CN216232980U

CN216232980U - Bionic mechanical arm unmanned aerial vehicle for bird protection

Info

Publication number: CN216232980U
Application number: CN202123081784.XU
Authority: CN
Inventors: 杨靖涵; 牛涛
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-04-08
Anticipated expiration: 2031-12-09

Abstract

The utility model provides a bionical arm unmanned aerial vehicle of birds protection, includes the unmanned aerial vehicle body and sets up the workstation on the unmanned aerial vehicle body. The workbench is provided with a mechanical arm and a balance weight hammer which can transversely extend out, and the workbench is also provided with a balance extending device which is used for synchronously and reversely extending the mechanical arm and the balance weight hammer. The bird nest protection device can be applied to protection and inspection of most birds in complex environments, and is wider in application range.

Description

Bionic mechanical arm unmanned aerial vehicle for bird protection

Technical Field

The utility model relates to the field of bird protection equipment, in particular to a bionic mechanical arm unmanned aerial vehicle for bird protection.

Background

Bird protection, i.e., protection of the natural environment on which birds live, and protection of birds' nests, young birds, and bird eggs. In order to protect bird nests or bird eggs from environmental or human damage, manual inspection and protection measures are often taken. However, most bird nests are located at a high elevation and need to be climbed to the high elevation when they need to be protected and inspected. In order to solve the problem that the artificial climbing to the high altitude may cause danger, an unmanned aerial vehicle based on a bionic mechanical arm with the patent number of CN202021631097.3 provides a solution to the problem, and the unmanned aerial vehicle with the mechanical arm flies to the position of a nest of birds at a high altitude to check and protect the unmanned aerial vehicle. However, the arrangement of the mechanical arm on the unmanned aerial vehicle along the vertical direction can cause the following problems:

can only be with unmanned aerial vehicle remote control to the position directly over birds nest just can inspect and protect it.

Because the nest of most birds is located position often more complicated, often the arm that sets up along vertical direction is difficult for passing complicated environment, and can't protect and inspect the birds egg or the young bird in the nest of most birds, and the environment that adapts to and uses has the limitation.

The danger that the bird egg or the young bird that lie in on the arm takes place to drop when unmanned aerial vehicle whereabouts can't the guarantee after taking out the bird egg or the young bird that lie in the nest.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a bionic mechanical arm unmanned aerial vehicle for bird protection, which can be applied to protection and inspection of most birds in complex environments and has a wider application range.

In order to solve the technical problems, the utility model adopts the specific scheme that the bionic mechanical arm unmanned aerial vehicle for bird protection comprises the following components: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a workbench arranged on the unmanned aerial vehicle body;

the workbench is provided with a mechanical arm and a balance weight hammer which can transversely extend out, and the workbench is also provided with a balance extending device which is used for synchronously and reversely extending the mechanical arm and the balance weight hammer.

The bionic mechanical arm unmanned aerial vehicle for bird protection is further optimized as follows: the balance stretching device comprises a bidirectional screw rod arranged along the transverse direction and a first driving motor arranged on the bidirectional screw rod; the bidirectional screw rod is provided with two nuts which move in opposite directions, the mechanical arm and the balance weight hammer are respectively arranged on the two nuts, and the mechanical arm and the balance weight hammer synchronously slide and extend out of the nuts in opposite directions.

The bionic mechanical arm unmanned aerial vehicle for bird protection is further optimized as follows: the balance stretching device comprises a straight rod and a wire collecting cylinder which are arranged along the vertical direction; the mechanical arm and the balance weight are symmetrically hinged to the straight rod, and pull wires fixedly connected with the wire take-up cylinder are respectively arranged on the mechanical arm and the balance weight; the take-up cylinder is provided with a second driving motor for the take-up cylinder to rotate and take up wires synchronously.

The bionic mechanical arm unmanned aerial vehicle for bird protection is further optimized as follows: the mechanical arm comprises a wrist part, a palm part and an electric control mechanical finger; one end of the wrist part is connected with the balance extending device, and the other end of the wrist part is fixedly connected with the palm part; the automatically controlled mechanical finger evenly distributed is on palm portion, and automatically controlled mechanical finger all is connected with palm portion is articulated.

The bionic mechanical arm unmanned aerial vehicle for bird protection is further optimized as follows: the palm part on the mechanical arm is made of acrylic.

Advantageous effects

The mechanical arm can extend out in the transverse direction, and the mechanical arm extending out in the transverse direction can be located above the bird nest to protect and check the bird nest, so that the bird nest protection device can be suitable for the protection of bird nests in more complex environments, and the application range is wide.

The balance weight hammer is arranged in the balance stretching device and can keep balance with the mechanical arm, so that the integral balance of the unmanned aerial vehicle is maintained.

The balance weight balance device is provided with the balance extending device, the balance extending device is controlled by the sensing and controlling device to enable the mechanical arm and the balance weight to simultaneously extend transversely in a reverse direction, and the balance weight balance device is simple in structure and easy to operate.

Drawings

Fig. 1 is a schematic view of a main structure in embodiment 1 of the present invention;

fig. 2 is a schematic structural view of the mechanical arm and the counterweight in the extended state according to embodiment 1 of the present invention;

FIG. 3 is a left side view schematically illustrating the structure of embodiment 1 of the present invention;

FIG. 4 is a schematic right-view structural diagram in embodiment 1 of the present invention;

fig. 5 is a schematic front view of the structure in embodiment 2 of the present invention;

fig. 6 is a schematic structural view of the mechanical arm and the counterweight in the extended state according to embodiment 2 of the present invention;

FIG. 7 is a schematic structural diagram of a robot arm according to an embodiment of the present invention;

reference numerals: 1. unmanned aerial vehicle body, 2, undercarriage, 3, the mount, 4, the workstation, 5, the counter weight hammer, 6, the connecting block, 7, balanced device of stretching out, 701, two-way lead screw, 702, the support, 703, the screw, 704, first driving motor, 705, the mounting bracket, 706, the straight-bar, 707, receive the line drum, 708, second driving motor, 709, act as go-between, 8, the arm, 801, the wrist, 802, palm portion, 803, automatically controlled mechanical finger, 9, the connecting rod, 10, the telescopic link.

Detailed Description

The utility model is illustrated in detail by the following two examples:

example 1

As shown in fig. 1, the bionic mechanical arm unmanned aerial vehicle for bird protection of this embodiment includes unmanned aerial vehicle body 1, workstation 4 and the balanced extension device 7 of setting on workstation 4 of setting on unmanned aerial vehicle body 1.

Unmanned aerial vehicle body 1 is whole to adopt carbon fiber material to make and forms, and the middle part is equipped with the shell, is equipped with in the shell and feels the accuse device, feels the accuse device and includes wireless module, controller and battery. The controller is used for controlling the balance stretching device 7 and is connected with a ground wireless remote control device through a wireless module. The shell is provided with a 180-degree cloud deck connected with an electric signal, the cloud deck rotates through the ground wireless remote control device 180, and surrounding obstacles and conditions of bird nests, young birds and bird eggs can be observed and avoided in real time through a display screen on the ground wireless remote control device. The observation through 180 degrees cloud platforms in time adjusts the position of unmanned aerial vehicle body 1 to the realization carries out quick location to the nest of the birds of required protection. Be equipped with four undercarriage 2 along circumference symmetry under the casing of unmanned aerial vehicle body 1, undercarriage 2 is used for playing the effect of support when unmanned aerial vehicle body 1 falls to the ground.

Workstation 4 is that the length and the width of a length and width ratio unmanned aerial vehicle body 1 shell are little, and workstation 4 is a square piece, and workstation 4's material is frivolous titanium alloy panel. The position at four angles of workstation 4 evenly is equipped with four mount 3 that are used for workstation 4 and unmanned aerial vehicle body 1's shell fixed connection, and the position of mount 3 is close with the position that sets up undercarriage 2 on unmanned aerial vehicle body 1, leaves the position that supplies balanced extension fixture 7 to stretch out between mount 3 and undercarriage 2.

The worktable 4 is provided with a mechanical arm 8 and a balance weight 5. As shown in fig. 7, the robot arm 8 includes a wrist portion 801, a palm portion 802, and an electrically controlled robot finger 803. One end of the wrist 801 is connected with the balance extension device 7, the other end of the wrist 801 is fixedly connected with the upper end of the palm portion 802, and the palm portion 802 is made of acrylic. The electrically controlled mechanical finger 803 is composed of five fingers, the size of the electrically controlled mechanical finger 803 is set according to the size of a human finger, and the five fingers are hinged on the lower end of the palm part 802 at uniform intervals. Each finger comprises two knuckles, the back end of the first knuckle is hinged at the front end of the second knuckle, and the back end of the second knuckle is hinged with the palm 802. Still be equipped with the sensor in the arm 8, the subaerial staff goes up and is felt gloves by the body and carry out the seizure of direct action through the sensor to control arm 8.

As shown in fig. 1 and 4, the counterweight 5 is used for balancing with the robot arm 8, the counterweight 5 is a round ball, and the weight of the counterweight 5 is the weight of the robot arm 8.

As shown in fig. 2 and 3, the balance extension device 7 is used to synchronously and reversely extend the robot arm 8 and the balance weight 5 in a balanced manner, and the balance extension device 7 is provided on the table 4. The balanced extension device 7 includes a support 702 provided on the table 4, a bidirectional screw 701 provided on the support 702, and a first drive motor 704. The support 702 is arranged in the middle of the workbench 4, a round hole is transversely formed in the support 702, and a bearing in running fit with the bidirectional screw 701 is installed in the round hole. The screw rods at the left end and the right end of the bidirectional screw rod 701 are provided with reverse threads, and the left side and the right side of the bidirectional screw rod 701 are respectively provided with a nut 703 matched with the threads.

The robot 8 is provided on the nut 703 on the left side of the bidirectional screw 701, the wrist 801 of the robot 8 is hinged to the left side of the nut 703, and the robot 8 can rotate on the nut 703. The balance weight hammer 5 is arranged on a nut 703 on the right side of the bidirectional screw 701, and a connecting block 6 for fixedly connecting the balance weight hammer 5 to the nut 703 is arranged on the balance weight hammer 5. The connecting block 6 is a square block, the left end of the connecting block 6 is fixedly connected with the right side of a nut 703 at the right end of the bidirectional screw 701, and the right side of the connecting block 6 is fixedly connected with the counterweight 5.

As shown in fig. 3 and 4, a first driving motor 704 is longitudinally disposed on the support 702, the first driving motor 704 is configured to drive the bidirectional screw 701 to rotate so as to laterally move the nuts 703 on the left and right ends of the bidirectional screw 701, and the robot arm 8 and the counterweight 5 on the nuts 703 on the left and right sides of the bidirectional screw 701 extend in the opposite direction.

Example 2

The present embodiment is similar to embodiment 1 in overall structure, and the main difference is that: such as the balancing protrusion 7 shown in fig. 5 and 6. The balance protrusion device 7 includes a straight rod 706 and a wire take-up cylinder 707 provided on the table 4. Straight-bar 706 sets up on workstation 4 along vertical direction, and straight-bar 706 is a columniform stock, the lower extreme and the workstation 4 fixed connection of straight-bar 706, and fixedly connected with sets up on the mounting bracket 705 on unmanned aerial vehicle body 1 on the upper end of straight-bar 706. The shape of mounting bracket 705 is the U shape, and the open both sides of mounting bracket 705 are fixed in the shell below of unmanned aerial vehicle body 1, have seted up two round holes on one side of mounting bracket 705 with straight-bar 706 fixed connection.

The left side and the right side of the straight rod 706 are respectively provided with a telescopic rod 10 and a connecting rod 9. The telescopic rod 10 is arranged at the left side of the straight rod 706 and is hinged to the straight rod 706, one end of the telescopic rod 10 is hinged to the straight rod 706, and the other end of the telescopic rod 10 is hinged to the wrist 801 of the mechanical arm 8. The connecting rod 9 is arranged at the right side of the straight rod 706 and is hinged with the straight rod 706, one end of the connecting rod 9 is hinged with the straight rod 706, and the other end of the connecting rod 9 is fixedly connected with the balance weight 5. Pull wires 709 which are fixedly connected with the wire take-up cylinder 707 are symmetrically arranged on the telescopic rod 10 and the connecting rod 9 respectively, one end of each pull wire 709 is fixed on the telescopic rod 10 and the connecting rod 9 respectively, the other end of each pull wire 709 penetrates through a round hole in the mounting rack 705 and is fixed on the wire take-up cylinder 707, and the directions of the pull wires 709 fixed on the wire take-up cylinder 707 are consistent.

Receive line drum 707 and be located the top position of straight-bar 706 in mounting bracket 705, receive line drum 707 along horizontal setting, be equipped with in receiving line drum 707 and be used for fixing the frame plate on unmanned aerial vehicle body 1 with receiving line drum 707, the below at unmanned aerial vehicle body 1 shell is fixed at the both ends of frame plate. The wire take-up cylinder 707 is further provided with a second driving motor 708 for the wire take-up cylinder 707 to rotate for synchronous wire take-up. The wire rewinding cylinder 707 rotates to rewind under the driving of the second driving motor 708, so that the mechanical arms 8 and the counterweight 5 respectively positioned at the left side and the right side of the straight rod 706 extend out in the transverse direction.

The specific implementation process of this embodiment is as follows: the staff on the ground passes through wireless remote control device and is located the 180 degrees rotatory cloud platforms on unmanned aerial vehicle body 1 and points to down, is located the side top position of the nest of the birds of required protection with unmanned aerial vehicle body 1. The second driving motor 708 is controlled to start by the sensing and controlling device, the wire take-up cylinder 707 rotates under the driving of the second driving motor 708 to take back the pull wires 709 on the telescopic rod 10 and the connecting rod 9 respectively, and the pull wires 709 shorten under the rotation of the wire take-up cylinder 707. At this time, the mechanical arms 8 on the telescopic rods 10 and the counterweight weights 5 on the connecting rods 9 on the left and right sides of the straight rod 706 are driven by the pull wires 709 to horizontally extend to the state shown in fig. 6. Then, the motion of rotating, grabbing and the like is performed through the somatosensory gloves on the hands of the workers on the ground, the motion is wirelessly transmitted into the sensor in the mechanical arm 8 to perform the same motion of rotating, grabbing and the like, and the eggs or the young birds in the nests of the raised birds are taken out for protection. After the protection target that will correspond is taken away, wireless remote control device through the staff control unmanned aerial vehicle body 1 fall can.

Claims

1. The utility model provides a bionical arm unmanned aerial vehicle of birds protection which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a workbench (4) arranged on the unmanned aerial vehicle body (1);

the workbench (4) is provided with a mechanical arm (8) and a balance weight hammer (5) which can transversely extend out, the workbench (4) is also provided with a balance extending device (7), and the balance extending device (7) is used for synchronously and reversely extending the mechanical arm (8) and the balance weight hammer (5).

2. The bird protection bionic mechanical arm unmanned aerial vehicle of claim 1, characterized in that: the balance stretching device (7) comprises a bidirectional screw rod (701) arranged along the transverse direction and a first driving motor (704) arranged on the bidirectional screw rod (701); two nuts (703) moving in opposite directions are arranged on the bidirectional screw (701), the mechanical arm (8) and the balance weight hammer (5) are respectively arranged on the two nuts (703), and the mechanical arm (8) and the balance weight hammer (5) synchronously slide and extend out in opposite directions on the nuts (703).

3. The bird protection bionic mechanical arm unmanned aerial vehicle of claim 1, characterized in that: the balance stretching device (7) comprises a straight rod (706) and a wire collecting cylinder (707) which are arranged along the vertical direction; the mechanical arm (8) and the balance weight hammer (5) are symmetrically hinged to the straight rod (706), and pull wires (709) fixedly connected with the wire collecting cylinder (707) are respectively arranged on the mechanical arm (8) and the balance weight hammer (5); the take-up cylinder (707) is provided with a second driving motor (708) which is used for the take-up cylinder (707) to rotate and take up wires synchronously.

4. The bird protection bionic mechanical arm unmanned aerial vehicle of claim 1, characterized in that: the robot arm (8) comprises a wrist part (801), a palm part (802) and an electric control mechanical finger (803); one end of the wrist part (801) is connected with the balance extending device (7), and the other end of the wrist part (801) is fixedly connected with the palm part (802); the electric control mechanical fingers (803) are uniformly distributed on the palm part (802), and the electric control mechanical fingers (803) are hinged with the palm part (802).

5. The bird protection bionic mechanical arm unmanned aerial vehicle of claim 4, wherein: the palm part (802) of the mechanical arm (8) is made of acrylic.