A mechanical arm for unmanned aerial vehicle to replace a beacon light

Abstract

The utility model discloses a kind of mechanical arms for unmanned aerial vehicle to replace navigation beacon light, comprising: installation component, mechanical arm body and end execution gripper, the mechanical arm body one end is connected installation component, for connecting unmanned aerial vehicle, the other end is connected end execution gripper, for the capture, removal and installation of navigation beacon light;The mechanical arm body is formed by multiple flexible structure series connection, and multiple cavity pneumatic drive unit is arranged in each section, for realizing the bending, stretching or torsion of mechanical arm;End execution gripper is connected in mechanical arm body by quick release structure, can be conveniently replaced.The utility model for navigation beacon light replacement unmanned aerial vehicle mechanical arm improves the compliance and security of mechanical arm while guaranteeing gripping force, high sealing level, adapt to offshore storm environment;The claw shape and clamping force of end execution gripper adapt to mainstream navigation beacon light model, can improve the efficiency and security of navigation beacon light replacement.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a robotic arm for replacing navigation lights on UAVs. Background Technology

[0002] Navigation lights are a crucial component of maritime navigation systems, guiding vessels safely, especially at night or in low-visibility conditions. They are widely used in waterways, ports, bridges, buoys, lighthouses, and near-shore facilities, serving as key equipment for maintaining maritime traffic safety. Currently, replacing navigation lights relies on workers climbing onto vessels for elevated operations, resulting in low efficiency, poor safety, and high transportation costs. In recent years, drone-based collaborative technology has developed rapidly, offering innovative solutions for maintaining high-risk facilities. The combination of robots and robotic arms is a new hot topic at the intersection of robotics, air-to-ground collaborative technology, and flexible materials engineering. However, traditional robotic arms are heavy, inflexible, and structurally complex, exhibiting problems such as flight instability, significant dynamic interference, and poor gripping rigidity on aerial platforms. Flexible robotic arms, on the other hand, are lightweight, deformable, highly compliant, and safe, making them particularly suitable for integration into small to medium-sized drones to adapt to complex environments such as limited space on offshore platforms, significant wind and wave disturbances, and high air humidity.

[0003] Chinese invention patent application CN118682814A (published on September 24, 2024) discloses a flexible module and a flexible robotic arm, including a first end plate, a second end plate, and a deformable first flexible sidewall. The first flexible sidewall, the first end plate, and the second end plate enclose a fluid cavity, through which fluid enters and exits to drive relative movement between the first end plate and the second end plate. The flexible module also includes a viscous damping structure that increases its motion damping. The provided flexible module and flexible robotic arm, by incorporating a viscous damping structure, increase the motion damping of the flexible module, making its movement more stable and reducing the occurrence of jitter and other unstable phenomena.

[0004] Chinese utility model patent application CN217967067U (publication date December 6, 2022) discloses a robotic arm and its gripper structure, including: a fixed base, at least two grippers, and a corresponding fluid telescopic component; one end of the fluid telescopic component is connected to the fixed base, and the other end is connected to the grippers; the grippers are also hinged to the fixed base; the at least two grippers are driven to perform centering or concentric reciprocating motion by driving the fluid telescopic component to achieve opening and closing; the technical solution of this application aims to reduce the weight of the gripper structure.

[0005] The aforementioned existing technologies aim to make the movement of robotic arms more stable and controllable. The main technical problems they address are improving the precision and stability of flexible robotic arms and reducing their weight. However, for drone robotic arms used in the replacement and maintenance of marine navigation lights, the adaptability to the size of the navigation lights, the ability to resist interference from wind and waves, and the suitability for the high-salt, humid, and hot marine environment should also be considered.

[0006] Therefore, there is a need for a flexible robotic arm that can adapt to different beacon light sizes, has high structural safety, is corrosion-resistant, and has good sealing properties, so as to be integrated into a drone platform to perform remote automatic beacon light replacement tasks. Utility Model Content

[0007] This utility model addresses the problems of existing robotic arms mounted on drones, such as low adaptability to navigation light sizes, low durability at sea, and low stability. It provides a robotic arm for replacing navigation lights on drones. The technical solution is as follows:

[0008] A robotic arm for replacing navigation lights on a drone includes an installation component, a robotic arm body, and an end effector gripper. The robotic arm body is composed of multiple flexible segments connected in series. One end of the robotic arm body is connected to the end effector gripper for grasping, removing, and installing navigation lights, while the other end is connected to the installation component for carrying the drone. The end effector gripper includes claws that are controlled by a drive system and can rotate or extend.

[0009] Optionally, there are two or more claws, and the inner side of each claw is provided with a notch. The notch can grasp the handle of a navigation light with a strip handle, and the end of each claw can cover and grasp a cylindrical or conical navigation light without a handle.

[0010] Furthermore, the shape of the notch matches the handle of mainstream navigation lights, making it easy to grip securely.

[0011] Optionally, the plurality of said claws may be controlled by a pneumatic drive system or a motor drive system.

[0012] Furthermore, the end effector gripper is connected to the robotic arm body via a quick-release interface, facilitating the replacement of the end effector gripper and adapting to the replacement or maintenance of navigation lights of different types and specifications.

[0013] Furthermore, the mounting components are installed on the bottom of the drone and are equipped with quick-release interfaces and electro-pneumatic connectors for easy deployment and recovery.

[0014] Furthermore, the robotic arm body is driven by a pneumatic system, and each of the multiple flexible segments is made of a highly elastic material, possessing good bending and toughness.

[0015] Furthermore, the pneumatic system is installed in the core compartment of the UAV; it is connected to the robotic arm via a pluggable multi-core cable and air pipe interface; the control module of the pneumatic system is integrated into the UAV's electronic control system, which can remotely adjust the pressure of each air chamber, drive the movement of the arm and the end effector gripper, and communicate with the UAV flight control system via CAN bus or UART interface to realize action issuance and feedback acquisition.

[0016] Furthermore, each flexible segment is equipped with multiple independent pneumatic chambers, which can be controlled by inflation or deflation to achieve bending, extension or torsion.

[0017] Optionally, each flexible segment is 250mm long, and the overall arm length is 750-1000mm, which can be extended and retracted according to the navigation light standard requirements of different waterway jurisdictions.

[0018] Furthermore, the end effector is also equipped with a high-pressure jet device, which can spray high-pressure gas to clean the dust from the mounting interface of the navigation light when it is being replaced.

[0019] Optionally, the end effector gripper is connected to the robotic arm body via a snap-fit ​​or magnetic interface plate.

[0020] Furthermore, the inner side of the end-effector gripper is covered with an anti-slip groove.

[0021] Optionally, the robotic arm is mounted on the underside of the drone via an integrated aluminum alloy or carbon fiber L-shaped shock-absorbing bracket; the bracket is equipped with shock-absorbing pads and guide rail grooves, and its position can be finely adjusted before flight; thus satisfying the requirements for wind load disturbance buffering and flexible arm swing limitation.

[0022] Furthermore, the air passage of the pneumatic cavity is arranged using a polyurethane hose resistant to seawater corrosion, and the interface is equipped with a sealing ring.

[0023] Furthermore, each flexible segment of the robotic arm body is embedded with an angle sensor and a flexible pressure sensor.

[0024] Furthermore, the surface of the robotic arm is coated with a salt spray-resistant and UV-resistant coating, and the claws of the end effector are covered with anti-slip rubber pads to ensure stable operation in environments ranging from -10℃ to 40℃.

[0025] Furthermore, the mounting assembly is equipped with an electronically controlled unhooking mechanism that automatically releases the robotic arm in case of robotic arm failure or emergency flight, ensuring the safety of the UAV flight.

[0026] Compared with the prior art, the technical solution of this application has the following advantages and effects:

[0027] 1. The end effector gripper of the robotic arm in this application optimizes the shape and structure of the gripper fingers and adopts a quick-release structure to connect with the robotic arm body. The end effector gripper is replaceable, which makes the robotic arm adaptable to the replacement of different types of navigation lights and improves the gripping stability and applicability of navigation lights.

[0028] 2. The surface of the robotic arm in this application is coated with a salt spray-resistant and UV-resistant coating, which has good environmental adaptability and is suitable for operation in complex natural environments and extreme temperatures, such as at sea.

[0029] 3. The robotic arm of this application is equipped with a high-pressure jet device, which can spray high-pressure gas to clean the installation interface when replacing navigation lights, ensuring connection stability while protecting the navigation lights from damage by dust and impurities.

[0030] The above is merely an overview of the technical solution of this application. To enable the technical means of this application to be implemented according to the content of the specification, and to make the above and other objects, features, and advantages of this application clearer and easier to understand, the embodiments of this application are described in detail below with reference to the accompanying drawings. Based on the following detailed description of specific embodiments of this application in conjunction with the accompanying drawings, those skilled in the art will more clearly understand the above and other objects, features, and advantages of this application. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of this utility model and its embodiments, the accompanying drawings used in the description of the embodiments of this utility model will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0032] Figure 1 This is a schematic diagram of the main elevation of the robotic arm according to an embodiment of this utility model.

[0033] Figure 2 This is a three-dimensional structural diagram of the end effector gripper in an embodiment of this utility model.

[0034] Figure 3(a) is a partial schematic diagram of the end effector gripper of this utility model grasping the original navigation light (without handle) in an embodiment of the present invention.

[0035] Figure 3(b) is a partial schematic diagram of the end effector gripper of this utility model grasping a new navigation light (with a handle).

[0036] Reference numerals: 1. Robotic arm; 2. Mounting assembly; 3. Robotic arm body; 4. End effector gripper; 41. Gripper; 411. Notch; 412. Anti-slip groove; 42. High-pressure jet device; 5. Unmanned aerial vehicle (UAV); 6. Navigation light; 61. Navigation light without handle; 62. Navigation light with handle; 63. Handle. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. In the following description, specific details such as specific configurations and components are provided merely to help fully understand the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. In addition, for clarity and brevity, descriptions of known functions and structures are omitted in the embodiments.

[0038] It should be understood that the phrase "an embodiment" or "this embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "an embodiment" or "this embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0039] Furthermore, reference numerals and / or letters may be repeated in different examples within this application. Such repetition is for the purpose of simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed.

[0040] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it have an "or" relationship.

[0041] In this article, the term "at least one" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, "at least one of A and B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0042] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0043] Example 1

[0044] This embodiment provides a robotic arm for replacing navigation lights on a drone, as shown in the main elevation diagram. Figure 1 The details are as follows:

[0045] A robotic arm for replacing navigation lights on a drone includes an installation component 2, a robotic arm body 3, and an end effector gripper 4. The robotic arm body 3 is composed of multiple flexible segments connected in series. One end of the robotic arm body 3 is connected to the end effector gripper 4 for gripping, removing, and installing navigation lights 6; the other end is connected to the installation component 2 for carrying a drone 5. The end effector gripper 4 includes claws 41, which are controlled by a drive system and can rotate or extend.

[0046] In one implementation, the end effector gripper 4 is connected to the robotic arm body 3 via a quick-release interface, which facilitates the replacement of the end effector gripper 4 and can be adapted to the replacement of navigation lights 6 of different forms and specifications.

[0047] In one implementation, the end effector gripper 4 is connected to the robotic arm body 3 via a snap-fit ​​and magnetic interface plate.

[0048] In one implementation, the claws 41 can be two or more.

[0049] In one implementation, the claw 41 can be controlled by a pneumatic drive system or a motor drive system.

[0050] In one implementation, the mounting component 2 is mounted on the bottom of the drone 5 and is equipped with a quick-release interface and electro-pneumatic connectors for easy deployment and recovery.

[0051] In one implementation, the robotic arm body 3 is driven by a pneumatic system, and each of the multiple flexible segments is made of a highly elastic material, possessing good bending and toughness.

[0052] In one implementation, the pneumatic system is installed in the core compartment of the UAV 5; it is connected to the robotic arm 1 via a pluggable multi-core cable and air pipe interface; the control module of the pneumatic system is integrated into the electronic control system of the UAV 5, which can remotely adjust the pressure of each air chamber, drive the movement of the arm body and the end effector gripper 4, and communicate with the flight control system of the UAV 5 via CAN bus or UART interface to realize action issuance and feedback acquisition.

[0053] In one implementation, each flexible segment is provided with multiple independent pneumatic cavities, which can bend, stretch or twist by controlling inflation or deflation.

[0054] Optionally, each flexible segment is 250mm long, and the overall arm length is 800mm, which can be extended and retracted according to the requirements of the navigation light standard 6 in different jurisdictions.

[0055] The technical effect achieved by this embodiment is:

[0056] 1. By mounting a robotic arm on a drone, the existing navigation light replacement operations have overcome the problems of low efficiency, poor safety, and high transportation costs caused by the reliance on workers to climb ships for high-altitude operations, thus improving the efficiency of navigation light replacement and personnel safety.

[0057] 2. The mounting assembly is fixedly installed on the bottom of the drone via a carbon fiber shock-absorbing bracket, and is equipped with a quick-release interface for easy deployment and recovery.

[0058] 3. The end effector gripper adopts a quick-release structure to connect with the robotic arm body. The end effector gripper is replaceable, which allows the robotic arm to adapt to the replacement of different types of navigation lights, improving the stability and applicability of navigation light grasping.

[0059] Example 2

[0060] This embodiment, based on Embodiment 1, further optimizes the end effector gripper to increase the adaptability of the robotic arm to beacon light replacement, providing a robotic arm for replacing beacon lights on UAVs. A three-dimensional structural diagram of its end effector gripper is shown below. Figure 2 The details are as follows:

[0061] In one embodiment, each of the claws 41 has a notch 411 on its inner side, the notch 411 being able to grip the handle 63 of the navigation light 6, and the end of the claw 41 being able to cover and grip a cylindrical or conical navigation light 6.

[0062] In one embodiment, the inner side of the end effector gripper 4 claw 41 is covered with an anti-slip groove 412 to facilitate stable gripping of the navigation light 6.

[0063] In one embodiment, the end effector gripper 4 is also equipped with a high-pressure jet device 42, which can spray high-pressure gas to clean the mounting interface of the navigation light 6 when the navigation light 6 is replaced.

[0064] In one implementation, the robotic arm 1 is mounted on the bottom of the underside of the UAV 5 via an integrated aluminum alloy or carbon fiber L-shaped shock-absorbing bracket; the bracket is equipped with shock-absorbing pads and guide rail grooves, and its position can be finely adjusted before flight; thus satisfying the requirements for wind load disturbance buffering and flexible arm swing limitation.

[0065] In one embodiment, the air circuit of the robotic arm 1 is arranged using a polyurethane hose resistant to seawater corrosion, with a sealing ring at the interface.

[0066] In one implementation, each flexible segment of the robotic arm 1 is embedded with an angle sensor and a flexible pressure sensor.

[0067] In one embodiment, the surface of the robotic arm 1 is coated with a salt spray-resistant and UV-resistant coating, and the anti-slip groove 412 on the end effector gripper 4 is made of rubber material to ensure stable operation and durability in environments ranging from -10℃ to 40℃.

[0068] As one implementation, the mounting component 2 is equipped with an electronically controlled unhooking mechanism that automatically releases the robotic arm 1 in case of malfunction or emergency flight, ensuring the flight safety of the UAV 5.

[0069] The technical effect achieved by this embodiment is:

[0070] 1. The surface of the robotic arm in this application is coated with a salt spray-resistant and UV-resistant coating, which has good environmental adaptability and is suitable for operation in complex natural environments and extreme temperatures, such as at sea.

[0071] 2. The robotic arm of this application is equipped with a high-pressure jet device, which can spray high-pressure gas to clean the installation interface when replacing navigation lights, ensuring connection stability while protecting the navigation lights from damage by dust and impurities.

[0072] Example 3

[0073] This embodiment, based on Embodiment 1 or Embodiment 2, provides an implementation method for a robotic arm used to replace navigation lights on a drone, specifically including the following steps:

[0074] Step S1: Start the drone 5 with robotic arm 1, arrive at the destination, and the robotic arm 1 grabs and removes the navigation light 61 without a handle. The grabbing diagram is shown in Figure 3(a).

[0075] Step S2: The robotic arm 1 returns carrying the navigation light 61 without a handle, and removes the navigation light 61 without a handle;

[0076] Step S3: The end effector gripper 4 of the robotic arm 1 grabs the navigation light 62 with a handle, as shown in Figure 3(b), and delivers it to the destination;

[0077] Step S4: Activate the high-pressure jet device 42 for cleaning, the drone 5 performs the alignment operation, and the robotic arm 1 performs the installation action to install the navigation light 62 with a handle.

[0078] The technical effects achieved in this embodiment are the same as those in Embodiments 1 and 2.

[0079] The above description is merely an exemplary embodiment of the present utility model, and not all embodiments. Those skilled in the art should understand that various modifications and variations can be made to the exemplary embodiments of the present disclosure without departing from the spirit and scope of the present disclosure, and all modifications and variations are included within the protection scope of the present disclosure as defined by the claims. The protection scope of the present disclosure is defined by the appended claims, and equivalents of those claims are also included.

Claims

1. A robotic arm for replacing navigation lights on unmanned aerial vehicles, characterized in that: The system includes an installation component (2), a robotic arm body (3), and an end effector gripper (4). The robotic arm body (3) is composed of multiple flexible segments connected in series. One end of the robotic arm body (3) is connected to the end effector gripper (4), and the other end is connected to the installation component (2). The installation component (2) is installed on the drone (5). The end effector gripper (4) includes a claw (41), which is controlled by a drive system and can rotate or extend; the end effector gripper (4) is connected to the robotic arm body (3) via a quick-release interface.

2. The robotic arm for replacing navigation lights on a drone according to claim 1, characterized in that: There are two or more claws (41), and the inner side of the claws (41) is provided with a notch (411), and the inner side of the end is also covered with an anti-slip groove (412). The shape of the notch (411) matches the handle of the mainstream navigation light; The claw (41) is controlled by a pneumatic drive system or a motor drive system.

3. The robotic arm for replacing navigation lights on a drone according to claim 1, characterized in that: The mounting component (2) is installed on the bottom of the UAV (5) and fixed by a carbon fiber shock-absorbing bracket. It is equipped with a quick-release interface and an electro-pneumatic connector.

4. The robotic arm for replacing navigation lights on a drone according to claim 2, characterized in that: The robotic arm body (3) is driven by a pneumatic system, and each of the multiple flexible segments is made of a highly elastic material.

5. A robotic arm for replacing navigation lights on a drone according to claim 4, characterized in that: The end effector gripper (4) is also equipped with a high-pressure jet device (42).

6. A robotic arm for replacing navigation lights on a drone according to claim 5, characterized in that: The air passage of the robotic arm (1) is made of polyurethane hoses that are resistant to seawater corrosion, and the interfaces are equipped with sealing rings.

7. A robotic arm for replacing navigation lights on a drone according to claim 2, characterized in that: The surface of the robotic arm (1) is covered with a salt spray-resistant and UV-resistant coating, and the anti-slip groove (412) on the end effector gripper (4) is made of rubber.

8. A robotic arm for replacing navigation lights on a drone according to claim 7, characterized in that: The mounting assembly (2) is equipped with an electronically controlled unhooking mechanism that automatically releases the robotic arm (1) in case of malfunction or flight emergency.

9. A robotic arm for replacing navigation lights on a drone according to claim 8, characterized in that: The robotic arm (1) has angle sensors and flexible pressure sensors embedded in each flexible segment.

10. A robotic arm for replacing navigation lights on a drone according to claim 9, characterized in that: Each flexible segment is 250mm long, and the overall arm length is 750~1000mm.

Images