CN113459072B

CN113459072B - Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design

Info

Publication number: CN113459072B
Application number: CN202110861077.8A
Authority: CN
Inventors: 周祖鹏; 许金伟
Original assignee: Guilin University of Electronic Technology
Current assignee: Guilin University of Electronic Technology
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2022-05-17
Anticipated expiration: 2041-07-29
Also published as: CN113459072A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles with arms, and particularly relates to a switchable series-parallel multi-arm grabbing unmanned aerial vehicle. The invention designs a self-locking mechanical grooved gripper mechanism, which improves the gripping safety; the small plane object can be grabbed through the serial grabbing mechanism, multi-task processing is carried out, and grabbing flexibility is improved; coupling every two of the two parts to form a parallel mechanism, so as to improve the grabbing stability; the robot can grab large plane objects together, and the large plane objects are transformed into parallel platforms, so that the grabbing controllability is improved.

Description

Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design

Technical Field

The invention relates to the technical field of unmanned aerial vehicles with arms, in particular to a switchable series-parallel multi-arm grabbing unmanned aerial vehicle design.

Background

In recent years, the unmanned aerial vehicle with the arm can replace manual work to work in dangerous areas, can be used for complex work such as small-sized aerial object transportation, assembly, aerial platform construction and the like, and can play a great role in aspects such as aerial photography, plant protection, express transportation, disaster relief, surveying and mapping, electric power inspection and the like under specific environments.

However, in the existing unmanned aerial vehicle with the arm, firstly, the grabbed goods may fall off due to power failure or damage of the mechanical gripper equipment, which causes potential safety hazards to life safety of people, and therefore, a mechanical gripper capable of generating self-locking is urgently needed in the market; secondly, for the grabbing efficiency of the unmanned aerial vehicle with the arm, the current mode is slow in grabbing speed and single, and cannot meet the current requirements, so that the unmanned aerial vehicle with the arm, which can grab flexibly, is urgently needed in the market; thirdly, with the expansion of the application of the manipulator on the unmanned aerial vehicle, the unstable situation of grabbing becomes a problem, so that the market urgently needs an unmanned aerial vehicle capable of stably grabbing; fourthly because the unmanned aerial vehicle of taking the arm at present is only limited to snatch the facet object, and does not see yet to even large plane object or the mode of snatching of inhomogeneous object, so the market urgently needs one kind can snatch large plane object, can carry out the unmanned aerial vehicle of object platform attitude adjustment according to the even or inhomogeneous condition of large plane object simultaneously again.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention provides a switchable series-parallel multi-arm grabbing unmanned aerial vehicle design.

The invention aims to provide a switchable series-parallel multi-arm grabbing unmanned aerial vehicle design, wherein a self-locking mechanism is arranged at a lower arm self-locking mechanical groove-containing grabbing mechanism of a single-arm series grabbing mechanism to prevent heavy objects from falling off due to power failure of grabbing equipment, so that grabbing safety is improved, objects can be grabbed by three single-arm series grabbing mechanisms respectively to perform multi-task processing, so that grabbing flexibility is improved, meanwhile, the three single-arm series grabbing mechanisms can be coupled in pairs through detachable telescopic hydraulic rod mechanisms to form a parallel mechanism, so that grabbing stability is improved, a large plane object can be grabbed by the aid of three arms in a coordinated mode, a parallel platform is formed, the posture of the object, namely the parallel platform, can be changed randomly according to requirements, and grabbing controllability is improved.

The invention realizes the aim through the following technical scheme: the self-locking mechanical grooved gripper mechanism consists of a spin motor, a spin motor output shaft, a spin bearing body, a propulsion motor output shaft, a movable sliding table, a guide post, a screw rod, a front pin shaft, a rear pin shaft, a detector, a pin shaft cap and a mechanical gripper sheet, wherein one end of the spin motor is welded at the tail end of a lower arm, the other end of the spin motor is welded on the spin bearing body through the spin motor output shaft, the upper end of the spin bearing body is welded on one side of the propulsion motor, the other side of the propulsion motor is welded on the screw rod through the propulsion motor output shaft, the other end of the screw rod is connected with the upper end of the movable sliding table through an internal thread hole, one end of the guide post is welded on the upper end of the spin bearing body, the other end of the guide post is connected with the upper end of the movable sliding table through a guide post hole, the lower end of the movable sliding table is welded with the front pin shaft, one end of the mechanical gripper sheet is connected with the movable sliding table through the front pin shaft, and the other end of the mechanical gripper sheet is connected with the detector through the rear pin shaft, the back round pin axle welds in the detector, and the detector welds in spin supporting body lower extreme, and the round pin axle block welds in the front pin axle respectively, the back round pin outside of axle, because self-locking machinery contains groove tongs mechanism bilateral symmetry, other relation of connection no longer gives details.

The single-arm series connection grabbing mechanism is by last steering wheel, go up steering wheel output shaft, the upper arm, well steering wheel output shaft, well arm, lower steering wheel output shaft, the lower arm, it contains groove tongs mechanism to constitute from locking-type machinery, it welds in the upper arm upper end to go up steering wheel one end, the other end welds in the triple axle platform through last steering wheel output shaft, the welding of upper arm lower extreme has well steering wheel, well steering wheel welds in well arm upper end through well steering wheel output shaft, the welding of well arm lower extreme has lower steering wheel, lower steering wheel passes through lower steering wheel output shaft and connects the underarm upper end, the welding of underarm lower extreme contains groove tongs mechanism from locking-type machinery.

The detachable telescopic hydraulic rod mechanism consists of a specific bolt, specific bolt connecting pieces, cross ball connecting pieces, connecting piece caps, cross balls and telescopic hydraulic rods, wherein the specific bolt is welded on the specific bolt connecting pieces, the upper side and the lower side of each specific bolt connecting piece are respectively welded at the lower ends of the two cross ball connecting pieces, the upper ends of the two cross ball connecting pieces are connected with the upper part and the lower part of each cross ball through cross ball connecting piece holes, the left side and the right side of each cross ball are respectively connected with the lower ends of the other two cross ball connecting pieces through cross ball connecting piece holes, the upper ends of the two cross ball connecting pieces are respectively welded at one side of the other specific bolt connecting piece, the other side of the specific bolt connecting piece is welded at one end of the other specific bolt, the other end of the specific bolt is welded at the left side of the telescopic hydraulic rods, the connecting piece caps are respectively welded at the upper ends, the left side and the right side of the cross balls are of the telescopic hydraulic rods in a symmetrical structure, the rest of the connection relationships are not described in detail.

The multi-arm parallel mechanism is composed of a detachable telescopic hydraulic rod mechanism and two single-arm series grabbing mechanisms, one side of a specific bolt in the detachable telescopic hydraulic rod mechanism is connected to the upper end of a lower arm of the single-arm series grabbing mechanism through a lower arm internal thread hole, the connection is symmetrical, and the purpose is to connect the two single-arm series grabbing mechanisms through the detachable telescopic hydraulic rod mechanism.

Buffer trigeminy axle carries on platform mechanism is by the trigeminy axle platform, gear motor, the gear motor output shaft, the gear motor fixed plate, the spring roof, the dead lever, big bearing, the spring fixed block, a spring, the spring lid is constituteed, gear motor one end welds in gear motor fixed plate upside, the other end welds through gear motor output shaft and trigeminy axle platform, big bearing bottom welds in the spring roof and with the axle center of trigeminy axle platform, dead lever one end welds in gear motor fixed plate downside, one end welds in spring roof upside in addition, inside spring roof a week evenly distributed welding has 6 spring lid embeddings, the welding of spring lid downside has the spring, spring downside welding spring fixed block, the spring fixed block welds in lower panel downside.

The machine body mechanism comprises a left rotor, a right rotor, a brushless direct current motor output shaft, a brushless direct current motor, a motor fixing plate, a fixing clamp, a bolt, a bracket, a nut, a ground falling frame, a GPS signal receiver, a battery, a controller, a support column, a bent shaft clamping plate, an upper display plate, a middle display plate and a lower display plate, wherein the left rotor and the right rotor are welded on the output shaft of the brushless direct current motor and are arranged at intervals, the output shaft of the brushless direct current motor is positioned in the brushless direct current motor, the lower end of the brushless direct current motor is welded on the motor fixing plate, the bolt penetrates through the motor fixing plate through threaded connection, the fixing clamp combination is matched with the nut, one end of the bracket is clamped and fixed through the fixing clamp combination, the other end of the bracket is penetrated through the upper display plate through threaded connection, the fixing clamp combination, the middle display plate is matched with the nut, the middle display plate is clamped and fixed through the fixing clamp, the GPS signal receiver and the battery are adhered to the upper end of the controller through fixing glue, the bolt passes the controller through threaded connection, the dagger, go up panel and nut cooperation, the bolt passes the panel through threaded connection, the dagger, lower panel and nut cooperation, the bolt passes the bent axle splint through threaded connection, the fixation clamp combination, another bent axle splint and nut cooperation, it presss from both sides tight fixedly with bent axle one end to be located bent axle splint and presss from both sides intraformational fixation clamp combination one side, the bent axle other end clearing hole welds under in on the panel, the other one side of fixation clamp combination then presss from both sides tight landing frame one side, because this model is six rotors, symmetrical structure, all the other connected relations are no longer repeated.

The self-locking mechanical grooved gripper mechanism can drive the movable sliding table to advance through the self-locking lead screw, so that the mechanical gripper grips an object to generate self locking, the object is prevented from falling off due to power failure of equipment, and the gripping safety is improved.

The single-arm series-connection grabbing mechanism can be used independently, a series-connection mechanical arm combination is formed, small plane objects can be grabbed respectively, multi-task independent processing is achieved, and grabbing flexibility is improved.

Every two liang of single armed series connection snatch between the mechanism, can carry out the coupling through dismantling flexible hydraulic stem mechanism and connect, spread to become a parallel structure, possible task parallel processing has promoted and has snatched the stationarity.

When the three arms cooperatively grab a large plane object, the mechanical mechanism has a new function, the object is automatically changed into a parallel platform and is jointly controlled by the three arms, the posture of the object, namely the parallel platform, can be changed randomly according to requirements, and the grabbing controllability is improved.

The invention has the outstanding advantages that: 1. the self-locking mechanical grooved gripper mechanism is designed, under the condition that external factors cause power failure of mechanical gripper equipment, a screw is driven to rotate by a pushing motor, so that a moving sliding table is pushed forwards to generate self-locking, free falling of articles is prevented, and the gripping safety is improved.

2. The single-arm series grabbing mechanism is used for grabbing the small plane object to perform multi-task processing, and grabbing flexibility is improved.

3. The two single-arm series-connection grabbing mechanisms can be connected through the detachable telescopic hydraulic rod mechanism to generate coupling, so that a parallel mechanism can be formed, and grabbing stability is improved; three single-arm series grabbing mechanisms grab large-plane objects together, the objects are automatically transformed into parallel platforms, the postures can be controlled randomly, and the grabbing controllability is improved.

Drawings

Fig. 1 is a schematic perspective view illustrating a switchable series-parallel multi-arm unmanned aerial vehicle according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the self-locking mechanical grooved gripper mechanism.

Figure 3 is a schematic part view of a spin carrier of the present invention.

Fig. 4 is a combined schematic view of the moving slide and the mechanical gripper of the present invention.

Fig. 5 is a schematic structural diagram of the single-arm serial grabbing mechanism of the invention.

Fig. 6 is a schematic structural view of the detachable telescopic hydraulic lever mechanism of the present invention.

Fig. 7 is a schematic view of a cross ball according to the present invention in parts.

Fig. 8 is a schematic structural view of the multiple arm parallel mechanism of the present invention.

Fig. 9 is a schematic view of a multi-arm parallel mechanism derivative parallel platform of the present invention.

Fig. 10 is a schematic structural view of the damping triple shaft mounting platform mechanism according to the present invention.

Fig. 11 is a schematic structural diagram of the body mechanism of the present invention.

Labeled as: 1. a machine body mechanism; 2. a buffer triple shaft carrying platform mechanism; 3. the single arm is connected with the grabbing mechanism in series; 4. a multi-arm parallel grabbing mechanism; 5. the self-locking mechanical grooved gripper mechanism; 6. a spin motor; 7. an output shaft of the spin motor; 8. a spinning carrier; 9. a propulsion motor; 10. an output shaft of the propulsion motor; 11. moving the sliding table; 12. a guide post; 13. a lead screw; 14. an internally threaded bore; 15. a guide post hole; 16. a front pin shaft; 17. a rear pin shaft; 18. a detector; 19. a slot; 20. a pin shaft cap; 21. a mechanical gripper blade; 22. an output shaft of the upper steering engine; 23. an upper steering engine; 24. an upper arm; 25. a lower arm; 26. a lower steering engine; 27. an output shaft of the lower steering engine; 28. a middle steering engine; 29. an output shaft of the middle steering engine; 30. a middle arm; 31. hanging hooks for small plane objects; 32. a small planar object; 33. a lower arm female threaded bore; 34. a connector cap; 35. a cross ball connector; 36. a special bolt; 37. a special bolt connection; 38. a cross ball connector hole; 39. a cross ball; 40. a telescopic hydraulic rod; 41. a large plane object hook 1; 42. a large plane object hook 2; 43. a large plane object hook 3; 44. a large planar object; 45. a reduction motor; 46. a speed reducing motor fixing plate; 47. an output shaft of the reduction motor; 48. fixing the rod; 49. a spring top plate; 50. a triple shaft platform; 51. a large bearing; 52. a spring cover; 53. a spring; 54. a spring fixing block; 55. a left rotor; 56. a right rotor; 57. an output shaft of the brushless DC motor; 58. a brushless DC motor; 59. a bolt; 60. a motor fixing plate; 61. a fixing clip; 62. a nut; 63. a support; 64. a floor frame; 65. a GPS signal receiver; 66. a battery; 67. a controller; 68. bracing columns; 69. mounting a display board; 70. a middle display board; 71. a lower display board; 72. bending a shaft; 73. a bent shaft clamping plate; 74. can dismantle flexible hydraulic stem mechanism.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 to 11, the switchable serial-parallel multi-arm grabbing unmanned aerial vehicle according to the present invention has the following specific structure and connection relationship: the self-locking mechanical grooved gripper mechanism 5 comprises a spin motor 6, a spin motor output shaft 7, a spin bearing body 8, a pushing motor 9, a pushing motor output shaft 10, a moving sliding table 11, a guide post 12, a screw rod 13, a front pin shaft 16, a rear pin shaft 17, a detector 18, a pin shaft cap 20 and a mechanical gripper piece 21, wherein one end of the spin motor 6 is welded at the tail end of a lower arm 25, the other end of the spin motor is welded at the spin bearing body 8 through the spin motor output shaft 7, the upper end of the spin bearing body 8 is welded at one side of the pushing motor 9, the other side of the pushing motor 9 is welded at the screw rod 13 through the pushing motor output shaft 10, the other end of the screw rod 13 is connected with the upper end of the moving sliding table 11 through an internal thread hole 14, one end of the guide post 12 is welded at the upper end of the spin bearing body 8, the other end of the guide post is connected with the upper end of the moving sliding table 11 through a guide post hole 15, and the lower end of the moving sliding table 11 is welded with the front pin shaft 16, one end of a mechanical gripper piece 21 is connected with a movable sliding table 11 through a front pin shaft 16, a groove hole 19 at the other end of the mechanical gripper piece 21 is connected with a detector 18 through a rear pin shaft 17, the rear pin shaft 17 is welded on the detector 18, the detector 18 is welded at the lower end of a spinning supporting body 8, pin shaft caps 20 are respectively welded on the outer sides of the front pin shaft 16 and the rear pin shaft 17, the connection relation of the self-locking mechanical grooved gripper mechanism is not repeated any more because the self-locking mechanical grooved gripper mechanism is symmetrical left and right, the single-arm series gripping mechanism 3 consists of an upper steering engine 23, an upper steering engine output shaft 22, an upper arm 24, a middle steering engine 28, a middle steering engine output shaft 29, a middle arm 30, a lower steering engine 26, a lower steering engine output shaft 27, a lower arm 25 and a self-locking mechanical grooved gripper mechanism 5, one end of the upper arm of the upper steering engine 23 is welded at the upper end of 24, the other end of the upper arm is welded on a triple-axis platform 50 through the upper steering engine output shaft 22, and the lower end of the middle steering engine 28 is welded at the lower end of 24, the middle steering engine 28 is welded at the upper end of the middle arm 30 through the middle steering engine output shaft 29, the lower steering engine 26 is welded at the lower end of the middle arm 30, the lower steering engine 26 is connected with the upper end of the lower arm 25 through the lower steering engine output shaft 27, the self-locking mechanical grooved gripper mechanism 5 is welded at the lower end of the lower arm 25, the detachable telescopic hydraulic rod mechanism 74 is composed of a specific bolt 36, a specific bolt connecting piece 37, a cross ball connecting piece 35, a connecting piece cover cap 34, a cross ball 39 and a telescopic hydraulic rod 40, the specific bolt 36 is welded at the specific bolt connecting piece 37, the upper side and the lower side of the specific bolt connecting piece 37 are respectively welded at the lower ends of the two cross ball connecting pieces 35, the upper ends of the two cross ball connecting pieces 35 are respectively connected with the upper side and the lower side of the cross ball 39 through cross ball connecting piece holes 38, the left side and the right side of the cross ball 39 are respectively connected at the lower ends of the other two cross ball connecting pieces 35 through the cross ball connecting piece holes 38, the other side of the specific bolt connecting piece 37 is welded at one end of another specific bolt 36, the other end of the specific bolt 36 is welded at the left side of the telescopic hydraulic rod 40, the connecting piece caps 34 are respectively welded at the upper, lower, left and right top ends of the cross ball 39, as the right side and the left side of the telescopic hydraulic rod 40 are of a symmetrical structure, the rest connection relation is not repeated any more, the multi-arm parallel mechanism 4 consists of a detachable telescopic hydraulic rod mechanism 74 and two single-arm serial grabbing mechanisms 3, one side of the specific bolt 36 in the detachable telescopic hydraulic rod mechanism 74 is connected at the upper end of the lower arm 25 of the single-arm serial grabbing mechanism 3 through a lower arm internal thread hole 33, the connection is symmetrical connection, the purpose is to connect the two single-arm serial grabbing mechanisms 3 through the detachable telescopic hydraulic rod mechanism 74, the buffering triple-shaft carrying platform mechanism 2 consists of a triple-shaft platform 50, a speed reducing motor 45 and a speed reducing motor output shaft 47, Gear motor fixed plate 46, spring roof plate 49, dead lever 48, big bearing 51, spring fixed block 54, spring 53, spring lid 52 are constituteed, gear motor 45 one end welds in gear motor fixed plate 46 upside, the other end welds with triple axle platform 50 through gear motor output shaft 47, big bearing 51 bottom welds in spring roof plate 49 and with the same axle center of triple axle platform 50, dead lever 48 one end welds in gear motor fixed plate 46 downside, one end welds in spring roof plate 49 upside in addition, spring roof plate 49 a week evenly distributed welding has 6 spring lids 52 to imbed inside, spring lid 52 downside welding has spring 53, spring 53 downside welding spring fixed block 54, spring fixed block 54 welds in lower panel 71 downside, organism mechanism 1 is by left rotor 55, right rotor 56, brushless DC motor output shaft 57, DC motor 58, motor fixed plate 60, brushless DC motor output shaft 57, the brush-less motor of brushless DC motor 55, The device comprises a fixing clamp 61, a bolt 59, a bracket 63, a nut 62, a landing frame 64, a GPS signal receiver 65, a battery 66, a controller 67, a support column 68, a bent shaft 72, a bent shaft clamping plate 73, an upper display plate 69, a middle display plate 70 and a lower display plate 71, wherein a left rotary wing 55 and a right rotary wing 56 are welded on an output shaft 57 of a brushless direct current motor and are arranged at intervals, the output shaft 57 of the brushless direct current motor is positioned in the brushless direct current motor 58, the lower end of the brushless direct current motor 58 is welded on a motor fixing plate 60, the bolt 59 penetrates through the motor fixing plate 60 and the fixing clamp 61 combination through threaded connection to be matched with the nut 62, one end of the bracket 63 is clamped and fixed by the fixing clamp 61 combination, the other end of the bracket 63, the bolt 59 penetrates through the upper display plate 69 and the fixing clamp 61 combination through threaded connection, the middle display plate 70 is matched with the nut 62 through threaded connection, the fixing clamp 61 is clamped and fixed, the GPS signal receiver 65 and the battery 66 are adhered to the upper end of the controller 67 through fixing glue, the bolt 59 passes through the controller 67 through threaded connection, prop 68, go up panel 69 and the cooperation of nut 62, the bolt 59 passes middle panel 70 through threaded connection, prop 68, lower panel 71 and the cooperation of nut 62, the bolt 59 passes bent axle splint 73 through threaded connection, fixation clamp 61 combination, another bent axle splint 73 and the cooperation of nut 62, it is fixed to be located bent axle splint 73 interlayer fixation clamp 61 combination one side and presss from both sides bent axle 72 one end, the bent axle 72 other end passes through the hole and welds on lower panel 71, the other side of fixation clamp 61 combination then presss from both sides tight ground frame 64 one side that falls, because this model is six rotors, symmetrical structure, other connected relations no longer describe.

The working principle of the invention is as follows: as shown in a finished product figure 2, the self-locking mechanical grooved gripper mechanism 5 is characterized in that a self-rotating motor 6 can rotate components, except for the self-rotating motor, in the self-locking mechanical grooved gripper mechanism 5 to adapt to different gripping directions, when a mechanical gripper sheet 21 approaches an object to be gripped, two opposite side pushing motors 9 start to drive a screw 13 to rotate simultaneously, the rotating motion is stably converted into linear motion, so that a movable sliding table 11 can be pushed forwards, in order to ensure stable pushing performance, guide columns 12 are welded on the left side and the right side of a self-rotating carrier 8, a single part of the self-rotating carrier 8 is shown in a figure 3, the guide columns 12 limit the moving direction of the self-rotating carrier, at the moment, the moving sliding table 11 and the mechanical gripper sheet 21 are pushed forwards, a combined schematic diagram is shown in figure 4, and when the moving sliding table 11 is pushed, a front pin 16 of the self-rotating carrier is connected with the mechanical gripper sheet 21 through a rotating pair, the mechanical gripper piece 21 is provided with a hole at one side thereof and matched with the movable sliding table 11, a slotted hole 19 at one side thereof, a rear pin shaft 17 is arranged on the detector 18 and can be matched with the slotted hole 19 of the mechanical gripper piece 21 for surface contact, the mechanical gripper piece 21 is limited to move only along the direction of the slotted hole 19, directional movement is generated under the propulsion of the movable sliding table 11, after the mechanical gripper piece 21 grabs an object, the paired mechanical gripper pieces 21 are in tight contact state, and simultaneously, due to the self-characteristic of the lead screw 13, self-locking can be generated, so that a heavy object can not fall down even in the case of power failure, when the object needs to be placed, the propulsion motor 9 is directly reversed, the movable sliding table 11 can drive the mechanical gripper piece 21 to reversely propel, and the object releasing purpose is realized.

The single-arm serial grabbing mechanism 3 is shown in a finished product figure 5, an upper steering engine 23 drives an upper arm 24 to rotate, a middle steering engine 28 is arranged at the tail end of the upper arm 24, the middle steering engine 28 is used for driving a middle arm 30 to move and rotate, a lower steering engine 26 is arranged at the tail end of the middle arm 30, the lower steering engine 26 is used for driving a lower arm 25 to move and rotate, the lower arm 25 can drive the whole self-locking mechanical grooved gripper mechanism 5 to move, when an object is close to the self-locking mechanical grooved gripper mechanism, the grabbing process is started, when a small plane object hook 31 is detected, the small plane object hook 31 is welded on the small plane object 32, then grabbing is carried out, and the purpose of grabbing the small plane object 32 can be achieved. The upper arm 24, the middle arm 30 and the lower arm 25 of each level structure are connected in series through an upper steering engine 23, a middle steering engine 28 and a lower steering engine 26, and can respectively work to perform multi-task grabbing and processing. This design unmanned aerial vehicle can be provided with three single armed series connection and snatch mechanism 3, because of the function is unanimous basically, this only introduces one, and all the other no longer describe.

As shown in a finished product figure 6, one side of a specific bolt 36 is connected to the upper end of the lower arm 25 of the single-arm serial grabbing mechanism 3 through a lower arm internal threaded hole 33, so that the detachable serial grabbing mechanism can be conveniently detached, because the hydraulic rod can be telescopically controlled, the other side of the specific bolt 36 is welded to the specific bolt connecting piece 37 according to the connection relation, the upper side and the lower side of the specific bolt connecting piece 37 are respectively welded to the lower ends of two cross ball connecting pieces 35, the upper ends of the two cross ball connecting pieces 35 are connected with the upper side and the lower side of a cross ball 39 through cross ball connecting piece holes 38, the cross ball 39 is shown in figure 7, the left side and the right side of the cross ball 39 are respectively connected to the lower ends of the other two cross ball connecting pieces 35 through cross ball connecting piece holes 38, the upper ends of the two cross ball connecting pieces 35 are respectively welded to one side of the specific bolt connecting piece 37, the other side of the specific bolt connecting piece 37 is welded to one end of the specific bolt 36, the other end of the specific bolt 36 is welded on the left side of the telescopic hydraulic rod 40, and the connecting piece caps 34 are respectively welded on the upper, lower, left and right top ends of the cross ball 39, and as the right side and the left side of the telescopic hydraulic rod 40 are of symmetrical structures, the connection is not repeated here, and in conclusion, the structure is similar to a universal joint steering mechanism.

As shown in a finished product figure 8 of the multi-arm parallel mechanism 4, the two single-arm serially-connected grabbing mechanisms 3 can be connected through a detachable telescopic hydraulic rod mechanism 74 in a threaded manner at the upper end of the lower arm 25, so that the grabbing mechanisms originally serially connected are transformed into parallel mechanisms, coupling effect is generated between every two single-arm serially-connected grabbing mechanisms 3, the small-plane object hooks 31 can be grabbed simultaneously, namely the small-plane object 32 is grabbed, and grabbing efficiency and grabbing precision are improved. Fig. 8 only shows the form of the combined connection between a pair of single-arm serial grabbing mechanisms, and the connection modes are the same, and the description of the other connection modes is omitted here.

Fig. 9 is a schematic diagram of a multi-arm parallel mechanism derived parallel platform, when the end-locking mechanical grooved gripper 5 of three single-arm series gripper mechanisms 3 respectively detect and grip a large planar object hook 141, a large planar object hook 242, and a large planar object hook 343, the large planar object hook 141, the large planar object hook 242, and the large planar object hook 343 are all welded on the upper end of the large planar object 44, and actually grip the large planar object 44, at this time, the large planar object 44 is derived to be a parallel platform, and the three single-arm series gripper mechanisms 3 can individually control the ends to meet the user's requirements, especially for some occasions with high requirements on planar stability or requirements on the posture of the object platform.

Buffer triplet carries on platform mechanism 2, as shown in finished product figure 10, spring 53 is welded to spring fixed block 54 one end, spring 53 imbeds the downthehole that spring roof 49 reserved, above have spring lid 52 welded fastening, the welding has dead lever 48 above spring roof 49, dead lever 48 opposite side welds in gear motor fixed plate 46, gear motor 47 drive triplet platform 50, triplet platform 50 and big bearing 51 coaxial cooperation, as the spin motion, thereby the rotation of carrying on the platform has been driven, the spring is as organism mechanism 1 and buffer triplet carries on platform mechanism 2 connecting piece, play overall stable effect.

As shown in fig. 11, the body mechanism 1 has a brushless dc motor 58 driving the left rotor 55 and the right rotor 56 to rotate, and the output shaft 57 of the brushless dc motor is mounted in an inclined manner with respect to the horizontal plane because the bracket 63 has an inclined angle at one end.

Fig. 1 is a schematic perspective view of a switchable serial-parallel multi-arm grabbing unmanned aerial vehicle according to a preferred embodiment of the present invention, in which a machine body mechanism 1 carries a buffering triple-shaft carrying platform mechanism 2, the buffering triple-shaft carrying platform mechanism 2 carries a single-arm serial grabbing mechanism 3, a detachable telescopic hydraulic rod mechanism 74, and a multi-arm parallel grabbing mechanism 4, so that technical actions of horizontal advance, retreat, left flying, right flying, hovering, etc. of the machine body can be implemented to ensure overall stability during grabbing.

Claims

1. A switchable serial-parallel multi-arm grabbing unmanned aerial vehicle is characterized in that a self-locking mechanical groove-containing grabbing mechanism, a single-arm serial grabbing mechanism, a detachable telescopic hydraulic rod mechanism, a multi-arm parallel grabbing mechanism, a buffering triple shaft carrying platform mechanism and a machine body mechanism are arranged, the self-locking mechanical groove-containing grabbing mechanism consists of a spin motor, a spin motor output shaft, a spin bearing body, a pushing motor output shaft, a moving sliding table, a guide column, a screw rod, a front pin shaft, a rear pin shaft, a detector, a pin shaft cap and a mechanical grabbing piece, one end of the spin motor is welded at the tail end of a lower arm, the other end of the spin motor is welded at the spin bearing body through the spin motor output shaft, the upper end of the spin bearing body is welded at one side of the pushing motor, the other side of the pushing motor is welded at the screw rod through the pushing motor output shaft, and the other end of the screw rod is connected with the upper end of the moving sliding table through an internal thread hole, one end of a guide post is welded at the upper end of a spinning bearing body, the other end of the guide post is connected with the upper end of a movable sliding table through a guide post hole, the lower end of the movable sliding table is welded with a front pin shaft, one end of a mechanical gripper piece is connected with the movable sliding table through the front pin shaft, the other end of the mechanical gripper piece is connected with a detector through a rear pin shaft at a groove hole, the rear pin shaft is welded at the detector, the detector is welded at the lower end of the spinning bearing body, a pin shaft cap is respectively welded at the outer sides of the front pin shaft and the rear pin shaft, a self-locking mechanical gripper mechanism with grooves is bilaterally symmetrical, the single-arm series gripping mechanism is composed of an upper steering engine, an upper steering engine output shaft, an upper arm, a middle steering engine output shaft, a middle arm, a lower steering engine output shaft, a lower arm and a self-locking mechanical gripper mechanism with grooves, one end of an upper triple-steering engine is welded at the upper arm, the other end of the triple-joint steering engine is welded at a platform through the upper steering engine output shaft, the middle steering engine is welded at the upper end of the middle arm through an output shaft of the middle steering engine, the lower steering engine is welded at the lower end of the middle arm, the lower steering engine is connected with the upper end of the lower arm through the output shaft of the lower steering engine, the lower end of the lower arm is welded with a self-locking mechanical grooved gripper mechanism, the detachable telescopic hydraulic rod mechanism consists of a bolt, a bolt connecting piece, a cross ball connecting piece, a connecting piece cap, a cross ball and a telescopic hydraulic rod, the bolt is welded at the bolt connecting piece, the upper side and the lower side of the bolt connecting piece are respectively welded at the lower ends of the two cross ball connecting pieces, the upper ends of the two cross ball connecting pieces are connected with the upper side and the lower side of the cross ball through cross ball connecting piece holes, the left side and the right side of the cross ball are respectively connected at the lower ends of the other two cross ball connecting pieces, the upper ends of the two cross ball connecting pieces are respectively welded at one side of the other bolt connecting piece, the other side of the other bolt is welded at one end of the other bolt, the other end of the bolt is welded on the left side of a telescopic hydraulic rod, connecting piece caps are respectively welded on the upper, lower, left and right top ends of a cross ball, the right side and the left side of the telescopic hydraulic rod are of a symmetrical structure, the multi-arm parallel mechanism consists of a detachable telescopic hydraulic rod mechanism and two single-arm serial grabbing mechanisms, one side of the bolt in the detachable telescopic hydraulic rod mechanism is connected to the upper end of a lower arm of the single-arm serial grabbing mechanism through a lower arm internal thread hole, the connection is symmetrical, the aim is to connect the two single-arm serial grabbing mechanisms through the detachable telescopic hydraulic rod mechanism, the buffering triple shaft carrying platform mechanism consists of a triple shaft platform, a speed reducing motor output shaft, a speed reducing motor fixing plate, a spring top plate, a fixing rod, a large bearing, a spring fixing block, a spring and a spring cover, one end of the speed reducing motor is welded on the upper side of the speed reducing motor fixing plate, the other end is welded with a triple axle platform through a reducing motor output shaft, the bottom of a large bearing is welded on a spring top plate and is coaxial with the triple axle platform, one end of a fixed rod is welded on the lower side of a reducing motor fixed plate, the other end is welded on the upper side of the spring top plate, 6 spring covers are uniformly distributed and welded inside the spring top plate in a circle, springs are welded on the lower side of the spring covers, spring fixed blocks are welded on the lower side of the spring fixed plates, the spring fixed blocks are welded on the lower side of a lower expansion plate, the machine body mechanism consists of a left rotor wing, a right rotor wing, a brushless direct current motor output shaft, a brushless direct current motor, a motor fixed plate, a fixed clamp, a bolt, a bracket, a nut, a ground falling frame, a GPS signal receiver, a battery, a controller, a support column, a bent axle clamp plate, an upper expansion plate, a middle expansion plate and a lower expansion plate, the left rotor wing and the right wing are welded on the output shaft of the brushless direct current motor output shaft and are arranged at intervals, the output shaft of the brushless DC motor is positioned in the brushless DC motor, the lower end of the brushless DC motor is welded on a motor fixing plate, a bolt penetrates through the motor fixing plate through threaded connection, a fixing clamp combination is matched with a nut, one end of a bracket is clamped and fixed through the fixing clamp combination, the other end of the bracket is connected with an upper display plate, the fixing clamp combination, a middle display plate and the nut through threaded connection, the bolt is clamped and fixed through a fixing clamp, a GPS signal receiver and a battery are bonded on the upper end of a controller through fixing glue, the bolt penetrates through the controller, a strut and the upper display plate through threaded connection and is matched with the nut, the bolt penetrates through the middle display plate, the strut and a lower display plate through threaded connection and is matched with the nut, the bolt penetrates through a bent shaft clamping plate through threaded connection, the fixing clamp combination, the other bent shaft clamping plate is matched with the nut, one end of a bent shaft is clamped and fixed on one side of the fixing clamp combination positioned in a bent shaft clamping plate interlayer, the cambered axle other end via hole welds under on the panel, and the other one side of fixation clamp combination then presss from both sides tight landing frame one side, and this unmanned aerial vehicle is six rotors, symmetrical structure.

2. The switchable series-parallel multi-arm grasping drone of claim 1, characterized in that: the self-locking mechanical grooved gripper mechanism can drive the movable sliding table to advance through the self-locking screw rod, so that the mechanical gripper grips an object to generate self-locking.

3. The switchable series-parallel multi-arm grasping drone of claim 1, characterized in that: the single-arm serial grabbing mechanism can be used independently to form a serial mechanical arm combination, small plane objects can be grabbed respectively, and multi-task independent processing is achieved.

4. The switchable series-parallel multi-arm grasping drone of claim 1, characterized in that: two liang of single armed series connection snatch between the mechanism, can carry out coupling connection through dismantling flexible hydraulic stem mechanism, develop to a parallel structure, can accomplish task parallel processing.

5. The switchable series-parallel multi-arm grasping drone of claim 1, characterized in that: when the three arms cooperatively grab a large plane object, the mechanical mechanism has a new function, the object is automatically changed into a parallel platform, the three arms jointly control the parallel platform, and the posture of the object, namely the parallel platform, can be freely changed according to requirements.