Mechanical arm of unmanned aerial vehicle

Abstract

The utility model relates to an unmanned aerial vehicle mechanical arm which comprises a mounting base, a plurality of arms and a mounting frame, the arms are rotationally connected end to end, one end of the arm at one end of an arm set is rotationally connected with the mounting base, and the arms are matched with one another to form multi-axis rotation not smaller than the freedom degree of a three-axis mechanical arm. All the arms are driven by a motor, the mounting frame is mounted at one end of the arm at the other end of the arm set, and the mounting frame is used for mounting a maintenance tool. The power transmission line maintenance device has the effects that the multiple arms which rotate mutually and rotate in different directions are matched, meanwhile, the height is adjusted in cooperation with the unmanned aerial vehicle, the mounting frame located at the tail end can reach any part of a three-dimensional space, and then the power transmission line in the complex environment can be maintained in cooperation with a maintenance tool on the mounting frame.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical arms, in particular to a UAV mechanical arm. BACKGROUND

[0002] In the process of live maintenance of power transmission lines, the high voltage on the power transmission lines poses a great threat to the safety of maintenance personnel during maintenance.

[0003] In order to protect the personal safety of maintenance personnel, maintenance UAV technology has been developed, which installs a mechanical arm on the UAV to bring the mechanical arm to the maintenance site of the power transmission line for maintenance.

[0004] However, due to the simple structure of the existing mechanical arm, it only has two or even one degree of freedom, which leads to the situation that the complex maintenance site cannot be maintained by the UAV, so there is an urgent need for a mechanical arm that can still complete maintenance when the surrounding environment is complex. CONTENT OF THE INVENTION

[0005] In order to solve the problem that the existing mechanical arm on the UAV has few degrees of freedom and cannot maintain the complex site on the power transmission line, the present application provides a UAV mechanical arm.

[0006] The UAV mechanical arm provided by the present application adopts the following technical scheme:

[0007] A UAV mechanical arm, comprising a mounting seat, a plurality of arms and a mounting rack, the arms are rotatably connected end to end, one end of the arm at one end of the arm group is rotatably connected with the mounting seat, the arms are cooperated with each other to form a multi-axis rotation with a degree of freedom not less than three-axis mechanical arm, and all the arms are driven by motors, the mounting rack is installed on one end of the arm at the other end of the arm group, and the mounting rack is used for installing maintenance tools.

[0008] Through the above technical scheme, the arms are cooperated with each other, the height is adjusted by the UAV, the mounting rack at the end can reach any part of the three-dimensional space, and the power transmission line in the complex environment can be maintained by the maintenance tools on the mounting rack.

[0009] Optionally, the length of the arm connected with the mounting seat is short, the length of the arm used for controlling the rotation of the mounting rack in the three-dimensional space is short, and the length of the remaining arm is long.

[0010] Optionally, a driving member is arranged on any arm to drive the rotation of the arm.

[0011] Optionally, the length direction of the two arms with longer length is parallel to each other.

[0012] Optionally, the direction of hovering of the unmanned aerial vehicle is horizontal, the mounting seat is horizontally mounted on the unmanned aerial vehicle, and the rotation axes of the three arms successively are vertical, horizontal, horizontal, and the two arms with horizontal rotation axis are longer.

[0013] Optionally, the mounting frame comprises a first mounting plate and a plurality of second mounting plates, the first mounting plate is connected with the arm, a connecting assembly is slidably arranged on the first mounting plate, and the second mounting plate is slidably mounted on the connecting assembly; the sliding direction of the second mounting plate is perpendicular to the sliding direction of the connecting assembly; and the connecting assembly is used for fixing the second mounting plate on the first mounting plate.

[0014] Optionally, a rotating motor is arranged on the arm connected with the first mounting plate, the middle part of the first mounting plate is connected with the main shaft of the rotating motor, a plurality of groups of the connecting assembly are circumferentially arranged around the axis of the first mounting plate, the connecting assembly slides towards the direction close to or away from the axis of the first mounting plate, and a camera and a lighting lamp are further arranged on the arm connected with the first mounting plate.

[0015] Optionally, the first mounting plate on the other side of the connecting assembly is provided with a clamping jaw for clamping the electric wire with the rotating axis of the first mounting plate as the center.

[0016] Optionally, the clamping jaw is a pneumatic flexible clamping jaw.

[0017] Optionally, a fixing plate is arranged on the arm connected with the first mounting plate, a fixing ring is coaxially and rotatably arranged on the fixing plate and connected with the rotating motor, a plurality of pull rods are circumferentially and interval arranged on the side wall of the fixing ring, and one end of the pull rod is connected with the first mounting plate.

[0018] In summary, the present application is composed of a plurality of arms connected with each other in rotation, the arms are connected in different directions, and the height is adjusted by the unmanned aerial vehicle, so that the mounting frame at the end of the present application for installing and repairing tools can reach any position in the three-dimensional space, and the present application can cooperate with the unmanned aerial vehicle to repair the power transmission line in a more complex situation; the rotating motor is used to rotate the first mounting plate to switch the repair tools, the power transmission line can be repaired at one time during the repair, the repair efficiency is higher, and the electric wire is clamped by the clamping jaw during the repair, so that the electric wire is more stable during the repair, the reaction force of the electric wire on the repair tool is offset by the clamping jaw, and the unmanned aerial vehicle is not easy to shake due to the reaction force during the repair. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the installation frame of the present application.

[0020] Figure 2 is a perspective view of the installation frame of the present application.

[0021] Figure 3 is a perspective view of the installation frame of the present application.

[0022] Figure 4 is a perspective view of the installation frame of the present application.

[0023] Figure 5 is an enlarged view of part A in Figure 4

[0024] Figure 6 is an enlarged view of part B in Figure 4

[0025] Those skilled in the art will understand that the elements in the drawings are shown for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and / or relative positioning of some of the elements in the drawings can be exaggerated relative to other elements to help to improve understanding of the present embodiments.

[0026] Reference signs: 1, mounting seat; 2, arm; 21, adjusting motor; 3, installation frame; 31, first mounting plate; 32, second mounting plate; 33, third mounting plate; 4, connecting assembly; 41, fixed block; 42, connecting bolt; 5, rotating motor; 6, clamping jaw; 7, fixed plate; 71, fixed ring; 72, pull rod; 8, countersunk sliding groove; 9, connecting groove; 91, stop. Embodiment

[0027] The following description will be made in conjunction with the accompanying drawings. Figures 1-6 The present application will be further described in detail.

[0028] The embodiments of the present application disclose a mechanical arm of an unmanned aerial vehicle, referring to Figure 1 comprising a mounting seat 1, five arms 2 and an installation frame 3 for installing maintenance tools, wherein the mounting seat 1 is used for being fixedly installed on the abdomen of the unmanned aerial vehicle through bolts, the five arms 2 are sequentially and rotatably connected, one end of the first arm of the five arms 2 is rotatably installed on the mounting seat 1, and the installation frame 3 is arranged on the fifth arm 2.

[0029] Among the five arms 2, two arms 2 are relatively long, and three arms 2 are relatively short.

[0030] Taking the position when the unmanned aerial vehicle hovers horizontally as a reference:

[0031] ​​The rotation axis of the first arm 2 is vertical and the length of the first arm 2 is short, and the first arm 2 extends in a vertical downward direction;

[0032] The rotation axis of the second arm 2 is horizontal and the length of the second arm 2 is long, and the second arm 2 can be rotated to be vertical;

[0033] The rotation axis of the third arm 2 is horizontal and the length of the third arm 2 is long, and the third arm 2 can be rotated to be vertical;

[0034] The rotation axis of the fourth arm 2 is horizontal and the length of the fourth arm 2 is short, and the fourth arm 2 can be rotated to be vertical;

[0035] Referring to Figure 1 , the rotation axis of the fifth arm 2 is vertical and the length of the fifth arm 2 is short, and the fifth arm 2 is horizontal when the fourth arm 2 is vertical.

[0036] Referring to Figure 1 , one adjusting motor 21 is fixedly installed on each of the five arms 2 to drive the arms 2 to rotate. After the unmanned aerial vehicle flies to a suitable height, the first arm 2 is first rotated to adjust the remaining four arms 2 and the mounting frame 3 to be above the power transmission line to be maintained, the second and third arms 2 which are long are then rotated to greatly adjust the position of the mounting frame 3 to roughly align the mounting frame 3 with the part to be maintained, and then the fourth and fifth arms 2 which are short are rotated to slightly adjust the mounting frame 3 to accurately align the maintenance tool on the mounting frame 3 with the power line to be maintained, so that the maintenance tool can be quickly and accurately aligned with the part to be maintained during maintenance.

[0037] When the maintenance environment is complex, the obstacles can be avoided through the cooperation between the multiple arms 2, and the environmental adaptability is high.

[0038] Referring to Figure 1 , Figure 2 and Figure 3 , a rotating motor 5 is fixedly installed on the fifth arm 2, the mounting frame 3 includes a first mounting plate 31 and a plurality of second mounting plates 32, the first mounting plate 31 is rotatably installed on the output shaft of the rotating motor 5, the second mounting plates 32 are slidably installed on the first mounting plate 31 through the connecting assembly 4, and the maintenance tool is fixedly installed on the second mounting plates 32 through bolts.

[0039] Referring to Figure 4 , Figure 5 and Figure 6A plurality of T-shaped countersunk grooves 8 are formed through the first mounting plate 31, and a connecting assembly 4 is arranged in the countersunk grooves 8. The connecting assembly 4 comprises a connecting bolt 42 slidably arranged in the countersunk groove 8 and a fixing block 41 corresponding to the connecting bolt 42. A connecting groove 9 is formed on the second mounting plate 32, and a stop strip 91 is integrally arranged at the opening of the connecting groove 9. The fixing block 41 is slidably arranged in the connecting groove 9. One end of the connecting bolt 42 is threadedly connected to the fixing block 41 through the vertical part of the countersunk groove 8. After the connecting bolt 42 is tightened, the bolt cap of the connecting bolt 42 abuts against the end face of the horizontal part of the countersunk groove 8, and the fixing block 41 abuts against the stop strip 91, thereby pressing and fixing the second mounting plate 32 on the first mounting plate 31.

[0040] The connecting groove 9 and the countersunk groove 8 are perpendicular to each other, so that the position of the second mounting plate 32 can be infinitely adjusted in the plane. The connecting groove 9 is distributed in the circumferential direction around the axis of the first mounting plate 31, so that the second mounting plate 32 is also distributed in the circumferential direction around the axis of the first mounting plate 31, facilitating the switching of maintenance tools.

[0041] Referring to Figure 2 and Figure 3 A circular fixing plate 7 is coaxially and fixedly arranged on the fifth arm 2 and the output shaft of the motor. A fixing ring 71 is coaxially and rotatably arranged on the side wall of the fixing plate 7. The side wall of the fixing ring 71 is fixedly connected to the first mounting plate 31 through a plurality of pull rods 72. The pull rods 72 are distributed in the circumferential direction around the axis of the fixing ring 71. The pull rods 72 assist in supporting the first mounting plate 31, improve the stability of the first mounting plate 31 during work, and reduce the load at the connection between the first mounting plate 31 and the output shaft of the rotary motor 5, so that the connection between the first mounting plate 31 and the output shaft of the rotary motor 5 is not prone to loosening.

[0042] Referring to Figure 4 and Figure 5 The part close to the opening of the cross section of the connecting groove 9 is rectangular, and the part away from the opening is triangular. The triangular structure can accommodate the end of the connecting bolt 42, and the strength of the part of the second mounting plate 32 where the connecting groove 9 is arranged is higher, so that the second mounting plate 32 is not prone to damage at the connecting groove 9.

[0043] Referring to Figure 2 and Figure 3 A clamping jaw 6 is arranged on the opposite first mounting plate 31 of each second mounting plate 32 with the axis of rotation of the first mounting plate 31 as the center. The clamping jaw 6 is a pneumatic flexible clamping jaw 6, so that a small air pump for supplying air can be arranged on the unmanned aerial vehicle, reducing the load of the mounting rack 3.

[0044] Referring to Figure 3 andFigure 5 The clamping jaw 6 is installed on the first mounting plate 31 in the same way as the maintenance tool, but two third mounting plates 33 are arranged on the second mounting plate 32 for installing the clamping jaw 6, the third mounting plates 33 are installed on the second mounting plate 32 in the same way as the second mounting plate 32 is installed on the first mounting plate 31, and the two third mounting plates 33 are parallel to each other, and the two claws of the clamping jaw 6 are fixedly installed on the two third mounting plates 33 respectively.

[0045] The third mounting plates 33 are installed in the same direction by sliding, and the maximum clamping distance between the two claws of the clamping jaw 6 is adjusted by adjusting the distance between the two third mounting plates 33.

[0046] When the maintenance tool is used for maintenance, the clamping jaw 6 is first clamped and fixed on the power transmission line, so that the power transmission line and the first mounting plate 31 form an integral whole, and then the power transmission line is maintained by the maintenance tool, so that the unmanned aerial vehicle fixes the power transmission line by the clamping jaw 6 during the maintenance process, and the power transmission line is not easy to shake greatly during the maintenance process, which affects the maintenance progress, and at the same time, the counterforce of the power transmission line on the maintenance tool is re-applied to the power transmission line by the clamping jaw 6, so that the unmanned aerial vehicle does not shake due to the counterforce received by the maintenance tool when the power transmission line is maintained.

[0047] The implementation principle of the unmanned aerial vehicle mechanical arm in the embodiment of the application is that after the unmanned aerial vehicle flies to a suitable height, the first arm 2 is first rotated to adjust the remaining four arms 2 and the mounting frame 3 to above the power transmission line to be maintained, the second and third arms 2 are rotated to greatly adjust the position of the mounting frame 3 to roughly align the mounting frame 3 with the part to be maintained, and then the fourth and fifth shorter arms 2 are rotated to slightly adjust the mounting frame 3 to accurately align the maintenance tool on the mounting frame 3 with the power line to be maintained.

[0048] Then the clamping jaw 6 is clamped and fixed on the power transmission line, and then the maintenance tool is started to maintain, when the maintenance tool needs to be switched, the clamping jaw 6 is loosened, the current maintenance tool is reset, the first mounting plate 31 is driven to rotate by the rotating motor 5 to switch the maintenance tool, and then the above process is repeated for the next maintenance.

[0049] The above are preferred embodiments of the application, and are not intended to limit the protection scope of the application, therefore: any equivalent changes made on the structure, shape, principle of the application shall be covered within the protection scope of the application.

Claims

1. A drone robotic arm, characterized by: The utility model relates to a multi-axle rotating maintenance tool, including mounting seat (1), a plurality of arms (2) and mounting frame (3), the arms (2) between each other head-to-tail rotating connection, the arm (2) of one end of one end of arm (2) group and rotating connection between mounting seat (1), the arm (2) between each other cooperation forms not less than three axle mechanical arm degree of freedom multi-axle rotation, and all arms (2) are driven by motor, the mounting frame (3) is installed in the arm (2) of one end of arm (2) group at the other end, and the mounting frame (3) is used to install maintenance tool.

2. The unmanned aerial vehicle mechanical arm of claim 1, wherein: The length of the arm (2) connected with the mounting seat (1) is shorter, the length of the arm (2) for controlling the rotation of the mounting frame (3) in three-dimensional space is shorter at the mounting frame (3), and the length of the remaining arm (2) is longer.

3. The unmanned aerial vehicle mechanical arm of claim 1, wherein: Any arm (2) is provided with a driving member for driving the rotation of the arm (2).

4. The unmanned aerial vehicle mechanical arm of claim 2, wherein: The length direction of the two arms (2) with longer length is parallel to each other.

5. The unmanned aerial vehicle mechanical arm of claim 2, wherein: With the hovering direction of the unmanned aerial vehicle as the horizontal direction, the mounting seat (1) is horizontally mounted on the unmanned aerial vehicle, and the arm (2) connected with the mounting seat (1) is taken as the starting point, and the rotating axes of the subsequent three arms (2) are in turn vertical, horizontal, horizontal, and the two arms (2) in the horizontal direction are longer arms (2).

6. The unmanned aerial vehicle mechanical arm of claim 1, wherein: The mounting frame (3) includes a first mounting plate (31) and a plurality of second mounting plates (32), the first mounting plate (31) is connected with the arm (2), a connecting assembly (4) is slidably arranged on the first mounting plate (31), the second mounting plate (32) is slidably arranged on the connecting assembly (4), the sliding direction of the second mounting plate (32) is perpendicular to the sliding direction of the connecting assembly (4), and the connecting assembly (4) is used for fixing the second mounting plate (32) on the first mounting plate (31).

7. The unmanned aerial vehicle mechanical arm of claim 6, wherein: A rotating motor (5) is arranged on the arm (2) connected with the first mounting plate (31), the middle part of the first mounting plate (31) is connected to the main shaft of the rotating motor (5), the connecting assembly (4) is provided with a plurality of groups and is circumferentially spaced apart around the axis of the first mounting plate (31), and the connecting assembly (4) slides towards the axis direction of the first mounting plate (31) to be close to or away from the first mounting plate (31).

8. The unmanned aerial vehicle mechanical arm of claim 7, wherein: With the rotating axis of the first mounting plate (31) as the center, the first mounting plate (31) on the other side of the connecting assembly (4) is provided with a clamping jaw (6) for clamping a wire.

9. The unmanned aerial vehicle robotic arm of claim 8, wherein: The clamping jaw (6) is a pneumatic flexible clamping jaw (6).

10. The unmanned aerial vehicle mechanical arm of claim 7, wherein: A fixing plate (7) is arranged on the arm (2) connected with the first mounting plate (31), a fixing ring (71) is coaxially and rotatably arranged on the fixing plate (7) and connected with the rotating motor (5), a plurality of pull rods (72) are circumferentially and spaced apart on the side wall of the fixing ring (71), and one end of the pull rod (72) is connected with the first mounting plate (31).

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