CN115848666A

CN115848666A - Cross-boundary material flying mechanical arm

Info

Publication number: CN115848666A
Application number: CN202211547655.1A
Authority: CN
Inventors: 席万强; 邵子宴; 宋长坡; 宋�莹
Original assignee: Wuxi University
Current assignee: Wuxi University
Priority date: 2022-12-05
Filing date: 2022-12-05
Publication date: 2023-03-28

Abstract

The invention discloses a cross-medium flying mechanical arm, which is characterized by comprising: the aircraft comprises an aircraft body, four corners of the aircraft body are respectively and fixedly provided with a push-pull assembly through a rack, and a rotor wing assembly is fixedly arranged on the push-pull assembly; the mechanical arm comprises a base fixedly connected to the bottom surface of the machine body, a driving assembly is fixedly mounted on the base, the bottom surface of the base is movably connected with a multi-degree-of-freedom arm body assembly, a mounting wrist is fixedly connected to the bottom end of the arm body assembly, and the driving assembly is in transmission connection with the arm body assembly; the number of the suspenders is two, the suspenders are fixedly installed below the unmanned aerial vehicle body, and the two suspenders are symmetrically arranged and located on two sides of the arm body assembly.

Description

Cross-boundary material flying mechanical arm

Technical Field

The invention relates to the field of robots, in particular to a cross-substrate flying mechanical arm.

Background

With the rapid development of unmanned aerial vehicle technology in recent years, rotor unmanned aerial vehicles have begun to move into people's lives. The multifunctional vertical take-off and landing device has the functions of vertical take-off and landing and hovering, is simple and convenient to operate, small in size, flexible in flight and wide in application range. At present, the rotor unmanned aerial vehicle is applied to many aspects such as detection, monitoring, aerial photography and entertainment, but the applications still stay on the aspect of non-contact with the environment, and the application value of the rotor unmanned aerial vehicle is limited. In order to expand the operation environment and the application range of the unmanned aerial vehicle, the amphibious unmanned aerial vehicle provided with the mechanical arm draws attention of researchers. Therefore, a need exists for a cross-substrate flying robot arm.

Disclosure of Invention

The present invention aims to provide a cross-substrate flying robot arm, which aims to solve or improve at least one of the technical problems.

In order to achieve the purpose, the invention provides the following scheme: the invention provides a cross-medium flying mechanical arm, which comprises:

the aircraft comprises an aircraft body, wherein push-pull assemblies are fixedly mounted at four corners of the aircraft body through a rack respectively, and rotor assemblies are fixedly mounted on the push-pull assemblies;

the mechanical arm comprises a base fixedly connected to the bottom surface of the machine body, a driving assembly is fixedly mounted on the base, the bottom surface of the base is movably connected with a multi-degree-of-freedom arm body assembly, a mounting wrist is fixedly connected to the bottom end of the arm body assembly, and the driving assembly is in transmission connection with the arm body assembly;

the number of the suspenders is two, the suspenders are fixedly installed below the fuselage, and the two suspenders are symmetrically arranged and located on two sides of the arm body assembly.

Preferably, the push-pull assembly comprises a connecting block fixedly connected with the rack, a push-pull electromagnet is fixedly mounted on the connecting block, a connecting rod is fixedly connected to the output end of the push-pull electromagnet, a linear rack is fixedly connected to one end, far away from the push-pull electromagnet, of the connecting rod, and the linear rack is in transmission connection with the rotor assembly.

Preferably, the rotor subassembly includes the fourth motor, the output shaft rigid coupling of fourth motor has the screw, the fourth motor rotates through the link and connects the connecting block is kept away from the one end of plug-type electro-magnet, the rigid coupling has a rotating gear on the arbitrary lateral wall of link, rotating gear with the meshing of sharp rack is connected.

Preferably, the pedestal top surface has the fixed plate through the branch rigid coupling, the fixed plate rigid coupling is in the fuselage bottom surface, drive assembly is located the fixed plate with between the base.

Preferably, the drive assembly includes fixed mounting and is in the first motor, second motor and the third motor of base top surface, the output shaft rigid coupling of first motor has first drive wheel, the output shaft rigid coupling of second motor has the second drive wheel, the output shaft rigid coupling of third motor has the third drive wheel, first drive wheel the second drive wheel with the third drive wheel all with arm body subassembly transmission is connected.

Preferably, the bottom surface of the fixing plate is fixedly provided with three driving controllers, and the three driving controllers are electrically connected with the first motor, the second motor and the third motor respectively.

Preferably, the arm body subassembly includes the symmetry rigid coupling and is in the backup pad of base bottom surface, two rotate between the backup pad and be connected with two first armed levers that the symmetry set up, two first armed lever with first drive wheel transmission is connected, two first armed lever is kept away from rotate between the tip of backup pad and be connected with two second armed levers that the symmetry set up, two the second armed lever with second drive wheel transmission is connected, two the second armed lever is kept away from symmetry rotation is connected with two third armed levers, two between the tip of first armed lever the third armed lever with third drive wheel transmission is connected, installation wrist rigid coupling is two third armed lever bottom.

Preferably, a first shaft lever is fixedly connected between the two first arm levers, two ends of the first shaft lever are respectively rotatably connected with the two support plates, a first joint wheel is fixedly sleeved on the first shaft lever, the first joint wheel is in transmission connection with the first drive wheel, a second shaft lever is fixedly connected between the two second arm levers, two ends of the second shaft lever are respectively rotatably connected with the two first arm levers, a second joint wheel is fixedly sleeved on the second shaft lever, the second joint wheel is in transmission connection with the second drive wheel, a third shaft lever is fixedly connected between the two third arm levers, two ends of the third shaft lever are respectively in rotation connection with the two second arm levers, a third joint wheel is fixedly sleeved on the third shaft lever, and the third joint wheel is in transmission connection with the third drive wheel.

Preferably, the suspension device comprises a floater, and the floater is fixedly connected with the bottom surface of the machine body through a support rod.

The invention discloses the following technical effects: according to the invention, the rotor wing assembly is arranged on the unmanned aerial vehicle body, and the suspension device is arranged below the unmanned aerial vehicle body, so that the unmanned aerial vehicle is suitable for both air and water, cross-medium operation is realized, the application range of the unmanned aerial vehicle is expanded, and the cost is saved; the driving assembly drives the arm body assembly to realize any pose in a vertical reachable plane, the operation task with spatial multiple degrees of freedom can be completely and flexibly realized, and the operation capability is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a robotic arm according to the present invention;

FIG. 3 is a schematic structural diagram of a driving assembly according to the present invention;

FIG. 4 is a schematic structural view of a push-pull assembly of the present invention;

FIG. 5 is a schematic view of a ninety degree configuration of the propeller of the present invention;

in the figure: 1. a body; 2. a frame; 3. a propeller; 4. a fourth motor; 41. a connecting frame; 51. connecting blocks; 52. a push-pull electromagnet; 53. a linear rack; 54. a rotating gear; 55. a connecting rod; 56. a spring; 61. a first motor; 611. a first drive wheel; 62. a second motor; 621. a second drive wheel; 63. a third motor; 631. a third drive wheel; 7. a base; 8. a support bar; 9. a float; 10. a support plate; 101. a first shaft lever; 102. a second shaft lever; 103. a third shaft lever; 111. a first joint wheel; 112. a second articulation wheel; 113. a third joint wheel; 121. a first arm; 122. a second arm; 123. a third arm; 13. a rope; 14. mounting a wrist; 15. a fixing plate; 16. a drive controller; 171. a first drive pulley; 172. a second transmission wheel; 173. a third transmission wheel.

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 order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1-5, the present embodiment provides a flying robot arm across a medium, comprising:

the aircraft comprises an aircraft body 1, wherein push-pull assemblies are fixedly arranged at four corners of the aircraft body 1 through a rack 2 respectively, and rotor assemblies are fixedly arranged on the push-pull assemblies;

the mechanical arm comprises a base 7 fixedly connected to the bottom surface of the machine body 1, a driving assembly is fixedly mounted on the base 7, the bottom surface of the base 7 is movably connected with a multi-degree-of-freedom arm body assembly, a mounting wrist 14 is fixedly connected to the bottom end of the arm body assembly, and the driving assembly is in transmission connection with the arm body assembly;

the number of the suspenders is two, the suspenders are fixedly installed below the machine body 1, and the two suspenders are symmetrically arranged and located on two sides of the arm body assembly.

The rotor wing assembly is arranged on the unmanned aerial vehicle body 1, and the suspension device is arranged below the unmanned aerial vehicle body 1, so that the unmanned aerial vehicle is suitable for both air and water, cross-medium operation is realized, the application range of the unmanned aerial vehicle is expanded, and the cost is saved; the driving assembly drives the arm body assembly to realize any pose in a vertical reachable plane, the operation task with spatial multiple degrees of freedom can be completely and flexibly realized, and the operation capability is improved.

Furthermore, the wrist 14 can be provided with different functional claws according to the operation mode.

According to a further optimized scheme, the push-pull assembly comprises a connecting block 51 fixedly connected with the rack 2, a push-pull electromagnet 52 is fixedly mounted on the connecting block 51, a connecting rod 55 is fixedly connected to the output end of the push-pull electromagnet 52, a linear rack 53 is fixedly connected to one end, far away from the push-pull electromagnet 52, of the connecting rod 55, and the linear rack 53 is in transmission connection with the rotor assembly. The rotor wing assembly comprises a fourth motor 4, an output shaft of the fourth motor 4 is fixedly connected with a propeller 3, the fourth motor 4 is rotatably connected to one end, far away from the push-pull type electromagnet 52, of the connecting block 51 through the connecting frame 41, a rotating gear 54 is fixedly connected to any side wall of the connecting frame 41, and the rotating gear 54 is meshed with the linear rack 53.

By electrifying the push-pull electromagnet 52, the spring 56 on the push-pull electromagnet 52 is compressed to push the connecting rod 55, the connecting rod 55 pushes the linear rack 53 to move forward, and the rotating gear 54 is driven to rotate anticlockwise, so that the connecting frame 41, the propeller 3 and the fourth motor 4 are driven to rotate anticlockwise, and the ninety-degree rotation of the propeller 3 is realized; when the power is off, the spring 56 is restored, the connecting rod 55 pushes the linear rack 53 to move backwards, and the rotating gear 54 is driven to rotate clockwise, so that the connecting frame 41, the propeller 3 and the fourth motor 4 are driven to rotate clockwise and reset.

According to the further optimized scheme, the top surface of the base 7 is fixedly connected with a fixing plate 15 through a supporting rod, the fixing plate 15 is fixedly connected to the bottom surface of the machine body 1, and the driving assembly is located between the fixing plate 15 and the base 7. The driving assembly comprises a first motor 61, a second motor 62 and a third motor 63 which are fixedly mounted on the top surface of the base 7, wherein an output shaft of the first motor 61 is fixedly connected with a first driving wheel 611, an output shaft of the second motor 62 is fixedly connected with a second driving wheel 621, an output shaft of the third motor 63 is fixedly connected with a third driving wheel 631, and the first driving wheel 611, the second driving wheel 621 and the third driving wheel 631 are all in transmission connection with the arm body assembly. The bottom surface of the fixed plate 15 is fixedly provided with three driving controllers 16, and the three driving controllers 16 are respectively electrically connected with the first motor 61, the second motor 62 and the third motor 63.

The three driving controllers 16 respectively control the movement of the first motor 61, the second motor 62 and the third motor 63, and the first motor 61, the second motor 62 and the third motor 63 respectively control the rotation of the first driving wheel 611, the second driving wheel 621 and the third driving wheel 631, so that the multi-degree-of-freedom adjustment of the arm body assembly is realized.

Further optimize the scheme, the arm body subassembly includes the backup pad 10 of symmetry rigid coupling in base 7 bottom surface, it has two first armed levers 121 that the symmetry set up to rotate between two backup pads 10, two first armed levers 121 are connected with the transmission of first drive wheel 611, it is connected with two second armed levers 122 that the symmetry set up to rotate between the tip that backup pad 10 was kept away from to two first armed levers 121, two second armed levers 122 are connected with the transmission of second drive wheel 621, it is connected with two third armed levers 123 that the symmetry rotates between the tip that first armed lever 121 was kept away from to two second armed lever 122, two third armed levers 123 are connected with the transmission of third drive wheel 631, installation wrist 14 rigid coupling is in two third armed lever 123 bottom. A first shaft rod 101 is fixedly connected between the two first arm rods 121, two ends of the first shaft rod 101 are respectively rotatably connected with the two support plates 10, a first joint wheel 111 is fixedly sleeved on the first shaft rod 101, the first joint wheel 111 is in transmission connection with a first drive wheel 611, a second shaft rod 102 is fixedly connected between the two second arm rods 122, two ends of the second shaft rod 102 are respectively rotatably connected with the two first arm rods 121, a second joint wheel 112 is fixedly sleeved on the second shaft rod 102, the second joint wheel 112 is in transmission connection with a second drive wheel 621, a third shaft rod 103 is fixedly connected between the two third arm rods 123, two ends of the third shaft rod 103 are respectively rotatably connected with the two second arm rods 122, a third joint wheel 113 is fixedly sleeved on the third shaft rod 103, and the third joint wheel 113 is in transmission connection with a third drive wheel 631.

Further, the first driving wheel 611 is in transmission connection with the first joint wheel 111 via a rope 13.

Further, the first shaft 101 is rotatably connected with a first driving wheel 171 and a second driving wheel 172 through bearings, and the second shaft 102 is rotatably connected with a third driving wheel 173 through bearings; the first driving wheel 171 and the second driving wheel 621 are in transmission connection through the rope 13, and the first driving wheel 171 and the second joint wheel 112 are in transmission connection through the rope 13; second driving wheel 172 is in driving connection with third driving wheel 631 via cable 13, and second driving wheel 172 is in driving connection with third driving wheel 173 via cable 13, while third driving wheel 173 is in driving connection with third joint wheel 113 via cable 13.

The first driving wheel 611 is driven to rotate synchronously through forward rotation and reverse rotation of the first motor 61, and the rope 13 drives the first joint wheel 111 to rotate forward and reverse, so that the two first arm rods 121 rotate;

the second driving wheel 621 is driven to rotate synchronously by the forward rotation and the reverse rotation of the second motor 62, the first driving wheel 171 is driven to rotate by the rope 13, and the second joint wheel 112 is driven to rotate by the first driving wheel 171 through the rope 13, so that the rotation of the two second arm levers 122 is realized;

the third driving wheel 631 is driven to synchronously rotate by the forward rotation and the reverse rotation of the third motor 63, the rope 13 drives the second transmission wheel 172 to rotate, the second transmission wheel 172 drives the third transmission wheel 173 to rotate through the rope 13, and the third transmission wheel 173 drives the third joint wheel 113 to rotate through the rope 13, so that the rotation of the two third arm levers 123 is realized.

In a further optimized scheme, the suspension device comprises a floater 9, and the floater 9 is fixedly connected with the bottom surface of the machine body 1 through a support rod 8.

The device can float on the water surface by arranging the floater 9, and the support rod 8 is obliquely arranged in a direction deviating from the direction of the mechanical arm.

The invention has various working conditions:

1. the aircraft operates and flies in the air, and flies according to the normal working mode of the four-rotor aircraft;

2. hovering in a low altitude on the water surface, and rotating the four propellers 3 at a constant speed;

3. the four propellers 3 stop moving when the water surface hovers;

4. the water surface slides, as shown in fig. 5, the axis direction of the rotation of the propeller 3 is parallel to the mechanical arm, and forward or backward thrust is obtained by adjusting the rotation speed of the propeller 3.

If only to obtain forward thrust, only the symmetrical propellers can be rotated, but simultaneously, in order to overcome the deviation torque brought by the fourth motor 4 and the consistency of the output force direction of the symmetrical propellers 3, the rotation direction of the axisymmetric fourth motor 4 is opposite, and the rotation speed is consistent; the four propellers can also be rotated simultaneously, when the rotating speeds are consistent and the rotating speeds of the axisymmetric propellers 3 are opposite, higher thrust can be obtained, and when the rotating speeds of the axisymmetric propellers 3 are inconsistent, deflection motion can be generated, so that the sliding direction of the system on the water surface can be adjusted.

The invention adopts a waterproof design and adopts a floater 9 structure for supporting the ground and floating the water surface; the four propellers 3 can rotate at an angle of ninety degrees with the connecting block 51, and during air flight, the axial direction of the propellers 3 is vertical to the mechanical arm, so that the lifting force in the vertical direction can be provided; when the ship glides on the water surface, in order to keep balance, two propellers 3 or four propellers 3 can be rotated by ninety degrees, so that the axial direction of the propellers 3 is parallel to the mechanical arm, and thrust in a horizontal direction is provided.

The ropes 13 are used for dragging the first arm rod, the second arm rod and the third arm rod to move, so that the influence between the aircraft and the mechanical arm is reduced, and the load-weight ratio is improved. The mechanical arm is a three-degree-of-freedom plane type, can achieve any pose in a vertical reachable plane, is combined with the four-rotor assembly, and can completely and flexibly achieve a spatial six-degree-of-freedom operation task.

When the mechanical arm is not in operation, the mechanical arm is generally in a contraction state, and the tail end of the mechanical arm does not exceed the floater 9, so that damage caused by falling is avoided.

The system can be remotely controlled by receiving the information sent by the terminal, and can also be used for autonomous operation flight by a preset program.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims

1. A cross-substrate flying robot arm, comprising:

the aircraft comprises an aircraft body (1), four corners of the aircraft body (1) are respectively and fixedly provided with a push-pull assembly through a rack (2), and a rotor wing assembly is fixedly arranged on the push-pull assembly;

the mechanical arm comprises a base (7) fixedly connected to the bottom surface of the machine body (1), a driving assembly is fixedly mounted on the base (7), the bottom surface of the base (7) is movably connected with a multi-degree-of-freedom arm body assembly, a mounting wrist (14) is fixedly connected to the bottom end of the arm body assembly, and the driving assembly is in transmission connection with the arm body assembly;

the number of the suspenders is two, the suspenders are fixedly installed below the machine body (1), and the two suspenders are symmetrically arranged and located on two sides of the arm body assembly.

2. A cross-substrate flying robot arm as claimed in claim 1, wherein: the push-pull assembly comprises a connecting block (51) fixedly connected with the rack (2), a push-pull electromagnet (52) is fixedly mounted on the connecting block (51), a connecting rod (55) is fixedly connected to the output end of the push-pull electromagnet (52), a linear rack (53) is fixedly connected to one end, far away from the push-pull electromagnet (52), of the connecting rod (55), and the linear rack (53) is in transmission connection with the rotor assembly.

3. The cross-substrate flying robot arm of claim 2, wherein: the rotor subassembly includes fourth motor (4), the output shaft rigid coupling of fourth motor (4) has screw (3), fourth motor (4) rotate through link (41) to be connected keep away from connecting block (51) the one end of plug-type electro-magnet (52), the rigid coupling has rotating gear (54) on the arbitrary lateral wall of link (41), rotating gear (54) with sharp rack (53) meshing is connected.

4. A cross-substrate flying robot arm as claimed in claim 1, wherein: base (7) top surface has fixed plate (15) through the branch rigid coupling, fixed plate (15) rigid coupling is in fuselage (1) bottom surface, drive assembly is located fixed plate (15) with between base (7).

5. A cross-substrate flying robot arm as claimed in claim 4, wherein: drive assembly includes fixed mounting first motor (61), second motor (62) and third motor (63) on base (7) top surface, the output shaft rigid coupling of first motor (61) has first drive wheel (611), the output shaft rigid coupling of second motor (62) has second drive wheel (621), the output shaft rigid coupling of third motor (63) has third drive wheel (631), first drive wheel (611) second drive wheel (621) with third drive wheel (631) all with the transmission of arm body subassembly is connected.

6. A cross-substrate flying robot arm as claimed in claim 5, wherein: the bottom surface of the fixing plate (15) is fixedly provided with three driving controllers (16), and the three driving controllers (16) are respectively electrically connected with the first motor (61), the second motor (62) and the third motor (63).

7. A cross-substrate flying robot arm as claimed in claim 5, wherein: arm body subassembly is in including the symmetry rigid coupling backup pad (10), two of base (7) bottom surface rotate between backup pad (10) and be connected with two first armed levers (121) that the symmetry set up, two first armed lever (121) with first drive wheel (611) transmission is connected, two first armed lever (121) is kept away from rotate between the tip of backup pad (10) and be connected with two second armed levers (122) that the symmetry set up, two second armed lever (122) with second drive wheel (621) transmission is connected, two second armed lever (122) are kept away from symmetry rotation is connected with two third armed lever (123), two between the tip of first armed lever (121) third armed lever (123) with third drive wheel (631) transmission is connected, installation wrist (14) rigid coupling is two third armed lever (123) bottom.

8. The cross-substrate flying robot arm of claim 7, wherein: a first shaft lever (101) is fixedly connected between the two first arm levers (121), two ends of the first shaft lever (101) are rotatably connected with the two support plates (10) respectively, a first joint wheel (111) is fixedly sleeved on the first shaft lever (101), the first joint wheel (111) is in transmission connection with the first drive wheel (611), a second shaft lever (102) is fixedly connected between the two second arm levers (122), two ends of the second shaft lever (102) are rotatably connected with the two first arm levers (121) respectively, a second joint wheel (112) is fixedly sleeved on the second shaft lever (102), the second joint wheel (112) is in transmission connection with the second drive wheel (621), a third shaft lever (103) is fixedly connected between the two third arm levers (123), two ends of the third shaft lever (103) are rotatably connected with the two second arm levers (122) respectively, a third joint wheel (113) is fixedly sleeved on the third arm lever (103), and the third joint wheel (113) is connected with the drive wheel (113).

9. A cross-substrate flying robot arm as claimed in claim 1, wherein: the suspension device comprises a floater (9), and the floater (9) is fixedly connected with the bottom surface of the machine body (1) through a support rod (8).