Multi-rotor unmanned aerial vehicle catching and recycling manipulator

Abstract

This utility model discloses a multi-rotor drone capture and recovery manipulator, relating to the technical field of drones. The multi-rotor drone capture and recovery manipulator includes a robotic arm, a support component, and a gripping component. The support component is fixed to the output end of the robotic arm. The gripping component includes at least four robotic fingers, each including a first phalanx and a second phalanx. The first phalanx is rotatably connected to the support component, and the second phalanx is rotatably connected to the corresponding first phalanx. The first phalanx has a rotation angle range of -135° to 105°, and the second phalanx has a rotation angle range of -178° to 151°. This utility model addresses the problems of traditional 3-6 degree-of-freedom planar gripper manipulators, such as the inability of the end-effector to accurately engage with the horizontal support at the bottom of the drone, the difficulty in stably capturing drones weighing over 10kg due to the generally low single-finger load capacity (below 5kg), and the tendency for the drone to tip over during recovery, thus improving capture adaptability, load capacity, and stability, and increasing recovery efficiency.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a robotic arm for capturing and recovering multi-rotor UAVs. Background Technology

[0002] In scenarios such as emergency recovery and dynamic capture of multi-rotor drones, the demand for efficient grasping technology is becoming increasingly significant, while the limitations of traditional robotic arm structures have become a key bottleneck restricting their development. Currently, most common drone capture robotic arms employ a 3-6 degree of freedom design, with a planar gripper at the end effector, relying on open-loop control and low-frame-rate vision systems. This type of structure has significant drawbacks. Mechanically, the planar gripper needs to be vertically aligned with the drone support; angular deviations can easily lead to rotor contact, and the load per gripper is typically less than 5kg, making it difficult to handle 10kg-class drones. In terms of control, the open-loop mode lacks real-time angle feedback, joint errors exceed 1°, and the overall latency can reach over 200ms, resulting in a low success rate for dynamic capture. Furthermore, traditional servo motors have slow response speeds (e.g., 0.5 seconds / 60° rotation), failing to meet the trajectory adjustment requirements of drones moving at high speeds (≥5m / s).

[0003] Current robotic arms mostly adopt a 3-6 degree-of-freedom planar gripper design. The end effector structure cannot accurately engage with the horizontal support at the bottom of the drone, and the load per finger is generally less than 5 kg, making it difficult to stably capture drones weighing more than 10 kg. During the recovery process, the drone is prone to tipping over and being damaged. Therefore, researching a robotic arm structure that can efficiently and accurately capture and recover dynamically flying multi-rotor drones is of great significance and value in both theory and engineering practice, and plays an important role in improving the efficiency of drone recovery and emergency capture. Utility Model Content

[0004] To address some or all of the technical problems existing in the prior art, this utility model provides a multi-rotor drone capture and recovery robot that can be adapted to drones weighing 10kg or more. It not only has multi-degree-of-freedom flexible capture capabilities but also takes into account the safety requirements during the capture process. At the same time, it has the performance of fast response, high load and high precision.

[0005] The technical solution of this utility model is as follows:

[0006] A robotic arm for capturing and recovering multi-rotor drones is provided, comprising:

[0007] robotic arm;

[0008] A support assembly is fixedly connected to the output end of the robotic arm;

[0009] The gripping component includes at least four mechanical fingers, each mechanical finger including a first phalanx and a second phalanx, each first phalanx being rotatably connected to the support component, and each second phalanx being rotatably connected to the corresponding first phalanx;

[0010] The first phalanx has a rotation angle range between -135° and 105°, and the second phalanx has a rotation angle range between -178° and 151°.

[0011] In some alternative embodiments, the gripping assembly further includes a first drive member and a second drive member, the first phalanx includes a first cavity and a second cavity, the first drive member is fixedly connected to the support assembly and is partially located in the first cavity, the output end of the first drive member is connected to the shell of the first phalanx, the second drive member is fixedly disposed in the second cavity, and the second phalanx is at least partially located in the second cavity, the output end of the second drive member is connected to the second phalanx.

[0012] In some alternative embodiments, the first drive member has a support shaft at one end opposite to its output end, and a support bearing is provided between the support shaft and the side wall of the first cavity; and / or, the second drive member has a support shaft at one end opposite to its output end, and a support bearing is provided between the support shaft and the side wall of the second cavity.

[0013] In some alternative embodiments, the first driving element is a servo motor with a torque between 120 kg•cm and 180 kg•cm, a response speed between 0.10 s / 60° and 0.18 s / 60°, and a control accuracy of 0.235° to 0.245°.

[0014] In some alternative implementations, a control component is also included, the control component including a controller embedded in the support component, and both the first drive and the second drive are signal-connected to the controller.

[0015] In some optional embodiments, the control component is further provided with a plurality of first angle sensors and a plurality of second angle sensors, wherein the first angle sensors correspond one-to-one with the first driving member and are used to collect the rotation angle of the first phalanx, and the second angle sensors correspond one-to-one with the second driving member and are used to collect the rotation angle of the second phalanx.

[0016] In some alternative implementations, RS485 communication is used between the first driver and the controller, and between the second driver and the controller.

[0017] In some alternative implementations, the second knuckle includes a base and an arcuate fastening structure, the base being connected to the output end of the second drive member, the radius of curvature of the arcuate fastening structure being adapted to the bottom edge of the UAV.

[0018] In some alternative implementations, a visual acquisition component is also included, which is integrated into the support component, and the acquisition range of the visual acquisition component covers at least the space enclosed by a plurality of the second phalanges.

[0019] The main advantages of this utility model's technical solution are as follows:

[0020] This invention relates to a multi-rotor drone capture and recovery manipulator. Compared to traditional 3-6 degree-of-freedom manipulators, this invention overcomes the limitations of traditional manipulator joint range of motion, offering a wider range of joint movement. In terms of capture adaptability and flexibility, the large angular range of each joint of the robotic fingers allows for flexible adjustment of finger posture. This flexible adjustment capability can adapt to any flight angle of the drone, thereby achieving multi-angle dynamic capture of the drone and solving the problem of limited capture angle caused by insufficient degrees of freedom in traditional manipulators. Regarding recovery stability, the multi-angle dynamic capture capability achieved through the large angular range of motion of each joint allows for flexible adjustment of the gripping posture during recovery, reducing the occurrence of tipping over and lowering the risk of damage to the drone during recovery operations, thus improving the capture and recovery efficiency of dynamic multi-rotor drones. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 The first-view structural diagram of a multi-rotor drone capture and recovery robot provided in an embodiment of this utility model is shown below;

[0023] Figure 2 The second-view structure of a multi-rotor drone capture and recovery robot provided in an embodiment of this utility model is shown in the schematic diagram.

[0024] Figure 3 The diagram shows the structure of a multi-rotor drone capture and recovery robot from a third-person perspective, as provided in an embodiment of this utility model.

[0025] Figure 4 The fourth-view structure of a multi-rotor drone capture and recovery robot provided in an embodiment of this utility model is shown in the schematic diagram.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Support component; 11. Connecting end; 2. Gripping component; 21. Mechanical finger; 211. First phalanx; 2111. First cavity; 2112. Second cavity; 212. Second phalanx; 2121. Base; 2122. Arc-shaped locking structure; 22. First drive component; 23. Second drive component; 3. Control component; 31. Controller; 4. Mechanical arm. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0029] The following is in conjunction with the appendix Figures 1 to 4 This document provides a detailed description of the technical solutions provided in the embodiments of this utility model.

[0030] This utility model embodiment provides a multi-rotor drone capture and recovery manipulator, including: a robotic arm 4, a support component 1, and a gripping component 2, wherein:

[0031] The support component 1 is fixedly connected to the output end of the robotic arm 4; the gripping component 2 includes at least four mechanical fingers 21, each mechanical finger 21 including a first phalanx 211 and a second phalanx 212. Each first phalanx 211 is rotatably connected to the support component 1, and each second phalanx 212 is rotatably connected to the corresponding first phalanx 211. The rotation angle of the first phalanx 211 is between -135° and 105°, and the rotation angle of the second phalanx 212 is between -178° and 151°.

[0032] This invention provides a multi-rotor drone capture and recovery manipulator. Its gripping component 2 employs a structure with at least four fingers and eight degrees of freedom. Each mechanical finger 21 includes a first phalanx 211 and a second phalanx 212. The first phalanx 211 has a rotation range between -135° and 105°, and the second phalanx 212 has a rotation range between -178° and 151°. Compared to traditional 3-6 degree-of-freedom manipulators, this structure overcomes the limitations of traditional manipulator joint range of motion, providing a wider range of joint motion. In terms of capture adaptability and flexibility, the large rotation range of each joint of the mechanical fingers 21 allows for flexible adjustment of finger posture. This flexible adjustment capability can adapt to any flight angle of the drone, thereby achieving multi-angle dynamic capture of the drone and solving the problem of limited capture angle caused by insufficient degrees of freedom in traditional manipulators. Meanwhile, in terms of recovery stability, the multi-angle dynamic capture capability achieved by the large range of motion of each joint can flexibly adjust the clamping posture during the recovery process, reduce the occurrence of tipping over, reduce the risk of damage to the drone due to the recovery operation, and thus improve the capture and recovery efficiency of dynamic flight multi-rotor drones.

[0033] refer to Figure 1 and Figure 4 In some optional implementations of this embodiment, the gripping component 2 further includes a first driving member 22 and a second driving member 23. The first phalanx 211 includes a first cavity 2111 and a second cavity 2112. The first driving member 22 is fixedly connected to the support component 1 and is partially located in the first cavity 2111. The output end of the first driving member 22 is connected to the shell of the first phalanx 211. The second driving member 23 is fixedly disposed in the second cavity 2112, and the second phalanx 212 is at least partially located in the second cavity 2112. The output end of the second driving member 23 is connected to the second phalanx 212.

[0034] In the above embodiments of the present invention, the first driving member 22 is partially located inside the first cavity 2111 of the first phalanx 211, and the second driving member 23 is fixed to the second cavity 2112 of the first phalanx 211 and connected to the second phalanx 212. This built-in layout of the present invention makes full use of the internal space of the first phalanx 211, avoids structural redundancy caused by external driving components, and achieves simplification of the overall structure.

[0035] The integration of the drive unit and the knuckle structure allows for tighter connections between components, reducing unnecessary gaps and protrusions and improving the structural compactness of the robotic arm. This structural design not only reduces the overall size but also minimizes the possibility of interference with drones or other objects during the grasping process.

[0036] Meanwhile, the built-in drive mechanism reduces the direct impact of the external environment, minimizes interference from dust, airflow and other factors on drive precision, and helps maintain the stability of the rotation of the first phalanx 211 and the second phalanx 212. Combined with the original multi-degree-of-freedom design, it further ensures the controllability and reliability of the capture action.

[0037] Based on the above embodiments, the first cavity 2111 and the second cavity 2112 can be separated to achieve electrical isolation.

[0038] The separate or integrated design of the first cavity 2111 and the second cavity 2112 can provide a fixed assembly reference, making the installation position of the first drive component 22 and the second drive component 23 stable, avoiding the decrease in drive accuracy due to loose connection, and ensuring the accuracy of knuckle rotation.

[0039] Furthermore, the non-connected structure can form electrical isolation, separating the electrical components and wiring of the first drive unit 22 and the second drive unit 23, reducing electrical interference between different components, reducing the risk of failure caused by signal or current fluctuations, and improving the stability of the drive system.

[0040] The second cavity 2112 is larger than the space of the second phalanx 212, which can be stored in the cavity when the second phalanx 212 is not in use. This avoids collisions and interference between the phalanx and the first cavity 2111 and the first drive component 22, reduces wear or damage to components, and at the same time reduces the overall space occupied by the structure, enhancing the structural compactness of the robot when it is idle or not in operation.

[0041] In some optional implementations of this utility model, both the first cavity 2111 and the second cavity 2112 have openings that face vertically upwards.

[0042] In some optional implementations of this utility model, the first driving component 22 is fixedly connected to the support component 1 via sheet metal. Thanks to the maturity of sheet metal technology, various methods such as welding, fastener connection, and snap-fit ​​connection can be used for fixing, adapting to assembly requirements in different scenarios and improving the flexibility and adaptability of the connection method. Simultaneously, the adjustability of the sheet metal structure allows for precise adjustment of the positional fit between the first driving component 22 and the support component 1, such as angular distance, ensuring the accuracy of the driving component's installation position and providing a reliable foundation for the stable rotation of the first phalanx 211, further guaranteeing the precision of the mechanical finger 21's movement. Furthermore, the sheet metal connection provides stable structural strength, reducing the problem of loosening during long-term use and enhancing the overall structural durability.

[0043] In some optional implementations of this embodiment, the first drive member 22 is provided with a support shaft at one end away from its output end, and a support bearing is provided between the support shaft and the side wall of the first cavity 2111; and / or, the second drive member 23 is provided with a support shaft at one end away from its output end, and a support bearing is provided between the support shaft and the side wall of the second cavity 2112.

[0044] Therefore, in the above embodiments of this utility model, the ends of the first driving member 22 and the second driving member 23 that are away from the output end are connected to the corresponding cavity sidewalls through a support shaft and a support bearing, providing a stable support foundation and transmission carrier for the relative rotation between the driving member and the cavity, and ensuring the smooth transmission of the knuckle rotation action.

[0045] The setting of the support bearing can effectively improve the support performance and balance of the drive component during operation. Even if the first cavity 2111 or the second cavity 2112 adopts a large span design to ensure structural strength, the bearing can still disperse stress and counteract shaking, maintain a stable fit between the drive component and the cavity, and avoid motion deviation or jamming caused by structural span issues, thereby ensuring the motion accuracy and reliability of the mechanical finger 21 in a wide range of rotational activities.

[0046] Based on the above embodiments, a support bearing can also be provided between the output end of the second drive member 23 and the other side wall of the second phalanx 212 and the second cavity 2112.

[0047] In some optional implementations of this embodiment, the first driving component 22 is a servo motor with a torque between 120 kg·cm and 180 kg·cm, a response speed between 0.10 s / 60° and 0.18 s / 60°, and a control accuracy of 0.235° to 0.245°.

[0048] In this embodiment, the first drive component 22 employs a servo motor with a torque of 120 kg·cm to 180 kg·cm, providing sufficient driving force to meet the stable clamping requirements of drones weighing over 10 kg, thus adapting to heavy-load capture scenarios. Its response speed of 0.10s / 60° to 0.18s / 60° allows for rapid adjustment of the first finger joint 211's attitude, adapting to the drone's dynamic flight state and improving the control of capture timing. The control precision of 0.235° to 0.245° ensures the accuracy of the first finger joint 211's rotation angle, facilitating precise engagement with the drone's bottom support and enhancing the reliability of the capture.

[0049] In practical applications, the first drive component 22 of this invention can utilize a bus servo motor, model RS-R009, from Desheng Intelligent Technology Co., Ltd. This servo motor employs PWM pulse signal control, enabling precise command transmission and ensuring stable control signals during transmission, reducing signal distortion or delay. This control method ensures that the actions of the first drive component 22 are highly consistent with command requirements, guaranteeing precise controllability of the rotation angle of the first phalanx 211 within the range of -135° to 105°. This provides a reliable control basis for the mechanical finger 21 to adjust its posture to adapt to the drone's flight angle, further improving the accuracy and consistency of the grasping action.

[0050] Furthermore, its stall current is around 5.0A, allowing it to output a significant force even when holding drones or similar relatively stationary objects. This feature enhances the grip on drones, maintaining a stable clamping force even when capturing heavy-load drones weighing over 10kg during the stationary clamping phase. This prevents the drone from loosening or slipping during retrieval due to insufficient force, further adapting to the needs of heavy-load capture scenarios and ensuring the reliability of retrieval operations.

[0051] In addition, its no-load current is set to about 350mA, which can reduce energy consumption and unnecessary power loss under non-load operation, meet the design requirements of high efficiency and energy saving, and help extend the overall endurance of the equipment.

[0052] Its operating voltage range covers 18-28V, which can be adapted to various power supply systems and is compatible with different types of power supply equipment. Whether it is the battery commonly used in outdoor operations or the fixed power supply device indoors, it can work stably, which enhances the adaptability and versatility of the robot in different application scenarios.

[0053] Based on the above embodiments and in combination with practical applications, in terms of internal structure, the first drive component 22 can adopt a 25T metal copper gear. Its material properties and tooth profile design ensure high precision in the transmission process and reduce the action error caused by gear meshing clearance. At the same time, the metal structure improves the wear resistance of the gear and extends the service life of the transmission components, providing a reliable power transmission basis for the stable rotation of the first finger joint 211.

[0054] Furthermore, the second drive component 23 is a servo motor, which can be a bus servo motor of Desheng Intelligent Technology Co., Ltd., model RS-R026, used to realize the gripping action of the first finger joint 211. Its maximum load per finger is 8kg, and the total load of the four fingers is 32kg, which meets the capture requirements of 16kg-class UAVs.

[0055] In a specific scenario, since the length from the pivot point of the first phalanx 211 to the pivot point of the second phalanx is set to 187mm, the maximum torque of the first drive component 22 and the second drive component 23 is 150kg・cm, the maximum load of each mechanical finger 21 is about 8kg, and the dexterous manipulator includes four mechanical fingers 21, the total load is 32kg, thus exceeding the technical specifications.

[0056] refer to Figure 1 and Figure 4 In some optional implementations of this embodiment, a multi-rotor drone capture and recovery manipulator further includes a control component 3. The control component 3 includes a controller 31, which is embedded in the support component 1. The first drive component 22 and the second drive component 23 are both signal connected to the controller 31.

[0057] The design of embedding the controller 31 into the support component 1 in the control component 3 can shorten the signal transmission path with the first drive component 22 and the second drive component 23, reduce signal interference, ensure the stability of command transmission, and provide a basis for the precise action of the drive component.

[0058] The controller 31 is integrated inside the support component 1, which improves the overall integration of the robot, makes the structure more compact, reduces the additional space occupied, and enhances the reliability of the overall structure.

[0059] In some alternative solutions, the close-range setup allows the first drive unit 22, the second drive unit 23 and the controller 31 to be connected by wireless signals, eliminating the need for a large number of wiring harnesses. While ensuring stable signal transmission, it reduces structural complexity, reduces the risk of failure due to wire harness wear and tangling, and simplifies the overall structural design.

[0060] In some optional implementations of this embodiment, the control component 3 is further provided with a plurality of first angle sensors and a plurality of second angle sensors. The first angle sensors correspond one-to-one with the first driving member 22 and are used to collect the rotation angle of the first phalanx 211. The second angle sensors correspond one-to-one with the second driving member 23 and are used to collect the rotation angle of the second phalanx 212.

[0061] In this embodiment, the first angle sensor and the second angle sensor in the control component 3 can collect the rotation angles of the first phalanx 211 and the second phalanx 212 in real time, respectively. The collected angle information can provide accurate feedback data to the controller 31, enabling the controller 31 to grasp the posture state of each phalanx in real time, providing a basis for adjusting the action of the drive component, ensuring that the rotation angle of the phalanx is consistent with the command requirements, and improving the accuracy of the grasping action.

[0062] Meanwhile, each sensor and its corresponding drive component form an independent monitoring unit, capable of tracking the motion parameters of each phalanx. This facilitates rapid identification of angular deviations in individual phalanxes, providing clear direction for troubleshooting and ensuring the overall reliability of the robotic arm's operation. Furthermore, real-time feedback of angular data enables the formation of closed-loop control logic, reducing angular deviations caused by mechanical transmission errors or load variations and enhancing the stability of the gripping posture.

[0063] Based on the above embodiments, both the first angle sensor and the second angle sensor are signal-connected to the controller 31, or both the first angle sensor and the second angle sensor are signal-connected to the processor of the control component 3.

[0064] The first and second angle sensors can be selectively connected to the processor of the controller 31 or control component 3, providing flexible signal transmission path adaptability for the system and allowing selection of an adaptation scheme based on the actual control architecture requirements. Both connection methods enable real-time transmission of angle data, allowing the controller 31 or processor to promptly acquire the rotation angle information of the first phalanx 211 and the second phalanx 212, providing data support for precise control of phalanx movements. The clear signal connection relationship reduces uncertainty in data transmission, lowers the risk of signal interference, ensures the accuracy of angle feedback, and simplifies system wiring planning, helping to maintain structural compactness and reliability.

[0065] In some optional implementations of this embodiment, RS485 communication is used between the first driver 22 and the controller 31, and between the second driver 23 and the controller 31.

[0066] The first drive unit 22, the second drive unit 23 and the controller 31 communicate via RS485. Its differential signal transmission characteristics can enhance the anti-electromagnetic interference capability, reduce the impact of electrical noise in the working environment of the robot on signal transmission, and ensure the stability of command transmission.

[0067] This communication method supports multi-node connections, adapting to the communication needs of multiple drivers and a single controller 31. It eliminates the need for separate communication lines for each driver, further simplifying wiring and reducing structural complexity. Simultaneously, the mature RS485 communication protocol ensures reliable data transmission, guaranteeing accurate interaction of commands and feedback signals between the controller 31 and the drivers. This provides communication-level assurance for the precise movements of the robotic finger 21 and meets the signal stability requirements of short-range wireless connection scenarios. This embodiment achieves fast and stable data transmission with the main control system.

[0068] refer to Figure 1 and Figure 3In some optional implementations of this embodiment, the second phalanx 212 includes a base 2121 and an arc-shaped fastening structure 2122. The base 2121 is connected to the output end of the second drive member 23, and the radius of curvature of the arc-shaped fastening structure 2122 is adapted to the bottom edge of the UAV.

[0069] The base 2121 of the second knuckle 212 and the arc-shaped fastening structure 2122 are designed to provide stable support for the arc-shaped fastening structure 2122 through the connection between the base 2121 and the output end of the second drive component 23, ensuring that the driving force is efficiently transmitted to the fastening part. The radius of curvature of the arc-shaped fastening structure 2122 is adapted to the bottom edge of the drone, which can increase the contact area with the drone, improve the fit during fastening, and avoid slippage caused by a single contact point. At the same time, the adapted curvature design can disperse the clamping force, reduce local compression on the bottom edge of the drone, reduce the risk of structural damage, and, together with the precise drive of the second drive component 23 and the real-time monitoring of the angle sensor, further ensure the accuracy and stability of the fastening posture during the capture process.

[0070] Furthermore, the arc-shaped locking structure 2122 includes a first arc-shaped edge on the outer side. Its arc design ensures that when the drone accidentally touches the surface during approach, the contact point is a surface contact rather than a rigid point contact. This contact method can disperse the force during contact, avoiding damage such as scratches or deformation to the bottom edge or surface of the drone due to concentrated force at a single point, thus improving the protection of the drone during capture and enhancing operational safety.

[0071] Furthermore, the arc-shaped fastening structure 2122 includes multiple second arc edges located within it. The center and radius of curvature of each second arc edge differ, allowing it to match and fit the bottom edge contours of different drone models. In this embodiment of the invention, this multi-specification adaptability design can meet the capture needs of drones of different sizes and bottom structures, eliminating the need to adjust or replace the gripping component 2 separately for specific drones. This broadens the applicability of the robotic arm and improves the versatility and flexibility of the device.

[0072] In some optional implementations of this embodiment, a multi-rotor drone capture and recovery manipulator also includes a vision acquisition component, which is integrated into the support component 1, and the acquisition range of the vision acquisition component covers at least the space enclosed by multiple second phalanges 212.

[0073] In this embodiment, the vision acquisition component is integrated into the support component 1, which can directly cover the space enclosed by multiple second phalanges 212. It can capture the motion state and position information of each mechanical finger 21 in real time, providing accurate feedback data to the controller 31, facilitating timely adjustment of finger posture and ensuring the accuracy of the capture and retrieval action.

[0074] The integrated design reduces the need for additional external components, making the overall structure of the robotic arm more compact, reducing the risk of interference caused by dispersed components, and improving structural reliability. At the same time, the close-range acquisition range avoids signal attenuation or delay during transmission, further enhancing the stability of the grasping operation.

[0075] Specifically, an embedded high-speed vision camera is integrated as a vision acquisition component, enabling high-speed transmission of visual data via USB 3.0 and synchronous interaction of control commands via RS485. This achieves a response latency of ≤16ms throughout the entire process from vision detection to capture execution. This high-speed synchronous transmission mechanism allows the controller 31 to acquire dynamic data on the movements of the mechanical finger 21 and the position of the drone in real time. In dynamic scenarios such as high-speed movement and attitude changes of the drone, it can quickly generate adjustment commands, avoiding capture deviations caused by data lag.

[0076] Compared to traditional robotic arms, the design employed in this invention significantly shortens the interval between decision-making and execution, enhancing the ability to respond to unexpected situations, such as sudden turns or deceleration of the drone. It can instantly correct the gripping posture, significantly improving the success rate of dynamic capture. Simultaneously, the embedded integrated design does not occupy excessive space, maintaining the compactness of the robotic arm structure, while the stability of the high-speed transmission link ensures the reliability of data interaction in complex environments, further enhancing the accuracy and real-time performance of the capture process.

[0077] refer to Figure 4 In some optional implementations of this embodiment, the support component 1 includes four connecting ends 11 arranged in an I-shape, with mechanical fingers 21 respectively disposed on the four connecting ends 11, and the axes of the output ends of the first driving members 22 in the mechanical fingers 21 on the same side coincide. The lengths of the first phalanx 211 and the second phalanx 212 of the mechanical fingers 21 on opposite sides may be different. Optionally, the specific dimensions of the support component 1 may be 280mm, 200mm, or 38.3mm.

[0078] In summary, the multi-rotor drone capture and recovery robotic arm of this invention has the following advantages compared to existing technologies:

[0079] (1) Multi-degree-of-freedom flexible grasping capability: The robotic arm adopts a 4-finger 8-degree-of-freedom structure, with each finger containing 2 joints. The first joint has a rotation range of 240°, and the second joint has a rotation range of 329°, enabling dynamic grasping at multiple angles and in multiple postures. Compared with traditional 3-6 degree-of-freedom robotic arms, its joint range of motion is greater, and it can flexibly adjust the finger posture to adapt to different flight angles of the UAV, solving the problem of limited grasping angle caused by insufficient degrees of freedom in traditional robotic arms.

[0080] (2) Safe capture design of the arc-shaped locking structure 2122: The end of the second finger joint 212 adopts an arc-shaped locking structure 2122, which achieves capture by locking the edge of the horizontal support at the bottom of the drone, avoiding contact with the rotor. Tests show that this structure can ensure zero rotor contact during the capture process, and there is no risk of the drone tipping over after locking. Compared with the squeezing capture of traditional planar grippers, the hook-shaped end significantly improves the stability and safety of capture, and reduces damage to the drone structure.

[0081] (3) High load and precise drive performance: The first drive component 22 adopts the Desheng RS-R009 bus servo motor (torque 150kg・cm, response speed 0.14 seconds / 60° rotation, accuracy 0.24°), and the second drive component 23 adopts the Desheng RS-R026. The maximum load of a single finger is 8kg, and the total load of 4 fingers is 32kg, which can stably capture UAVs with a counterweight of 16kg. At the same time, the servo motor supports RS485 communication and real-time angle feedback. The joint angle control error is ≤0.24°, which significantly improves the drive accuracy and load capacity compared with traditional open-loop control manipulators.

[0082] (4) Integrated and rapid response: The support structure (280mm×200mm×38.3mm) integrates an embedded controller 31 and a high-speed vision camera, and realizes high-speed synchronous transmission of visual data and control commands through USB3.0 and RS485. The response delay of the entire process from vision detection to capture execution is ≤16ms, which greatly improves the capture efficiency and real-time performance in dynamic scenarios compared with traditional robotic arms.

[0083] In some optional implementations of this embodiment, the present invention also provides a drone hangar, which includes a multi-rotor drone capture and recovery robot as described in any of the above embodiments. The specific structure and configuration of the multi-rotor drone capture and recovery robot are detailed in the above embodiments and will not be repeated here.

[0084] Understandably, a drone hangar can consist of multiple drone bays with power storage capabilities, used for recharging and resuming drones after capture and retrieval. Furthermore, a multi-rotor drone capture and retrieval robot can also serve as a basic platform for launching drones, providing more takeoff positions and increasing their application functionality.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used merely 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, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robotic arm for capturing and recovering multi-rotor unmanned aerial vehicles (UAVs), characterized in that, include: robotic arm; A support assembly is fixedly connected to the output end of the robotic arm; The gripping component includes at least four mechanical fingers, each mechanical finger including a first phalanx and a second phalanx, each first phalanx being rotatably connected to the support component, and each second phalanx being rotatably connected to the corresponding first phalanx; The first phalanx has a rotation angle range between -135° and 105°, and the second phalanx has a rotation angle range between -178° and 151°.

2. The multi-rotor drone capture and recovery robotic arm according to claim 1, characterized in that, The gripping assembly further includes a first driving member and a second driving member. The first phalanx includes a first cavity and a second cavity. The first driving member is fixedly connected to the support assembly and is partially located in the first cavity. The output end of the first driving member is connected to the shell of the first phalanx. The second driving member is fixedly disposed in the second cavity, and the second phalanx is at least partially located in the second cavity. The output end of the second driving member is connected to the second phalanx.

3. The multi-rotor drone capture and recovery robotic arm according to claim 2, characterized in that, The first driving member has a supporting shaft at one end away from its output end, and a supporting bearing is provided between the supporting shaft and the side wall of the first cavity; and / or the second driving member has a supporting shaft at one end away from its output end, and a supporting bearing is provided between the supporting shaft and the side wall of the second cavity.

4. The multi-rotor drone capture and recovery robotic arm according to claim 2, characterized in that, The first driving component is a servo motor with a torque between 120 kg·cm and 180 kg·cm, a response speed between 0.10 s / 60° and 0.18 s / 60°, and a control accuracy of 0.235° to 0.245°.

5. The multi-rotor drone capture and recovery robotic arm according to claim 2, characterized in that, It also includes a control component, which includes a controller embedded in the support component, and both the first drive element and the second drive element are signal connected to the controller.

6. The multi-rotor drone capture and recovery robotic arm according to claim 5, characterized in that, The control component is also provided with a plurality of first angle sensors and a plurality of second angle sensors. The first angle sensors correspond one-to-one with the first driving component and are used to collect the rotation angle of the first phalanx. The second angle sensors correspond one-to-one with the second driving component and are used to collect the rotation angle of the second phalanx.

7. A multi-rotor UAV capture and recovery robotic arm according to claim 5, characterized in that, The first driver and the controller, as well as the second driver and the controller, communicate using RS485.

8. The multi-rotor drone capture and recovery robotic arm according to claim 2, characterized in that, The second phalanx includes a base and an arc-shaped fastening structure. The base is connected to the output end of the second drive component, and the radius of curvature of the arc-shaped fastening structure is adapted to the bottom edge of the UAV.

9. A multi-rotor drone capture and recovery robot according to any one of claims 1 to 8, characterized in that, It also includes a visual acquisition component, which is integrated into the support component, and the acquisition range of the visual acquisition component covers at least the space enclosed by multiple second phalanges.

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