CN108298084B - Unmanned aerial vehicle with arm and capable of automatically grabbing object - Google Patents
Unmanned aerial vehicle with arm and capable of automatically grabbing object Download PDFInfo
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- CN108298084B CN108298084B CN201810010602.3A CN201810010602A CN108298084B CN 108298084 B CN108298084 B CN 108298084B CN 201810010602 A CN201810010602 A CN 201810010602A CN 108298084 B CN108298084 B CN 108298084B
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an unmanned aerial vehicle with an arm for autonomously grabbing objects, which comprises a machine body, a camera device, a mechanical arm and a communication and control device, wherein the mechanical arm comprises a steering engine device, a half gear mechanism and a rocker gear mechanism, the upper end of the steering engine device is connected with the central lower part of the machine body through a rotary joint, the lower end of the steering engine device is connected with the half gear mechanism, the half gear mechanism is meshed with the rocker gear mechanism through a gear and a rack, and the camera device and the communication and control device which are installed on the machine body identify and control the mechanical arm to open and close to grab the objects. The invention can make the mechanical arm of the unmanned aerial vehicle more flexible and firmer when grabbing objects.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle with an arm for automatically grabbing objects.
Background
The unmanned plane is an unmanned plane operated by a radio remote control device and a self-contained program control device. Unmanned aerial vehicles have wide application in recent years, and have wide application in the industries of police, city management, agriculture, geology, meteorology, electric power, rescue and relief, video shooting and the like.
Along with the continuous development of unmanned aerial vehicle technique, an unmanned aerial vehicle with arm has appeared, and it not only can fly at high altitude, can realize independently snatching the object aloft like the hawk in addition, and people's accessible remote control lets unmanned aerial vehicle with arm get into some dangerous environment that people can not get into and carries out the operation, and the danger of greatly reduced work can improve work efficiency effectively. But present area arm unmanned aerial vehicle, ubiquitous arm snatch the action and be not nimble enough freely, work efficiency is low when snatching the object to arm size and specification all is with the fixed matching of unmanned aerial vehicle, can not change at any time according to the actual need of snatching the work, and is very inconvenient during the use. For example, the chinese invention with application number 201610368669.5, entitled "a snatchable mobile unmanned aerial vehicle" proposes an unmanned aerial vehicle with arms, the number of mechanical arms is 2, the shape is similar to a palm folded by a human, the structure is fixed, the two mechanical arms approach each other to complete the grabbing action by pulling a connecting rod to move inwards by virtue of the downward movement of a pull rod group, the grabbing action is rigid, the rotation and swing of any angle and direction cannot be performed, the grabbing position and angle cannot be adjusted according to the actual needs on site, the grabbing effect is poor and insecure, and the size and specification of the mechanical arms are fixedly matched, cannot be exchanged, and are very inconvenient to use and not strong in practicability.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problem solved by the invention is how to realize flexible and firm grabbing action of the mechanical arm of the unmanned aerial vehicle with the arm and meet different grabbing requirements.
In order to solve the technical problem, the technical scheme provided by the invention is that the unmanned aerial vehicle with the arm automatically grabs an object, and comprises a machine body, a camera device, a mechanical arm and a communication and control device, wherein the mechanical arm comprises a steering gear device, a half gear mechanism and a rocker gear mechanism, the upper end of the steering gear device is connected with the central lower part of the machine body through a U-shaped chute by using a bolt, the lower end of the steering gear device is connected with the half gear mechanism, the half gear mechanism is meshed with the rocker gear mechanism through a gear and a rack, and the camera device and the communication and control device which are installed on the machine body identify and control the mechanical arm to open and close to grab the object.
The steering engine device comprises a connecting frame, an upper steering engine, a middle steering engine, a lower steering engine, an external gear, a rack rod and a vertical rod, wherein the upper steering engine, the middle steering engine and the lower steering engine are sequentially connected through the connecting frame, the top end of the vertical rod is fixed on the connecting frame of the lower steering engine, the upper steering engine is responsible for rotating in the vertical direction, the middle steering engine is responsible for moving in the horizontal direction, and the lower steering engine drives the rack rod to move up and down along the surface of the vertical rod through the occlusion of the external gear on the lower steering engine;
the half-gear mechanism comprises a cross rod, a half gear and a connecting rod, one end of the cross rod is hinged with the circle center of the half gear, the other end of the cross rod is fixed with the lower end of the upright rod of the steering gear device, the lower end of the connecting rod is hinged with the upper end of the connecting rod of the rocker gear mechanism, and the upper end of the connecting rod is hinged with the lower end of the rack rod of the steering gear device;
the rocker gear mechanism comprises a mechanical claw, a rocker, a connecting rod and a gear, the upper end of the mechanical claw is hinged with one end of the connecting rod, the upper end of the mechanical claw is hinged with the lower end of the rocker through an ear rod at the upper end, the other end of the connecting rod is hinged on the connecting rod of the half-gear mechanism, the upper end of the rocker is hinged with the top end of the gear, and the gear is meshed and linked with the half-gear;
preferably, the articulation is a bearing articulation;
preferably, the number of the half gear mechanisms and the number of the rocker gear mechanisms are three, and the half gear mechanisms and the rocker gear mechanisms are uniformly distributed in a circumferential 120-degree manner, so that opening and closing are synchronously realized;
the machine body is in a cross shape, the four vertexes are provided with rotor wings, and the bottoms of the rotor wings are provided with support frames;
the camera device is arranged on the machine body and is responsible for camera identification of an object and sending a signal to the communication and control device;
the control device comprises a mechanical sensor arranged at the top end of the mechanical claw, a touch sensor arranged at the joint of the mechanical arm and the belly of the machine body, a communication and control circuit board and is responsible for sending and receiving communication signals and sensing signals and controlling the action of the mechanical arm.
The invention has the beneficial effects that:
1. each rotary joint of the mechanical arm is controlled by a corresponding steering engine, rotation, swinging, opening and closing in any angle and direction can be performed, the grabbing action is flexible and free, and the grabbing efficiency is high.
2. The part of installing in the middle of unmanned aerial vehicle in robotic arm support body upper end the interface portion of gripper installation can become corresponding interface module, can adapt to any one kind and match half gear mechanism and the gear mechanism of this interface, and the practicality is strong.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic view of a main structure of a robot arm;
fig. 3 is a partial cross-sectional view of a robot arm.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings, but the present invention is not limited thereto.
Fig. 1, 2 and 3 show structural schematic diagrams of the invention, and an unmanned aerial vehicle with an arm for autonomously grabbing objects comprises a machine body 1, a camera device, a mechanical arm 2 and a communication and control device, wherein the mechanical arm 2 comprises a steering gear device 21, a half gear mechanism 22 and a rocker gear mechanism 23, the upper end of the steering gear device 21 is connected with the central lower part of the machine body 1 through a U-shaped chute by a bolt, the lower end of the steering gear device is connected with the half gear mechanism 22, the half gear mechanism 22 is meshed with the rocker gear mechanism 23 through a gear and a rack, and the camera device and the communication and control device arranged on the machine body 1 identify and control the mechanical arm 2 to open and close to grab objects.
The steering gear device 21 comprises a connecting frame 211, an upper steering gear 212, a middle steering gear 213, a lower steering gear 214, an external gear 215, a rack rod 216 and an upright rod 217, wherein the upper steering gear 212, the middle steering gear 213 and the lower steering gear 214 are sequentially connected through the connecting frame 211, the top end of the upright rod 217 is fixed on the connecting frame of the lower steering gear 214, the upper steering gear 212 is responsible for rotating in the vertical direction, the middle steering gear 213 is responsible for moving in the horizontal direction, and the lower steering gear 214 drives the rack rod 216 to move up and down along the surface of the upright rod 217 through the meshing of the external gear 215 on the upper steering gear;
the half-gear mechanism 22 comprises a cross rod 221, a half gear 222 and a pull rod 223, one end of the cross rod 221 is hinged with the circle center of the half gear 222, the other end of the cross rod 221 is fixed with the lower end of the upright rod 217 of the steering engine device 21, the lower end of the pull rod 223 is hinged with the ear end above the half gear 222, and the upper end of the pull rod 223 is hinged with the lower end of the rack rod 216 of the steering engine device 21;
the rocker gear mechanism 23 comprises a mechanical claw 231, a connecting rod 232, a rocker 233 and a gear 234, the upper end of the mechanical claw 231 is hinged with one end of the connecting rod 232 and is also hinged with the lower end of the rocker 233 through an ear rod at the upper end, the other end of the connecting rod 232 is hinged on the cross rod 221 of the half gear mechanism 22, the upper end of the rocker 233 is hinged with the upper top end of the gear 234, and the gear 234 is meshed and linked with the half gear 222;
preferably, the articulation is a bearing articulation;
preferably, the number of the half gear mechanisms 22 and the number of the rocker gear mechanisms 23 are three, and the half gear mechanisms and the rocker gear mechanisms are uniformly distributed in a circumferential 120-degree manner, so that opening and closing are synchronously realized;
the machine body 1 is in a cross shape, the four vertexes are provided with rotor wings, and the bottoms of the rotor wings are provided with support frames;
the camera device is arranged on the machine body 1 and is responsible for camera identification of an object and sending a signal to the communication and control device;
the control device comprises a mechanical sensor arranged at the top end of the mechanical claw 231, a touch sensor arranged at the joint of the mechanical arm 2 and the belly of the machine body 1, and a communication and control circuit board, and is responsible for sending and receiving communication signals and sensing signals and controlling the action of the mechanical arm 2.
By adopting the technical scheme of the invention, the mechanical arm of the unmanned aerial vehicle can grab objects more flexibly and more firmly.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and these embodiments are within the scope of the invention.
Claims (6)
1. An unmanned aerial vehicle with an arm for automatically grabbing objects comprises a machine body (1), a camera device, a mechanical arm (2) and a communication and control device, wherein the mechanical arm (2) comprises a steering engine device (21), a half gear mechanism (22) and a rocker gear mechanism (23),
the upper end of the steering engine device (21) is connected with the central lower part of the machine body (1) through a rotary joint, the lower end is connected with the half gear mechanism (22), the steering gear device (21) comprises a connecting frame (211), an upper steering gear (212), a middle steering gear (213), a lower steering gear (214), an external gear (215), a rack rod (216) and a vertical rod (217), the upper steering engine (212), the middle steering engine (213) and the lower steering engine (214) are connected in turn through the connecting frame (211), the top end of the vertical rod (217) is fixed on the connecting frame of the lower steering engine (214), the upper steering engine (212) is responsible for rotating in the vertical direction, the middle steering engine (213) is responsible for moving in the horizontal direction, the lower steering engine (214) drives the rack rod (216) to move up and down along the surface of the vertical rod (217) through the meshing of an external gear (215) on the lower steering engine;
the half-gear mechanism (22) is meshed with the rocker gear mechanism (23) through a gear and a rack, the mechanical arm (2) is identified and controlled to open and close to grab an object through the camera device and the communication and control device which are installed on the machine body (1), the half-gear mechanism (22) comprises a cross rod (221), a half gear (222) and a pull rod (223), one end of the cross rod (221) is hinged to the circle center of the half gear (222), the other end of the cross rod is fixed to the lower end of the upright rod (217) of the steering engine device (21), the lower end of the pull rod (223) is hinged to the ear end above the half gear (222), and the upper end of the pull rod is hinged to the lower end of the rack rod (216) of the steering engine device (21);
the rocker gear mechanism (23) comprises a mechanical claw (231), a connecting rod (232), a rocker (233) and a gear (234), the upper end of the mechanical claw (231) is hinged with one end of the connecting rod (232) and is also hinged with the lower end of the rocker (233) through an ear rod at the upper end, the other end of the connecting rod (232) is hinged on the cross rod (221) of the half gear mechanism (22), the axle center of the half gear (222) of the half gear mechanism (22), the cross bar (221) of the half gear mechanism (22) and the connecting rod (232) are hinged together, the axle center of the gear (234) of the rocker gear mechanism (23) is arranged at the tail end of the cross rod (221) of the half gear mechanism (22), the upper end of the rocker (233) is hinged with the upper top end of the gear (234), and the gear (234) is meshed and linked with the half gear (222).
2. The unmanned aerial vehicle with arm of autonomous grasping of an object of claim 1, characterized in that: the hinge joint is a bearing hinge joint.
3. The unmanned aerial vehicle with arm of autonomous grasping of an object of claim 1, characterized in that: the number of the half gear mechanisms (22) and the number of the rocker gear mechanisms (23) are three, and the half gear mechanisms and the rocker gear mechanisms are uniformly distributed in a circumference 120 degrees, so that opening and closing are synchronously realized.
4. The unmanned aerial vehicle with arm of autonomous grasping of an object according to any one of claims 1 to 3, characterized in that: the aircraft body (1) is in a cross shape, the four vertexes are provided with rotor wings, and the bottoms of the rotor wings are provided with support frames.
5. The unmanned aerial vehicle with arm of autonomous grasping of an object according to any one of claims 1 to 3, characterized in that: the camera device is arranged on the machine body (1) and is responsible for shooting and identifying objects and sending signals to the communication and control device.
6. The unmanned aerial vehicle with arm of autonomous grasping of an object of claim 5, wherein: the control device comprises a mechanical sensor arranged at the top end of the mechanical claw (231), a touch sensor arranged at the joint of the mechanical arm (2) and the belly of the machine body (1), a communication and control circuit board and is responsible for sending and receiving communication signals and sensing signals and controlling the action of the mechanical arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010602.3A CN108298084B (en) | 2018-01-05 | 2018-01-05 | Unmanned aerial vehicle with arm and capable of automatically grabbing object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010602.3A CN108298084B (en) | 2018-01-05 | 2018-01-05 | Unmanned aerial vehicle with arm and capable of automatically grabbing object |
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| Publication Number | Publication Date |
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| CN108298084A CN108298084A (en) | 2018-07-20 |
| CN108298084B true CN108298084B (en) | 2021-11-30 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109795691A (en) * | 2019-01-22 | 2019-05-24 | 浙江理工大学 | A kind of unmanned plane during flying grasping system |
| CN110466765A (en) * | 2019-08-29 | 2019-11-19 | 中国人民解放军国防科技大学 | A kind of accurate control system of hovering |
| CN112060066B (en) * | 2020-08-24 | 2022-02-08 | 中国矿业大学徐海学院 | Robot capable of automatically replacing street lamp adapter |
| CN112407211A (en) * | 2020-09-18 | 2021-02-26 | 桂林电子科技大学 | Golden-edge-like dragon louse swimming foot underwater propulsion device |
| CN112793792A (en) * | 2021-02-26 | 2021-05-14 | 上海润璋智能科技股份有限公司 | Unmanned aerial vehicle for delivering light and handy goods |
| CN113148161B (en) * | 2021-05-08 | 2023-06-27 | 金文浩 | Helicopter simulation search and rescue system |
| CN113459072B (en) * | 2021-07-29 | 2022-05-17 | 桂林电子科技大学 | Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design |
| CN115071973A (en) * | 2022-06-24 | 2022-09-20 | 北京理工大学 | A quick soft grabbing device for unmanned aerial vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770124A (en) * | 2014-02-05 | 2014-05-07 | 苏州信文食品有限公司 | Mechanical claw in food industry |
| CN204094800U (en) * | 2014-09-19 | 2015-01-14 | 吴江市伊克嵩电子有限公司 | A kind of clamping type manipulator wrist |
| CN105415393A (en) * | 2015-12-29 | 2016-03-23 | 山西顾德宝丰重工机械有限公司 | Grabbing and translating manipulator for roller |
| CN205633051U (en) * | 2016-04-12 | 2016-10-12 | 匡立生 | Four -rotor unmanned aerial vehicle |
| CN106081111B (en) * | 2016-08-28 | 2018-05-29 | 山西大疆慧飞科技有限公司 | A kind of rescue unmanned plane |
| CN106228896B (en) * | 2016-10-21 | 2018-11-16 | 张茜 | A kind of universal machine mechanism demonstration teaching aid |
| CN206766332U (en) * | 2017-03-15 | 2017-12-19 | 昆明理工大学 | One kind four rotor wing unmanned aerial vehicles of crawl |
| CN206634209U (en) * | 2017-04-24 | 2017-11-14 | 黑龙江省科学院自然与生态研究所 | A kind of intelligent forest soil microbiological specimens sampling instrument |
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