A robotic arm for automatically grasping drones

Abstract

This utility model discloses an automatic grasping robotic arm for drones, solving the problem of poor grasping stability when grasping solely with clamping components. It includes a drone body and a connecting frame. The connecting frame is fixedly installed at the bottom of the drone body, and robotic arm assemblies are symmetrically installed at both ends of the connecting frame. A camera is installed on the front of the connecting frame. The robotic arm assembly includes a mounting base fixedly installed at the end of the connecting frame, with an arm rotatably mounted on the mounting base. Fixed plates are symmetrically installed at the bottom of the arm, and a gripping roller is rotatably mounted between the two fixed plates. An auxiliary grasping component is provided on the arm. In operation, the two arms rotate relative to each other, causing the two gripping rollers to grasp the object. During the rotation of the gripping rollers, adhesive is continuously extruded and coated onto the outer surface of the gripping rollers, thus coating the outer surface of the gripping rollers with adhesive and improving the grasping stability of smooth objects.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned aerial vehicle (UAV) technology, specifically an automatic grasping robotic arm for UAVs. Background Technology

[0002] According to the patent document with authorization announcement number "CN212829073U" and invention title "A Visual Grasping Robotic Arm Based on a Quadcopter Drone," the specification states that the robotic arm is installed at the bottom center of the drone's set-top box. During operation, a power gear inside the rotating unit drives a rotating gear, which is fixed to the top of a high-strength telescopic rod. The rotating gear's movement causes the telescopic rod to move 120° left and right, achieving a wide range of adjustment for the robotic arm. The telescopic rod is installed below the rotating unit. This structure can extend and retract freely in the vertical direction under remote control. When the robotic arm approaches a target object, only minor adjustments to the robotic claw below the arm are needed. The remote control can achieve 360° horizontal rotation of the robotic claw. However, the following drawbacks still exist:

[0003] The gripping principle of existing gripping arms is basically based on clamping components. When the surface of the object is relatively smooth, the friction between the clamping components and the object is insufficient, which can easily lead to a decrease in gripping stability. Utility Model Content

[0004] In view of the above situation and to overcome the shortcomings of the prior art, this utility model provides an automatic grasping robotic arm for drones, which effectively solves the problem of poor grasping stability when grasping by only using clamping parts.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic grasping robotic arm for drones, comprising a drone body and a connecting frame, wherein the connecting frame is fixedly installed at the bottom end of the drone body, robotic arm assemblies are symmetrically installed at both ends of the connecting frame, and a camera is installed on the front of the connecting frame;

[0006] The robotic arm assembly includes a mounting base fixedly installed at the end of the connecting frame, an arm body rotatably mounted on the mounting base, fixed plates symmetrically mounted at the bottom end of the arm body, a gripping roller rotatably mounted between the two fixed plates, and an auxiliary gripping component provided on the arm body.

[0007] Preferably, one end of the arm's rotating shaft is fixedly connected to the output shaft of the rotating motor, and the rotating motor is fixedly mounted on the mounting base.

[0008] Preferably, one end of the rotating shaft of the clamping roller is fixedly connected to the output shaft of the drive motor, and the drive motor is fixedly mounted on the fixed plate.

[0009] Preferably, the auxiliary gripping component includes a storage cavity inside the arm body, an arc-shaped groove at the bottom end of the arm body, the outer wall of the gripping roller being in close contact with the arc-shaped inner wall of the arc-shaped groove, and a glue outlet groove at the bottom end of the storage cavity extending through the inner side of the arc-shaped groove.

[0010] Preferably, a piston block is movably installed inside the storage cavity, the outer wall of the piston block is in close contact with the inner wall of the storage cavity, a limiting protrusion is installed at the bottom of the inner wall of the storage cavity, a magnetic block is installed on the piston block, an electromagnet is fixedly installed on the inner top wall of the storage cavity, and the space of the storage cavity below the piston block is filled with adhesive.

[0011] Preferably, a side tube is fixedly installed on the side of the arm away from the connecting frame. The side tube is connected to the storage cavity. An air inlet pipe is installed at the middle of the top of the side tube, and an air inlet fan is installed at the top of the air inlet pipe.

[0012] Preferably, a first valve and a second valve are installed on the side pipe, wherein the first valve is located on the side of the air intake pipe away from the arm body, and the second valve is located on the side of the air intake pipe closer to the arm body.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] During operation, the two arms rotate relative to each other, causing the two gripping rollers to grasp the items. As the gripping rollers rotate, adhesive is continuously squeezed out and coated onto the outer surface of the gripping rollers, thus coating the outer surface of the gripping rollers with adhesive and improving the gripping stability of smooth items.

[0015] During operation, the storage chamber located below the piston block is filled with adhesive, and the adhesive outlet at the bottom of the storage chamber is connected to the arc-shaped groove. The intake fan can drive the piston block to move down to extrude the material, which is convenient for applying adhesive. At the same time, the adhesive can be replenished through the side pipe for convenient subsequent use. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0017] In the attached diagram:

[0018] Figure 1 This is a schematic diagram of an automatic grasping robotic arm for unmanned aerial vehicles (UAVs) according to the present invention.

[0019] Figure 2 This is a schematic diagram of the robotic arm assembly structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the external structure of the arm body of this utility model;

[0021] Figure 4 This is a schematic diagram of the auxiliary grasping component structure of this utility model;

[0022] Figure 5 For the present utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0023] In the diagram: 1. Drone body; 2. Connecting frame; 3. Camera; 4. Robotic arm assembly; 401. Mounting base; 402. Arm body; 403. Fixing plate; 404. Gripping roller; 405. Drive motor; 406. Rotation motor; 5. Auxiliary gripping assembly; 501. Storage cavity; 502. Arc groove; 503. Glue dispensing groove; 504. Limiting protrusion; 505. Piston block; 506. Magnetic block; 507. Electromagnet; 508. Side tube; 509. Air inlet pipe; 510. Air inlet fan; 511. First valve; 512. Second valve. Detailed Implementation

[0024] 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. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. 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.

[0025] Depend on Figure 1-5 The present invention relates to an automatic grasping robotic arm for drones, comprising a drone body 1 and a connecting frame 2. The connecting frame 2 is fixedly installed at the bottom end of the drone body 1, and robotic arm components 4 are symmetrically installed at both ends of the connecting frame 2. A camera 3 is installed on the front of the connecting frame 2.

[0026] The robotic arm assembly 4 includes a mounting base 401 fixedly mounted on the end of the connecting frame 2. An arm body 402 is rotatably mounted on the mounting base 401. Fixed plates 403 are symmetrically mounted on the bottom end of the arm body 402. A gripping roller 404 is rotatably mounted between the two fixed plates 403. An auxiliary gripping assembly 5 is provided on the arm body 402. One end of the rotating shaft of the arm body 402 is fixedly connected to the output shaft of a rotating motor 406, which is fixedly mounted on the mounting base 401. One end of the rotating shaft of the gripping roller 404 is fixedly connected to the output shaft of a drive motor 405, which is fixedly mounted on the fixed plate 403. The two arms 402 rotate relative to each other, causing the two gripping rollers 404 to grip the object. During the rotation of the gripping roller 404, adhesive is continuously squeezed out and coated on the outer surface of the gripping roller 404, thus coating the outer surface of the gripping roller 404 with adhesive and improving the gripping stability of the object.

[0027] The auxiliary gripping component 5 includes a storage cavity 501 inside the arm body 402. An arc-shaped groove 502 is provided at the bottom end of the arm body 402. The outer wall of the gripping roller 404 is in close contact with the arc-shaped inner wall of the arc-shaped groove 502. A glue dispensing groove 503 is provided at the bottom end of the storage cavity 501. The glue dispensing groove 503 extends to the inner side of the arc-shaped groove 502. A piston block 505 is movably installed inside the storage cavity 501. The outer wall of the piston block 505 is in close contact with the inner wall of the storage cavity 501. A limiting protrusion 504 is installed at the bottom of the inner wall of the storage cavity 501. A magnetic block 506 is installed on the piston block 505. An electromagnet 507 is fixedly installed on the inner top wall of the storage cavity 501. The space in the storage cavity 501 below the piston block 505 is filled with adhesive.

[0028] A side tube 508 is fixedly installed on the side of the arm body 402 away from the connecting frame 2. The side tube 508 is connected to the storage chamber 501. An air inlet pipe 509 is installed at the middle of the top of the side tube 508. An air intake fan 510 is installed at the top of the air intake pipe 509. A first valve 511 and a second valve 512 are installed on the side tube 508. The first valve 511 is located on the side of the air intake pipe 509 away from the arm body 402, and the second valve 512 is located on the side of the air intake pipe 509 close to the arm body 402. The storage chamber 501 is filled with adhesive below the piston block 505. The adhesive outlet groove 503 at the bottom of the storage chamber 501 is connected to the arc groove 502. The air intake fan 510 can drive the piston block 505 to move down to squeeze out the material, which is convenient for applying adhesive. At the same time, the side tube 508 can also be used to replenish adhesive for subsequent use.

[0029] Working principle: During operation, the drone body 1 first observes the environment through the camera 3 and flies the drone body 1 above the object to be grabbed. Then, the drone body 1 moves downward, so that the two gripping rollers 404 move to both sides of the object. Then, the two rotating motors 406 are turned on simultaneously, driving the two arms 402 to rotate towards the object until the two gripping rollers 404 are in close contact with both sides of the object to grip the object.

[0030] Then, the second valve 512 is opened, while the first valve 511 is closed. Then, the air intake fan 510 is turned on, which draws outside air into the storage chamber 501. This causes the air pressure at the top of the piston block 505 to increase continuously, pushing the piston block 505 downward. At the same time, the drive motor 405 drives the clamping roller 404 to rotate, causing the adhesive to be continuously squeezed from the adhesive outlet 503 onto the outer surface of the clamping roller 404. This makes the adhesive adhere to the item and improves the gripping stability. During the rotation of the clamping roller 404, the clamping roller 404 on the left side of the item rotates counterclockwise, while the clamping roller 404 on the right side of the item rotates clockwise to prevent the item from falling off.

[0031] When the amount of adhesive inside the storage cavity 501 is low and needs to be replenished, the electromagnet 507 is energized, causing the electromagnet 507 to attract the magnetic block 506. Under the action of the attraction, the piston block 505 moves upward, causing the magnetic block 506 to engage with the electromagnet 507. At this time, the piston block 505 moves above the side tube 508, and then the first valve 511 and the second valve 512 are fully opened, and the adhesive inside the storage cavity 501 is replenished through the side tube 508.

Claims

1. A robotic arm for automatic grasping of unmanned aerial vehicles (UAVs), comprising a UAV body (1) and a connecting frame (2), characterized in that: The connecting frame (2) is fixedly installed at the bottom of the drone body (1). The mechanical arm assembly (4) is symmetrically installed at both ends of the connecting frame (2), and a camera (3) is installed on the front of the connecting frame (2). The robotic arm assembly (4) includes a mounting base (401) fixedly installed at the end of the connecting frame (2), an arm body (402) rotatably mounted on the mounting base (401), fixed plates (403) symmetrically mounted at the bottom end of the arm body (402), a gripping roller (404) rotatably mounted between the two fixed plates (403), and an auxiliary gripping assembly (5) provided on the arm body (402).

2. The robotic arm for automatic grasping of unmanned aerial vehicles according to claim 1, characterized in that: One end of the rotating shaft of the arm body (402) is fixedly connected to the output shaft of the rotating motor (406), and the rotating motor (406) is fixedly installed on the mounting base (401).

3. The robotic arm for automatic grasping of unmanned aerial vehicles according to claim 1, characterized in that: One end of the rotating shaft of the clamping roller (404) is fixedly connected to the output shaft of the drive motor (405), and the drive motor (405) is fixedly mounted on the fixing plate (403).

4. The robotic arm for automatic grasping of unmanned aerial vehicles according to claim 1, characterized in that: The auxiliary gripping component (5) includes a storage cavity (501) inside the arm body (402), an arc-shaped groove (502) is provided at the bottom end of the arm body (402), the outer wall of the gripping roller (404) is in close contact with the arc-shaped inner wall of the arc-shaped groove (502), and a glue outlet groove (503) is provided at the bottom end of the storage cavity (501), which extends through to the inside of the arc-shaped groove (502).

5. The robotic arm for automatic grasping of a drone according to claim 4, characterized in that: A piston block (505) is movably installed inside the storage cavity (501). The outer wall of the piston block (505) is in close contact with the inner wall of the storage cavity (501). A limiting protrusion (504) is installed at the bottom of the inner wall of the storage cavity (501). A magnetic block (506) is installed on the piston block (505). An electromagnet (507) is fixedly installed on the inner top wall of the storage cavity (501). The space in the storage cavity (501) below the piston block (505) is filled with adhesive.

6. The robotic arm for automatic grasping of unmanned aerial vehicles according to claim 4, characterized in that: A side tube (508) is fixedly installed on the side of the arm body (402) away from the connecting frame (2). The side tube (508) is connected to the storage cavity (501). An air inlet pipe (509) is installed at the middle of the top of the side tube (508). An air inlet fan (510) is installed at the top of the air inlet pipe (509).

7. The robotic arm for automatic grasping of unmanned aerial vehicles according to claim 6, characterized in that: The side tube (508) is equipped with a first valve (511) and a second valve (512), wherein the first valve (511) is located on the side of the air intake pipe (509) away from the arm body (402), and the second valve (512) is located on the side of the air intake pipe (509) close to the arm body (402).

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