Quick change device for flying mechanical arm

Abstract

The utility model discloses a quick change device for a flying mechanical arm. Comprising an outer shell, a plurality of air pressure discs arranged on the inner wall face of the outer shell and distributed in the circumferential direction, a plurality of multi-connecting-rod assemblies arranged on the outer wall face of the outer shell and correspondingly connected with the air pressure discs, an inner circular ring located in the middle of the outer shell, a driving piece arranged on the inner circular ring and a rotating speed sensor used for detecting the rotating speed of the driving piece. Each air pressure disc corresponds to different rotating speeds of the driving piece; a plurality of electromagnets are distributed on the inner circular ring in the circumferential direction, an electromagnetic round rod matched with the electromagnets in a magnetic attraction mode is arranged in the center of the air pressure disc, and the electromagnetic round rod is matched with a magnetic rod piece arranged on the multi-connecting-rod assembly in a magnetic attraction mode. According to the quick-change device, through magnetic attraction cooperation of all the components, adaptive adjustment can be conducted on the free telescopic state of the connecting rod structure in the power-on state and the power-off state only by adjusting the rotating speed of the driving piece, and quick switching and the synergistic effect of different functional arms are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely relates to a flight mechanical arm quick change device. BACKGROUND

[0002] The flight mechanical arm has the characteristics of stable and symmetrical mechanical structure, simple and easy-to-implement motion model, small disturbance and pollution to the environment, large internal space, high expandability and strong carrying capacity, but there are many problems in the operation of the general flight mechanical arm:

[0003] (1) The general flight mechanical arm can only realize simple grabbing, and the function is single, so different means are often needed to carry out operation in complex environment, and single grabbing cannot play a sufficient role. It is not practical, consumes a lot of cost, but there is not enough effective means to carry out operation.

[0004] (2) The replacement of the mechanical arm function arm needs to return to the starting point again to switch, which consumes a lot of time cost in the rescue process and seriously delays the rescue progress. No matter what kind of single mechanical function arm has certain limitations in complex environment.

[0005] (3) In the existing flight mechanical arm system, most of them are limited to single function arm carrying, and cannot cope with the problem of needing multi-function co-line solution. It needs to consume a lot of time cost to switch different function arms back and forth. INVENTION CONTENTS

[0006] In order to solve the above technical problems, the utility model provides a flight mechanical arm quick change device.

[0007] The utility model solves the technical scheme of the above technical problems: a flight mechanical arm quick change device, including shell body, a plurality of setting in the shell body inner wall surface and the circumferential distribution air pressure disc, a plurality of setting in the shell body outer wall surface and with air pressure disc corresponding connection multi-connecting rod assembly, the inner ring in the middle part of shell body, drive part that sets up on the inner ring, the rotating speed sensor for detecting the rotating speed of drive part and the controller that respectively with drive part and rotating speed sensor communication connection, each air pressure disc corresponds the different rotating speed of drive part;

[0008] The inner ring is circumferential distribution and has a plurality of electromagnets, and the magnet extends from the inside of the inner ring to the outside of the inner ring. The center of the air pressure disc is provided with an electromagnetic round rod which is magnetically attracted to the electromagnet. The electromagnetic round rod is magnetically attracted to the magnetic rod arranged on the multi-connecting rod assembly. The signal is output to the air pressure disc in different directions to make it electrified by the difference of the rotating speed of the drive part, so as to drive the multi-connecting rod assembly to extend and retract.

[0009] Further, the multi-link assembly comprises an arc-shaped outer plate, and a first link assembly and a second link assembly movably arranged on the arc-shaped outer plate respectively, and a magnetic rod is arranged between the first link assembly and the second link assembly.

[0010] Further, the first link assembly and the second link assembly each comprise a plurality of links, and the plurality of links are movably connected by pins.

[0011] Further, the magnetic rod is in a T-shaped structure.

[0012] Further, an installation groove is formed on an inner wall surface of the arc-shaped outer plate, and the multi-link assembly is assembled in the installation groove, and when the multi-link assembly is in a compressed state, a compression size of the multi-link assembly is matched with a size of the installation groove.

[0013] Further, the inner circular ring comprises a circular ring upper portion, a circular ring lower portion and a sealing gasket, and the circular ring upper portion and the circular ring lower portion are connected into an integrated body by an electromagnet.

[0014] The flying mechanical arm quick-change device has the following beneficial effects: the flying mechanical arm quick-change device has a reliable structure and good use performance, comprises an inner circular ring and an outer circular ring, the outer circular ring is provided with a telescopic link structure, the telescopic link structure can be adjusted in length according to requirements, different function arms can be obviously distinguished, and the operation space is reduced. The time cost of the unmanned aerial vehicle when working in a complex environment is effectively saved, multiple mechanical function arms are simultaneously carried, multifunctional combination can be realized, the space occupation is small, the unmanned aerial vehicle is flexible in operation, the carrying of the unmanned aerial vehicle widens the action range, and multiple special environments can be coped with. In addition, through magnetic attraction cooperation between the components, only the rotation speed of the driving member needs to be adjusted, and the free telescopic state of the link structure can be adaptively adjusted in the power-on and power-off states, so that the quick switching and cooperative action of different function arms are realized. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is an explosion structural schematic diagram of the utility model;

[0017] Figure 3 It is a structural schematic diagram of the multi-link assembly in the utility model;

[0018] Figure 4 It is a plan view (without the multi-link assembly and the air pressure disc part) in the utility model;

[0019] Figures 1 to 4The reference numerals in the accompanying drawings are respectively: 1-outer shell, 2-pneumatic plate, 3-multi-link assembly, 4-inner ring, 5-drive component, 6-speed sensor, 7-electromagnet, 8-electromagnetic rod, 9-magnetic rod, 30-arc outer plate, 31-first link assembly, 32-second link assembly, 33-mounting groove, 40-upper part of the ring, 41-lower part of the ring, 42-sealing gasket. Detailed Implementation

[0020] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0021] like Figures 1 to 4 As shown, a quick-change device for a flight robotic arm includes a housing 1, multiple pneumatic discs 2 arranged circumferentially on the inner wall of the housing 1, multiple multi-link assemblies 3 arranged on the outer wall of the housing 1 and correspondingly connected to the pneumatic discs 2, an inner ring 4 located in the middle of the housing 1, a drive component 5 arranged on the inner ring 4, a speed sensor 6 for detecting the rotational speed of the drive component 5, and a controller communicatively connected to the drive component 5 and the speed sensor 6. Each pneumatic disc 2 corresponds to a different rotational speed of the drive component 5. As the main structure of the entire quick-change device, it supports and protects the internal components. The multi-link assemblies 3 are arranged on the outer wall of the housing 1 and correspondingly connected to the pneumatic discs 2. They extend and retract through the drive of the pneumatic discs 2, thereby realizing the quick-change function of the quick-change device. The drive component 5 is a motor. The controller receives the signal from the speed sensor 6 and issues action commands to the drive component 5 based on the signal, controlling the rotational speed of the drive component 5.

[0022] Multiple electromagnets 7 are circumferentially distributed on the inner ring 4, extending from the inside to the outside of the inner ring 4. An electromagnetic rod 8, magnetically attracted to the electromagnets 7, is located at the center of the pneumatic pressure plate 2. The electromagnetic rod 8 magnetically engages with a magnetic rod 9 on the multi-link assembly 3. The magnetic rod 9 has a T-shaped structure. Different rotational speeds of the drive unit 5 energize the pneumatic pressure plates 2 in different directions, thereby driving the multi-link assembly 3 to extend and retract. When switching functional arms, the motor rotation is controlled using a time-division multiplexing principle, sending a signal to the central speed sensor 6. Different rotational speeds energize the pneumatic pressure plates 2 in different directions. The electromagnetic rod 8 at the center of the pneumatic pressure plate 2 pushes against the magnetic rod 9 on the multi-link assembly 3, causing the multi-link assembly 3 to extend, thus distinguishing between the active and inactive functional arms.

[0023] The inner ring 4 comprises a ring upper portion 40, a ring lower portion 41 and a sealing gasket 42, and the ring upper portion 40 and the ring lower portion 41 are connected into one body by the electromagnet 7. Meanwhile, a plurality of screw holes are arranged on the sealing gasket 42 of the inner ring 4, facilitating the connection with the external protection device and enhancing the stability of the structure.

[0024] The multi-link assembly 3 comprises an arc-shaped outer plate 30, a first link assembly 31 and a second link assembly 32 movably arranged on the arc-shaped outer plate 30 respectively, and the magnetic rod 9 is arranged between the first link assembly 31 and the second link assembly 32. The first link assembly 31 and the second link assembly 32 each comprise a plurality of links movably connected by pin shafts. The arc-shaped outer plate 30 serves as a mounting base of the first link assembly 31 and the second link assembly 32, and plays a supporting and connecting role. Meanwhile, the design of the arc-shaped outer plate 30 can adapt to the shape of the outer shell 1, so as to ensure that the multi-link assembly 3 can be stably mounted on the inner wall surface of the outer shell 1. The first link assembly 31 comprises a plurality of links movably connected by pin shafts, forming a link chain. The second link assembly 32 is similar to the first link assembly 31, and also comprises a plurality of links. The links serve as basic units of the multi-link assembly 3, and are movably connected by pin shafts, forming a telescopic and rotatable structure. The second link assembly 32 cooperates with the first link assembly 31 to realize the telescopic and rotatable actions of the multi-link assembly 3.

[0025] The arc-shaped outer plate 30 is provided with a mounting groove 33 on the inner wall surface, and the multi-link assembly 3 is assembled in the mounting groove 33. When the multi-link assembly 3 is in a compressed state, the compressed size of the multi-link assembly 3 is matched with the size of the mounting groove 33. The mounting groove 33 is arranged on the inner wall surface of the arc-shaped outer plate 30, and is used for guiding and limiting the movement track of the multi-link assembly 3. The size of the mounting groove 33 is matched with the size of the multi-link assembly 3 in the compressed state, so as to ensure that the multi-link assembly 3 can be closely assembled in the mounting groove 33, avoiding shaking or falling off during the movement.

[0026] When the quick-change device is working, the electromagnet 7 in the air pressure disc 2 of each direction has current passing through, so as to maintain the compression of the multi-link assembly 3 of each direction. When the device starts to work, the speed of the motor is controlled and the speed sensor 6 inputs different direction input electric signals. After the power of a certain direction is cut off, the current of the electromagnet 7 is cut off, the air pressure disc 2 starts to rise, the electromagnet 7 of the air pressure disc 2 between the inner and outer rings is subjected to the thrust of the bottom to make the air pressure disc 2 act, and the electromagnetic circular rod 8 of the air pressure disc 2 contacts and pushes the T-shaped magnetic rod 9 on the multi-link assembly 3 on the surface of the outer shell 1. When the mechanical arm needs to be switched, only the speed of the motor needs to be adjusted, the voltage is supplied, the activation of the electromagnet 7 in the air pressure disc 2 is driven, the T-shaped magnetic rod 9 on the multi-link assembly 3 and the electromagnet 7 have a magnetic force, a signal is given to the rudder, the electromagnetic circular rod 8 in the air pressure disc 2 is retracted, and then the compression of the multi-link assembly 3 and the retraction of the functional arm are realized. If different functional arms are used, only the speed of the motor needs to be adjusted, so that the time cost is greatly reduced, and the quick switching and cooperation of different functional arms are realized.

[0027] The above is only the preferred embodiment of the utility model, and is not used to limit the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A flying robotic arm quick change device, characterized in that, The utility model relates to a kind of multi-link mechanism, including outer shell (1), multiple air pressure discs (2) being distributed in the inner wall of the outer shell (1) and being circumferentially distributed, multiple multi-link assemblies (3) being distributed in the outer wall of the outer shell (1) and being connected with the air pressure disc (2) corresponding, inner ring (4) located in the middle of the outer shell (1), driving member (5) being arranged on the inner ring (4), rotational speed sensor (6) for detecting the rotational speed of driving member (5) and controller being respectively communicated with driving member (5) and the rotational speed sensor (6), each air pressure disc (2) corresponds to the different rotational speed of driving member (5); Multiple electromagnets (7) are circumferentially distributed on the inner ring (4), and the electromagnet (7) extends from the inside of the inner ring (4) to the outside of the inner ring (4), the center of the air pressure disc (2) is provided with an electromagnetic round rod (8) magnetically attracted to the electromagnet (7), the electromagnetic round rod (8) is magnetically attracted to the magnetic rod (9) arranged on the multi-link assembly (3), and the signal is output to the air pressure disc (2) in different directions by the difference of the rotational speed of the driving member (5) to be energized, so as to drive the multi-link assembly (3) to extend and retract.

2. The flying robotic arm quick change device of claim 1, wherein, The multi-link assembly (3) includes an arc-shaped outer plate (30) and first and second link assemblies (31) and (32) movably arranged on the arc-shaped outer plate (30), and the magnetic rod (9) is arranged between the first and second link assemblies (31) and (32).

3. The flying robotic arm quick change device of claim 2, wherein, The first and second link assemblies (31) and (32) each include a plurality of links movably connected by pins.

4. The flying robotic arm quick change device of claim 2, wherein, An installation groove (33) is formed in the inner wall of the arc-shaped outer plate (30), and the multi-link assembly (3) is assembled in the installation groove (33), and the compression size of the multi-link assembly (3) is matched with the size of the installation groove (33) when the multi-link assembly (3) is in a compressed state.

5. The flying robotic arm quick change device of claim 1, wherein, The inner ring (4) includes an upper ring portion (40), a lower ring portion (41) and a sealing gasket (42), and the upper and lower ring portions (40) and (41) are connected into one body by the electromagnet (7).

6. The flying robotic arm quick change device of claim 1, wherein, The magnetic rod (9) has a T-shaped structure.

7. The flying robotic arm quick change device of claim 1, wherein, The driving member (5) is an electric motor.

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