Modular unmanned aerial vehicle work robotic arm

Abstract

The utility model provides a modularization unmanned plane operation mechanical arm relates to unmanned plane technical field, including unmanned plane body, unmanned plane body bottom fixedly installed with mechanical arm device, mechanical arm device includes first mechanical claw, second mechanical claw, mounting panel, interval adjusting mechanism and rotating mechanism, and the mounting panel bottom is fixedly connected with unmanned plane body bottom, and the mounting panel top is equipped with the mounting bracket symmetrically, and the rotating mechanism sets up in one side of one mounting bracket, and the interval adjusting mechanism sets up between two mounting brackets, and the first mechanical claw is approached or is far away with second mechanical claw through adjusting mechanism each other, and the output of interval adjusting mechanism is connected with rotating mechanism, and this mechanical arm can drive mechanical claw synchronous approach or is far away, and adapts different size gravity object, can whole body rotate and realizes multidirectional operation, and mechanical regulation replaces spring buffer, and stability is excellent, reduces the risk of falling, and adapts complex outdoor operation.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a modular UAV operating robotic arm. Background Technology

[0002] With the development of drone technology, modular drone robotic arms have been widely used in outdoor scenarios such as ecological surveys, emergency rescue, and logistics delivery. They need to meet the core requirements of lightweight, strong spatial adaptability, and stable grasping, and the demand for high-altitude operations that can adapt to objects of different sizes is becoming increasingly urgent.

[0003] Currently, some drone robotic arms solve the problem of grasping tilt by using elastic structures and limiting mechanisms. For example, torsion springs and tension springs are used in conjunction with limiting grooves to limit the movement angle of the robotic arm within a fixed range, and the spring rebound is used to counteract the tilting force caused by the weight of the object.

[0004] However, in actual use, existing technologies cannot adapt to objects of different sizes and centers of gravity due to their fixed angle adjustment range. They still pose a risk of tilting when facing multi-specification operation requirements. Furthermore, they rely on passive spring buffering, which is prone to fatigue under heavy loads or high-altitude wind loads, resulting in insufficient balance and stability. This makes it difficult to meet the core requirements of drones for gripping at various angles and operating in multiple scenarios.

[0005] Therefore, it is necessary to provide a new modular unmanned aerial vehicle (UAV) robotic arm to solve the above-mentioned technical problems. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides a modular unmanned aerial vehicle (UAV) robotic arm.

[0007] This utility model provides a modular unmanned aerial vehicle (UAV) robotic arm, comprising: a UAV body, with a robotic arm device fixedly mounted on the bottom of the UAV body; the robotic arm device includes a first robotic claw, a second robotic claw, a mounting plate, a spacing adjustment mechanism, and a rotation mechanism; the bottom of the mounting plate is fixedly connected to the bottom of the UAV body, and mounting frames are symmetrically arranged on the top of the mounting plate; the rotation mechanism is disposed on one side of one of the mounting frames, and the spacing adjustment mechanism is disposed between the two mounting frames; the first robotic claw and the second robotic claw move closer or further apart from each other through the adjustment mechanism; and the output end of the spacing adjustment mechanism is connected to the rotation mechanism.

[0008] Preferably, the spacing adjustment mechanism includes a mounting frame, two sliders, and a bidirectional lead screw. The bidirectional lead screw is rotatably disposed within the mounting frame. The two sliders are symmetrically disposed within the mounting frame and are threadedly connected to the bidirectional lead screw. The two sliders are respectively fixedly connected to a first mechanical claw and a second mechanical claw. A lead screw motor is provided on one side of the mounting frame, and the output end of the lead screw motor passes through the mounting frame and is fixedly connected to one side of the bidirectional lead screw.

[0009] Preferably, the rotating mechanism includes a gear, a rack, and a connecting shaft. The connecting shaft is disposed between two mounting brackets. The end of the connecting shaft near the gear extends toward the gear and is fixedly connected to the gear. The rack is slidably connected to the top wall of the mounting plate. The gear meshes with the rack. A cylinder is provided on the side of the rack away from the mounting bracket. The telescopic rod of the cylinder is fixedly connected to the end of the rack near the telescopic rod.

[0010] Preferably, the cylinder's telescopic rod is provided with a connecting plate, one side of which is threadedly connected to the cylinder's telescopic rod, and the other side of which is fixedly connected to one side of the rack.

[0011] Preferably, the mounting plate has a sliding groove on its top, the rack is slidably connected to the inner wall of the sliding groove, the connecting plate has a groove on the side near the rack that matches the side wall of the sliding groove, and the sliding groove is slidably connected to the inner wall of the groove on the side near the cylinder.

[0012] Preferably, the connecting shaft is provided with a fixing block, and a telescopic block is provided between the fixing block and the mounting frame. The top of the telescopic block is fixedly connected to the mounting frame, and the bottom of the telescopic block is fixedly connected to the fixing block.

[0013] Compared with related technologies, the modular unmanned aerial vehicle (UAV) robotic arm provided by this utility model has the following advantages: 1. The first and second robotic grippers are driven to move closer and further apart synchronously via a spacing adjustment mechanism, which can flexibly adapt to objects of different sizes and center of gravity positions, making the gripping point closer to the center of gravity area. Compared with the fixed-angle limiting design of existing technologies, this can effectively alleviate the tilting problem caused by size or center of gravity mismatch, and greatly improve the adaptability to multi-specification operating scenarios.

[0014] 2. The rotation mechanism is directly connected to the spacing adjustment mechanism, which can drive the spacing adjustment mechanism and the mechanical claw to rotate as a whole, realizing multi-directional operation posture adjustment. This breaks through the limitations of the existing technology in angle adjustment and can meet the gripping needs of UAVs in different directions and angles in scenarios such as ecological surveys and emergency rescues, significantly improving operational flexibility.

[0015] 3. The mechanical structure actively adjusts the spacing and angle, replacing the passive spring buffering method of the existing technology. This reduces the impact of spring fatigue decay on stability after long-term use. Under heavy load or high-altitude wind load environments, the mechanical transmission has better stability, can effectively maintain clamping balance, reduce the probability of objects falling off and drone body swaying, and is more adaptable to the harsh requirements of complex outdoor operations. Attached Figure Description

[0016] Figure 1 A schematic diagram of a preferred embodiment of a modular unmanned aerial vehicle (UAV) robotic arm provided by this utility model; Figure 2 for Figure 1 A schematic diagram of the robotic arm device shown; Figure 3 for Figure 1 The diagram shows the structure of the mechanical gripper.

[0017] The following are the labels in the diagram: 1. UAV body; 2. First mechanical claw; 3. Second mechanical claw; 4. Mounting plate; 5. Mounting bracket; 6. Mounting frame; 7. Slider; 8. Two-way lead screw; 9. Lead screw motor; 10. Gear; 11. Rack; 12. Connecting shaft; 13. Cylinder; 14. Connecting plate; 15. Sliding groove; 16. Groove; 17. Fixing block; 18. Telescopic block. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Please refer to the following: Figure 1 , Figure 2 , Figure 3 ,in, Figure 1 A schematic diagram of a preferred embodiment of a modular unmanned aerial vehicle (UAV) robotic arm provided by this utility model; Figure 2 for Figure 1 A schematic diagram of the robotic arm device shown; Figure 3 for Figure 1 The diagram shows the structure of the mechanical gripper.

[0020] In the specific implementation process, such as Figures 1-3 As shown, a modular unmanned aerial vehicle (UAV) robotic arm includes a UAV body 1. A robotic arm device is fixedly mounted on the bottom of the UAV body 1. The robotic arm device includes a first robotic claw 2, a second robotic claw 3, a mounting plate 4, a spacing adjustment mechanism, and a rotation mechanism. The bottom of the mounting plate 4 is fixedly connected to the bottom of the UAV body 1. Mounting brackets 5 are symmetrically arranged on the top of the mounting plate 4. The rotation mechanism is located on one side of one of the mounting brackets 5. The spacing adjustment mechanism is located between the two mounting brackets 5. The first robotic claw 2 and the second robotic claw 3 move closer or further apart from each other through the adjustment mechanism. The output end of the spacing adjustment mechanism is connected to the rotation mechanism.

[0021] The spacing adjustment mechanism includes a mounting frame 6, two sliders 7, and a bidirectional lead screw 8. The bidirectional lead screw 8 is rotatably mounted inside the mounting frame 6. The two sliders 7 are symmetrically arranged inside the mounting frame 6 and are threadedly connected to the bidirectional lead screw 8. The two sliders 7 are respectively fixedly connected to the first mechanical claw 2 and the second mechanical claw 3. A lead screw motor 9 is provided on one side of the mounting frame 6. The output end of the lead screw motor 9 passes through the mounting frame 6 and is fixedly connected to one side of the bidirectional lead screw 8. When the bidirectional lead screw 8 rotates, the two sliders 7 are restricted by the mounting frame 6, and since the two sliders 7 are threadedly connected to the bidirectional lead screw 8, the two sliders 7, when restricted by the mounting frame 6... The two sliders 7 do not rotate with the rotation of the bidirectional lead screw 8, but move relative to or towards each other along the bidirectional lead screw 8, thereby causing the first mechanical claw 2 and the second mechanical claw 3 to move closer to or further away from each other. A lead screw motor 9 is provided on one side of the mounting frame 6. The output end of the lead screw motor 9 passes through the mounting frame 6 and is fixedly connected to one side of the bidirectional lead screw 8. By controlling the forward and reverse rotation of the lead screw motor 9, the rotation direction and number of turns of the bidirectional lead screw 8 can be precisely controlled, thereby realizing the flexible adjustment of the distance between the first mechanical claw 2 and the second mechanical claw 3. For example, when grasping objects of different sizes, the distance between the mechanical claws can be adjusted according to the size of the object so that it can be grasped stably.

[0022] The rotating mechanism includes a gear 10, a rack 11, and a connecting shaft 12. The connecting shaft 12 is positioned between two mounting brackets 5. One end of the connecting shaft 12 near the gear 10 extends towards the gear 10 and is fixedly connected to it. The rack 11 is slidably connected to the top wall of the mounting plate 4. The gear 10 meshes with the rack 11. A cylinder 13 is located on the side of the rack 11 away from the mounting bracket 5. The telescopic rod of the cylinder 13 is fixedly connected to the end of the rack 11 near the telescopic rod. A connecting plate 14 is provided on the telescopic rod of the cylinder 13. One side of the connecting plate 14 is threadedly connected to the telescopic rod of the cylinder 13, and the other side of the connecting plate 14 is fixedly connected to one side of the rack 11. This threaded connection facilitates installation and disassembly while also ensuring the smooth operation of the rotating mechanism. To ensure stability, the other side of the connecting plate 14 is fixedly connected to one side of the rack 11, ensuring that the movement of the cylinder 13 telescopic rod can be accurately transmitted to the rack 11. The top of the mounting plate 4 is provided with a sliding groove 15, and the rack 11 is set in the sliding groove 15 and slidably connected to the inner wall of the sliding groove 15, ensuring that the rack 11 can move smoothly in a straight line. The side of the connecting plate 14 near the rack 11 is provided with a groove 16 that matches the side wall of the sliding groove 15. The side of the sliding groove 15 near the cylinder 13 is slidably connected to the inner wall of the groove 16. This design further enhances the stability of the rack 11's movement in the sliding groove 15, prevents the rack 11 from deviating during movement, and improves the reliability of the entire rotating mechanism.

[0023] When gear 10 meshes with rack 11, when rack 11 moves in a straight line, it will drive gear 10 to rotate, which in turn will drive connecting shaft 12 to rotate. A cylinder 13 is provided on the side of rack 11 away from mounting bracket 5. The telescopic rod of cylinder 13 is fixedly connected to the end of rack 11 near the telescopic rod. By controlling the extension and retraction of the telescopic rod of cylinder 13, rack 11 can be pushed to move in a straight line in sliding groove 15, thereby realizing the rotation of connecting shaft 12. For example, when it is necessary to adjust the gripping angle of the robotic arm device, the movement of rack 11 can be controlled by cylinder 13, so that connecting shaft 12 drives the robotic claw to rotate to a suitable angle.

[0024] A fixed block 17 is provided on the connecting shaft 12, and a telescopic block 18 is provided between the fixed block 17 and the mounting frame 6. The top of the telescopic block 18 is fixedly connected to the mounting frame 6, and the bottom of the telescopic block 18 is fixedly connected to the fixed block 17. After the telescopic block 18 is installed, it can play a buffering and auxiliary adjustment role when adjusting the gripping distance of the mechanical claw. When the spacing adjustment mechanism adjusts the spacing of the mechanical claw, if the adjustment range is too large or too small, the telescopic block 18 can absorb part of the impact force through its own telescopic deformation, avoiding collision between the mechanical claw and other parts and protecting the safety of the equipment. Secondly, during the flight of the UAV, the telescopic block 18 can be adjusted to a certain extent according to the flight status and space requirements. When the UAV is flying, the telescopic block 18 retracts, reducing the overall volume of the robotic arm device, reducing flight resistance, and improving flight efficiency and stability. When operation is required, the telescopic block 18 can extend to a suitable length to provide stable support and connection for the robotic arm device and ensure the smooth operation.

[0025] The working principle provided by this utility model is as follows: First, during the gripping process, when adjusting the gripping angle of the robotic arm, cylinder 13 is activated. When the telescopic rod of cylinder 13 extends, it pushes rack 11 to move away from cylinder 13 within sliding groove 15. Since gear 10 meshes with rack 11, the movement of rack 11 drives gear 10 to rotate, which in turn drives connecting shaft 12 to rotate. Connecting shaft 12 then drives the robotic gripper to rotate to the appropriate angle. When the telescopic rod of cylinder 13 retracts, it pulls rack 11 to move closer to cylinder 13 within sliding groove 15. Similarly, through gear 10 and rack 11 transmission, connecting shaft 12 and robotic gripper rotate in opposite directions, thus achieving angle adjustment.

[0026] Then, based on the size of the object, when adjusting the distance between the first mechanical claw 2 and the second mechanical claw 3, the lead screw motor 9 is started. When the lead screw motor 9 rotates forward, the bidirectional lead screw 8 rotates, causing the two sliders 7 to move away from each other, thereby causing the first mechanical claw 2 and the second mechanical claw 3 to move away from each other. When the lead screw motor 9 rotates in reverse, the bidirectional lead screw 8 rotates in the opposite direction, causing the two sliders 7 to move closer to each other, thereby causing the first mechanical claw 2 and the second mechanical claw 3 to move closer to each other. Based on the actual size of the object being grasped, the rotation of the lead screw motor 9 is precisely controlled to adjust the distance between the mechanical claws to a suitable size.

[0027] Finally, after adjusting the spacing and angle, control the drone to fly to the target work position, and then use the mechanical claws to perform grasping, handling or other operations. During the operation, the spacing and angle of the two mechanical claws can be adjusted in real time according to the actual situation to ensure the smooth progress of the operation.

[0028] The circuits and controls involved in this utility model are all existing technologies and will not be described in detail here.

[0029] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A modular unmanned aerial vehicle (UAV) robotic arm, comprising a UAV body (1), wherein a robotic arm device is fixedly mounted on the bottom of the UAV body (1), characterized in that, The robotic arm device includes a first robotic claw (2), a second robotic claw (3), a mounting plate (4), a spacing adjustment mechanism, and a rotation mechanism. The bottom of the mounting plate (4) is fixedly connected to the bottom of the UAV body (1). The top of the mounting plate (4) is symmetrically provided with mounting brackets (5). The rotation mechanism is located on one side of one of the mounting brackets (5). The spacing adjustment mechanism is located between the two mounting brackets (5). The first robotic claw (2) and the second robotic claw (3) move closer or further apart from each other through the adjustment mechanism. The output end of the spacing adjustment mechanism is connected to the rotation mechanism.

2. The modular unmanned aerial vehicle (UAV) robotic arm according to claim 1, characterized in that, The spacing adjustment mechanism includes a mounting frame (6), two sliders (7) and a bidirectional lead screw (8). The bidirectional lead screw (8) is rotatably disposed inside the mounting frame (6). The two sliders (7) are symmetrically disposed inside the mounting frame (6). The two sliders (7) are threadedly connected to the bidirectional lead screw (8). The two sliders (7) are respectively fixedly connected to the first mechanical claw (2) and the second mechanical claw (3). A lead screw motor (9) is provided on one side of the mounting frame (6). The output end of the lead screw motor (9) passes through the mounting frame (6) and is fixedly connected to one side of the bidirectional lead screw (8).

3. The modular unmanned aerial vehicle (UAV) robotic arm according to claim 2, characterized in that, The rotating mechanism includes a gear (10), a rack (11), and a connecting shaft (12). The connecting shaft (12) is disposed between two mounting brackets (5). The end of the connecting shaft (12) near the gear (10) extends toward the gear (10) and is fixedly connected to the gear (10). The rack (11) is slidably connected to the top wall of the mounting plate (4). The gear (10) meshes with the rack (11). A cylinder (13) is provided on the side of the rack (11) away from the mounting bracket (5). The telescopic rod of the cylinder (13) is fixedly connected to the end of the rack (11) near the telescopic rod.

4. The modular unmanned aerial vehicle (UAV) robotic arm according to claim 3, characterized in that, The cylinder (13) has a connecting plate (14) on its telescopic rod. One side of the connecting plate (14) is threadedly connected to the telescopic rod of the cylinder (13), and the other side of the connecting plate (14) is fixedly connected to one side of the rack (11).

5. The modular unmanned aerial vehicle (UAV) robotic arm according to claim 4, characterized in that, The mounting plate (4) is provided with a sliding groove (15) at the top. The rack (11) is slidably connected to the inner wall of the sliding groove (15). The connecting plate (14) is provided with a groove (16) on the side near the rack (11) that matches the side wall of the sliding groove (15). The side of the sliding groove (15) near the cylinder (13) is slidably connected to the inner wall of the groove (16).

6. The modular unmanned aerial vehicle (UAV) robotic arm according to claim 5, characterized in that, The connecting shaft (12) is provided with a fixing block (17), and a telescopic block (18) is provided between the fixing block (17) and the mounting frame (6). The top of the telescopic block (18) is fixedly connected to the mounting frame (6), and the bottom of the telescopic block (18) is fixedly connected to the fixing block (17).

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