescopic arm assembly is connected to the grasping mechanism as a movable end.

8. The retractable mechanical arm device mounted on a load-carrying drone according to claim 7, characterized in that: The telescopic arm assembly includes a first fixed arm, a double diagonal brace connecting rod assembly and a second fixed arm. The first fixed arm and the second fixed arm are both horizontally arranged. The double diagonal brace connecting rod assembly includes an inverted U-shaped frame and two support arms on the left and right sides. The four support arms are all rotatably connected to the first fixed arm at one end and rotatably connected to one end of the second fixed arm at the other end. The other end of the second fixed arm is connected to the grasping mechanism as a movable end. The U-shaped ends of the inverted U-shaped frame are connected to a support arm at the same position on the left and right sides, and the driving rod of the electric push rod is connected to the middle of the U-shaped bottom of the inverted U-shaped frame.

9. The retractable mechanical arm device mounted on a load-carrying drone according to claim 8, characterized in that: The telescopic arm assembly further includes a first fixing plate and a second fixing plate, wherein the first fixing plate is fixed below the two first fixing arms, and the second fixing plate is fixed above the two second fixing arms; One end of each of the four support arms is rotatably connected to the outer protruding shaft of the first fixing plate, and the other end is rotatably connected to the outer protruding shaft of the second fixing plate.

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