CN110294125B - Arm equipped with unmanned aerial vehicle - Google Patents
Arm equipped with unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110294125B CN110294125B CN201910507064.3A CN201910507064A CN110294125B CN 110294125 B CN110294125 B CN 110294125B CN 201910507064 A CN201910507064 A CN 201910507064A CN 110294125 B CN110294125 B CN 110294125B
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- steering engine
- clamping piece
- thrust
- thrust rod
- unmanned aerial
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 23
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
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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
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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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a mechanical arm structure equipped on an unmanned aerial vehicle, wherein thrust rod steering engine mounting seats are symmetrically distributed on the front side and the rear side of a base of a mounting rack, thrust rod steering engines are fixed on the steering engine mounting seats, and the thrust rods are fixedly connected with output shafts of the thrust rod steering engines. Four thrust rods are uniformly distributed on the left side and the right side, and each thrust rod is fixedly connected with the four clamping sheets through a carbon rod. A fixed control steering wheel is fixed respectively along two clamping piece lower extremes of every side outermost edge, installs an L type stationary blade on the steering wheel output shaft, and two inboard clamping piece lower extremes are fixed one respectively and are stirred the control steering wheel, and the small-size plectrum of installation on the steering wheel output shaft does benefit to the claw and loosens the operating condition of target. The tail end of the thrust rod hinged to the upper side is provided with a sliding chute, the carbon rods for fixing the four clamping pieces penetrate through the sliding chute and are connected with the clamping piece control steering engine at the tail end of the thrust rod through a connecting rod to form a slider-crank mechanism. The invention adopts a mechanical grabbing mode to firmly and effectively grab and utilizes a four-bar mechanism to ensure that objects are correctly placed.
Description
Technical Field
The invention relates to an unmanned aerial vehicle accessory, in particular to a mechanical arm arranged on an unmanned aerial vehicle.
Background
In recent years, the application field of unmanned aerial vehicles is wider and wider, more and more modern high-precision technologies are put into the unmanned aerial vehicles, and the most common purposes are investigation, aerial photography, mapping and movie shooting. It can be seen that the main use of the current unmanned aerial vehicle, except some special military unmanned aerial vehicles, is mostly used for entertainment, and the potential of the unmanned aerial vehicle is not completely developed in civil life. We are increasingly feeling the importance of intelligent transportation, which is often limited by terrain. At present, a small number of gripping devices mainly comprising suction cups are arranged on the market, but the gripping devices are exposed in practical use and are unstable in gripping, and goods easily fall off from the air, so that the goods are damaged, and the safety of personnel in the process of carrying the goods is threatened. Consequently, an unmanned aerial vehicle arm that can firmly snatch goods of section just can cater to the transportation market better at present.
Disclosure of Invention
The invention aims to provide a mechanical arm equipped on an unmanned aerial vehicle, which can not only finish simple carrying work like a sucker, but also solve the problem of unstable grabbing of the sucker, is safer and more reliable when used for carrying goods in a mechanical grabbing manner, and is beneficial to adapting to more complex operation conditions.
The invention is realized by adopting the following technical scheme:
an arm equipped on an unmanned aerial vehicle comprises a base, a four-bar linkage mechanism, a thrust rod steering engine, a clamping piece control steering engine, a carbon rod, a fixed control steering engine and an L-shaped fixing piece; wherein the content of the first and second substances,
the four-bar linkage mechanism has at least one pair, each pair of four-bar linkage mechanisms are symmetrically arranged, two long bars of each four-bar linkage mechanism are respectively two first thrust rods and two connecting bars which are symmetrically arranged at two sides of the base, one ends of the two first thrust rods and the two connecting bars are hinged with the base, a thrust rod steering engine is arranged on the base, the four-bar linkage mechanisms are driven to open or close by driving the first thrust rods to rotate, the other ends of the two connecting bars are respectively hinged with corresponding clamping pieces, the other ends of the two first thrust rods are both provided with sliding grooves, the two first thrust rods are connected with the tops of the clamping pieces hinged with the two connecting bars through carbon rods penetrating through the sliding grooves, the clamping pieces control the steering engine to be arranged at the other ends of the first thrust rods, and the two first thrust rods are connected with the carbon rods through;
the bottom of the clamping piece connected with each four-bar linkage is hinged with one end of the L-shaped fixing piece, the other end of the L-shaped fixing piece is a free end, and the fixed control steering engine is arranged on the clamping piece and used for driving the L-shaped fixing piece to rotate.
The invention has the further improvement that the base comprises a mounting rack base and a thrust rod steering engine mounting seat mounted at the bottom of the mounting rack base, one end of each long rod of the four-bar linkage mechanism is hinged with the thrust rod steering engine mounting seat, and the thrust rod steering engine is arranged on the thrust rod steering engine mounting seat.
The improved structure of the invention is characterized by further comprising a toggle control steering engine and a small-sized shifting piece, wherein the small-sized shifting piece is arranged on the inner side of the hinged position of the clamping piece and the L-shaped fixing piece, and the toggle control steering engine is arranged on the clamping piece and is used for driving the small-sized shifting piece to rotate.
The invention is further improved in that at least two clamping pieces are connected with each four-bar linkage mechanism, and a plurality of the clamping pieces are sequentially connected in series through carbon rods.
The invention has the further improvement that the clamp piece is also provided with a spare mounting hole for changing the position of the fixed control steering engine to adapt to the grabbing of articles with different sizes.
The invention is further improved in that the inner side of each clamping piece close to the bottom end is provided with a small bulge for increasing the stress of goods to be transported.
The invention has the further improvement that when the unmanned aerial vehicle is used, after the mechanical arm is correctly arranged at the bottom of the unmanned aerial vehicle, the power supply is switched on, and the unmanned aerial vehicle is started; when the unmanned aerial vehicle flies above a target object, the thrust rod steering engine rotates to drive the first thrust rod to rotate towards the middle bottom, and after the first thrust rods on two sides rotate for a preset angle, the clamping piece at the tail end controls the steering engine to rotate for pushing the four-bar linkage mechanism to move, and the carbon rod at the head part of the clamping piece is pushed to the front end of the long through hole, so that the clamping piece is in an inner buckling shape, the stress between the tail end of the clamping piece and the target object is increased, the friction is increased, and the clamping working state is stabilized; after the unmanned aerial vehicle rises to a preset height, the tail end of the outer clamping piece fixedly controls the rotation angle of the steering engine, so that the L-shaped fixing piece is also buckled inwards, and the target object is prevented from slipping off in the air; at this point, the mechanical arm finishes the action of grabbing the target object;
after the unmanned aerial vehicle flies to an article throwing place, the unmanned aerial vehicle descends to a preset height, the tail end of the clamping piece on the outer side fixedly controls the rotation angle of the steering engine, the L-shaped fixing piece is loosened, the clamping piece on the tail end of the second thrust rod controls the steering engine to drive the slider-crank mechanism to move, the carbon rod at the head of the clamping piece is pulled back to the head section of the long through hole, the clamping piece is enabled to enter a unfolding working state, the steering engine on the tail end of the clamping piece on the inner side correspondingly rotates, the poking piece is poked to push transported articles, the; finally, the thrust rod steering engine rotates to lift the first thrust rod, and the whole mechanical arm is in an extended state to prepare for next grabbing work; at this point, the mechanical arm completes the action of throwing the target object.
The invention has the following beneficial technical effects:
the invention provides an arm equipped on an unmanned aerial vehicle, which drives first thrust rods at two sides to approach to the middle through torque generated by a thrust rod steering engine, when the thrust rods at two sides rotate for a preset angle, a clamping piece at the tail end controls the rotation angle of the steering engine to push a slider-crank mechanism to move, and a carbon rod at the head part of the clamping piece is pushed to the front end of a long through hole, so that the clamping piece forms an inner buckling shape, the stress of small bulges at the tail end of the clamping piece and transported goods is increased, the friction is increased, and the position is according to a self-locking formula: and (f) tan beta is f (static friction factor), and a self-locking phenomenon exists, so that the stable clamping working state is facilitated. The tail end of the outer clamping piece is fixedly controlled to rotate by an angle, so that the L-shaped fixing piece is buckled in the same way, and the target object is prevented from sliding off during carrying. When articles need to be placed, the tail end of the clamping piece on the outer side is fixedly controlled to rotate by an angle at first, the L-shaped fixing piece is loosened, the clamping piece at the tail end of the thrust rod controls the steering engine to drive the slider-crank mechanism to move, and the carbon rod at the head part of the clamping piece is pulled back to the first section of the long through hole, so that the clamping piece enters an opening working state. Furthermore, the tail end of the clamping piece on the inner side is stirred to control the steering engine to rotate, and the small-sized stirring piece is stirred to push the transported articles. The thrust rod steering engine rotates to lift the first thrust rod, and the whole mechanical arm is in an extending state.
The invention is different from the traditional sucker grabbing structure, adopts a mechanical grabbing mode to firmly and effectively grab, and utilizes a four-bar mechanism to ensure that objects are correctly placed.
Drawings
Fig. 1 is a perspective view of a robot arm equipped with an unmanned aerial vehicle according to the present invention.
Fig. 2 is a front view of a robotic arm equipped with a drone according to the present invention.
FIG. 3 is a view showing a structure of a claw portion of the present invention.
Description of reference numerals:
the method comprises the following steps of 1-installing a rack base, 2-a thrust rod steering engine installing seat, 3-a thrust rod steering engine, 4-a first thrust rod, 5-a carbon rod, 6-a spare installing hole, 7-a fixed control steering engine, 8-an L-shaped fixing piece, 9-a clamping piece, 10-a toggle control steering engine, 11-a small shifting piece, 12-a clamping piece control steering engine, 13-a second thrust rod and 14-a connecting rod.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1 to 3, the mechanical arm provided in the invention comprises an installation rack base 1, a thrust rod steering engine 3, a thrust rod steering engine installation seat 2, a first thrust rod 4, a clamping piece control steering engine 12, a carbon rod 5, a clamping piece 9, a fixed control steering engine 7, a toggle control steering engine 10, a small protrusion, a small toggle piece 11, an L-shaped fixed piece 8, a second thrust rod 13, a connecting rod 14, and a standby installation hole 6 formed in the clamping piece 9. And the thrust rod steering engine 3 is fixed with the mounting rack base 1 through the thrust rod steering engine mounting seat 2 and is kept to be stably and fixedly connected with the unmanned aerial vehicle. The first thrust rods 4 are connected with an output shaft of the thrust rod steering engine 3, the first thrust rods 4 on two sides are symmetrically distributed, the tail ends of the first thrust rods are connected with the clamping pieces 9 through carbon rods 5, and long through holes are formed in the tail ends of the first thrust rods 4 on the upper sides of the distribution; the four jaws 9 on each side constitute the jaws of the robot arm: the four clamping pieces 9 are fixed at equal intervals by using three carbon rods 5, and the head carbon rod 5 is connected with a second thrust rod 13 through a connecting rod mechanism to form a slider-crank mechanism. Small projections are embedded at the end of each clip 9 near the end to increase the stress of the transported goods. The tail ends of the two outer clamping pieces 9 are provided with a fixed control steering engine 7, the output shaft of the fixed control steering engine 7 is fixedly connected with an L-shaped control piece 8, the tail ends of the two inner clamping pieces 9 are provided with a toggle control steering engine 10, and the output shaft of the toggle control steering engine 10 is fixedly connected with a small-sized toggle piece 11.
The thrust rod steering engine is commercially available and adopts a LiFe 6.6V steering engine produced by Power HD.
The clamping piece control steering engine, the fixed control steering engine and the toggle control steering engine are commercially available, and are all ES 3054 small-sized steering engines.
The carbon rods are 8mm and 5mm carbon rods.
The invention provides a mechanical arm equipped on an unmanned aerial vehicle, which comprises the following specific working processes:
the first step is as follows: after the mechanical arm is correctly installed at the bottom of the unmanned aerial vehicle, the power supply is switched on, and the unmanned aerial vehicle is started.
The second step is that: unmanned aerial vehicle flies to target article top, and thrust rod steering wheel 3 rotates, drives first thrust rod 4 and rotates to middle bottom, and after first thrust rod 4 in both sides rotated and predetermines the angle, terminal clamping piece control steering wheel 12 turned angle promotes the motion of four-bar linkage, pushes away clamping piece head carbon-point pole 5 to the long through-hole front end to make clamping piece 9 form interior knot shape, increase the stress of the terminal small-size protruding thing of clamping piece 9 and target article, thereby increase the friction, firm centre gripping operating condition. After the unmanned aerial vehicle ascends to preset the height, the tail end of the clamping piece on the outer side fixedly controls the rotation angle of the steering engine 7, so that the L-shaped fixing piece 8 is buckled in the same way, and the target object is prevented from slipping off in the air. At this point, the robot arm completes the action of grabbing the target object.
The third step: unmanned aerial vehicle flies to article and puts in place after, descend to predetermineeing the height, 7 turned angle of terminal fixed control steering wheel of outside clamping piece, loosen L type stationary blade 8, 13 terminal clamping piece control steering wheel 12 of second distance rod drive slider-crank mechanism motion, draw back the first section of slot hole with clamping piece head carbon-point 5, make clamping piece 9 get into and expand operating condition, the terminal steering wheel 10 of inboard clamping piece takes place corresponding rotation, stir plectrum 11 and carry out the propelling movement action to transporting article, ensure that article are put in correctly, prevent that article and arm from taking place to collude. And finally, the thrust rod steering engine 3 rotates to lift the first thrust rod 4, and the whole mechanical arm is in an extended state to prepare for next grabbing work. At this point, the mechanical arm completes the action of throwing the target object.
Finally, it should be noted that: the invention aims to match with the accurate positioning of an unmanned aerial vehicle to grab and release a target object at a fixed point, the mechanical structure can ensure that the object cannot slide off in the process of grabbing the object by the mechanical arm, and the object can be prevented from hooking a bulge of the mechanical arm when the target object is released. Wholly, this arm simple structure, the effect is obvious, and the quality is lighter, is fit for loading and carries out the operation in unmanned aerial vehicle.
Claims (4)
1. An mechanical arm equipped on an unmanned aerial vehicle is characterized by comprising a base, a four-bar linkage mechanism, a thrust rod steering engine (3), a clamping piece (9), a clamping piece control steering engine (12), a carbon rod (5), a fixed control steering engine (7) and an L-shaped fixing piece (8); wherein the content of the first and second substances,
the four-bar linkage mechanism is at least one pair, each pair of four-bar linkage mechanisms are symmetrically arranged, two long bars of each four-bar linkage mechanism are respectively two first thrust rods (4) and two connecting rods (14) which are symmetrically arranged on two sides of a base, one ends of the two first thrust rods (4) and the two connecting rods (14) are hinged with the base, a thrust rod steering gear (3) is arranged on the base, the four-bar linkage mechanism is driven to open or close by driving the first thrust rods (4) to rotate, the other ends of the two connecting rods (14) are respectively hinged with corresponding clamping pieces (9), sliding grooves are formed in the other ends of the two first thrust rods (4), the two first thrust rods (4) are connected with the tops of the clamping pieces (9) hinged with the two connecting rods (14) through carbon rods (5) penetrating through the sliding grooves, a clamping piece control steering gear (12) is arranged at the other end of one first thrust rod (4) and is connected with, The second thrust rod (13) is connected with the carbon rod (5) to form a crank sliding block mechanism;
the bottom of a clamping piece (9) connected with each four-bar linkage is hinged with one end of an L-shaped fixing piece (8), the other end of the L-shaped fixing piece (8) is a free end, and a fixed control steering engine (7) is arranged on the clamping piece (9) and used for driving the L-shaped fixing piece (8) to rotate;
the clamping piece (9) is also provided with a standby mounting hole (6) for changing the position of the fixed control steering engine (7) to adapt to the grabbing of articles with different sizes; the inner side of each clamping piece (9) close to the bottom end is provided with a small bulge for increasing the stress of the transported goods;
when the unmanned aerial vehicle is used, after the mechanical arm is correctly installed at the bottom of the unmanned aerial vehicle, the power supply is switched on, and the unmanned aerial vehicle is started; when the unmanned aerial vehicle flies above a target object, the thrust rod steering engine (3) rotates to drive the first thrust rod (4) to rotate towards the middle bottom, after the first thrust rods (4) on two sides rotate for a preset angle, the clamping piece at the tail end controls the steering engine (12) to rotate for an angle, the four-bar linkage mechanism is pushed to move, and the carbon rod (5) at the head part of the clamping piece is pushed to the front end of the long through hole, so that the clamping piece (9) forms an inner buckle shape, the stress between the tail end of the clamping piece (9) and the target object is increased, the friction is increased, and the clamping working state is stabilized; after the unmanned aerial vehicle rises to a preset height, the tail end of the outer clamping piece fixedly controls the rotation angle of the steering engine (7), so that the L-shaped fixing piece (8) is internally buckled as well, and the target object is prevented from slipping off in the air; at this point, the mechanical arm finishes the action of grabbing the target object;
after an unmanned aerial vehicle flies to an article throwing place, the unmanned aerial vehicle descends to a preset height, the tail end of an outer clamping piece fixedly controls a steering engine (7) to rotate by an angle, an L-shaped fixing piece (8) is loosened, a tail end clamping piece of a second thrust rod (13) controls the steering engine (12) to drive a slider-crank mechanism to move, a carbon rod (5) at the head of the clamping piece is pulled back to the first section of a long through hole, the clamping piece (9) is enabled to enter a unfolding working state, the tail end steering engine (10) of the inner clamping piece correspondingly rotates, a poking piece (11) is poked to push transported articles, the articles are guaranteed to be correctly thrown; finally, the thrust rod steering engine (3) rotates to lift the first thrust rod (4), and the whole mechanical arm is in an extended state to prepare for next grabbing work; at this point, the mechanical arm completes the action of throwing the target object.
2. The mechanical arm equipped on the unmanned aerial vehicle as claimed in claim 1, wherein the base comprises a mounting frame base (1) and a thrust rod steering engine mounting seat (2) mounted at the bottom of the mounting frame base (1), one end of each of two long rods of the four-bar linkage mechanism is hinged to the thrust rod steering engine mounting seat (2), and the thrust rod steering engine (3) is arranged on the thrust rod steering engine mounting seat (2).
3. The mechanical arm equipped on the unmanned aerial vehicle as claimed in claim 1, further comprising a toggle control steering engine (10) and a small-sized shifting piece (11), wherein the small-sized shifting piece (11) is arranged on the inner side of the hinged position of the clamping piece (9) and the L-shaped fixing piece (8), and the toggle control steering engine (10) is arranged on the clamping piece (9) and used for driving the small-sized shifting piece (11) to rotate.
4. An arm equipped to a drone according to claim 1, characterised in that there are at least two jaws (9) associated with each four-bar linkage, several of which are connected in series in turn by carbon rods (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507064.3A CN110294125B (en) | 2019-06-12 | 2019-06-12 | Arm equipped with unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507064.3A CN110294125B (en) | 2019-06-12 | 2019-06-12 | Arm equipped with unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110294125A CN110294125A (en) | 2019-10-01 |
| CN110294125B true CN110294125B (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910507064.3A Active CN110294125B (en) | 2019-06-12 | 2019-06-12 | Arm equipped with unmanned aerial vehicle |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101452473B1 (en) * | 2013-04-05 | 2014-10-16 | 김명호 | Unmanned Aerial Vehicle Equipped With Engine Type Electric Genarator |
| CN105314102B (en) * | 2015-12-04 | 2017-09-15 | 哈尔滨云控机器人科技有限公司 | A kind of unmanned plane for equipping mechanical arm |
| CN107628248B (en) * | 2017-09-14 | 2024-01-26 | 上海电力学院 | Multi-rotor unmanned aerial vehicle mechanical arm device |
| CN207389544U (en) * | 2017-10-02 | 2018-05-22 | 翼航东升东莞航空实业集团有限公司 | A kind of crawl quadrotor unmanned plane |
| CN108820224B (en) * | 2018-07-31 | 2024-01-16 | 拓攻（南京）机器人有限公司 | Grabbing mechanism for unmanned aerial vehicle and unmanned aerial vehicle |
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2019
- 2019-06-12 CN CN201910507064.3A patent/CN110294125B/en active Active
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| CN110294125A (en) | 2019-10-01 |
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