Rescue unmanned aerial vehicle with telescopic arm

Abstract

The rescue unmanned aerial vehicle comprises an unmanned aerial vehicle body and further comprises an installation base, two electric push rods, a weight box, a mechanical arm and a carrying basket, the installation base is fixed to the unmanned aerial vehicle body, the two electric push rods are horizontally and symmetrically installed on the installation base, and the weight box and the mechanical arm are arranged at the tail ends of the two electric push rods respectively. The object carrying basket is arranged at the tail end of the mechanical arm. According to the unmanned aerial vehicle, the mechanical arm is arranged, when the unmanned aerial vehicle gets close to a rescue site, a throwing mode of relief goods is changed into a delivery mode, and the relief goods are prevented from being damaged; the two electric push rods are arranged, and the arm of force is adjusted through stretching and retracting of the two electric push rods to maintain balance of the unmanned aerial vehicle. The object carrying basket is provided with an openable electric door (remotely controlling an electromagnet), when the object carrying basket flies to a rescue site, the electric door is opened, and then the flight state of the unmanned aerial vehicle or the mechanical arm is adjusted, so that the rescue goods are separated from the object carrying basket.

Description

Technical Field

[0001] This utility model relates to a rescue drone with a telescopic arm. Background Technology

[0002] When drones are used for high-rise fire rescue, if rescue supplies are delivered directly to the fire scene, the high temperatures can cause the drones to malfunction and crash. Existing drones are equipped with drop mechanisms, but these mechanisms simply "throw" the rescue items outwards, which can easily damage them. Summary of the Invention

[0003] This invention provides a rescue drone with a telescopic arm to solve the problems existing in the prior art.

[0004] The technical solutions adopted in this utility model are as follows:

[0005] A rescue drone with a telescopic arm includes a drone body, a mounting base, electric actuators, a counterweight box, a robotic arm, and a cargo basket. The mounting base is fixed to the drone body. Two electric actuators are horizontally and symmetrically mounted on the mounting base. The counterweight box and the robotic arm are respectively located at the ends of the two electric actuators, and the cargo basket is located at the end of the robotic arm.

[0006] Furthermore, the robotic arm includes a first motor, a second motor, a first link, and a second link. The first motor is fixed to the push rod shaft of the electric push rod, the second motor is fixed to the first link, the first link is fixed to the motor shaft of the first motor, the second link is fixed to the motor shaft of the second motor, and the cargo basket is fixed to the second link.

[0007] Furthermore, the counterweight box is hinged to the push rod shaft of the corresponding electric push rod, and a counterweight block and a battery for supplying power to the electric push rod, the first motor and the second motor are provided inside the counterweight box.

[0008] Furthermore, the counterweight box is a rectangular box with an openable cover on the bottom or side surface and a hinged lug on the top surface.

[0009] Furthermore, the basket is rectangular, and one side of the basket has an open structure with an electrically operated door hinged to the open side.

[0010] Furthermore, the basket is equipped with an electromagnet for attracting the electrically operated door and closing the open side of the basket.

[0011] Furthermore, a mounting flange is provided on the side of the cargo basket opposite to the electric door, and the cargo basket is fixed to the robotic arm through the mounting flange.

[0012] This utility model has the following beneficial effects:

[0013] 1) This utility model is equipped with a robotic arm, which changes the method of throwing relief supplies to delivery when the drone approaches the rescue site, thus avoiding damage to the relief supplies;

[0014] 2) Two electric actuators are installed, and the lever arms of the two electric actuators are adjusted by telescoping to maintain the balance of the drone.

[0015] 3) The cargo basket is equipped with an electrically operated door (remotely controlled by an electromagnet). When flying to the rescue site, the electrically operated door is opened, and then the drone's flight status or robotic arm is adjusted to allow the rescue supplies to be released from the cargo basket. Attached Figure Description

[0016] Figure 1 This is a structural diagram of the present utility model.

[0017] Figure 2 This is a structural diagram of the present utility model.

[0018] Figure 3 This is a structural diagram of the present utility model. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] like Figures 1 to 3 This utility model discloses a rescue drone with a telescopic arm, comprising a drone body 1, a mounting base 2, two electric push rods 3, a counterweight box 4, a robotic arm 5, and a cargo basket 6. The mounting base 2 is fixed to the drone body 1. Two electric push rods 3 are horizontally and symmetrically mounted on the mounting base 2. The counterweight box 4 and the robotic arm 5 are respectively located at the ends of the two electric push rods 3. The cargo basket 6 is located at the end of the robotic arm 5.

[0021] The robotic arm 5 of this invention includes a first motor 51, a second motor 52, a first connecting rod 53, and a second connecting rod 54. The first motor 51 is fixed to the push rod shaft of the electric push rod 3. One end of the first connecting rod 53 is fixed to the motor shaft of the first motor 51, and the other end is fixed to the second motor 52. One end of the second connecting rod 54 is fixed to the motor shaft of the second motor 52, and the other end is fixed to the carrying basket 6. Both the first motor 51 and the second motor 52 are stepper motors, and the entire robotic arm can bear a weight of less than 5 kg.

[0022] The counterweight box 4 is hinged to the push rod shaft of the corresponding electric push rod 3. The counterweight box 4 contains a counterweight block and a battery that supplies power to the electric push rod 3, the first motor 51 and the second motor 52.

[0023] The maximum extension length of the electric actuator 3 is 200cm. The purpose of the electric actuator 3 is to better stabilize the flight attitude of the drone after it is loaded with cargo.

[0024] In use, when the robotic arm is fully retracted in an unloaded state (i.e., the state of robotic arm 5 shown in the figure), adjust the extension and retraction of the two electric actuators 3 so that the center of gravity rests on the drone (which can be observed visually). Alternatively, the torque can be calculated during the initial assembly, i.e., the extension and retraction of the two electric actuators 3 can be set in advance based on the weight of the retracted robotic arm 5 and the weight of the counterweight box 4. The extension and retraction of the two electric actuators 3 that maintain the balance of the drone in the unloaded state are saved as initial values ​​to the drone's control terminal.

[0025] When the cargo basket 6 is loaded with heavy objects, the overall center of gravity shifts. Although the drone's own algorithms can adjust its flight attitude to maintain a level state during flight, this increases the drone's power consumption. This application uses two electric actuators. When loading heavy objects, the weight of the load is roughly estimated in advance, and the extension length of the electric actuator 3 connected to the counterweight box 4 is adjusted to maintain the drone's basic balance. After the drone takes off, its attitude stabilization sensor adjusts its flight attitude, greatly reducing the power consumption of adjusting the drone's flight attitude.

[0026] After flying to the drop point, the robotic arm 5 extends (using remote control to operate two motors). After the supplies in the cargo basket 6 are removed, the center of gravity shifts due to the loss of supplies. At this point, the extension and retraction of the two electric push rods 3 can be returned to their initial values ​​via remote control.

[0027] The counterweight box 4 in this invention is a rectangular box. An openable cover is provided on the bottom or side of the counterweight box 4. Opening the cover allows the battery and a counterweight of appropriate weight to be secured inside. Threaded holes are provided on the outer casing of the battery and the outer wall of the counterweight, as well as inside the counterweight box 4. The battery and counterweight are fixed inside the counterweight box 4 using bolts. The counterweight is a metal block or a solid rubber block.

[0028] A hinge lug 41 is provided on the top surface of the counterweight box 4, and a hinge hole is provided on the push rod shaft of the corresponding electric push rod 3. The two are hinged together by bolts.

[0029] The basket 6 in this utility model is rectangular, and one side of the basket 6 is an open structure, with an electric door 61 hinged to the open side.

[0030] The purpose of setting up an electric door is to allow for direct unloading. When no one actively retrieves the materials at the drop-off point, the electric door 61 can be opened remotely, and the materials can be dumped out by adjusting the drone's flight attitude (i.e., tilting) or by further adjusting the state of the robotic arm 5.

[0031] The electrically operated door 61 is controlled by an electromagnet. An electromagnet is installed on the cargo basket 6 to attract and close the open side of the cargo basket. The electrically operated door 61 only needs to be remotely controlled to open; it is manually closed after the drone is recovered.

[0032] A mounting flange 62 is provided on the side of the basket 6 opposite to the electric door 61, and the basket 6 is fixed to the robotic arm 5 through the mounting flange 62.

[0033] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present utility model, and these improvements should also be considered within the protection scope of the present utility model.

Claims

1. A rescue drone with a telescopic arm, comprising a drone body (1), characterized in that: It also includes a mounting base (2), electric push rods (3), a counterweight box (4), a robotic arm (5) and a cargo basket (6). The mounting base (2) is fixed to the UAV body (1). Two electric push rods (3) are horizontally and symmetrically mounted on the mounting base (2). The counterweight box (4) and the robotic arm (5) are respectively located at the ends of the two electric push rods (3). The cargo basket (6) is located at the end of the robotic arm (5).

2. The rescue drone with telescopic arm as described in claim 1, characterized in that: The robotic arm (5) includes a first motor (51), a second motor (52), a first link (53), and a second link (54). The first motor (51) is fixed to the push rod shaft of the electric push rod (3), the second motor (52) is fixed to the first link (53), the first link (53) is fixed to the motor shaft of the first motor (51), the second link (54) is fixed to the motor shaft of the second motor (52), and the cargo basket (6) is fixed to the second link (54).

3. The rescue drone with telescopic arm as described in claim 2, characterized in that: The counterweight box (4) is hinged to the push rod shaft of the corresponding electric push rod (3). The counterweight box (4) contains a counterweight block and a battery that supplies power to the electric push rod (3), the first motor (51), and the second motor (52).

4. The rescue drone with telescopic arm as described in claim 3, characterized in that: The counterweight box (4) is a rectangular box with an openable cover on the bottom or side surface and a hinged lug (41) on the top surface.

5. The rescue drone with telescopic arm as described in claim 1, characterized in that: The basket (6) is rectangular, and one side of the basket (6) is an open structure with an electric door (61) hinged to the open side.

6. The rescue drone with telescopic arm as described in claim 5, characterized in that: The basket (6) is equipped with an electromagnet, which is used to attract the electric door (61) and close the open side of the basket.

7. The rescue drone with telescopic arm as described in claim 6, characterized in that: The basket (6) is provided with a mounting flange (62) on the side opposite to the electric door (61), and the basket (6) is fixed to the robotic arm (5) by the mounting flange (62).

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