A modular robotic arm adaptive grasping device mounted on a drone

Abstract

This utility model discloses a modular robotic arm adaptive grasping device mounted on a drone, including a drone platform. A first micro motor is installed at the center of the bottom of the drone platform. A bracket is provided below the first micro motor. A first robotic arm is installed inside the bracket via a first rotating shaft. A second robotic arm is installed at one end of the first robotic arm via a second rotating shaft. A grasping mechanism is provided below the second robotic arm. A support is installed at the top of the grasping mechanism. The bottom end of the second robotic arm is connected to the support via a third rotating shaft. A third micro motor is installed on the outer wall of one side of the bracket. A second micro motor is installed on the outer wall of the second robotic arm. A fourth micro motor is installed on the outer wall of the support. This utility model can adjust the grasping angle, position, orientation, and force parameters to meet the needs of omnidirectional grasping adaptation.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a modular robotic arm adaptive grasping device mounted on a UAV. Background Technology

[0002] Currently, the application fields of drones are becoming increasingly wide. Remote control flight is a fundamental characteristic of drones, and based on this characteristic, various uses can be derived, such as reconnaissance, aerial photography, plant protection, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying, news reporting, power line inspection, disaster relief, film and television shooting, and so on. Because drones also possess high maneuverability, rapid mission response, and timely information feedback, using drones for aerial transportation has become an important development direction.

[0003] Chinese patent CN211076339U discloses a drone grasping device, which relates to the field of drone technology and is used to solve the problem of grasped items easily falling off. The drone grasping device includes a connecting plate mounted on the drone, a mechanical claw mounted on the connecting plate, a limiting rod slidably disposed on the connecting plate and used to abut against the mechanical claw to grasp the item, and a control component mounted on the connecting plate and used to fix the limiting rod relative to the connecting plate.

[0004] While the aforementioned drone-based grasping device has the advantage of reducing the probability of the grasped object falling, it is a fixed grasping device. Its grasping parameter adjustment function, such as the adjustment of grasping angle, position, orientation and force, cannot adapt to the grasping needs of different objects and has certain limitations. Therefore, we propose a modular robotic arm adaptive grasping device mounted on a drone. Utility Model Content

[0005] The purpose of this invention is to provide a modular robotic arm adaptive grasping device for drones, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a modular robotic arm adaptive grasping device mounted on a drone, comprising a drone platform, a first micro motor installed at the center of the bottom of the drone platform, a bracket provided below the first micro motor, a first robotic arm installed inside the bracket via a first rotating shaft, a second robotic arm installed at one end of the first robotic arm via a second rotating shaft, a grasping mechanism provided below the second robotic arm, the grasping mechanism comprising a grasping cover, a cylinder, a first drive rod, a second drive rod, a third drive rod, a first connecting rod, a second connecting rod, and a gripper, a support installed at the top of the grasping mechanism, the bottom end of the second robotic arm connected to the support via a third rotating shaft, a third micro motor installed on the outer wall of one side of the bracket, and the output end of the third micro motor fixedly connected to the first rotating shaft, a second micro motor installed on the outer wall of the second robotic arm, and the output end of the second micro motor fixedly connected to the second rotating shaft, and a fourth micro motor installed on the outer wall of the support, and the output end of the fourth micro motor fixedly connected to the third rotating shaft.

[0007] Preferably, visual cameras are installed on both sides of the bottom of the drone platform. By mounting visual cameras at the bottom of the drone platform and using an intelligent sensing system and dynamic adjustment algorithm, the adaptability and reliability of drone grasping are significantly improved.

[0008] Preferably, the bracket has an L-shaped structure, and the top of the bracket is fixedly connected to the output end of the first micro motor.

[0009] Preferably, the gripper cover is installed at the bottom end of the support, and the cylinder is installed inside the gripper cover.

[0010] Preferably, the first drive rod is installed at the output end of the cylinder, the second drive rod is installed at one end of the first drive rod, and the third drive rod is installed at one end of the second drive rod. The two ends of the second drive rod are respectively movably connected to the first drive rod and the third drive rod.

[0011] Preferably, the first linkage rod and the second linkage rod are respectively disposed at the bottom of the gripper cover, and one end of the first linkage rod and the second linkage rod are movably connected to the inner wall of the gripper cover.

[0012] Preferably, the inner surface of the gripper is an arc surface, and the gripper is movably connected to one end of the second linkage rod and the first linkage rod.

[0013] Preferably, the drone platform is equipped with support legs on both sides of its bottom end, and the bottom end of the support legs is fitted with a cushioning rubber sleeve to facilitate cushioning when the drone lands.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] The drone is mounted on a drone platform and equipped with a modular robotic arm adaptive gripping device. The gripping mechanism enables gripping functionality. A first and second robotic arm are mounted on the gripping mechanism via a support, a first rotating shaft, a second rotating shaft, and a third rotating shaft. A multi-degree-of-freedom robotic arm structure is formed by a second, third, and fourth micro-motor, enabling multi-angle adjustment to meet gripping needs in different positions. The first micro-motor drives the support to change the gripping direction, achieving gripping functionality from different orientations. A vision camera is mounted at the bottom of the drone platform. Through an intelligent sensing system and dynamic adjustment algorithms, the drone's gripping capabilities are significantly improved. The gripping mechanism offers excellent adaptability and reliability. During gripping, the cylinder drives the first drive rod to retract, causing the second and third drive rods to rotate the first and second connecting rods. These connecting rods then pull the gripper towards the center, achieving the gripping action. This solution allows for omnidirectional gripping adaptability. Through the freedom of movement of the first and second robotic arms, it supports precise adjustments to horizontal, vertical, and tilt angles, adapting to the gripping needs of various targets. It also features adaptive force control protection: a vision camera detects the shape and surface material of the target object in real time, automatically matching the gripping force to avoid damage to fragile items or precision instruments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0017] Figure 2 This is a magnified front view of the gripping mechanism of this utility model;

[0018] Figure 3 This is a side view enlarged structural schematic diagram of the gripping mechanism of this utility model;

[0019] Figure 4 This is a cross-sectional enlarged structural schematic diagram of the gripping mechanism of this utility model;

[0020] Figure 5 This is a schematic diagram of the grasping state structure of this utility model.

[0021] In the diagram: 1. Unmanned aerial vehicle platform; 101. Support leg; 102. Buffer rubber sleeve; 2. Visual camera; 3. First micro motor; 4. Bracket; 5. First robotic arm; 6. Second robotic arm; 7. Grasping mechanism; 8. Support; 9. Second micro motor; 10. Third micro motor; 11. Fourth micro motor; 12. First rotating shaft; 13. Second rotating shaft; 14. Third rotating shaft; 15. Grasping cover; 16. Cylinder; 17. First drive rod; 18. Second drive rod; 19. Third drive rod; 20. First connecting rod; 21. Second connecting rod; 22. Grasper. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of this utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-5 An embodiment of this utility model is provided: a modular robotic arm adaptive grasping device mounted on a drone, including a drone platform 1, a first micro motor 3 installed at the center of the bottom of the drone platform 1, a bracket 4 provided below the first micro motor 3, a first robotic arm 5 installed inside the bracket 4 through a first rotating shaft 12, and a second robotic arm 6 installed at one end of the first robotic arm 5 through a second rotating shaft 13.

[0025] A gripping mechanism 7 is provided below the second robotic arm 6. The gripping mechanism 7 includes a gripping cover 15, a cylinder 16, a first drive rod 17, a second drive rod 18, a third drive rod 19, a first connecting rod 20, a second connecting rod 21, and a gripper 22. A support 8 is installed at the top of the gripping mechanism 7. The bottom end of the second robotic arm 6 is connected to the support 8 through a third rotating shaft 14. A third micro motor 10 is installed on the outer wall of one side of the support 4, and the output end of the third micro motor 10 is fixedly connected to the first rotating shaft 12. A second micro motor 9 is installed on the outer wall of the second robotic arm 6, and the output end of the second micro motor 9 is fixedly connected to the second rotating shaft 13. A fourth micro motor 11 is installed on the outer wall of the support 8, and the output end of the fourth micro motor 11 is fixedly connected to the third rotating shaft 14.

[0026] Specifically, the drone is mounted on the drone platform 1. The drone is equipped with a modular robotic arm adaptive gripping device. The gripping function is realized through the gripping mechanism 7. The first robotic arm 5 and the second robotic arm 6 are mounted on the gripping mechanism 7 through the support 8, the first rotating shaft 12, the second rotating shaft 13, and the third rotating shaft 14. The second micro motor 9, the third micro motor 10, and the fourth micro motor 11 form a multi-degree-of-freedom robotic arm structure, which can realize multi-angle adjustment function to meet the gripping needs of different positions. The first micro motor 3 drives the bracket 4 to change the gripping direction to realize the gripping function in different directions.

[0027] Visual cameras 2 are installed on both sides of the bottom of the drone platform 1. By mounting visual cameras 2 at the bottom of the drone platform 1, the adaptability and reliability of drone grasping are significantly improved through intelligent sensing system and dynamic adjustment algorithm. The algorithm part is software code technology, which will not be described in detail here.

[0028] The bracket 4 has an L-shaped structure, and the top of the bracket 4 is fixedly connected to the output end of the first micro motor 3;

[0029] The gripper cover 15 is installed at the bottom of the support 8, and the cylinder 16 is installed inside the gripper cover 15;

[0030] The first drive rod 17 is installed at the output end of the cylinder 16, the second drive rod 18 is installed at one end of the first drive rod 17, and the third drive rod 19 is installed at one end of the second drive rod 18. The two ends of the second drive rod 18 are movably connected to the first drive rod 17 and the third drive rod 19, respectively.

[0031] The first linkage rod 20 and the second linkage rod 21 are respectively located at the bottom of the gripper cover 15, and one end of the first linkage rod 20 and the second linkage rod 21 are movably connected to the inner wall of the gripper cover 15.

[0032] The inner surface of the gripper 22 is arc-shaped, and the gripper 22 is movably connected to one end of the second linkage 21 and the first linkage 20;

[0033] Specifically, when the gripping mechanism 7 grips, the cylinder 16 drives the first drive rod 17 to retract, causing the second drive rod 18 and the third drive rod 19 to drive the first connecting rod 20 and the second connecting rod 21 to rotate. The first connecting rod 20 and the second connecting rod 21 drive the gripper 22 to move towards the center, thus realizing the gripping action.

[0034] Compared to the fixed gripping device in the comparison document, this solution has the following advantages: omnidirectional gripping adaptation: The first robotic arm 5 and the second robotic arm 6 have degrees of freedom of movement, supporting precise adjustments to horizontal, vertical, and tilt angles, adapting to the gripping needs of various targets; adaptive force control protection: The vision camera 2 detects the shape and surface material of the target object in real time, automatically matching the gripping force to avoid damage to fragile items or precision instruments; quick-change modular design: The bracket 4, first robotic arm 5, second robotic arm 6, and gripping mechanism 7 adopt a combined assembly design, all using bolt-type detachable installation. The modular structure facilitates assembly and disassembly; when partial damage occurs, only the corresponding component needs to be replaced, reducing subsequent maintenance costs.

[0035] Support legs 101 are installed on both sides of the bottom of the drone platform 1, and the bottom of the support legs 101 is fitted with a cushioning rubber sleeve 102.

[0036] In this embodiment, the drone is mounted on a drone platform 1. The drone is equipped with a modular robotic arm adaptive gripping device, which performs the gripping function through a gripping mechanism 7. A first robotic arm 5 and a second robotic arm 6 are mounted on the gripping mechanism 7 via a support 8, a first rotating shaft 12, a second rotating shaft 13, and a third rotating shaft 14. A multi-degree-of-freedom robotic arm structure is formed by a second micro-motor 9, a third micro-motor 10, and a fourth micro-motor 11, enabling multi-angle adjustment to meet gripping requirements at different positions. The first micro-motor 3 drives the bracket 4 to change the gripping direction, achieving gripping functions in different orientations. A visual camera 2 is mounted at the bottom of the drone platform 1. Through an intelligent sensing system and dynamic adjustment algorithm, the adaptability and reliability of the drone's gripping is significantly improved. The algorithm is software code technology and will not be detailed here. Then, during gripping, the cylinder 16 drives the first drive rod 17 to retract, causing... The second drive rod 18 and the third drive rod 19 drive the first connecting rod 20 and the second connecting rod 21 to rotate. The first connecting rod 20 and the second connecting rod 21 drive the gripper 22 to move towards the center, realizing the gripping action. Compared with the fixed gripping device in the comparative document, the advantages of this solution are reflected in: all-round gripping adaptation, through the freedom of movement of the first robotic arm 5 and the second robotic arm 6, it supports precise adjustment of horizontal, vertical and tilt angles, which can adapt to the gripping needs of various targets; adaptive force control protection: through the vision camera 2, the shape and surface material of the target object are detected in real time, and the clamping force is automatically matched to avoid damage to fragile items or precision instruments; quick-change modular design: the bracket 4, the first robotic arm 5, the second robotic arm 6 and the gripping mechanism 7 adopt a combined assembly design, all of which adopt bolt-type detachable installation. The modular structure is easy to install and disassemble, and the corresponding replacement can be carried out when partial damage occurs, which reduces the subsequent inspection and maintenance costs.

[0037] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

Claims

1. A modular robotic arm adaptive grasping device mounted on a drone, comprising a drone platform (1), characterized in that, A first micro motor (3) is installed at the center of the bottom of the unmanned aerial vehicle platform (1). A bracket (4) is provided below the first micro motor (3). A first robotic arm (5) is installed inside the bracket (4) via a first rotating shaft (12). A second robotic arm (6) is installed at one end of the first robotic arm (5) via a second rotating shaft (13). A gripping mechanism (7) is provided below the second robotic arm (6). The gripping mechanism (7) includes a gripping cover (15), a cylinder (16), a first drive rod (17), a second drive rod (18), a third drive rod (19), a first linkage rod (20), a second linkage rod (21), and a gripper (2). 2) A support (8) is installed at the top of the gripping mechanism (7). The bottom end of the second robotic arm (6) is connected to the support (8) through a third rotating shaft (14). A third micro motor (10) is installed on the outer wall of one side of the bracket (4), and the output end of the third micro motor (10) is fixedly connected to the first rotating shaft (12). A second micro motor (9) is installed on the outer wall of the second robotic arm (6), and the output end of the second micro motor (9) is fixedly connected to the second rotating shaft (13). A fourth micro motor (11) is installed on the outer wall of the support (8), and the output end of the fourth micro motor (11) is fixedly connected to the third rotating shaft (14). 2.The unmanned aerial vehicle (UAV) -mounted modular robotic arm adaptive grasping device of claim 1, wherein: Visual cameras (2) are installed on both sides of the bottom of the unmanned aerial vehicle platform (1). 3.The unmanned aerial vehicle (UAV) mounted modular robotic arm adaptive grasping device of claim 1, wherein: The bracket (4) has an L-shaped structure, and the top of the bracket (4) is fixedly connected to the output end of the first micro motor (3). 4.The unmanned aerial vehicle (UAV) -mounted modular robotic arm adaptive grasping device of claim 1, wherein: The gripper cover (15) is installed at the bottom of the support (8), and the cylinder (16) is installed inside the gripper cover (15). 5.The unmanned aerial vehicle (UAV) mounted modular robotic arm adaptive grasping device of claim 1, wherein: The first drive rod (17) is installed at the output end of the cylinder (16), the second drive rod (18) is installed at one end of the first drive rod (17), and the third drive rod (19) is installed at one end of the second drive rod (18). The two ends of the second drive rod (18) are movably connected to the first drive rod (17) and the third drive rod (19) respectively. 6.The unmanned aerial vehicle (UAV) mounted modular robotic arm adaptive grasping device of claim 1, wherein: The first linkage rod (20) and the second linkage rod (21) are respectively disposed at the bottom of the gripper cover (15), and one end of the first linkage rod (20) and the second linkage rod (21) are movably connected to the inner wall of the gripper cover (15). 7.The unmanned aerial vehicle (UAV) mounted modular robotic arm adaptive grasping device of claim 1, wherein: The inner surface of the gripper (22) is an arc surface, and the gripper (22) is movably connected to one end of the second linkage rod (21) and the first linkage rod (20).

8. The modular robotic arm adaptive grasping device for a drone according to claim 1, characterized in that: The unmanned aerial vehicle platform (1) has support legs (101) installed on both sides of its bottom end, and the bottom end of the support legs (101) is fitted with a buffer rubber sleeve (102).

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