CN118372271A - Manipulator for explosive-handling unmanned aerial vehicle - Google Patents
Manipulator for explosive-handling unmanned aerial vehicle Download PDFInfo
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- CN118372271A CN118372271A CN202410816003.6A CN202410816003A CN118372271A CN 118372271 A CN118372271 A CN 118372271A CN 202410816003 A CN202410816003 A CN 202410816003A CN 118372271 A CN118372271 A CN 118372271A
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- aerial vehicle
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- 239000002360 explosive Substances 0.000 claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 239000007788 liquid Substances 0.000 claims abstract description 23
- 238000003825 pressing Methods 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims abstract description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000013011 mating Effects 0.000 description 6
- 238000004880 explosion Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a manipulator for an explosion-proof unmanned aerial vehicle, which comprises a base arranged at the lower end of the unmanned aerial vehicle, wherein a vertical sliding cylinder is fixedly arranged on the lower end surface of the base, a first sliding groove which is symmetrical front and back is arranged on the vertical sliding cylinder in a penetrating way, and a main body mechanism for adjusting and clamping an explosive angle is arranged on the first sliding groove and the vertical sliding cylinder together. The balance of the mechanical arm is dynamically adjusted through the flowing counterweight liquid, so that the stable posture of the unmanned aerial vehicle in flight is ensured, the flexibility and the adaptability of operation are improved, the multipoint self-adaption pressing clamping is adopted, the position of explosive can be accurately righted, the clamping stability and the accuracy of explosive treatment are improved through uniform pressure application, the clamping position and the main body mechanism are tightly combined through the locking mechanism, the clamping firmness is ensured, the overall stability and the operation precision are improved, and the safety, the accuracy and the efficiency of the unmanned aerial vehicle explosive discharge task are jointly improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a manipulator for an explosion-proof unmanned aerial vehicle.
Background
The explosive-handling unmanned aerial vehicle is an unmanned aerial vehicle for removing and handling explosives, plays an important role in the explosive-handling field, and an explosive handling expert remotely controls the unmanned aerial vehicle to identify the explosives, and the explosives need to be handled and removed by means of a manipulator on the unmanned aerial vehicle so as to ensure that personnel are far away from possible explosive areas, and the explosives are prevented from being directly contacted, so that casualties and health risks are greatly reduced.
At present, the unmanned aerial vehicle manipulator has the following defects when being used for explosion elimination: 1. when the explosives are processed, the mechanical arm suddenly aggravates due to unidirectional weight after the explosives are clamped, so that the flying gesture of the unmanned aerial vehicle cannot be balanced, and therefore, the unmanned aerial vehicle is inclined or crashed, if the unmanned aerial vehicle falls or is out of control due to unbalance, the carried explosives can explode in improper places, so that the wide range of injuries are caused, and a control person is difficult to control the unmanned aerial vehicle with the gravity center offset, so that the unmanned aerial vehicle cannot accurately move to a preset position, and even misoperation can be caused; 2. in the process of carrying out the centre gripping to the explosive at unmanned aerial vehicle manipulator, carry out the centre gripping to the explosive through the contact of two splint generally, and the size difference of explosive makes splint and the contact surface of explosive different to lead to the explosive unstable when splint centre gripping, there is the risk of slippage, and then probably causes danger to surrounding environment, and the dynamics and the position of control personnel more meticulous control manipulator are in order to avoid causing the unnecessary removal or the upset of explosive.
In order to ensure that personnel are far away from an explosion area, avoid being in direct contact with explosives, and reduce casualties and health risks, the invention provides a manipulator for an explosion-proof unmanned aerial vehicle.
Disclosure of Invention
In order to solve the technical problems, the invention provides a manipulator for an explosion-proof unmanned aerial vehicle, which is realized by the following specific technical means: the mechanical arm for the explosive-handling unmanned aerial vehicle comprises a base arranged at the lower end of the unmanned aerial vehicle, wherein a vertical sliding cylinder is fixedly arranged on the lower end face of the base, a first sliding groove which is symmetrical front and back is formed in the vertical sliding cylinder in a penetrating manner, and a main body mechanism for adjusting and clamping the angle of explosive is arranged on the first sliding groove and the vertical sliding cylinder together; the main body mechanism comprises an angle adjusting part which is arranged on the first sliding groove and the vertical sliding barrel, and a counterweight part for dynamically adjusting the flight balance of the unmanned aerial vehicle is arranged on the angle adjusting part.
The counterweight part is provided with a clamping mechanism for doubly clamping the explosive; the clamping mechanism comprises a clamping part which is arranged on the counterweight part and used for clamping the explosive surface, a driving part which is used for providing power for the clamping part is arranged in the counterweight part, and an auxiliary clamping part which is used for carrying out multi-point self-adaptive clamping and centralizing on the explosive is arranged on the clamping part.
The counterweight part is also provided with a locking mechanism for locking the counterweight part by matching with the clamping mechanism; the locking mechanism comprises a connecting part arranged on the counterweight part, a matching part and an executing part matched with the matching part to lock the connecting part are arranged in the counterweight part, and a transmission part used for matching the clamping part to provide power for the executing part is also arranged in the counterweight part.
As a preferable technical scheme of the invention, the angle adjusting part comprises a first sliding block, a first connecting rod, an electric push rod and a smooth platform, wherein the first sliding block is arranged in the first sliding groove in a sliding way, one end, away from each other, of the first sliding block is hinged with the first connecting rod, the upper end of the inside of the vertical sliding cylinder is fixedly provided with the electric push rod, and the telescopic end of the electric push rod is fixedly provided with the smooth platform which is fixedly connected with the first sliding block.
As a preferable technical scheme of the invention, the counterweight part comprises a load barrel, a clamping bin, a second sliding chute, an electromagnetic valve and a counterweight bin, wherein the lower end of the vertical sliding barrel is hinged with the load barrel which is symmetrical in front and back, one side of the load barrel far away from the vertical sliding barrel is hinged with a first connecting rod on the same side, the clamping bin which is communicated with the load barrel is fixedly arranged at the front end of the load barrel on the front side, the second sliding chute is penetrated through the outer annular wall at the upper end of the load barrel on the front side, a liquid storage cavity which is communicated with the load barrel on the rear side is formed at the lower end of the inner part of the vertical sliding barrel, counterweight liquid is arranged in the liquid storage cavity, the electromagnetic valve for controlling the flow of the counterweight liquid is arranged on the load barrel on the rear side, and the counterweight bin which is communicated with the load barrel is fixedly arranged at the rear end of the load barrel on the rear side.
As a preferable technical scheme of the invention, the clamping part comprises a first rotating shaft, clamping jaws and a third sliding groove, the first rotating shaft is fixedly arranged in the clamping bin, the clamping jaws which are symmetrical left and right and are staggered mutually are hinged on the first rotating shaft, the front ends of the clamping jaws are arranged in an arc shape, and the clamping jaws are provided with the third sliding groove which is positioned at the rear side of the first rotating shaft in a penetrating manner.
As a preferable technical scheme of the invention, the driving part comprises a barrel sliding frame, a bidirectional screw and a motor, wherein the barrel sliding frame is slidably arranged in the third sliding groove, the bidirectional screw which is in threaded connection with the two barrel sliding frames is arranged in the clamping bin through a bearing, and the motor with an output end fixedly connected with the bidirectional screw is fixedly arranged on the clamping bin.
As a preferred technical scheme of the invention, the auxiliary clamping part comprises a clamping hole, a fixed plate, a first spring rod, a pressing frame, a third connecting rod, positioning columns and an arc-shaped retaining plate, wherein a plurality of clamping holes are formed in the arc-shaped part of the clamping jaw in a linear array mode from top to bottom, the fixed plate which is positioned at the center of the clamping hole and corresponds to the clamping holes one by one is fixedly arranged on one side wall of the clamping jaw far away from each other, the first spring rod positioned in the clamping hole is fixedly arranged on the fixed plate, the pressing frame is fixedly arranged at one end of the first spring rod far away from the fixed plate, two third connecting rods which are symmetrical about the center of the clamping hole are hinged in the pressing frame through a rotating shaft, two positioning columns which are symmetrical about the center of the clamping hole are fixedly arranged on the third connecting rods, the positioning columns are in sliding connection with the corresponding positioning sliding grooves, the arc-shaped retaining plate is hinged at one end of the third connecting rods far away from the corresponding pressing frame, and the surface of the arc-shaped retaining plate is coated with a rubber layer.
As a preferable technical scheme of the invention, the connecting part comprises a second sliding block, a second connecting rod and a sliding sleeve, wherein the second sliding block is arranged in the second sliding groove in a sliding manner, the second connecting rod is hinged to the upper end of the second sliding block, and the sliding sleeve hinged to the other end of the second connecting rod is arranged on the first connecting rod in a sliding manner.
As a preferable technical scheme of the invention, the matching part comprises a first sliding rail, a third sliding block, a lock hole and a second sliding rail, the first sliding rail positioned below the second sliding groove is fixedly arranged in the loading barrel at the front side, the third sliding block which is in sliding connection with the first sliding rail is fixedly arranged at the lower end of the second sliding block, the lock hole is formed in the third sliding block in a penetrating manner, and two second sliding rails which are bilaterally symmetrical are fixedly arranged on the first sliding rail.
As a preferable technical scheme of the invention, the executing part comprises a sliding plate, a matching hole, a second spring rod and a trapezoidal convex block, wherein the sliding plate is slidably arranged in the second sliding rail, a reset spring is fixedly arranged between the rear end of the sliding plate and the rear end surface inside the load cylinder, two groups of matching holes which are symmetrical left and right relative to the sliding plate are uniformly formed in the first sliding rail in a penetrating way from front to back, the second spring rod is slidably arranged in the matching hole, and the trapezoidal convex block which is in one-to-one correspondence with the second spring rod is fixedly arranged on one side wall of the sliding plate, which is close to each other.
As a preferable technical scheme of the invention, the transmission part comprises a hinging rod, a second rotating shaft, a fourth connecting rod, a fixing column and a U-shaped supporting block, wherein the hinging rod is hinged at the rear end of the clamping jaw, the second rotating shaft is jointly rotatably installed at one end of the two hinging rods far away from the corresponding clamping jaw, the fourth connecting rod is hinged on the second rotating shaft, a limiting chute is formed in the fourth connecting rod, the fixing column which is in sliding connection with the limiting chute is fixedly installed in the front-side load barrel, the U-shaped supporting block which is in sliding connection with the inside of the front-side load barrel is fixedly installed at the rear end of the fourth connecting rod through a spring, and the protruding part of the U-shaped supporting block corresponds to the position of the sliding plate.
Compared with the prior art, the invention has the following beneficial effects: 1. this arrange and explode manipulator for unmanned aerial vehicle uses through the main part mechanism that sets up, fixture and locking mechanical system's mutually supporting, through the balance of flowing counter weight hydraulic pressure adjustment manipulator, guaranteed unmanned aerial vehicle's stable gesture in the flight, improve flexibility and the adaptability of operation, and adopt the multiple spot self-adaptation to support the pressure centre gripping, not only can accurately right the position of explosive, still through evenly exerting the stability of pressure improvement centre gripping and the accuracy of handling explosive, at last through locking mechanical system with centre gripping position and main part mechanism close combination, the fastness of centre gripping has been guaranteed, the risk that explosive accident drops in the transportation has been reduced, holistic stability and operation precision have been improved, thereby unmanned aerial vehicle explosive discharge task's security has been promoted jointly, accuracy and efficiency.
2. This arrange and explode manipulator for unmanned aerial vehicle, through the main part mechanism that sets up, carry out the in-process of centre gripping to the explosive at the manipulator, the counter weight flows to the opposite side of manipulator through the counter weight liquid that flows, ensure the balanced state at manipulator both ends, thereby ensure unmanned aerial vehicle and keep balanced flight gesture in flight process, avoid the unexpected air crash or the risk that the explosive is out of control because of flying unstable results in, thereby improve the security of operation, and can adapt to the explosive of equidimension and shape not, keep the balance of manipulator through the distribution of adjustment counter weight liquid, improve unmanned aerial vehicle operation's flexibility and adaptability.
3. This arrange and explode manipulator for unmanned aerial vehicle uses through the main part mechanism and the fixture's of setting mutually supporting, carries out the contact surface centre gripping at the clamping jaw to the explosive in-process of contact surface centre gripping, carries out multiple spot self-adaptation to the outer wall of explosive and supports the centre gripping, not only can right the position of explosive in the clamping jaw, can also apply more even pressure to the explosive to this stability that improves the manipulator centre gripping and the accuracy of handling the explosive to double centre gripping to the explosive has further improved the stability when unmanned aerial vehicle drives explosive and removes or operate, alleviates the burden of operating personnel adjustment centre gripping dynamics simultaneously.
4. This arrange and explode manipulator for unmanned aerial vehicle uses through the main part mechanism that sets up and locking mechanical system's cooperation each other, locks clamping position and main part mechanism when the clamping jaw carries out the centre gripping to the explosive, guarantees that the manipulator can not loosen because of external force or vibrations accident when the centre gripping explosive to reduce the safety risk that the explosive accidentally drops and causes when unmanned aerial vehicle transportation, with this holistic stability that improves, and the manipulator of balanced atress can carry out the task more accurately.
Drawings
Fig. 1 is a schematic perspective view of the present invention in operation.
Fig. 2 is a schematic view of a partially cut-away perspective structure of the present invention.
Fig. 3 is a schematic view of a partially cut-away perspective structure of the recliner of the present invention.
Fig. 4 is a schematic perspective view of a clamping mechanism according to the present invention.
Fig. 5 is a schematic perspective view of an auxiliary clamping portion according to the present invention.
Fig. 6 is an enlarged schematic view of the structure at B in fig. 4.
Fig. 7 is a schematic view in perspective, partially cut-away, of a locking mechanism of the present invention.
Fig. 8 is a schematic bottom perspective view of the cooperation of the actuator and the transmission unit.
Fig. 9 is an enlarged schematic view of the structure at a in fig. 2.
In the figure: 1. a base; 2. a vertical sliding cylinder; 3. a first chute; 4. a main body mechanism; 41. an angle adjusting part; 411. a first slider; 412. a first link; 413. an electric push rod; 414. a round sliding table; 42. a weight part; 421. a load cylinder; 422. a clamping bin; 423. a second chute; 424. an electromagnetic valve; 425. a counterweight bin; 5. a clamping mechanism; 51. a clamping part; 511. a first rotating shaft; 512. a clamping jaw; 513. a third chute; 52. a driving section; 521. a cartridge carriage; 522. a bidirectional screw; 523. a motor; 53. an auxiliary clamping part; 531. clamping holes; 532. a fixing plate; 533. a first spring lever; 534. pressing the frame; 535. a third link; 536. positioning columns; 537. an arc-shaped retaining plate; 6. a locking mechanism; 61. a connection part; 611. a second slider; 612. a second link; 613. a sliding sleeve; 62. a mating portion; 621. a first slide rail; 622. a third slider; 623. a lock hole; 624. a second slide rail; 63. an execution unit; 631. a slide plate; 632. a mating hole; 633. a second spring rod; 634. trapezoidal protruding blocks; 64. a transmission part; 641. a hinge rod; 642. a second rotating shaft; 643. a fourth link; 644. fixing the column; 645. the U-shaped supporting block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a manipulator for an explosion venting unmanned aerial vehicle comprises a base 1 arranged at the lower end of the unmanned aerial vehicle, wherein a vertical sliding cylinder 2 is fixedly arranged on the lower end surface of the base 1, a first sliding groove 3 which is symmetrical front and back is arranged on the vertical sliding cylinder 2 in a penetrating way, and a main body mechanism 4 for adjusting and clamping an explosive angle is arranged on the first sliding groove 3 and the vertical sliding cylinder 2 together; the main body mechanism 4 comprises an angle adjusting part 41 which is arranged on the first sliding groove 3 and the vertical sliding cylinder 2, and a counterweight part 42 for dynamically adjusting the flight balance of the unmanned aerial vehicle is arranged on the angle adjusting part 41.
Referring to fig. 1 and 4, a clamping mechanism 5 for doubly clamping explosives is provided on the weight portion 42; the clamping mechanism 5 comprises a clamping part 51 arranged on the counterweight part 42 and used for clamping the explosive surface, a driving part 52 for providing power for the clamping part 51 is arranged in the counterweight part 42, and an auxiliary clamping part 53 used for carrying out multi-point self-adaptive clamping and centralizing on the explosive is arranged on the clamping part 51.
Referring to fig. 1, 7 and 9, the weight portion 42 is further provided with a locking mechanism 6 for locking the implementation thereof in cooperation with the clamping mechanism 5; the locking mechanism 6 includes a connecting portion 61 provided on the weight portion 42, a fitting portion 62 and an executing portion 63 that is fitted with the fitting portion 62 to lock the connecting portion 61 are provided in the weight portion 42, and a transmission portion 64 for powering the executing portion 63 in cooperation with the clamping portion 51 is also provided in the weight portion 42.
Referring to fig. 1,2 and 3, the angle adjusting portion 41 includes a first slider 411, a first connecting rod 412, an electric push rod 413 and a smooth platform 414, the first slider 411 is slidably mounted in the first chute 3, one end of the first slider 411, which is far away from each other, is hinged with the first connecting rod 412, the electric push rod 413 is fixedly mounted at the upper end inside the vertical sliding barrel 2, and the smooth platform 414 fixedly connected with the first slider 411 is fixedly mounted at the telescopic end of the electric push rod 413.
Referring to fig. 1 and 2, the weight portion 42 includes a load cylinder 421, a holding bin 422, a second chute 423, an electromagnetic valve 424 and a weight bin 425, the lower end of the vertical sliding cylinder 2 is hinged with the load cylinder 421 which is symmetrical in front and back, one side of the load cylinder 421 far away from the vertical sliding cylinder 2 is hinged with a first connecting rod 412 on the same side, the holding bin 422 which is communicated with the front end of the load cylinder 421 on the front side is fixedly arranged at the front end of the load cylinder 421 on the front side, the second chute 423 is penetrated through the outer annular wall of the upper end of the load cylinder 421 on the front side, a liquid storage cavity which is communicated with the load cylinder 421 on the rear side is formed at the lower end of the interior of the vertical sliding cylinder 2, weight liquid is arranged in the liquid storage cavity, the electromagnetic valve 424 which is used for controlling the flow of the weight liquid is arranged on the load cylinder 421 on the rear side, and the weight bin 425 which is communicated with the rear end of the load cylinder 421 on the rear side.
Referring to fig. 1,2 and 7, the connecting portion 61 includes a second slider 611, a second connecting rod 612 and a sliding sleeve 613, the second slider 611 is slidably mounted in the second sliding groove 423, the second connecting rod 612 is hinged to the upper end of the second slider 611, and the sliding sleeve 613 hinged to the other end of the second connecting rod 612 is slidably mounted on the first connecting rod 412.
When the automatic transfer device works specifically, when explosives need to be transferred, the unmanned aerial vehicle is started to fly to the positions of the explosives, then the electric push rod 413 can be started to enable the telescopic ends of the electric push rod to move downwards, the round sliding table 414 carries the first sliding blocks 411 on the two sides to synchronously slide downwards in the corresponding first sliding grooves 3, and accordingly the loading cylinders 421 on the two sides are driven to synchronously rotate by taking the hinging points as the centers through the first connecting rods 412, and therefore the clamping angle of the clamping mechanism 5 is changed.
When the clamping mechanism 5 clamps explosives, the loading barrel 421 is in an inclined state due to unequal weights at two sides, the counterweight liquid in the liquid storage cavity of the vertical sliding barrel 2 can incline to the counterweight bin 425 at the rear side under the action of gravity, at the moment, the electromagnetic valve 424 is opened to control the flow of the counterweight liquid, so that the counterweight liquid in the liquid storage cavity flows into the counterweight bin 425, the weight of the counterweight bin 425 corresponds to the explosives, and meanwhile, the electromagnetic valve 424 is closed to control the rest counterweight liquid to be remained in the liquid storage cavity of the vertical sliding barrel 2, so that the flowing counterweight is carried out on the other side of the clamping mechanism 5 through the flowing counterweight liquid, the balanced state of two ends of the mechanical arm is ensured, and the balanced flying posture of the unmanned aerial vehicle in the flying process is ensured.
When the first link 412 pushes the load cylinder 421 to rotate, the second slider 611 slides in the second sliding groove 423, and the sliding sleeve 613 slides on the first link 412, so that the second link 612 moves adaptively according to the included angle between the first link 412 and the load cylinder 421.
Referring to fig. 1, 4 and 5, the clamping portion 51 includes a first rotating shaft 511, clamping jaws 512 and a third sliding chute 513, the first rotating shaft 511 is fixedly mounted in the clamping bin 422, the clamping jaws 512 which are symmetrical left and right and are staggered mutually are hinged on the first rotating shaft 511, the front ends of the clamping jaws 512 are arc-shaped, and the clamping jaws 512 are provided with the third sliding chute 513 on the rear side of the first rotating shaft 511 in a penetrating manner.
Referring to fig. 4 and 5, the driving part 52 includes a carriage 521, a bidirectional screw 522 and a motor 523, the carriage 521 is slidably mounted in the third chute 513, the bidirectional screw 522 screwed to both of the two carriages 521 is mounted in the holding chamber 422 through bearings, and the motor 523 whose output end is fixedly connected to the bidirectional screw 522 is fixedly mounted on the holding chamber 422.
Referring to fig. 1, fig. 4, fig. 5 and fig. 6, the auxiliary clamping portion 53 includes a clamping hole 531, a fixing plate 532, a first spring rod 533, a pressing frame 534, a third connecting rod 535, positioning columns 536 and an arc-shaped retaining plate 537, a plurality of clamping holes 531 are formed in the arc-shaped portion of the clamping jaw 512 in a linear array from top to bottom, a fixing plate 532 located at the center of the clamping hole 531 and corresponding to the clamping hole 531 is fixedly mounted on a side wall of the clamping jaw 512, a first spring rod 533 located in the clamping hole 531 is fixedly mounted on the fixing plate 532, a pressing frame 534 is fixedly mounted at one end of the first spring rod 533 away from the fixing plate 532, two third connecting rods 535 symmetrical about the center of the clamping hole 531 are hinged in the pressing frame 534 through a rotating shaft, positioning sliding grooves are formed in the third connecting rods 535, two positioning columns 536 symmetrical about the center of the clamping hole 531 are fixedly mounted in the clamping hole 531, the positioning columns 536 are slidably connected with the corresponding positioning sliding grooves, one end of the third connecting rod 535 away from the corresponding retaining plate 531 is hinged with the arc-shaped retaining plate 537, and the surface of the arc-shaped retaining plate 537 is covered by a rubber layer.
When the main body mechanism 4 is in operation, after the angle adjustment is completed, the motor 523 is started to rotate the bidirectional screw 522, the bidirectional screw 522 drives the two side sliding drums 521 to synchronously approach, and the sliding drums 521 can slide in the third sliding groove 513 to adjust the position, so that the clamping jaws 512 on two sides rotate around the first rotating shaft 511, and the front ends of the clamping jaws 512 approach each other to clamp the contact surface of the explosive.
The abutting frame 534 will contact the explosive first when the front ends of the clamping jaws 512 are close to each other, the first spring rod 533 will compress towards the corresponding fixing plate 532 in the continuous clamping process, meanwhile, the third connecting rods 535 will move towards the fixing plate 532, the third connecting rods 535 on two sides will rotate with the positioning posts 536 as center points through the positioning sliding grooves, so that the arc-shaped abutting plates 537 will be brought close to the explosive, after the clamping jaws 512 are completely clamped, the third connecting rods 535 will bring the arc-shaped abutting plates 537 to perform multi-point self-adaptive abutting clamping on the outer wall of the explosive, and centralize the position of the explosive in the clamping jaws 512, so that double clamping of the explosive is completed, and the stability of the unmanned aerial vehicle for moving or operating the explosive is further improved.
Referring to fig. 7 and 8, the matching portion 62 includes a first sliding rail 621, a third sliding block 622, a locking hole 623, and a second sliding rail 624, wherein the first sliding rail 621 located below the second sliding rail 423 is fixedly installed in the front load barrel 421, the third sliding block 622 slidably connected to the first sliding rail 621 is fixedly installed at the lower end of the second sliding block 611, the locking hole 623 is formed through the third sliding block 622, and two second sliding rails 624 are fixedly installed on the first sliding rail 621 in a bilateral symmetry.
Referring to fig. 7 and 8, the executing portion 63 includes a slide plate 631, a mating hole 632, a second spring rod 633 and a trapezoidal bump 634, the slide plate 631 is slidably mounted in the second slide rail 624, a return spring is fixedly mounted between the rear end of the slide plate 631 and the rear end surface inside the load barrel 421, two groups of mating holes 632 symmetric about the first slide rail 621 are uniformly formed on the first slide rail 621 from front to back, the second spring rod 633 is slidably mounted in the mating hole 632, and a trapezoidal bump 634 corresponding to the second spring rods 633 one by one is fixedly mounted on a side wall of the slide plate 631, which is close to each other.
Referring to fig. 8 and 9, the transmission portion 64 includes a hinge rod 641, a second rotating shaft 642, a fourth connecting rod 643, a fixing column 644 and a u-shaped supporting block 645, the rear end of the clamping jaw 512 is hinged with the hinge rod 641, one ends of the two hinge rods 641 far away from the corresponding clamping jaw 512 are rotatably provided with the second rotating shaft 642, the second rotating shaft 642 is hinged with the fourth connecting rod 643, a limiting chute is formed on the fourth connecting rod 643, a fixing column 644 in sliding connection with the limiting chute is fixedly arranged in the front load cylinder 421, the rear end of the fourth connecting rod 643 is fixedly provided with the u-shaped supporting block 645 in sliding connection with the inside of the front load cylinder 421 through a spring, and the protruding portion of the u-shaped supporting block 645 corresponds to the position of the sliding plate 631.
In particular, during the process of driving the clamping jaw 512 to clamp the explosive by the cooperation of the driving portion 52 and the clamping portion 51, the included angle between the first connecting rod 412 and the loading barrel 421 is not changed, so that the second connecting rod 612 is not moved, the second sliding block 611 and the sliding sleeve 613 are not displaced at the corresponding positions, and at this time, the third sliding block 622 will stop in the first sliding rail 621 under the action of the second sliding block 611, and the locking hole 623 corresponds to the mating hole 632.
Meanwhile, during clamping of the clamping jaw 512, the rear ends of the clamping jaw 512 are close to each other, so that the hinging rod 641 and the second rotating shaft 642 push the rear ends of the clamping jaw 512 backward, under the limitation of the limiting chute and the fixed column 644, the fourth connecting rod 643 pushes the U-shaped supporting block 645 backward through the spring, the convex parts of the U-shaped supporting block 645 contact the respective sliding plates 631, the sliding plates 631 are driven to slide in the corresponding second sliding rails 624, the trapezoidal convex blocks 634 contact the second spring rods 633, the second spring rods 633 are pushed out of the matching holes 632, the second spring rods 633 in the matching holes 632 at two sides are inserted into the first sliding rails 621, the second spring rods 633 at the third sliding block 622 are inserted into the locking holes 623, the positions of the second sliding blocks 611 are locked, the first connecting rod 412 and the loading drum 421 are locked through the second connecting rod 612, when the clamping mechanism 5 clamps and transports explosives, the clamping positions and the main body mechanism 4 are locked, and the overall stability is improved, and the explosives can be transported to the positions to be treated through the unmanned aerial vehicle.
Working principle: when the explosives are required to be transferred, the unmanned aerial vehicle is started to fly to the positions of the explosives, then the electric push rod 413 can be started to change the clamping angle of the clamping mechanism 5 through the main body mechanism 4, and when the explosives are clamped by the clamping mechanism 5, the electromagnetic valve 424 is opened according to the quality of the explosives to control the flow of the counterweight liquid, so that the counterweight liquid flows into the counterweight bin 425, the balance state of the two ends of the mechanical arm is ensured, and the balanced flying posture of the unmanned aerial vehicle in the flying process is ensured.
After the angle adjustment is completed, the starting motor 523 is matched with the driving part 52 through the clamping part 51 to enable the front ends of the clamping jaws 512 to be close to each other to clamp the explosive on the contact surface, the auxiliary clamping part 53 carries the arc-shaped retaining plates 537 to carry out multi-point self-adaptive abutting clamping on the outer wall of the explosive, the position of the explosive in the clamping jaws 512 is righted, and double clamping on the explosive is completed.
The rear ends of the clamping jaws 512 are close to each other in the clamping process, so that the locking mechanism 6 is matched with the clamping mechanism 5 to lock the position of the second sliding block 611, the clamping position is locked with the main body mechanism 4 when the clamping mechanism 5 clamps and transports explosives, the stability is improved, and then the explosives can be transported to a position to be treated through the unmanned aerial vehicle.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an arrange and explode manipulator for unmanned aerial vehicle, includes base (1) of setting in unmanned aerial vehicle lower extreme, its characterized in that: a vertical sliding cylinder (2) is fixedly arranged on the lower end surface of the base (1), a first sliding groove (3) which is symmetrical front and back is formed in the vertical sliding cylinder (2) in a penetrating mode, and a main body mechanism (4) for adjusting and clamping the angle of the explosive is arranged on the first sliding groove (3) and the vertical sliding cylinder (2) together;
The main body mechanism (4) comprises an angle adjusting part (41) which is arranged on the first sliding groove (3) and the vertical sliding cylinder (2), and a counterweight part (42) for dynamically adjusting the flight balance of the unmanned aerial vehicle is arranged on the angle adjusting part (41);
The counterweight part (42) is provided with a clamping mechanism (5) for doubly clamping the explosive;
the clamping mechanism (5) comprises a clamping part (51) which is arranged on the counterweight part (42) and used for clamping the explosive surface, a driving part (52) which is used for providing power for the clamping part (51) is arranged in the counterweight part (42), and an auxiliary clamping part (53) which is used for carrying out multi-point self-adaptive clamping and centralizing on the explosive is arranged on the clamping part (51);
the counterweight part (42) is also provided with a locking mechanism (6) for locking the counterweight part by matching with the clamping mechanism (5);
the locking mechanism (6) comprises a connecting part (61) arranged on the counterweight part (42), a matching part (62) and an executing part (63) matched with the matching part (62) to lock the connecting part (61) are arranged in the counterweight part (42), and a transmission part (64) used for matching the clamping part (51) to provide power for the executing part (63) is also arranged in the counterweight part (42).
2. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 1, wherein: the angle adjusting part (41) comprises a first sliding block (411), a first connecting rod (412), an electric push rod (413) and a smooth platform (414), wherein the first sliding block (411) is arranged in the first sliding groove (3) in a sliding mode, one ends, far away from each other, of the first sliding blocks (411) are hinged to the first connecting rod (412), the electric push rod (413) is fixedly arranged at the upper end inside the vertical sliding cylinder (2), and the smooth platform (414) fixedly connected with the first sliding block (411) is fixedly arranged at the telescopic end of the electric push rod (413).
3. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 2, wherein: the counterweight part (42) comprises a load barrel (421), a clamping bin (422), a second sliding groove (423), an electromagnetic valve (424) and a counterweight bin (425), wherein the lower end of the vertical sliding barrel (2) is hinged with the load barrel (421) which is symmetrical front and back, one side of the load barrel (421) which is far away from the vertical sliding barrel (2) is hinged with a first connecting rod (412) on the same side, the front end of the load barrel (421) which is positioned on the front side is fixedly provided with the clamping bin (422) which is communicated with the load barrel, the outer annular wall at the upper end of the load barrel (421) which is positioned on the front side penetrates through the second sliding groove (423), the lower end of the inside of the vertical sliding barrel (2) is provided with a liquid storage cavity which is communicated with the load barrel (421) on the rear side, the electromagnetic valve (424) which is used for controlling the flow of the counterweight liquid is arranged on the load barrel (421) on the rear side, and the rear end of the load barrel (421) which is positioned on the rear side is fixedly provided with the counterweight bin (425) which is communicated with the rear end.
4. A manipulator for an explosive-handling unmanned aerial vehicle according to claim 3, wherein: clamping part (51) are including first pivot (511), clamping jaw (512) and third spout (513), fixed mounting has first pivot (511) in clamping bin (422), articulates on first pivot (511) has bilateral symmetry and crisscross clamping jaw (512) each other, and the front end of clamping jaw (512) sets up to the arc, runs through on clamping jaw (512) to set up third spout (513) that are located first pivot (511) rear side.
5. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 4, wherein: the driving part (52) comprises a barrel sliding frame (521), a bidirectional screw rod (522) and a motor (523), the barrel sliding frame (521) is slidably installed in the third sliding groove (513), the bidirectional screw rod (522) which is in threaded connection with the two barrel sliding frames (521) is installed in the clamping bin (422) through a bearing, and the motor (523) with an output end fixedly connected with the bidirectional screw rod (522) is fixedly installed on the clamping bin (422).
6. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 4, wherein: auxiliary clamp portion (53) are including pressing from both sides hole (531), fixed plate (532), first spring rod (533), support and press frame (534), third connecting rod (535), reference column (536) and arc butt plate (537), a plurality of clamp holes (531) have been seted up from last to lower in linear array mode in clamping jaw (512) arc department, side wall fixed mounting that clamping jaw (512) kept away from each other has the fixed plate (532) that are located the center department and with clamp hole (531) one-to-one of clamp hole (531), fixed mounting has first spring rod (533) that are located clamp hole (531) on fixed plate (532), one end fixed mounting that fixed plate (533) kept away from fixed plate (532) has to press frame (534), support and press frame (534) interior two third connecting rods (535) that have about clamp hole (531) central symmetry through the pivot hinge that sets up, two reference columns (536) that have about clamp hole (531) central symmetry in fixed mounting, reference column (536) are connected with corresponding positioning column (536) and corresponding one end fixed connection (534) of pressing from arc butt plate (534).
7. A manipulator for an explosive-handling unmanned aerial vehicle according to claim 3, wherein: the connecting portion (61) comprises a second sliding block (611), a second connecting rod (612) and a sliding sleeve (613), the second sliding block (611) is arranged in the second sliding groove (423) in a sliding mode, the second connecting rod (612) is hinged to the upper end of the second sliding block (611), and the sliding sleeve (613) hinged to the other end of the second connecting rod (612) is arranged on the first connecting rod (412) in a sliding mode.
8. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 7, wherein: the cooperation portion (62) comprises a first sliding rail (621), a third sliding block (622), a lock hole (623) and a second sliding rail (624), the first sliding rail (621) located below the second sliding groove (423) is fixedly installed in the load barrel (421) at the front side, the third sliding block (622) which is fixedly installed at the lower end of the second sliding block (611) and is in sliding connection with the first sliding rail (621), the lock hole (623) is formed in the third sliding block (622) in a penetrating mode, and two symmetrical second sliding rails (624) are fixedly installed on the first sliding rail (621).
9. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 8, wherein: the execution part (63) comprises a slide plate (631), a matching hole (632), a second spring rod (633) and a trapezoid protruding block (634), the slide plate (631) is mounted in the second slide rail (624) in a sliding mode, a reset spring is fixedly mounted between the rear end of the slide plate (631) and the rear end face inside the load barrel (421), two groups of matching holes (632) which are symmetrical left and right are evenly formed in the first slide rail (621) in a penetrating mode from front to back, the second spring rod (633) is mounted in the matching hole (632) in a sliding mode, and the trapezoid protruding block (634) which corresponds to the second spring rod (633) one by one is fixedly mounted on one side wall of the slide plate (631) close to each other.
10. The manipulator for an explosive-handling unmanned aerial vehicle according to claim 4, wherein: the transmission part (64) comprises a hinging rod (641), a second rotating shaft (642), a fourth connecting rod (643), fixing columns (644) and U-shaped supporting blocks (645), the rear ends of the clamping jaws (512) are hinged with the hinging rod (641), one ends of the two hinging rods (641) far away from the corresponding clamping jaws (512) are jointly rotated and installed with the second rotating shaft (642), the second rotating shaft (642) is hinged with the fourth connecting rod (643), a limiting sliding groove is formed in the fourth connecting rod (643), fixing columns (644) which are in sliding connection with the limiting sliding groove are fixedly installed in the front-side loading cylinder (421), the rear ends of the fourth connecting rod (643) are fixedly installed with U-shaped supporting blocks (645) which are in sliding connection with the inside of the front-side loading cylinder (421) through springs, and the protruding portions of the U-shaped supporting blocks (645) correspond to the positions of the sliding plates (631).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410816003.6A CN118372271B (en) | 2024-06-24 | 2024-06-24 | Manipulator for explosive-handling unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410816003.6A CN118372271B (en) | 2024-06-24 | 2024-06-24 | Manipulator for explosive-handling unmanned aerial vehicle |
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| CN118372271A true CN118372271A (en) | 2024-07-23 |
| CN118372271B CN118372271B (en) | 2024-08-16 |
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| CN106585988A (en) * | 2017-01-14 | 2017-04-26 | 许建芹 | Explosive-removing unmanned aerial vehicle |
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| CN109571488A (en) * | 2017-09-28 | 2019-04-05 | 曹玲 | A kind of manipulator for explosion eliminating |
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| JP2021137901A (en) * | 2020-03-04 | 2021-09-16 | ダブル技研株式会社 | Aerial carrier device |
| CN215707113U (en) * | 2021-09-18 | 2022-02-01 | 河北典灿科技有限公司 | Unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN114148544A (en) * | 2021-12-03 | 2022-03-08 | 中国飞行试验研究院 | Gravity center adjusting device and method for airtight-non-airtight cabin of airplane |
| CN117863203A (en) * | 2024-03-11 | 2024-04-12 | 苏州依岚机器人科技有限公司 | Tongs of underwater robot |
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2024
- 2024-06-24 CN CN202410816003.6A patent/CN118372271B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585988A (en) * | 2017-01-14 | 2017-04-26 | 许建芹 | Explosive-removing unmanned aerial vehicle |
| CN106741902A (en) * | 2017-01-17 | 2017-05-31 | 许建芹 | A kind of anti-terror explosive removing unmanned plane |
| CN109571488A (en) * | 2017-09-28 | 2019-04-05 | 曹玲 | A kind of manipulator for explosion eliminating |
| DE102019115406A1 (en) * | 2019-06-06 | 2020-12-10 | Emqopter GmbH | Autonomous multicopter with manipulator |
| JP2021137901A (en) * | 2020-03-04 | 2021-09-16 | ダブル技研株式会社 | Aerial carrier device |
| CN215707113U (en) * | 2021-09-18 | 2022-02-01 | 河北典灿科技有限公司 | Unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN114148544A (en) * | 2021-12-03 | 2022-03-08 | 中国飞行试验研究院 | Gravity center adjusting device and method for airtight-non-airtight cabin of airplane |
| CN117863203A (en) * | 2024-03-11 | 2024-04-12 | 苏州依岚机器人科技有限公司 | Tongs of underwater robot |
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|---|---|
| CN118372271B (en) | 2024-08-16 |
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