CN112298538A

CN112298538A - Sliding table type mechanical arm and unmanned aerial vehicle provided with same

Info

Publication number: CN112298538A
Application number: CN202011219816.5A
Authority: CN
Inventors: 马龙敏
Original assignee: Guangxi Humpback Drone Technology Co ltd
Current assignee: Guangxi Humpback Drone Technology Co ltd
Priority date: 2020-11-05
Filing date: 2020-11-05
Publication date: 2021-02-02

Abstract

The invention discloses a sliding table type mechanical arm and an unmanned aerial vehicle provided with the sliding table type mechanical arm, belongs to the technical field of unmanned aerial vehicles, and solves the problem of high-altitude detection operation. The key points of the technical scheme are as follows: the device comprises a base frame and a sliding table mechanism arranged on the base frame through a traction structure, wherein the sliding table mechanism can rotate relative to the base frame; the sliding table mechanism comprises a sliding table base, a screw rod connected between the bases, a sliding block structure arranged on the screw rod and a sliding table motor, and the bottom of the sliding table base is connected with the base frame; one end of the sliding table mechanism opposite to the sliding table motor is provided with a connecting mechanism with a locking structure; and an unmanned aerial vehicle of installation slip table formula arm. The unmanned aerial vehicle flight detection system provides a stable unmanned aerial operation platform for building surface operation, reduces or abandons the traditional personnel high-altitude operation risk, reduces the occurrence probability of serious and serious safety accidents, and has high efficiency in artificial ground operation unmanned aerial vehicle flight detection.

Description

Sliding table type mechanical arm and unmanned aerial vehicle provided with same

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a sliding table type mechanical arm and an unmanned aerial vehicle provided with the sliding table type mechanical arm.

Background

A multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts. It is rotated by a motor on each shaft, driving the rotor, thereby generating lift. The collective pitch of the rotors is fixed and not variable as in a typical helicopter. Through changing the relative speed between the different rotors, the size of unipolar propulsive force can be changed to the orbit of control aircraft.

The demands of quality detection and maintenance exist in the building construction process and the building use process, so that the quality of the building needs to be detected and maintained. The traditional detection and maintenance mode is that people work high above the ground and carry equipment to detect and maintain the building. The mode is low in working efficiency and high in working cost, and high-probability accident risks exist for the personnel working aloft. The invention is designed to provide a stable unmanned aerial work platform for the surface work of the building.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a sliding table type mechanical arm, which can be used for carrying detection tools to realize high-altitude wall detection operation, and has good stability and operability; the invention also provides an unmanned aerial vehicle provided with the sliding table type mechanical arm, which provides a stable unmanned aerial work platform for surface work of buildings, reduces or abandons the risk of high-altitude work of traditional personnel, reduces the occurrence probability of serious safety accidents, and has high efficiency in flight detection of the unmanned aerial vehicle operated on the manual ground.

The technical purpose of the invention is realized by the following technical scheme:

a sliding table type mechanical arm comprises a base frame and a sliding table mechanism arranged on the base frame through a traction structure, wherein the sliding table mechanism can rotate relative to the base frame; the sliding table mechanism comprises a sliding table base, a screw rod connected between two ends of the sliding table base, a sliding block structure arranged on the screw rod and a sliding table motor connected with one end of the screw rod, and the bottom of the sliding table base is connected with the base frame;

a connecting mechanism with a locking structure is arranged at one end of the sliding table mechanism opposite to the sliding table motor; the connecting mechanism comprises a first driving motor, a mounting frame arranged on the output end of the first driving motor, a second driving motor arranged on the mounting frame and an adsorption disc structure, wherein the adsorption disc structure is arranged on the second driving motor, and the second driving motor is rotatably connected with the mounting frame.

Preferably, the device further comprises a stretching arm and a third driving motor used for driving the stretching arm to move, the stretching arm is arranged at the bottom of the sliding table base, one end of the stretching arm is connected with the output end of the third driving motor, the other end of the stretching arm is connected with the connecting mechanism, and the connecting mechanism can be driven to leave the sliding table mechanism.

Preferably, the traction structure is a transmission device, the transmission device is arranged at the joint of the base frame and the sliding table mechanism, and the transmission device is used for adjusting the angle between the sliding table mechanism and the base frame.

Preferably, the slide table mechanism further comprises a controller arranged on the slide table mechanism, and the controller is used for controlling the first driving motor, the second driving motor, the slide table motor and the transmission device to move.

Preferably, a robot is mounted on the slider structure.

Preferably, the bottom of the base frame is a T-shaped base frame, and the T-shaped base frame is provided with a plurality of mounting holes.

The invention also provides an unmanned aerial vehicle provided with the sliding table type mechanical arm, which comprises a flying machine body and the sliding table type mechanical arm arranged on the flying machine body, wherein the sliding table type mechanical arm is any one of the sliding table type mechanical arms; two opposite outer sides of the flying machine body are provided with support frame structures, and the outer ends of flying wings of the flying machine body are provided with anti-collision protection frames.

Preferably, the anti-collision protection frame comprises a U-shaped frame integrally formed with the outer end of the flight wing, and a U-shaped elastic sheet is arranged on the U-shaped frame.

Due to the adoption of the technical scheme, the invention has the following beneficial effects:

1. the sliding table mechanism can adjust the angle of the mechanical arm by 270 degrees up and down under the traction of the transmission device of the base frame according to working requirements by utilizing the cooperation of the base frame, the sliding table mechanism and the connecting mechanism, carries working tools and the like by utilizing the locking type connecting mechanism at the front end of the mechanical arm, carries construction materials by matching with the sliding block structure, realizes working functions by approaching a building through the sliding table base, the sliding table motor and the like, has simple structure, realizes control on each driving piece through the controller, and is convenient to operate.

2. Utilize to visit and stretch arm and third driving motor cooperation, can drive and adsorb a structure end and be close towards the wall body, utilize the concertina movement who visits and stretch the arm, when cooperation unmanned aerial vehicle uses, earlier utilize to visit and stretch the arm drive and adsorb a structure activity, make the detecting instrument contact wall body that adsorbs a structure and carry on, rethread removes unmanned aerial vehicle and slowly is close to, the arm is visited in the shrink to improve operation security and better protection unmanned aerial vehicle equipment.

3. Utilize the cooperation of unmanned aerial vehicle and arm, through the slip table arm with unmanned aerial vehicle and the aerial bridge type fixed connection of building, be close to the building and realize high altitude construction, be applied to the building field of detecting, utilize the slider structure to carry on the mapping tool, utilize coupling mechanism to carry on specific instrument, for example, detect the instrument of coating thickness, detect the instrument such as crack width, detect detecting instrument such as crack depth, detect the wall, an unmanned aerial operation environment stable and safe is provided, the efficiency to the detection of building has been improved, traditional personnel high altitude construction risk is reduced or has been abandoned, reduce the emergence probability of heavy especially big incident, artifical ground operation unmanned aerial vehicle flight detection is high-efficient, intelligence, it simplifies actual work volume greatly to fly the accuse, unmanned aerial vehicle flight detection invests personnel, the few cost of material is lower.

4. Through the setting of supporting frame structure, anticollision fender bracket, improve the stability that the flight organism descends, and have better balancing act, cooperation anticollision fender bracket structure carries out high altitude construction's in-process at unmanned aerial vehicle, can avoid the flight wing striking wall of flight organism to improve the stability of whole unmanned aerial vehicle's flight, with efficiency and the accurate nature that improves the detection.

Drawings

FIG. 1 is a schematic view of a slider robot of the present invention;

fig. 2 is a schematic top view of an unmanned aerial vehicle incorporating a slipsheet-type robotic arm of the present invention;

FIG. 3 is a schematic structural diagram of an UAV equipped with a sliding table type robot arm according to the present invention;

fig. 4 is a schematic structural diagram of the working state of the unmanned aerial vehicle provided with the sliding table type mechanical arm.

Reference numerals: 1. a base frame; 11. a base table; 12. a T-shaped plate; 13. mounting holes; 2. a sliding table mechanism; 21. a sliding table base; 22. a lead screw; 23. a slider structure; 24. a sliding table motor; 3. a connecting mechanism; 31. a first drive motor; 32. a mounting frame; 33. a second drive motor; 34. an adsorption tray structure; 4. a stretching arm is probed; 41. a third drive motor; 5. a transmission device; 6. a flying machine body; 61. an aircraft arm; 62. a flying wing; 7. a support frame structure; 8. anticollision fender bracket.

Detailed Description

The following further describes the embodiments of the present invention with reference to the drawings.

As shown in fig. 1, a first exemplary embodiment of the present application provides a slider robot that can be disposed in an unmanned aerial vehicle and that carries a work detection device to perform an aerial wall detection work, and specifically, the slider robot includes a base frame 1 and a slider mechanism 2 attached to the base frame 1 by a towing mechanism, and the slider mechanism 2 is rotatable with respect to the base frame 1. The base frame 1 comprises a base platform 11 and a T-shaped plate 12, wherein the base platform 11 is vertically arranged on the T-shaped plate 12, and the T-shaped plate 12 is provided with a plurality of mounting holes 13. The sliding table mechanism 2 comprises a sliding table base 21, a lead screw 22 connected between the bases, a slider structure 23 arranged on the lead screw 22 and a sliding table motor 24, the bottom of the sliding table base 21 is rotatably connected to the bases, and a connecting mechanism 3 is arranged at one end of the sliding table mechanism 2 opposite to the sliding table motor 24. The traction structure is set as a transmission device 5, the transmission device 5 comprises a speed reduction motor and a rotating gear connector, the rotating gear connector is arranged at the joint of the base frame 1 and the sliding table mechanism 2, and the output end of the speed reduction motor is connected with the rotating gear connector and used for adjusting the angle between the sliding table mechanism 2 and the base frame 1.

Specifically, coupling mechanism 3 is including first driving motor 31, mounting bracket 32 and second driving motor 33, adsorb a structure 34, first driving motor 31 is installed in the one end that base frame 1 was kept away from to slip table base 21, and its output is connected with mounting bracket 32, mounting bracket 32 is the U-shaped structure, second driving motor 33 articulates between the opening of the U-shaped of mounting bracket 32, can carry out relative rotation with mounting bracket 32, adsorb a structure 34 connection on second driving motor 33, can take place relative rotation with mounting bracket 32 under second driving motor 33's effect. The first drive motor 31 and the second drive motor 33 each employ a reduction motor.

Correspondingly, the slide table mechanical arm is provided with a controller, and the controller is used for controlling the first driving motor 31, the second driving motor 33, the slide table motor 24 and the transmission device 5 to move, wherein the control methods of the controller and the controller are all the prior art, and are not described herein again.

In a preferred embodiment, the mechanical arm further includes a stretching arm 4 disposed at the bottom of the sliding table base 21 and a third driving motor 41 for driving the stretching arm 4 to move, the stretching arm 4 adopts a telescopic rod structure, the stretching arm 4 is disposed along the length direction of the sliding table base 21, one end of the stretching arm 4 is connected to the output end of the third driving motor 41, the other end of the stretching arm is connected to the connecting mechanism 3, and specifically, the first driving motor 31 is connected to the stretching arm 4 through a mounting plate, and can drive the connecting mechanism 3 to move towards the sliding table base 21 or in a direction away from the sliding table base 21. The third drive motor 41 is provided at one end of the slide table base 21 and is disposed close to the slide table motor 24, and the third drive motor 41 is a reduction motor. Utilize and visit arm 4 and the cooperation of third driving motor 41, can drive the adsorption disc structure 34 end and be close towards the wall body that awaits measuring, utilize the concertina movement of visiting arm 4, when cooperation unmanned aerial vehicle uses, earlier utilize to visit arm 4 drive adsorption disc structure 34 activity, make the detection instrument contact wall body that adsorbs disc structure 34 and carry on, rethread removes that unmanned aerial vehicle slowly is close to, arm 4 is visited in the shrink to improve operation security and better protection unmanned aerial vehicle equipment.

In another preferred embodiment, the slide block structure 23 of the slide mechanism 2 is provided with a mechanical clamp, and the mechanical clamp is provided with a power device for controlling the rotation of the mechanical clamp and clamping tools, and the mechanical clamp is a mechanical clamp in the prior art.

As shown in fig. 2-4, in a second exemplary embodiment, an unmanned aerial vehicle equipped with a sliding platform type mechanical arm is provided, which can be applied to an unmanned aerial work platform for building surface work, specifically, the unmanned aerial work platform includes a flying body 6, and a sliding platform type mechanical arm installed on the flying body 6, the flying body 6 is a quad-rotor unmanned aerial vehicle, the sliding platform type mechanical arm is the sliding platform type mechanical arm described in the first exemplary embodiment, and the sliding platform type mechanical arm is installed at the upper end of the flying body 6 through a T-shaped plate 12.

Be equipped with the flight arm on the flight organism 6, be equipped with flight wing 62 on the flight arm, two outsides of flight organism 6 bottom are provided with support frame structure 7, and support frame structure 7 is fixed respectively in 6 bottoms of flight organism and is located the both sides of flight organism 6 including two U type frames, and support frame structure 7 can at first touch to earth when unmanned aerial vehicle descends, makes unmanned aerial vehicle descend and has better stability. In addition, in order to improve operation in-process unmanned aerial vehicle's steady operation, the outer end of the flight wing 62 of flight organism 6 is equipped with anti-collision protection frame 8, and anti-collision protection frame 8 is equipped with the U-shaped shell fragment including the U-shaped frame with flight wing 62 outer end integrated into one piece in the U-shaped frame, can avoid flight wing 62 striking wall of flight organism 6 to improve the stability of whole unmanned aerial vehicle's flight, in order to improve the efficiency and the precision of detection.

As shown in fig. 3 and 4, the unmanned aerial vehicle realizes the flight control of the unmanned aerial vehicle through the remote control device, the remote control device is associated with the controller, and a user can control the movement of the mechanical arm of the sliding table through the remote control device. Specifically, in the initial state, the sliding table mechanism 2 is horizontally arranged, the sliding table mechanism 2 and the base frame 1 are found to rotate relatively under the action of the transmission device 5, and the sucker disc structure is used for mounting specific instruments, such as an instrument for detecting the thickness of a coating, an instrument for detecting the width of a crack, a probe for detecting the depth of the crack and the like. In the operation process, when the angle of the adsorption disc structure 34 needs to be adjusted, the rotation of the first driving motor 31 and the rotation of the second driving motor 33 are respectively controlled through a remote control device, so that the adjustment of the angle and the direction of the adsorption disc structure 34 are realized, the adsorption disc structure 34 and a detection device carried by the adsorption disc structure 34 are conveniently moved to a specified position of a building wall, and the detection is convenient. When 4 uses of arm are visited in the cooperation, when unmanned aerial vehicle is close to the wall body that awaits measuring, extension through visiting arm 4 makes 3 whole wall body movements of orientation of coupling mechanism, treat when the detection device who carries on the adsorption disc structure 34 contacts the wall body, stop to visit arm 4 activity, rethread control unmanned aerial vehicle is slow towards the wall body activity, move down at wall body and unmanned aerial vehicle and promote to visit arm 4, arm 4 is visited in the shrink, so operate, has better security, can avoid unmanned aerial vehicle and arm direct striking wall and damage the instrument, the security and the stability of operation are improved.

On the whole, the unmanned aerial vehicle aerial bridge type.

The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A sliding table type mechanical arm is characterized by comprising a base frame (1) and a sliding table mechanism (2) arranged on the base frame (1) through a traction structure, wherein the sliding table mechanism (2) can rotate relative to the base frame (1); the sliding table mechanism (2) comprises a sliding table base (21), a lead screw (22) connected between two ends of the sliding table base (21), a sliding block structure (23) arranged on the lead screw (22) and a sliding table motor (24) connected with one end of the lead screw (22), and the bottom of the sliding table base (21) is connected with the base frame (1);

one end of the sliding table mechanism (2) opposite to the sliding table motor (24) is provided with a connecting mechanism (3) with a locking structure;

coupling mechanism (3) include first driving motor (31), set up mounting bracket (32) on first driving motor (31) output, set up second driving motor (33) and absorption dish structure (34) on mounting bracket (32), absorption dish structure (34) set up on second driving motor (33), second driving motor (33) are connected with mounting bracket (32) rotation.

2. The sliding table type mechanical arm according to claim 1, further comprising a stretching arm (4) and a third driving motor (41) for driving the stretching arm (4) to move, wherein the stretching arm (4) is disposed at the bottom of the sliding table base (21), one end of the stretching arm (4) is connected with an output end of the third driving motor (41), and the other end of the stretching arm is connected with the connecting mechanism (3), so that the connecting mechanism (3) can be driven to leave the sliding table mechanism (2).

3. A sledge type mechanical arm in accordance with claim 2, c h a r a c t e r i z e d i n that the traction structure is provided as a transmission (5), which transmission (5) is provided at the junction of the base frame (1) and the sledge mechanism (2), which transmission (5) is used to adjust the angle between the sledge mechanism (2) and the base frame (1).

4. A slide table type robot arm according to claim 3, further comprising a controller disposed on the slide table mechanism (2), wherein the controller is configured to control the first driving motor (31), the second driving motor (33), the third driving motor (41), the slide table motor (24) and the transmission device (5).

5. A sledge type mechanical arm according to claim 1, characterized in that a robot is carried on the slider structure (23).

6. A sledge type mechanical arm according to claim 1, c h a r a c T e r i z e d i n that the base frame (1) is provided at the bottom with a T-shaped base frame (1), the T-shaped base frame (1) being provided with a number of mounting holes (13).

7. An unmanned aerial vehicle provided with a sliding table type mechanical arm comprises a flying machine body (6) and the sliding table type mechanical arm arranged on the flying machine body (6), and is characterized in that the sliding table type mechanical arm is the sliding table type mechanical arm in any one of claims 1-6; two opposite outer sides of the aircraft body (6) are provided with support frame structures (7), and the outer ends of flight wings (62) of the aircraft body (6) are provided with anti-collision protection frames (8).

8. The unmanned aerial vehicle of claim 7, wherein the anti-collision protection frame (8) comprises a U-shaped frame integrally formed with the outer end of the flight wing (62), and a U-shaped elastic sheet is arranged in the U-shaped frame.